CN113332008B - Method and system for determining length of femur in hip arthroplasty - Google Patents

Method and system for determining length of femur in hip arthroplasty Download PDF

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CN113332008B
CN113332008B CN202110563695.4A CN202110563695A CN113332008B CN 113332008 B CN113332008 B CN 113332008B CN 202110563695 A CN202110563695 A CN 202110563695A CN 113332008 B CN113332008 B CN 113332008B
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patient
length
relative distance
femoral
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CN113332008A (en
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范衠
谢敏冲
宁为博
陈添善
胡军
陈洪江
容毅标
黄文宁
蔡堉伟
朱家祺
朱智健
张炯
许宏武
张建军
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Shantou University
First Affiliated Hospital of Shantou University Medical College
Shantou University Medical College
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First Affiliated Hospital of Shantou University Medical College
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    • A61F2/02—Prostheses implantable into the body
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    • A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
    • A61F2/4607—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of hip femoral endoprostheses
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
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    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4657—Measuring instruments used for implanting artificial joints
    • A61F2002/4658—Measuring instruments used for implanting artificial joints for measuring dimensions, e.g. length

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Abstract

The invention relates to the technical field of medical information processing, in particular to a method and a system for determining the length of a femur in hip arthroplasty, wherein the method comprises the following steps: acquiring a normal leg CT image obtained by CT scanning the leg of a normal leg of a patient, and determining the length of the leg of the patient according to the normal leg CT image so as to determine the length of the femoral neck prosthesis; respectively carrying out space positioning on the highest point of a femoral ball and a osteotomy surface of a leg part implanted with the femoral neck prosthesis by adopting an optical sensor so as to determine a first relative distance between the highest point of the femoral ball and the osteotomy surface in real time; respectively carrying out space positioning on the anterior superior iliac spine and the sole of the leg implanted with the femoral neck prosthesis by adopting an optical sensor so as to determine a second relative distance between the anterior superior iliac spine and the sole in real time; and finally, determining the length of the femoral head prosthesis implanted in the leg of the patient so that the second relative distance and the length of the leg of the patient are within the allowable deviation range, and effectively improving the accuracy and speed of the length of the femoral neck in the hip arthroplasty.

Description

Method and system for determining length of femur in hip arthroplasty
Technical Field
The invention relates to the technical field of medical information processing, in particular to a method and a system for determining the length of a femur in hip arthroplasty.
Background
Total-hip-arthroplasty (THA) is a method for replacing a prosthetic hip joint with a diseased or damaged articular surface, femoral head and acetabulum by using an operation method so as to achieve the effects of removing a focus, eliminating pain, recovering the original functions of a joint and the like, and is widely suitable for treating hip joint diseases such as ankylosis, femoral head necrosis, osteoarthritis, rheumatoid arthritis and the like. The bone mass of humans decreases with age, the elderly are high-incidence populations of hip joint disease, and total hip replacement is one of the most common methods for treating hip joint related diseases. With the increasing aging of China, the demand for artificial total hip replacement will increase.
In the process of performing the artificial total hip joint operation, the selection of the femoral head prosthesis with the proper length is the key for successful operation, and the artificial prosthesis with the reasonable size reduces the condition that the two lower limbs are not equal in length after the operation, thereby being beneficial to improving the satisfaction degree of a patient on the operation. Traditional artificial total hip replacement surgery is susceptible to treatment effects due to mismatching of selected prostheses.
In the prior art, one is to design a measuring instrument to measure the length of the eccentricity, and the eccentricity is directly measured by the instrument after the femoral head is cut off to determine the size of the prosthesis. However, because of the limited exposure of the replacement area and the deep location of the affected part in total hip replacement surgery, this type of measurement instrument cannot accurately measure the femoral head length, and such a configuration also does not facilitate accurate reading of the length data by the surgeon.
Another method is to construct a mechanical measuring device by using the traditional mechanical principle, use the resected femoral head in the operation for measurement, and restore the original length of the patient by using the measured data. However, in a patient who usually needs a total hip replacement operation, the femoral head and the acetabulum of the patient are seriously deformed, so that the problem of long and short legs of the patient is very likely to occur before the operation, and the method only measures in a stereotypy and cannot really guide a doctor how to select a proper prosthesis.
