CN120203759A

CN120203759A - Prosthetic joint collision detection method, device, electronic equipment and storage medium

Info

Publication number: CN120203759A
Application number: CN202311805323.3A
Authority: CN
Inventors: 王婧; 徐子昂; 张巍; 童睿; 洪洁; 沈丽萍
Original assignee: Hangzhou Santan Medical Technology Co Ltd
Current assignee: Hangzhou Santan Medical Technology Co Ltd
Priority date: 2023-12-25
Filing date: 2023-12-25
Publication date: 2025-06-27

Abstract

The embodiments of the present application provide a prosthetic joint collision detection method, device, electronic device and storage medium, which are applied to the field of medical device technology. Specifically, the parameter information and installation position information of the target acetabular cup and the target femur are obtained; the first three-dimensional model of the pre-created hip bone model after the target acetabular cup is installed and the second three-dimensional model of the pre-created femur bone model after the target femur is installed are calculated; a third three-dimensional model is created based on the first three-dimensional model and the second three-dimensional model; the behavior cycle selected by the user is simulated by the third three-dimensional model; and whether a collision occurs is determined based on the behavior cycle simulation results. By applying the method of the embodiments of the present application, the parameter information and installation position information of the target acetabular cup and the target femur can be obtained, and a third three-dimensional model can be established, so that the behavior cycle selected by the user can be simulated by the third three-dimensional model, and then the simulation results can be used to determine whether a collision will occur between bones when the human body moves after the prosthesis is installed.

Description

Method and device for detecting collision of prosthetic joint, electronic equipment and storage medium

Technical Field

The present application relates to the technical field of medical devices, and in particular, to a method and apparatus for detecting a prosthetic joint collision, an electronic device, and a storage medium.

Background

Under the premise of the continuous development of medical technology, medical staff can provide more cure schemes for patients. For example, for symptoms such as hip joint disease and arthritis, an artificial prosthetic joint may be used to replace a diseased joint by an artificial prosthetic replacement.

However, in the related art, the placement position of the prosthetic joint in the human body is critical, for example, in the hip replacement operation, if the placement position of the prosthetic joint is not suitable, the femoral neck on the operative side collides with the pelvis or collides with the cup in the prosthetic joint, so that the prosthetic joint has a dislocation risk, and the postoperative function is affected. And the calculation is usually performed when the patient is in a stationary state when the prosthesis joint placement position is calculated, and the patient may be in different motion states in daily life, so that the risk of collision of the prosthesis joint is increased. Therefore, it is necessary to determine whether or not bones collide with each other when the human body moves after the prosthesis is installed.

Disclosure of Invention

The embodiment of the application aims to provide a method and a device for detecting collision of a prosthetic joint, electronic equipment and a storage medium, which are used for solving the technical problem of whether bones collide with each other when a human body moves after the prosthetic joint is installed. The specific technical scheme is as follows:

In a first aspect of an embodiment of the present application, there is provided a method for detecting a prosthetic joint collision, the method being applied to a client, the method including:

according to the parameter information and the installation position information of the target cup, calculating a three-dimensional model of a pre-established hip bone model after the target cup is installed, so as to obtain a first three-dimensional model;

Calculating a three-dimensional image of a pre-established femur bone model after the target femur is installed according to the parameter information and the installation position information of the target femur to obtain a second three-dimensional model;

Creating a third three-dimensional model according to the first three-dimensional model and the second three-dimensional model;

receiving a behavior period selected by a user, and simulating the behavior period through the third three-dimensional model;

And judging whether collision occurs according to the behavior period simulation result.

In one possible implementation manner, the receiving the behavior period selected by the user includes:

A behavioral cycle selected from a plurality of preset behavioral cycles is received, wherein the plurality of preset behavioral cycles includes a standing-to-sitting posture, a walking posture, a bending posture, a squatting-to-standing posture, a bending posture, a turning posture, a stair climbing posture, and a crossing leg posture.

In one possible implementation manner, before the receiving the behavior period selected by the user, the method further includes:

and aiming at any preset behavior period, when detecting the action to be selected of the user aiming at the preset behavior period, playing the animation corresponding to the behavior period.

In one possible implementation manner, after the determining whether the collision occurs according to the behavior period simulation result, the method further includes:

And aiming at any preset behavior period, if the behavior period simulation result shows that a collision occurs, playing an animation corresponding to the collision behavior, wherein the animation corresponding to the collision behavior comprises a collision part and behavior.

In one possible embodiment, the obtaining the parameter information and the installation position information of the target cup includes:

obtaining an acetabular socket diameter in the hip bone model;

receiving a target cup selection instruction sent by a user according to the acetabular fossa diameter;

and determining the target cup according to the target cup selection instruction and acquiring parameter information and installation position information of the target cup.

In one possible implementation manner, the determining whether a collision occurs according to the behavioral cycle simulation result includes:

Calculating the relative positions of the target cup and the femur corresponding to the behavior period, and judging whether the target cup collides with the target femur or not;

calculating the relative position of the target cup and the femur corresponding to the behavior period, and judging whether collision occurs between bones in the third three-dimensional model;

and when the target cup collides with the target femur and/or bones in the third three-dimensional model collide, determining that the behavioral cycle simulation result indicates collision.

In one possible embodiment, before the obtaining the parameter information and the installation position information of the target cup, the method further includes:

receiving a preliminary adjustment instruction of a target cup of a user, and placing the target cup in an acetabular fossa in the hip bone model in response to the preliminary adjustment instruction of the target cup to obtain a preliminary cup adjustment model;

the method comprises the steps of displaying a CT section of a preliminary cup adjustment model, receiving a target cup fine adjustment instruction sent by a user through observing the CT section of the preliminary cup adjustment model, responding to the target cup fine adjustment instruction, adjusting the position of the target cup in the preliminary cup adjustment model, and obtaining a first cup adjustment model;

And acquiring the position information of the target cup in the first cup adjustment model to obtain the installation position information of the target cup.

