CN114027828A - Knee joint clearance measuring method and device, terminal equipment and readable storage medium - Google Patents
Knee joint clearance measuring method and device, terminal equipment and readable storage medium Download PDFInfo
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Abstract
The method comprises the steps of determining a real-time target pose relation between a femur osteotomy plane to be detected and a tibia osteotomy plane according to the pose relation among a visual sensor, a femur measuring plate, a femur tracker, a tibia measuring plate and a tibia tracker, wherein the femur measuring plate is attached to the femur osteotomy plane to be detected, and the tibia measuring plate is attached to the tibia osteotomy plane; calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane according to the real-time target pose relationship; and when the real-time normal included angle is equal to zero, calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the current target pose relationship. The knee joint gap measuring process is very simple, errors are not easy to generate, and measuring precision is higher.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a knee joint gap measuring method, a knee joint gap measuring device, a terminal device and a readable storage medium.
Background
According to the traditional knee joint clearance measuring method, the X-ray films of the front and the back of the knee joint in the lying position and the standing position are shot, and the vertical distance between the lowest point of the inner condyle and the outer condyle of the femur and the joint surface of the tibial plateau is measured on the X-ray films by a divider, so that the inner and outer clearance values of the knee joint are obtained. Or the measuring blocks are used for manual measurement, and the measuring blocks with different thicknesses are required to be replaced for the knee joint gaps with different sizes.
The manual measurement of the knee joint clearance measurement method makes the measurement process very complicated, and is easy to generate errors, and the measurement precision cannot be ensured.
Disclosure of Invention
In view of the above problems, the present application provides a knee joint gap measurement method, apparatus, terminal device and readable storage medium to simplify the measurement process and improve the measurement accuracy.
In a first aspect, an embodiment of the present application provides a knee joint gap measurement method, where the method includes:
determining a real-time target pose relationship between a femur osteotomy plane to be detected and a tibia osteotomy plane according to the pose relationship among a visual sensor, a femur measuring plate, a femur tracker, a tibia measuring plate and a tibia tracker, wherein the femur measuring plate is attached to the femur osteotomy plane to be detected, and the tibia measuring plate is attached to the tibia osteotomy plane;
calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane according to the real-time target pose relationship;
and when the real-time normal included angle is equal to zero, calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the current target pose relationship.
The knee joint gap measuring method according to the embodiment of the application, determining the real-time target pose relationship between the femur osteotomy plane to be measured and the tibia osteotomy plane according to the pose relationship between the visual sensor, the femur measuring plate, the femur tracker, the tibia measuring plate and the tibia tracker, includes:
collecting, by the vision sensor, femur tracking data of each tracking point of the femur tracker and tibia tracking data of each tracking point of the tibia tracker;
determining a first real-time pose relationship between a vision sensor and a femur tracker according to the femur tracking data;
determining a second real-time pose relationship between the vision sensor and the tibia tracker according to the tibia tracking data;
and determining a real-time target pose relationship between the femur osteotomy plane to be detected and the tibia osteotomy plane according to the first real-time pose relationship, the second real-time pose relationship, the pose relationship between the femur measuring plate and the femur tracker, and the pose relationship between the tibia measuring plate and the tibia tracker.
The knee joint gap measuring method according to the embodiment of the present application, the collecting, by the vision sensor, femoral tracking data of each tracking point of the femoral tracker and tibial tracking data of each tracking point of the tibial tracker includes:
acquiring the pose data of each tracking point of the femur tracker and the pose data of each tracking point of the tibia tracker by using the vision sensor according to a preset acquisition frequency in a preset time period to obtain a plurality of groups of poses of the femur tracker and a plurality of groups of poses of the tibia tracker;
and performing mean filtering on the multiple groups of the femur tracker poses and the multiple groups of the tibia tracker poses to obtain the femur tracking data and the tibia tracking data.
The knee joint gap measuring method according to the embodiment of the present application, calculating a real-time normal angle between a normal of the femur osteotomy plane to be measured and a normal of the tibia osteotomy plane according to the real-time target pose relationship, includes:
mapping the normal of the femur osteotomy plane to be detected to a coordinate system of the tibia osteotomy plane according to the real-time target pose relation;
and calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane under the coordinate system of the tibia osteotomy plane.
The knee joint gap measuring method according to the embodiment of the present application, calculating a real-time normal angle between a normal of the femur osteotomy plane to be measured and a normal of the tibia osteotomy plane according to the real-time target pose relationship, includes:
mapping the normal of the tibia osteotomy plane to a coordinate system of the femur osteotomy plane to be detected according to the real-time target pose relation;
and calculating a real-time normal included angle between the normal of the femoral osteotomy plane to be detected and the normal of the tibial osteotomy plane to be detected in a coordinate system of the femoral osteotomy plane to be detected.