The method is also used for measuring the size of the femoral head before the operation by utilizing a three-dimensional reconstruction method, the operation steps of the method are complicated, the three-dimensional modeling by means of information obtained by X-rays and binocular cameras is influenced by factors such as imaging quality, shooting angles and the like, and meanwhile, the data can only be used as reference in the operation and cannot provide much help for doctors.
Disclosure of Invention
The present invention is directed to a method and system for determining the length of a femur in hip replacement surgery to address one or more of the technical problems of the prior art and to provide at least one useful choice or creation.
In order to achieve the purpose, the invention provides the following technical scheme:
a method of determining the length of a femur in a hip arthroplasty, the method comprising the steps of:
s100, acquiring a CT image of a normal leg obtained by CT scanning of the leg of the normal leg of a patient, and determining the length of the leg of the patient according to the CT image of the normal leg so as to determine the length of the femoral neck prosthesis;
step S200, respectively carrying out space positioning on the highest point of the femoral ball of the leg part implanted with the femoral neck prosthesis and the osteotomy surface by adopting an optical sensor so as to determine a first relative distance between the highest point of the femoral ball of the leg part of the patient and the osteotomy surface in real time;
step S300, respectively carrying out space positioning on the anterior superior iliac spine and the sole of the leg implanted with the femoral neck prosthesis by adopting an optical sensor so as to determine a second relative distance between the anterior superior iliac spine and the sole of the leg of the patient in real time;
step S400, determining the length of the femoral head prosthesis implanted in the leg of the patient, so that the second relative distance and the length of the leg of the patient are within an allowable deviation range.
Further, the step S200 includes:
after the operation of implanting the femoral neck prosthesis is completed, calculating the spatial position of an optical positioning ball captured by an optical positioning sensor according to the image data of the leg of the patient, which is acquired in the operation by the plurality of cameras, and determining a first relative distance from the highest point of the femoral ball of the leg implanted with the femoral neck prosthesis to the osteotomy surface according to the spatial position of the optical positioning ball;
the plurality of cameras and the optical positioning sensor are deployed above an operating table, and the optical positioning ball is attached to the iliac part of the patient.
Further, the step S300 includes:
in the operation process of implanting the femoral neck prosthesis, the spatial position of the optical positioning ball captured by the optical positioning sensor is calculated according to the image data of the leg of the patient obtained by the plurality of cameras in the operation, and the second relative distance between the anterior superior iliac spine and the sole of the leg implanted with the femoral neck prosthesis is determined according to the spatial position of the optical positioning ball.
Further, the first relative distance is determined by;
obtaining the space coordinate of the highest point of the femur ball determined by the optical locating ball at the probe end in the optical locating sensor
Figure BDA0003079936390000021
Spatial coordinates of the osteotomy plane
Figure BDA0003079936390000022
The first relative distance C1 between the apex of the femoral ball and the osteotomy face is calculated by the following equation:
Figure BDA0003079936390000023
further, the second relative distance is determined by the following formula;
Figure BDA0003079936390000024
wherein the content of the first and second substances,
Figure BDA0003079936390000025
is the space coordinate of the superior iliac spine,
Figure BDA0003079936390000026
is the spatial coordinate of the sole, and l is the second relative distance between the superior iliac spine and the sole.
A computer-readable storage medium having stored thereon a program for determining the length of a femur in hip arthroplasty, the program for determining the length of a femur in hip arthroplasty implementing the steps of the method for determining the length of a femur in hip arthroplasty as claimed in any one of the preceding claims when executed by a processor.
A system for determining the length of a femur in a hip arthroplasty, the system comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the method of determining the length of a femur in a hip arthroplasty as described in any one of the preceding paragraphs.