In one possible implementation, before the acquiring the parameter information and the installation position information of the target femur, the method further comprises:

Receiving a target femur preliminary adjustment instruction of a user, and placing the target femur in a femur skeleton model in response to the target femur preliminary adjustment instruction to obtain a preliminary femur adjustment model;

The CT section of the preliminary femur adjustment model is displayed, a target femur fine adjustment instruction sent by a user through observing the CT section of the preliminary femur adjustment model is received, and the position of the target femur in the preliminary femur adjustment model is adjusted in response to the target femur fine adjustment instruction, so that a first femur adjustment model is obtained;

and acquiring the position information of the target femur in the first femur adjustment model to obtain the installation position information of the target femur.

In one possible implementation manner, the method calculates a three-dimensional model of a pre-created hip bone model after the target cup is installed according to the parameter information and the installation position information of the target cup, and after obtaining a first three-dimensional model, the method further includes:

And displaying the part of the acetabular fossa in the hip bone model, which needs to be ground and filed, according to the installation position information of the target acetabular cup.

In a possible implementation manner, the behavior period is a behavior period including a plurality of different poses, and after the behavior period is simulated by the third three-dimensional model, the method further includes:

calculating the relative positions of the target cup and the femoral stem corresponding to the plurality of different behavioral cycles;

And generating and displaying dynamic human models corresponding to the different behavioral periods according to the relative positions of the target cup and the femur.

In a possible implementation manner, after the creating a third three-dimensional model according to the first three-dimensional model and the second three-dimensional model, the method further includes:

Calculating an optional angle range of the target cup according to the installation position information of the target cup to obtain a cup angle set to be detected;

And displaying the to-be-detected cup angle set at a preset interface of the client.

In a second aspect of an embodiment of the present application, there is provided a prosthetic joint collision detection apparatus, the apparatus being applied to a client, the apparatus comprising:

The device comprises a target cup installation module, a first three-dimensional model, a second three-dimensional model, a third three-dimensional model and a fourth three-dimensional model, wherein the target cup installation module is used for acquiring parameter information and installation position information of a target cup;

the target femur installation module is used for acquiring parameter information and installation position information of a target femur, calculating a three-dimensional image of a pre-established femur skeleton model after installing the target femur according to the parameter information and the installation position information of the target femur, and obtaining a second three-dimensional model;

A third three-dimensional model creation module for creating a third three-dimensional model from the first three-dimensional model and the second three-dimensional model;

The behavior period simulation module is used for receiving the behavior period selected by the user and simulating the behavior period through the third three-dimensional model;

And the collision result judging module is used for judging whether collision occurs according to the behavior period simulation result.

In one possible implementation manner, the behavior period simulation module includes:

The behavior period selection instruction receiving module is specifically used for receiving a behavior period selected from a plurality of preset behavior periods, wherein the preset behavior periods comprise a standing-to-sitting posture, a walking posture, a bending posture, a squatting-to-standing posture, a bending posture, a turning posture, a stair climbing posture and a crossing leg posture.

In one possible embodiment, the apparatus further comprises:

the animation playing module is used for playing the animation corresponding to any preset behavior period when detecting the action to be selected of the user aiming at the preset behavior period.

In one possible embodiment, the apparatus further comprises:

And the collision part display module is used for playing an animation corresponding to the collision behavior aiming at any preset behavior period if the behavior period simulation result shows that the collision occurs, wherein the animation corresponding to the collision behavior comprises the collision part and the behavior.

In one possible embodiment, the target cup mounting module comprises:

the acetabular fossa diameter acquisition submodule is specifically used for acquiring the acetabular fossa diameter in the hip bone skeleton model;

The target cup selection instruction receiving sub-module is specifically used for receiving a target cup selection instruction sent by a user according to the acetabular fossa diameter;

The target cup information acquisition sub-module is specifically used for determining the target cup according to the target cup selection instruction and acquiring parameter information and installation position information of the target cup.

In one possible implementation manner, the collision result judging module includes:

the prosthesis collision judging submodule is specifically used for calculating the relative positions of the target cup and the femur corresponding to the behavior period and judging whether the target cup collides with the target femur or not;

the bone collision judging sub-module is specifically used for calculating the relative positions of the target cup and the femur corresponding to the behavior period and judging whether collision occurs between bones in the third three-dimensional model;

And the collision result judging sub-module is specifically used for determining that the behavioral cycle simulation result indicates collision when the target cup collides with the target femur and/or collision occurs between bones in the third three-dimensional model.

In one possible embodiment, the apparatus further comprises:

The device comprises a target cup preliminary adjustment module, a target cup initial adjustment module and a target cup initial adjustment module, wherein the target cup preliminary adjustment module is used for displaying a three-dimensional simulation view of the hip bone model;

The device comprises a target cup fine adjustment module, a first cup adjustment model, a second cup adjustment module, a third cup adjustment module, a fourth cup adjustment module and a fourth cup adjustment module, wherein the target cup fine adjustment module is used for displaying the CT section of the preliminary cup adjustment model, receiving a target cup fine adjustment instruction sent by a user through observing the CT section of the preliminary cup adjustment model, responding to the target cup fine adjustment instruction, and adjusting the position of the target cup in the preliminary cup adjustment model to obtain the first cup adjustment model;

The target cup position information acquisition module is used for acquiring the position information of the target cup in the first cup adjustment model and obtaining the installation position information of the target cup.