The invention has the beneficial effects that: the invention discloses a method and a system for determining the length of a femur in hip joint replacement, which can quickly and accurately measure the length of a femoral neck in the hip joint replacement, assist a doctor in making operation decisions, enable the doctor to select a proper femoral head prosthesis model for a patient according to the data of the femoral neck length, reduce artificial subjective judgment errors and improve the placement precision of replacement prostheses; in order to improve the space measurement precision, the invention uses the optical sensor to carry out positioning and utilizes space coordinate transformation to measure the length of the femoral ball and the osteotomy surface. The invention can effectively improve the precision and speed of the length of the femoral neck in the hip joint replacement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a method for determining the length of a femur in hip arthroplasty according to an embodiment of the present invention;
FIG. 2 is a schematic view of optical labeling of a probe in an embodiment of the present invention;
FIG. 3 is a schematic representation of a first relative distance after implantation in the intramedullary canal in an embodiment of the present invention.
Detailed Description
The conception, specific structure and technical effects of the present application will be described clearly and completely with reference to the following embodiments and the accompanying drawings, so that the purpose, scheme and effects of the present application can be fully understood. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, fig. 1 shows a method for determining a length of a femur in hip arthroplasty according to an embodiment of the present application, the method comprising the following steps:
s100, acquiring a CT image of a normal leg obtained by CT scanning of the leg of the normal leg of a patient, and determining the length of the leg of the patient according to the CT image of the normal leg so as to determine the length of the femoral neck prosthesis;
in this embodiment, before the operation, the femoral medullary cavity is scanned by multi-layer spiral CT to obtain a two-dimensional image of the femoral medullary cavity, three-dimensional reconstruction is completed by medical image software, and the inner diameter of the femoral medullary cavity and the maximum depth that the femoral medullary cavity can be inserted into are measured. And determining the proper acetabulum and femoral head prosthesis according to the comparison between the three-dimensional image obtained by the acetabulum three-dimensional reconstruction and the three-dimensional image of the normal leg. Determining the model of the prosthesis matched with the leg of the patient according to parameters such as the femoral head, the acetabulum, the inner diameter of a femoral medullary cavity, the length of a femoral neck, the maximum depth capable of being inserted into the medullary cavity and the like of the patient, using the prosthesis as the prosthesis implanted into the leg of the patient during operation, planning the leg of the patient after the prosthesis is implanted, and selecting an ideal prosthesis implantation scheme.
Step S200, respectively carrying out space positioning on the highest point of the femoral ball of the leg part implanted with the femoral neck prosthesis and the osteotomy surface by adopting an optical sensor so as to determine a first relative distance between the highest point of the femoral ball of the leg part of the patient and the osteotomy surface in real time;
step S300, respectively carrying out space positioning on the anterior superior iliac spine and the sole of the leg implanted with the femoral neck prosthesis by adopting an optical sensor so as to determine a second relative distance between the anterior superior iliac spine and the sole of the leg of the patient in real time;
step S400, determining the length of the femoral head prosthesis implanted in the leg of the patient, so that the second relative distance and the length of the leg of the patient are within an allowable deviation range.
It should be noted that, during the operation, the selected femoral neck prosthesis is implanted into the medullary cavity after the osteotomy, and according to the actual condition of the medullary cavity, the femoral stem depth inserted into the medullary cavity may be different from the preoperative plan. Therefore, the leg of the patient needs to be detected in real time in the operation, the processing is carried out according to the actual situation, after the operation of implanting the femoral neck prosthesis is completed, the first relative distance between the highest point of the femoral ball of the leg of the patient and the osteotomy surface is determined in real time, the difference value between the length of the leg of the patient and the first relative distance is used as the basis for primarily determining the size of the femoral head prosthesis, and the difference generated in the actual operation is compensated by selecting the femoral head prosthesis in the proper range. During the operation process of implanting the femoral head prosthesis, the second relative distance is determined in real time and is used as the length of a leg for replacement operation, the length of the leg of the patient is compared with the second relative distance, the length of the femoral head prosthesis is continuously adjusted, and the second relative distance and the length of the leg of the patient are enabled to be within an allowable deviation range, namely the lengths of the two legs after the operation are ensured to be within the allowable deviation range.
In this embodiment, the femoral neck prosthesis can be used as a main factor for matching the length of the leg of the patient, the femoral head is used for further fine adjustment of the length of the leg of the patient, the difference generated in the actual operation is made up by the femoral head prosthesis, the second relative distance is used as the length of the leg of the patient after the prosthesis is implanted, and the length of the femoral head prosthesis implanted in the leg of the patient is finally determined by continuous adjustment, so that the lengths of the two legs of the patient after the operation are maintained within the allowable deviation range.
When measuring the femoral neck length of a patient in an operation, a mechanical appliance is adopted in the traditional method, and the mechanical appliance has no universality in measurement and is relatively complex to operate; even most doctors in actual operations select the model of the femoral head prosthesis according to their own experience level, and whether the model of the femoral head prosthesis is reasonable or not is judged after the prosthesis is integrally installed and measured. The invention carries out the space positioning of the mark points on the legs of the patient based on the optical sensor, and has the advantages of accurate and timely measurement result, simple and efficient measurement operation and real-time data visualization.
In a preferred embodiment, the step S200 includes:
after the operation of implanting the femoral neck prosthesis is completed, calculating the spatial position of an optical positioning ball captured by an optical positioning sensor according to the image data of the leg of the patient, which is acquired in the operation by the plurality of cameras, and determining a first relative distance from the highest point of the femoral ball of the leg implanted with the femoral neck prosthesis to the osteotomy surface according to the spatial position of the optical positioning ball;
the plurality of cameras and the optical positioning sensor are deployed above an operating table, and the optical positioning ball is attached to the iliac part of the patient.
In a preferred embodiment, the step S300 includes:
in the operation process of implanting the femoral neck prosthesis, the spatial position of an optical positioning ball captured by an optical positioning sensor is calculated according to the image data of the leg of the patient, which is acquired in the operation process by the plurality of cameras, and the second relative distance between the anterior superior iliac spine and the sole of the leg implanted with the femoral neck prosthesis is determined according to the spatial position of the optical positioning ball.
In some embodiments, the spatial position of the optical location ball is calculated from the acquired image data by deploying a plurality of cameras and optical location sensors (motion capture, NDI optical navigator, etc.) over the operating table and attaching the optical location ball to the iliac region of the patient, capturing the optical location ball using the optical location sensors. The posture of the model of the rigid body formed by the optical positioning balls is calculated based on a vision system by combining a computer vision technology and an image recognition technology, so that the posture change condition of the patient is known. The optical positioning ball has an optical positioning function and can capture a spatial position by an optical positioning sensor; in the operation, the infrared optical technology is utilized to obtain corresponding space coordinates in real time, distance calculation is carried out, and the actual length from the highest point of the femoral ball to the osteotomy surface can be measured.
As shown in fig. 2, in one embodiment, the three-dimensional coordinate information of the optical locating ball A, B, C on the probe in the optical locating sensor is fed back in real time during the operation based on the optical locating sensor technology, so as to calculate the three-dimensional coordinate of the probe tip. The three-dimensional coordinates of the optical locating sphere at the end of the probe are determined by the functional conversion relation D ═ F (A, B, C);
as shown in FIG. 3, inIn a preferred embodiment, the space coordinate of the highest point of the femoral ball determined by the optical positioning ball at the probe end in the optical positioning sensor is acquired
Figure BDA0003079936390000051
Spatial coordinates of the osteotomy plane
Figure BDA0003079936390000052
The first relative distance C1 between the apex of the femoral ball and the osteotomy face is calculated by the following equation:
Figure BDA0003079936390000053
in the embodiment, the matched femoral head model is determined according to the length of the femoral neck, and after the prosthesis is installed, the lengths of the two legs are measured in real time for further verification and feedback to determine the adaptation of the femoral head model and the actual length of the femoral neck of the prosthesis; the technical scheme is based on the optical positioning sensor technology, and the relative distance l between two points of the length from the iliac spine to the sole, namely the leg length of the patient after the prosthesis is implanted is measured by using the tail end of a probe. Ensures that the leg length of the patient measured intraoperatively after the prosthesis is implanted is within an allowable leg length error range from another normal leg length. In some embodiments, the model of the femoral head that satisfies the femoral neck length is selected from a manufacturer's prosthesis product table based on the femoral neck length actually satisfied by the prosthesis.