In one possible embodiment, the apparatus further comprises:

the target femur preliminary adjustment module is used for displaying a three-dimensional simulation view of the femur skeleton model, receiving a target femur preliminary adjustment instruction of a user, and responding to the target femur preliminary adjustment instruction, and placing the target femur in the femur skeleton model to obtain a preliminary femur adjustment model;

the target femur fine adjustment module is used for displaying the CT section of the preliminary femur adjustment model, receiving a target femur fine adjustment instruction sent by a user by observing the CT section of the preliminary femur adjustment model, responding to the target femur fine adjustment instruction, and adjusting the position of the target femur in the preliminary femur adjustment model to obtain a first femur adjustment model;

The target femur position information acquisition module is used for acquiring the position information of the target femur in the first femur adjustment model and obtaining the installation position information of the target femur.

In one possible embodiment, the apparatus further comprises:

and the rasping position display module is used for displaying the position of the acetabular fossa in the hip bone model, which needs rasping, according to the installation position information of the target acetabular cup.

In one possible embodiment, the apparatus further comprises:

the relative position calculation module is used for calculating the relative positions of the target cup and the femoral stem corresponding to the plurality of different behavioral periods;

And the behavior period simulation module is used for generating and displaying dynamic human models corresponding to the plurality of different behavior periods according to the relative positions of the target cup and the femur.

In one possible embodiment, the apparatus further comprises:

the cup angle calculation module is used for calculating the selectable angle range of the target cup according to the installation position information of the target cup to obtain a cup angle set to be detected;

and the cup angle display module is used for displaying the cup angle set to be detected at a preset interface of the client.

In a third aspect of the embodiments of the present application, there is provided an electronic device including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory perform communication with each other through the communication bus;

A memory for storing a computer program;

and the processor is used for realizing any one of the prosthetic joint collision detection method steps applied to the client when executing the program stored in the memory.

In yet another aspect of the present application, there is also provided a computer readable storage medium having stored therein a computer program which, when executed by a processor, implements any of the above-described methods for detecting a prosthetic joint collision.

The embodiment of the application has the beneficial effects that:

According to the prosthetic joint collision detection method, device, electronic equipment and storage medium provided by the embodiment of the application, the third three-dimensional model can be established through the acquired parameter information and installation position information of the target cup and the target femur, so that the behavior period selected by a user is simulated through the third three-dimensional model, and whether collision occurs between bones during human body movement after the prosthetic is installed is judged through the simulation result.

Of course, it is not necessary for any one product or method of practicing the application to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the application, and other embodiments may be obtained according to these drawings to those skilled in the art.

FIG. 1 is a flowchart of a method for detecting a prosthetic joint collision according to an embodiment of the present application;

FIG. 2 is a schematic diagram of human body coordinate system establishment according to an embodiment of the present application;

FIG. 3 is a schematic view of an acetabular coordinate system setup according to an embodiment of the application;

FIG. 4 is a schematic illustration of a femoral side coordinate system setup provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a collision behavior animation display provided by an embodiment of the present application;

FIG. 6 is a schematic diagram showing a collision result according to an embodiment of the present application;

FIG. 7 is a schematic view of an angle between a femoral neck and a central axis of a cup according to an embodiment of the present application;

FIG. 8 is a schematic view of a prosthetic joint collision detection device according to an embodiment of the present application;

Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.

In order to solve the technical problem of how to determine whether a collision occurs between bones when a human body moves after installing a prosthesis, in a first aspect of an embodiment of the present application, a method for detecting a collision of a prosthetic joint is provided, where the method is applied to a client, and includes the steps as shown in fig. 1:

Step S101, acquiring parameter information and installation position information of a target cup, and calculating a pre-established three-dimensional model of the hip bone model after installing the target cup according to the parameter information and the installation position information of the target cup to obtain a first three-dimensional model.

It should be noted that, the method of the embodiment of the present application is applied to a client, and in one example, the client may be an application program in an electronic device such as a mobile phone, a computer, a tablet computer, and the like.

The parameter information of the target cup is information indicating an attribute of the target cup, for example, the parameter information of the target cup may include prosthesis brand information to which the target cup belongs, specification information of the target cup, model information of the target cup, and the like. The installation position information of the target cup comprises the coordinate position of the target cup in a preset human model, and the anteversion angle and the abduction angle of the target cup. The pre-created hip bone model may be obtained by matching a three-dimensional model created from patient actual CT data with a pre-trained three-dimensional model.

The preset manikin is a manikin obtained by simulating a user according to actual related data of a patient. In one example, the preset phantom may be obtained by performing a simulation based on patient height, pelvic tilt, and other data while the patient is performing CT (Computed Tomography) scans. As shown in fig. 2, fig. 2 is a preset human model and a human coordinate system corresponding to a patient established when the patient photographs CT, wherein an X-axis is an in-and-out direction of the body, a Z-axis is an up-and-down direction, a Y-axis is a front-and-back direction, L represents a left-hand direction left of the human body, R represents a right-hand direction right of the human body, H represents a head direction head, F represents a foot direction feet of the human body, a chest direction anticoron of the human body, and P represents a back direction pasterior of the human body. In one example, the target cup mounting position information is (anteversion 15, abduction 45, at human (X ₁,Y₁,Z₁).

Step S102, acquiring parameter information and installation position information of a target femur, and calculating a three-dimensional image of a pre-created femur skeleton model after installing the target femur according to the parameter information and the installation position information of the target femur to obtain a second three-dimensional model.

The parameter information of the target femur may be the same type as the parameter information of the target cup, for example, the parameter information of the target femur may include prosthesis brand information to which the target femur belongs, specification information of the target femur, model information of the target femur, and the like. To ensure the fit of the target cup with the target femur, the target cup and target femur select the same prosthetic brand. In addition, the prosthesis joint further comprises two components, namely a liner and a femoral head, which are usually made of metal, titanium alloy, ceramic, high polymer materials and the like, the brand of the prosthesis joint is the same as that of a target cup and a target femur, the target cup and the target femur are respectively contacted and fixed with main bones of a patient, the femoral head and the liner form a friction interface of the hip joint, the target cup is arranged on the pelvis side of the hip joint in a preset human model, and the end part of the target femur, which is close to the side of the target cup, is provided with the femoral head.

The installation position information of the target femur includes the anteversion angle of the target femur and the coordinate position of the target femur in a preset manikin. The method of obtaining the pre-created femoral bone model may be the same as the method of obtaining the pre-created hip bone model. In practical applications, step S101 and step S102 may be performed out of order.

Step S103, creating a third three-dimensional model according to the first three-dimensional model and the second three-dimensional model.

Wherein the first three-dimensional model and the second three-dimensional model can be assembled to obtain a third three-dimensional model. And combining the hip bone model corresponding to the target cup with the femur bone model corresponding to the target femur to obtain a complete hip joint three-dimensional model.

Step S104, receiving the behavior period selected by the user, and simulating the behavior period through a third three-dimensional model.

The behavior period is a state which may occur in the life of the patient, and may include a static action or a dynamic action. For example, the behavior period selected by the user may be static state such as sitting, standing, or lying, or dynamic state such as standing to sitting, walking, bending, squatting to standing, bending over, turning around, going up and down stairs, crossing legs (raising the legs of the two-leg girls), etc.

In practical application, the client may display a commonly used behavior period on the client interface, and the user may trigger a selection instruction corresponding to the behavior period by clicking the behavior period to be selected. After receiving the behavior period selection instruction, the client performs three-dimensional simulation on the behavior period by calculating the relative positions of the target cup and the target femur. Wherein the relative position of the target cup and the target femur may be obtained by a motion capture system.

Step 105, judging whether collision occurs according to the behavior period simulation result.

In practical application, the collision of the prosthetic joint is not only the collision between the cup and the femur, but also the collision between the prosthetic joint and the bone of the patient, the collision between the bone of the patient, and the like. The user can judge whether the collision occurs or not by observing the behavior period simulation result.

By applying the method provided by the embodiment of the application, the third three-dimensional model can be established through the acquired parameter information and the installation position information of the target cup and the target femur, so that the behavior period selected by a user is simulated through the third three-dimensional model, and whether collision occurs between bones during human body movement after the prosthesis is installed is judged through the simulation result.

In practical application, the number of the to-be-selected mortar cups is large, and the client can acquire the parameter information and the installation position information of the target mortar cups according to the following steps:

and (1) obtaining the diameter of the acetabular fossa in the hip bone model.

After the hip bone model is created, the client may display the patient's acetabular fossa diameter based on the patient's CT data.

And (2) receiving a target cup selection instruction sent by a user according to the acetabular fossa diameter.

When a user selects a target cup according to the diameter of the acetabular fossa, the target cup can be selected according to parameter information of the cup to be selected, for example, specification information of the cup to be selected comprises the diameter of the cup to be selected, and the target cup is determined by matching the diameter of the cup to be selected with the diameter of the acetabular fossa. The user may trigger the target cup selection instruction by clicking a corresponding button of the target cup.

And (3) determining the target cup according to the target cup selection instruction and acquiring parameter information and installation position information of the target cup.

After receiving the target cup selection instruction, the client can determine the target cup from the cup to be selected through the parameter information of the target cup in the target cup selection instruction, so that the parameter information and the installation position information of the target cup are obtained.

According to the method, the acetabular fossa diameter in the hip bone model can be obtained, so that a user can determine the target acetabular cup through the acetabular fossa diameter, and further, a target acetabular cup selection instruction is sent to a client side, so that the client side can plan the target acetabular cup conveniently.

In one possible implementation, step S105 may be implemented by:

step I, calculating the relative positions of the target cup and the femur corresponding to the behavior period, and judging whether the target cup collides with the target femur or not;

Step II, calculating the relative positions of the target cup and the femur corresponding to the behavior period, and judging whether collision occurs between bones in the third three-dimensional model;

And III, determining that the behavioral cycle simulation result indicates collision when the target cup collides with the target femur and/or collision occurs between bones in the third three-dimensional model.

In practical applications, there are various situations of collision of the prosthesis, for example, collision of the target cup with the target femur, collision of the prosthetic joint composed of the target cup and the target femur with the patient's bone, collision between the patient's bones, and the like. The client simulates the behavior period, and a user can judge whether collision occurs or not by observing the behavior period simulation result. When at least one of the conditions of collision of the target cup and the target femur, collision of the prosthetic joint formed by the target cup and the target femur and the bone of the patient, collision of the bones of the patient and the like occurs, the selected behavior period is considered to collide with the prosthetic in the three-dimensional simulation process.

By applying the method provided by the embodiment of the application, the behavior period can be simulated to enable a user to judge a plurality of conditions through judging the behavior period result, and when any one of the collision between the target cup and the target femur and the collision between bones occurs, the behavior period result is considered to represent the collision, so that the user can conveniently adjust the target cup or the target femur to avoid the collision between bones when the human body moves after the prosthesis is installed.

In one possible implementation, the position of the target cup is planned first, so the method of the embodiment of the present application may further include the following steps:

step A, displaying a three-dimensional simulation view of the hip bone model, receiving a preliminary adjustment instruction of a target cup of a user, and placing the target cup in an acetabular fossa in the hip bone model in response to the preliminary adjustment instruction of the target cup to obtain a preliminary cup adjustment model.

The preliminary adjustment command of the target cup can be triggered in various modes. In one example, the cup placement model may be pre-trained via sample data, and the user may trigger the preliminary adjustment instruction of the target cup by merely clicking the corresponding placement button, and the client may directly place the target cup in the acetabular fossa of the hip bone model via the pre-trained cup placement model. In another example, the user may trigger the target cup preliminary adjustment command directly by dragging the target cup with a mouse, and the client places the target cup in the acetabular cup of the hip bone model in response to the position of the user's mouse movement.