In a preferred embodiment, the femoral neck length is determined using the formula C1-r, where C1 is the relative distance between the apex of the femoral ball and the osteotomy plane and r is the femoral head radius of rotation.
In a preferred embodiment, the leg length of the patient after implantation of the prosthesis is the second relative distance l between the transiliac spine and the sole of the foot as determined by the optical positioning sensor, i.e. the leg length of the patient after implantation of the prosthesis is:
Figure BDA0003079936390000061
wherein the content of the first and second substances,
Figure BDA0003079936390000062
is the space coordinate of the superior iliac spine,
Figure BDA0003079936390000063
is the spatial coordinate of the sole of the foot.
In the same way, the leg length l' of the other normal leg can be calculated:
in this embodiment, a reasonable leg length should satisfy: i' -I calculation<ε 2 (ii) a Wherein epsilon 2 Is the allowable two leg length error.
In some embodiments, ε is set 2 If the difference between the lengths of the two legs is larger than 0.5cm, the size of the femoral head needs to be changed, so as to adjust the length of the actual prosthesis femoral neck.
In correspondence with the method of fig. 1, an embodiment of the present invention further provides a computer-readable storage medium, on which a program for determining the length of a femur in hip arthroplasty is stored, and when executed by a processor, the program for determining the length of the femur in hip arthroplasty implements the steps of the method for determining the length of the femur in hip arthroplasty as described in any one of the above embodiments.
In accordance with the method of fig. 1, there is also provided a system for determining the length of a femur during hip arthroplasty, the system comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the method for determining the length of a femur in hip arthroplasty as described in any of the above embodiments.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
The Processor may be a Central-Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application-Specific-Integrated-Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, said processor being the control center of said hip arthroplasty femur length determination system, the various parts of the device being operable by the hip arthroplasty femur length determination system using various interfaces and lines.
The memory may be used to store the computer program and/or module, and the processor may implement the various functions of the system for determining the length of a femur in hip arthroplasty by running or executing the computer program and/or module stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart-Media-Card (SMC), a Secure-Digital (SD) Card, a Flash-memory Card (Flash-Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
While the description of the present application has been presented in considerable detail and with particular reference to several illustrated embodiments, it is not intended to be limited to any such detail or embodiment or any particular embodiment, but rather should be construed to effectively cover the intended scope of the application by providing a broad interpretation of such claims in view of the prior art, and by reference to the appended claims. Further, the foregoing describes the present application in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial changes from the present application, not presently foreseen, may nonetheless represent equivalents thereto.

Claims (2)

1. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, performs the steps of a method for determining the length of a femur in hip arthroplasty, the method comprising the steps of:
s100, acquiring a CT image of a normal leg obtained by CT scanning of the leg of the normal leg of a patient, and determining the length of the leg of the patient according to the CT image of the normal leg so as to determine the length of the femoral neck prosthesis;
step S200, respectively carrying out space positioning on the highest point of the femoral ball of the leg part implanted with the femoral neck prosthesis and the osteotomy surface by adopting an optical sensor so as to determine a first relative distance between the highest point of the femoral ball of the leg part of the patient and the osteotomy surface in real time;
step S300, respectively carrying out space positioning on the anterior superior iliac spine and the sole of the leg implanted with the femoral neck prosthesis by adopting an optical sensor so as to determine a second relative distance between the anterior superior iliac spine and the sole of the leg of the patient in real time;
step S400, determining the length of a femoral head prosthesis implanted in the leg of the patient, so that the second relative distance and the length of the leg of the patient are within an allowable deviation range;
wherein the step S200 includes:
after the operation of implanting the femoral neck prosthesis is completed, calculating the spatial position of an optical positioning ball captured by an optical positioning sensor according to image data of the leg of the patient, which is acquired in the operation by a plurality of cameras, and determining a first relative distance from the highest point of the femoral ball of the leg implanted with the femoral neck prosthesis to the osteotomy surface according to the spatial position of the optical positioning ball; the plurality of cameras and the optical positioning sensor are deployed above an operating table, and the optical positioning ball is attached to the iliac part of the patient;
the step S300 includes:
in the operation process of implanting the femoral neck prosthesis, calculating the spatial position of an optical positioning ball captured by an optical positioning sensor according to the image data of the leg of the patient acquired by the plurality of cameras in the operation, and determining a second relative distance between the anterior superior iliac spine and the sole of the leg implanted with the femoral neck prosthesis according to the spatial position of the optical positioning ball;
the first relative distance is determined by;
obtaining the space coordinate of the highest point of the femur ball determined by the optical locating ball at the probe end in the optical locating sensor
Figure FDA0003762230050000011
Spatial coordinates with osteotomy plane
Figure FDA0003762230050000012
The first relative distance C1 between the apex of the femoral ball and the osteotomy face is calculated by the following equation:
Figure FDA0003762230050000013
the second relative distance is determined by the following formula;
Figure FDA0003762230050000014
wherein the content of the first and second substances,
Figure FDA0003762230050000015
is the space coordinate of the superior iliac spine,
Figure FDA0003762230050000016
is the spatial coordinate of the sole, and l is the second relative distance between the superior iliac spine and the sole.
2. A system for determining the length of a femur in a hip arthroplasty, the system comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a method for determining a length of a femur in a hip arthroplasty, the method comprising the steps of:
s100, acquiring a CT image of a normal leg obtained by CT scanning of the leg of the normal leg of a patient, and determining the length of the leg of the patient according to the CT image of the normal leg so as to determine the length of the femoral neck prosthesis;
step S200, respectively carrying out space positioning on the highest point of the femoral ball of the leg part implanted with the femoral neck prosthesis and the osteotomy surface by adopting an optical sensor so as to determine a first relative distance between the highest point of the femoral ball of the leg part of the patient and the osteotomy surface in real time;
step S300, respectively carrying out space positioning on the anterior superior iliac spine and the sole of the leg implanted with the femoral neck prosthesis by adopting an optical sensor so as to determine a second relative distance between the anterior superior iliac spine and the sole of the leg of the patient in real time;
step S400, determining the length of a femoral head prosthesis implanted in the leg of the patient, so that the second relative distance and the length of the leg of the patient are within an allowable deviation range;
wherein the step S200 includes:
after the operation of implanting the femoral neck prosthesis is completed, calculating the spatial position of an optical positioning ball captured by an optical positioning sensor according to image data of the leg of the patient, which is acquired in the operation by a plurality of cameras, and determining a first relative distance from the highest point of the femoral ball of the leg implanted with the femoral neck prosthesis to the osteotomy surface according to the spatial position of the optical positioning ball; the plurality of cameras and the optical positioning sensor are deployed above an operating table, and the optical positioning ball is attached to the iliac part of the patient;
the step S300 includes:
in the operation process of implanting the femoral neck prosthesis, calculating the spatial position of an optical positioning ball captured by an optical positioning sensor according to the image data of the leg of the patient acquired by the plurality of cameras in the operation, and determining a second relative distance between the anterior superior iliac spine and the sole of the leg implanted with the femoral neck prosthesis according to the spatial position of the optical positioning ball;
the first relative distance is determined by;
obtaining the space coordinate of the highest point of the femur ball determined by the optical locating ball at the probe end in the optical locating sensor
Figure FDA0003762230050000021
Spatial coordinates of the osteotomy plane
Figure FDA0003762230050000022
The first relative distance C1 between the apex of the femoral ball and the osteotomy face is calculated by the following equation:
Figure FDA0003762230050000023
the second relative distance is determined by the following formula;
Figure FDA0003762230050000024
wherein the content of the first and second substances,
Figure FDA0003762230050000025
is the space coordinate of the superior iliac spine,
Figure FDA0003762230050000026
is the spatial coordinate of the sole, and l is the second relative distance between the superior iliac spine and the sole.
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