And B, displaying the CT section of the preliminary cup adjustment model, receiving a target cup fine adjustment instruction sent by a user through observing the CT section of the preliminary cup adjustment model, and adjusting the position of the target cup in the preliminary cup adjustment model in response to the target cup fine adjustment instruction to obtain a first cup adjustment model.

The CT section of the preliminary cup adjusting model is a overlooking view angle of the preliminary cup adjusting model, so that a user can observe the position relationship between the target cup and the bone of the patient conveniently. In order to facilitate the observation of a user, the client can select different colors for displaying the bones of the patient and the target cup when displaying the CT section of the preliminary cup adjustment model. During fine adjustment, a user can trigger a target cup fine adjustment instruction through a direction key, and also can trigger the target cup fine adjustment instruction through a mode of keying in a direction and displacement.

In order to facilitate the user to finely adjust the position of the target cup, the client can display the physiological rotation center of the patient and the spherical center of the target cup, and the user adjusts the spherical center of the target cup to be fit with the physiological rotation center of the patient as much as possible. The obtaining of the spherical center of the target cup may be selecting a plurality of characteristic points of the target cup, performing fitting through the plurality of characteristic points to obtain a fitting sphere, and taking the spherical center of the fitting sphere as the spherical center of the target cup.

In one example, the human body coordinate system shown in fig. 2 is translated to obtain an acetabular coordinate system, as shown in fig. 3, an origin O ₁ point of the acetabular coordinate system is a physiological rotation center of a patient, namely, an anatomical rotation center, an X axis is an in-out direction of a body, a Z axis is an up-down direction, a Y axis is a front-back direction, an origin of the acetabular cup coordinate system is an O ₂ point, namely, a spherical center of a target acetabular cup, and the directions are the same. The user can adjust by the arrow key such that the O ₂ point is close to the O ₁ point.

And C, acquiring the position information of the target cup in the first cup adjustment model to obtain the installation position information of the target cup.

By the method, the installation position of the target cup can be more attached to the acetabular fossa of a patient by performing preliminary adjustment and fine adjustment on the position of the target cup, so that the possibility of collision between bones during human body movement after the prosthesis is installed later is reduced.

In one possible implementation, the position of the target femur also needs to be planned, so the method of the embodiment of the present application may further include the following steps:

step a, displaying a three-dimensional simulation view of a femur skeleton model, receiving a target femur preliminary adjustment instruction of a user, and placing the target femur in a femur in the femur skeleton model in response to the target femur preliminary adjustment instruction to obtain a preliminary femur adjustment model.

And b, displaying the CT section of the preliminary femur adjustment model, receiving a target femur fine adjustment instruction sent by a user through observing the CT section of the preliminary femur adjustment model, and adjusting the position of the target femur in the preliminary femur adjustment model in response to the target femur fine adjustment instruction to obtain a first femur adjustment model.

And c, acquiring the position information of the target femur in the first femur adjustment model to obtain the installation position information of the target femur.

Wherein the preliminary and fine adjustment steps of the target femur are similar to the adjustment steps of the target cup. In one example, the human body coordinate system shown in fig. 2 is translated to obtain a femoral side coordinate system, as shown in fig. 4, the origin O ₃ of the femoral coordinate system is the physiological rotation center of the femoral head, the X axis is the body inner-outer direction, the Z axis is the up-down direction, the Y axis is the front-back direction, and the origin of the femoral stem coordinate system is the prosthesis rotation center O ₄ point in the same direction. The user can adjust by the arrow key such that the O ₄ point is close to the O ₃ point.

By the method, the position of the target femur can be adjusted preliminarily and finely, so that the installation position of the target femur is more attached to the thigh bones of a patient, and the possibility of collision between bones during human body movement after the prosthesis is installed is reduced.

In a possible implementation manner, after step S101, the method according to the embodiment of the present application may further include the following steps:

Because of the physiological structure of the human body, the acetabular fossa is not perfectly semicircular, and therefore, in order to enable the acetabular fossa to place a target cup, it is necessary to file a partial area of the acetabular fossa. In one example, the client may calculate an overlapping region of the acetabular cup and the target cup according to the installation position information and the parameter information of the target cup, and display the overlapping region with a different color from that of the target cup and the bone of the patient, where the overlapping region is a portion to be rasped.

By applying the method provided by the embodiment of the application, the part needing to be rasped in the acetabular fossa can be displayed, so that a user provides a reference range for rasping, and the experience of the user is improved.

In one possible implementation, the behavior period is a behavior period including a plurality of different poses, and after step S104, the embodiment of the present application may further include the following steps:

and 1, calculating the relative positions of the target cup and the femoral stem corresponding to a plurality of different behavioral periods.

And 2, generating and displaying a plurality of dynamic human models corresponding to different behavioral periods according to the relative positions of the target cup and the femur.

In practical applications, a patient may have a plurality of different behavior cycles, and thus, dynamic simulation of the plurality of different behavior cycles is required to avoid the patient from causing a prosthesis collision due to a replacement action. In one example, the client may display each behavior cycle, for example, the behavior cycle 1 to the behavior cycle 3, the user selects the behavior cycle by clicking, and after receiving the behavior cycle selected by the user, the client may calculate, according to the installation positions of the target cup and the target femur in the preset manikin, the relative positions of the target cup and the femoral stem to perform 3D simulation, so as to obtain a dynamic manikin corresponding to the behavior cycle.

In one example, after the client receives the behavior period selected by the user as the squatting behavior period, the relative position of the target cup and the femoral stem in the behavior period is calculated, and the squatting dynamic human model is obtained and displayed in a 3D simulation mode, so that the user can observe the movement process of the human model from squatting to standing on the display interface. Secondly, the user clicks each behavior period in turn, and the client performs 3D simulation on each behavior period according to the method to obtain a dynamic human model corresponding to each behavior period.

In yet another example, the cycle of behavior includes a standing-to-sitting posture, a walking posture, a bowing posture, a squating-to-standing posture, a bending posture, a turning posture, a stair climbing posture, a cross leg posture. And calculating the relative positions of the target cup and the femoral stem corresponding to each of the 8 behavioral periods, and performing 3D simulation on each behavioral period to obtain a dynamic human model corresponding to each behavioral period.

By applying the method provided by the embodiment of the application, each behavior period can be dynamically simulated, so that a dynamic human body model is obtained when a patient moves in different postures, and a user can observe the dynamic human body model to judge whether the prosthetic joint is suitable for each movement state of the patient.

In a possible implementation manner, before receiving the behavior period selected by the user, the method of the embodiment of the present application may further include the following steps:

The preset behavior period refers to a behavior period in which an animation effect needs to be displayed in advance. The user may select the preset behavior period by moving the mouse to the region of the client interface where the behavior period is located. In one example, when the user moves the cursor of the mouse to the action cycle 1, the action cycle 1 is considered to be a preset action cycle, and the preset action cycle display instruction is triggered. When the user clicks the mouse to select the behavior period, the behavior period selection instruction can be triggered.

When the animation corresponding to the preset behavior period is displayed, 3D simulation can be performed on the preset behavior period according to the relative position of the target cup and the femoral stem corresponding to the preset behavior period, so that the animation corresponding to the preset behavior period is obtained. In one example, each behavior period name is displayed in an area a, located at a left side of the client interface, a dynamic manikin is displayed in an area B, located at a right side of the area a, and an animation of a preset behavior period appears above the behavior period name display area in the form of a small window. When the corresponding cursor of the mouse falls at the action period 1, the preset action period is the action period 1, and correspondingly, the animation display of the action period 1 is carried out in the area above the action period 1.

By applying the method provided by the embodiment of the application, the animation effect of the behavior period can be displayed before the user selects the behavior period, so that the experience of the user is improved.

In a possible implementation manner, after step S105, the method of the embodiment of the present application may further include:

and aiming at any preset behavior period, if the behavior period simulation result shows that a collision occurs, playing an animation corresponding to the collision behavior, wherein the animation corresponding to the collision behavior comprises a collision part and behavior. .

In practical application, a behavior period simulation result can be obtained by calculating the relative positions of the target cup and the femoral stem for 3D simulation, when the behavior period simulation result indicates that the target cup collides with the target femur and/or the patient bones collide with each other, the position where the collision occurs can be marked and displayed, and meanwhile, animation corresponding to the collision behavior, including the collision position and behavior, is played. So that the user can observe the collision result better. When marking the mark gesture corresponding to the action period of collision, marking the action period can be completed by adding mark display, and marking the action period can also be completed by marking different colors. As shown in fig. 5, when the animation corresponding to the collision behavior is played, the user may also perform a related operation on the prosthetic joint in the operation list display area by observing the animation corresponding to the behavior period to adjust the position of the prosthetic joint.

In one example, the display of exclamation marks is added to the corresponding behavior period of the collision to indicate that the prosthetic joint collides under the behavior period, and after the user selects the behavior period, the structure of the collision is displayed, as shown in fig. 6. In practical application, different structures can be displayed in different colors, so that the collision result can be conveniently observed.

By applying the method provided by the embodiment of the application, the animation playing can be carried out on the action period corresponding to the collision, so that a user can more intuitively acquire the action period corresponding to the collision, and the position of the target cup can be adjusted according to the collision result, so that the prosthetic joint is more suitable for various life states of a patient.

In a possible implementation manner, after step S103, the method of the embodiment of the present application may further include the following steps:

According to the installation position information of the target cup, calculating the selectable angle range of the target cup to obtain a cup angle set to be detected.

In order to ensure that the selected cup angle to be detected better conforms to the living state of the patient, the selected angle range of the target cup can be obtained by calculating and then taking the intersection in various modes. For example, a Japanese algorithm is adopted to calculate a first target cup angle set for avoiding collision between a target cup and a target femur in a prosthetic joint, a Zhou Yixin paper algorithm is adopted to calculate a second target cup angle set for avoiding dislocation of the prosthetic joint, a third target cup angle set is determined according to traditional experience of doctors, and an intersection of the first target cup angle set, the second target cup angle set and the third target cup angle set is taken as a cup angle set to be detected. When calculating the cup angle, whether the cup angle collides under each action period needs to be calculated, taking the calculation of the first target cup angle set as an example, the first target cup angle set can be calculated through the following steps:

And step one, acquiring parameter information and installation position information of the target cup.

The installation position information comprises an initial cup angle of the target cup, wherein the initial cup angle comprises an initial cup rake angle and an initial cup abduction angle.

And step two, calculating a first cup angle set for avoiding collision between pelvis and femur in a preset human model according to the parameter information of the target cup.

In practical applications, calculating the first set of cup angles may be accomplished by a corresponding bone collision detection algorithm. In one example, after obtaining the parameter information and the installation position information of the target cup and the target femur, the prosthesis, the pelvis, and the operation side femur are combined according to the planning information to obtain a unified coordinate system. In the coordinate system, the pelvis is kept still all the time, after the operation side femur rotates around the center of the femoral head to a designated angle, whether the operation side femur collides with the pelvis or not is calculated, and the collision is detected based on the intersection of the patches of the STL (STereoLithography ) model, so that a detection result corresponding to the initial cup angle is obtained. According to the coordinate system shown in fig. 2, 3 and 4, after the operation side femur is rotated around the center of the femoral head to a specified angle, it is calculated whether the operation side femur collides with the pelvis at this time.

And taking the initial cup angle as a starting point, increasing or decreasing by 1 degree each time to obtain a new cup angle, and repeating the steps to calculate a detection result corresponding to the new cup angle. And finally, obtaining a detection result corresponding to each cup angle, and combining the cup angles corresponding to the detection result which indicates that the pelvis and the femur do not collide in the preset human model into a set to obtain a first cup angle set.

And thirdly, calculating a second cup angle set for avoiding collision between the target cup and the target femur in the prosthetic joint according to the initial cup angle.

In the calculation of the prosthetic joint, the target cup and the target femur can also be calculated by a Japanese algorithm. In one example, the impingement of the target cup with the target femur can be translated into a comparison of the included angle between the femoral neck and the cup central axis. Referring to fig. 7, part a represents a femoral head, part B represents a cup or liner, part C is a femoral neck, R1 is a femoral head radius, and R2 is a femoral neck radius. Then it can be calculated whether the target cup collides with the target femur by:

Step ①, calculating a prosthesis rom (Range of motion, joint mobility).

In one example, the calculation may be performed by the following formula:

Wherein θ represents the angular range of motion of the target femur, a represents the cross section of the femoral head, r _head represents the femoral head diameter, and r _neck represents the femoral neck diameter.

And ②, converting the human body motion into rotation of the femoral neck under a cup coordinate system.

In one example, the human motion can be converted to rotation of the femoral neck in the cup coordinate system by the following formula.

Wherein R _{femur2pelvis,n} represents a rotation coefficient from a femur coordinate system to a pelvic bone coordinate system, R _pelvis2body represents a rotation coefficient from a pelvis coordinate system to a body coordinate system, R _leg2body,n represents a rotation coefficient from a leg coordinate system to a body coordinate system, R _femur2leg represents a rotation coefficient from a femur coordinate system to a body coordinate system, R _X represents a preset rotation matrix along an x-axis, R _Y represents a preset rotation matrix along a y-axis, R _Z represents a preset rotation matrix along a z-axis, R _{neck2cup,n,φincl,φant} represents a rotation coefficient from a femoral neck coordinate system to a cup coordinate system, R _{cup2pelvis,φincl,φant} represents a rotation coefficient from a cup coordinate system to a pelvic bone coordinate system, R _neck2femur represents a rotation coefficient from a femoral neck coordinate system to a femoral coordinate system, phi _tilt represents a preset rotation angle, phi _incl represents a pretilt angle, phi _ant represents an abduction angle, phi _stemFlex represents a bending angle, phi _antetorsion represents a twist angle, phi _CCD represents a preset angle, and phi _stemAdd represents a neck addition angle.

And ③, calculating the included angle between the current femur neck and the central axis of the cup.

Where ρ _{n,φincl,φant} represents the characteristic angle and R ₁₁、R₁₂、R₁₃、R₂₁、R₂₂、R₂₃、R₃₁、R₃₂、R₃₃ is an element of the matrix.

And ④, judging whether the current angle exceeds rom, and judging that collision occurs after the current angle exceeds rom.

Where d _min(φ_incl,φ_ant) represents the minimum of the rake and abduction angles calculated by the min dn function.

And (fourth), calculating an intersection of the first cup angle set and the second cup angle set to obtain a first target cup angle set.

And secondly, displaying the to-be-detected cup angle set at a preset interface of the client.

In practical application, the client can display the cup angle set to be detected, and when a user selects a target cup angle, the user can view the cup angle set to be detected on a display interface of the cup angle set to be detected through a cursor, and then select the cup angle set to be detected. In one example, the client displays the set of angles of the to-be-detected cup in a coordinate system, wherein the horizontal axis represents the abduction angle of the cup, the vertical axis represents the anteversion angle of the cup, when the cursor moves to a certain angle of the to-be-detected cup, the client can display a value corresponding to the angle of the to-be-detected cup, and after determining that the angle of the to-be-detected cup is the target cup angle to be selected, the user can confirm the target cup angle to be selected in a clicking manner.

The to-be-detected cup angle set and the dynamic human model can be displayed on the client interface at the same time, after the to-be-detected cup angle selected by a user from the to-be-detected cup angle set display interface is received, 3D simulation is carried out on the to-be-detected cup angle, and the dynamic human model corresponding to the to-be-detected cup angle is displayed on the client interface. In practical application, the angle display interface of the to-be-detected cup or the dynamic human model display interface can be properly amplified and displayed, for example, when a user pays more attention to the motion simulation process of the prosthetic joint under the action cycle, the dynamic human model display can be amplified and displayed, and when the user pays more attention to the angle selection range of the target cup, the angle display interface of the to-be-detected cup can be amplified and displayed, wherein the angle display interface of the to-be-detected cup and the dynamic human model display interface can be mutually switched for the user to select the page size according to the self requirement.

By applying the method provided by the embodiment of the application, the calculation of the angles of the to-be-detected cups can be realized through an algorithm in advance, and the angles of the to-be-detected cups are displayed on the client interface in a set manner, so that a user can select the angles of the to-be-detected cups more intuitively through the client interface.

In a second aspect of the embodiment of the present application, there is provided a prosthetic joint collision detection apparatus, which is applied to a client, including the structure as shown in fig. 8:

The target cup installation module 801 is used for acquiring parameter information and installation position information of a target cup, calculating a three-dimensional model of a pre-created hip bone model after installing the target cup according to the parameter information and the installation position information of the target cup, and obtaining a first three-dimensional model;

The target femur installation module 802 is used for acquiring parameter information and installation position information of a target femur, calculating a three-dimensional image of a pre-created femur skeleton model after installing the target femur according to the parameter information and the installation position information of the target femur, and obtaining a second three-dimensional model;

A third three-dimensional model creation module 803 for creating a third three-dimensional model from the first three-dimensional model and the second three-dimensional model;

the behavior period simulation module 804 is configured to receive a behavior period selected by a user;

and a collision result judging module 805, configured to judge whether a collision occurs according to the behavioral cycle simulation result.

In one possible implementation, the behavior period simulation module includes:

The behavior period selection instruction receiving module is specifically used for receiving a behavior period selected from a plurality of preset behavior periods, wherein the plurality of preset behavior periods comprise a standing-to-sitting posture, a walking posture, a bending posture, a squatting-to-standing posture, a bending posture, a turning posture, a stair climbing posture and a crossing leg posture.

In one possible embodiment, the apparatus further comprises:

In one possible embodiment, the target cup mounting module comprises:

the acetabular fossa diameter acquisition submodule is particularly used for acquiring the acetabular fossa diameter in the hip bone model;

The target cup selection instruction receiving sub-module is specifically used for receiving a target cup selection instruction sent by a user according to the diameter of the acetabular fossa;

the target cup information acquisition sub-module is specifically used for determining a target cup according to a target cup selection instruction and acquiring parameter information and installation position information of the target cup.

In one possible embodiment, the collision result judging module includes:

the collision result judging sub-module is specifically configured to determine that the behavioral cycle simulation result indicates collision when the target cup collides with the target femur and/or collision occurs between bones in the third three-dimensional model.

In one possible implementation manner, the device of the embodiment of the present application further includes:

The device comprises a target cup fine adjustment module, a first cup adjustment model, a second cup adjustment module, a third cup adjustment module and a fourth cup adjustment module, wherein the target cup fine adjustment module is used for displaying the CT section of the preliminary cup adjustment model and receiving a target cup fine adjustment instruction sent by a user by observing the CT section of the preliminary cup adjustment model;

the target femur fine adjustment module is used for displaying the CT section of the preliminary femur adjustment model, receiving a target femur fine adjustment instruction sent by a user through observing the CT section of the preliminary femur adjustment model, responding to the target femur fine adjustment instruction, and adjusting the position of the target femur in the preliminary femur adjustment model to obtain a first femur adjustment model;

the relative position calculation module is used for calculating the relative positions of the target cup and the femur stem corresponding to a plurality of different behavioral periods;

And the behavior period simulation module is used for generating and displaying a plurality of dynamic human models corresponding to different behavior periods according to the relative positions of the target cup and the femur.

By applying the device provided by the embodiment of the application, the parameter information and the installation position information of the target cup and the target femur can be obtained, and a third three-dimensional model is established, so that the behavior period selected by a user is simulated through the third three-dimensional model, and whether collision occurs between bones during human body movement after the prosthesis is installed is judged through the simulation result.

The embodiment of the present application also provides an electronic device, as shown in fig. 9, including a processor 901, a communication interface 902, a memory 903, and a communication bus 904, where the processor 901, the communication interface 902, and the memory 903 perform communication with each other through the communication bus 904,

A memory 903 for storing a computer program;

the processor 901 is configured to execute a program stored in the memory 903, and implement the following steps:

according to the parameter information and the installation position information of the target cup, calculating a pre-established three-dimensional model of the hip bone model after the target cup is installed, so as to obtain a first three-dimensional model;

calculating a three-dimensional image of the pre-established femur bone model after the target femur is installed according to the parameter information and the installation position information of the target femur to obtain a second three-dimensional model;

Receiving a behavior period selected by a user, and simulating the behavior period through a third three-dimensional model;

The communication bus mentioned above for the electronic device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The Processor may be a general-purpose Processor including a central processing unit (Central Processing Unit, CPU), a network Processor (Network Processor, NP), etc., or may be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.

By applying the electronic equipment provided by the embodiment of the application, the installation position of the target cup in the human body model can be determined through the target cup angle input by the user, and whether the target cup collides with the femoral neck of the femoral stem or not under the action period selected by the user corresponding to the position is calculated, so that whether the prosthetic joint collides in the human body or not is determined. And the user can obtain the collision results of the prosthetic joint of the patient under different actions by selecting different behavior periods, so that the placement position of the prosthetic joint can be adjusted according to the collision results, and the applicability of the prosthetic joint is improved.

In yet another embodiment of the present application, there is also provided a computer readable storage medium having stored therein a computer program which, when executed by a processor, implements the steps of any of the prosthetic joint collision detection methods described above.

In yet another embodiment of the present application, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the prosthetic joint collision detection methods of the above embodiments.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk Solid STATE DISK (SSD)), etc.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus, electronic device, storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and references to the parts of the description of the method embodiments are only needed.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method of prosthetic joint collision detection, the method being applied to a client, the method comprising:

2. The method of claim 1, wherein the receiving the user-selected behavior period comprises:

3. The method of claim 2, wherein prior to the receiving the user selected behavioral period, the method further comprises:

4. A method according to claim 3, wherein after said determining whether a collision has occurred based on the result of the behavioral cycle simulation, the method further comprises:

5. The method of claim 1, wherein the obtaining parameter information and mounting position information of the target cup comprises:

obtaining an acetabular socket diameter in the hip bone model;

6. The method of claim 1, wherein the determining whether a collision occurs based on the behavioral cycle simulation result comprises:

7. The method of claim 1, wherein prior to obtaining the parameter information and the installation position information for the target cup, the method further comprises:

8. The method of claim 1, wherein prior to the obtaining the parameter information and the installation location information of the target femur, the method further comprises:

9. The method of claim 1, wherein the calculating the pre-created three-dimensional model of the hip bone model after installing the target cup based on the parameter information and the installation position information of the target cup, and after obtaining the first three-dimensional model, further comprises:

10. The method of claim 1, wherein the behavioral cycle comprises a behavioral cycle of a plurality of different actions, the method further comprising, after simulating the behavioral cycle by the third three-dimensional model:

11. The method of claim 1, wherein after creating a third three-dimensional model from the first three-dimensional model and the second three-dimensional model, the method further comprises:

12. A prosthetic joint collision detection apparatus, the apparatus being applied to a client, the apparatus comprising:

13. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

A memory for storing a computer program;

A processor for carrying out the method steps of any one of claims 1-11 when executing a program stored on a memory.

14. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-11.