According to the knee joint gap measuring method, the distance between the tibia osteotomy plane and the femur osteotomy plane to be measured is calculated according to the current target pose relationship, and the method comprises the following steps:
projecting a tibia target coordinate corresponding to a tibia target position of the tibia osteotomy plane onto the femur osteotomy plane to be detected along a normal direction of the tibia osteotomy plane according to the current target pose relation, so as to obtain a tibia projection coordinate corresponding to the tibia target position on the femur osteotomy plane to be detected;
and calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the tibia target coordinate and the tibia projection coordinate.
According to the knee joint gap measuring method, the distance between the tibia osteotomy plane and the femur osteotomy plane to be measured is calculated according to the current target pose relationship, and the method comprises the following steps:
projecting a femur target coordinate corresponding to a femur target position of the femur osteotomy plane to be detected onto the tibia osteotomy plane along a normal direction of the femur osteotomy plane to be detected according to the current target pose relation, so as to obtain a femur projection coordinate corresponding to the femur target position on the tibia osteotomy plane;
and calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the femur target coordinate and the femur projection coordinate.
In a second aspect, an embodiment of the present application further provides a knee joint gap measurement apparatus, including:
the pose determining module is used for determining a real-time target pose relationship between a femur osteotomy plane to be detected and a tibia osteotomy plane according to the pose relationships among the visual sensor, the femur measuring plate, the femur tracker, the tibia measuring plate and the tibia tracker, wherein the femur measuring plate is attached to the femur osteotomy plane to be detected, and the tibia measuring plate is attached to the tibia osteotomy plane;
the included angle calculation module is used for calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane according to the real-time target pose relationship;
and the distance calculation module is used for calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the current target pose relation when the real-time normal included angle is equal to zero.
In a third aspect, an embodiment of the present application further provides a terminal device, which includes a memory and a processor, where the memory stores a computer program, and the computer program, when running on the processor, executes the knee joint gap measurement method according to the embodiment of the present application.
In a fourth aspect, the present application further provides a readable storage medium, which stores a computer program, where the computer program is executed on a processor to perform the knee joint gap measurement method according to the present application.
The real-time target pose relationship between a femur osteotomy plane to be detected and a tibia osteotomy plane is determined according to the pose relationship among a visual sensor, a femur measuring plate, a femur tracker, a tibia measuring plate and a tibia tracker, wherein the femur measuring plate is attached to the femur osteotomy plane to be detected, and the tibia measuring plate is attached to the tibia osteotomy plane; calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane according to the real-time target pose relationship; and when the real-time normal included angle is equal to zero, calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the current target pose relationship. The knee joint gap measuring process is very simple, errors are not easy to generate, and measuring precision is higher.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 is a schematic flow chart illustrating a knee joint gap measurement method according to an embodiment of the present application;
FIG. 2 illustrates a schematic view of a femur according to an embodiment of the present application;
FIG. 3 illustrates a schematic view of various osteotomy planes of a femur and a tibial osteotomy plane according to an embodiment of the present application;
FIG. 4 illustrates a tracking tool according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating a usage pattern of a tracking tool according to an embodiment of the present application;
fig. 6 is a schematic flow chart illustrating a process of determining a real-time target pose relationship in a knee joint gap measurement method according to an embodiment of the present application;
fig. 7 shows a schematic structural diagram of a knee joint gap measuring device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Example 1
Referring to fig. 1, an embodiment of the present application provides a knee joint gap measurement method, which includes the following steps:
step S100, determining a real-time target pose relationship between a femur osteotomy plane to be detected and a tibia osteotomy plane according to the pose relationships among a visual sensor, a femur measuring plate, a femur tracker, a tibia measuring plate and a tibia tracker, wherein the femur measuring plate is attached to the femur osteotomy plane to be detected, and the tibia measuring plate is attached to the tibia osteotomy plane.
It is understood that the femur includes the anterior femur, distal femur, posterior femur, and posterior femur.
Illustratively, referring to fig. 2, in the present embodiment, a schematic view of a femur is shown, showing a femur anterior end 2, a femur anterior oblique 4, a femur distal end 1, a femur posterior oblique 5, and a femur posterior end 3.
Referring to fig. 3, in the present embodiment, a schematic diagram of each osteotomy Plane and tibial osteotomy Plane of a femur is shown, in which Plane1, Plane2, Plane3, Plane4 and Plane5 correspond to the osteotomy Plane of the femur front end 2, the osteotomy Plane of the femur anterior oblique 4, the osteotomy Plane of the femur distal end 1, the osteotomy Plane of the femur posterior oblique 5 and the osteotomy Plane of the femur rear end 3 in fig. 2, respectively, and Plane6 is the tibial osteotomy Plane.
For example, referring to fig. 4, in the present embodiment, a tracking tool is provided, which shows a tracker a and a measurement board B, wherein the pose relationship between the tracker a and the measurement board B is fixed and can be obtained in advance, and a plurality of reflectors can be mounted on the tracker a, so that the vision sensor can obtain the coordinates of the plurality of reflectors in the coordinate system of the vision sensor.
It will be appreciated that in this implementation, two tracking tools are required as shown in FIG. 4. A measuring plate B of a tracking tool is used as a femur measuring plate, and a tracker A of the tracking tool is used as a femur tracker; the measurement board B of the other tracking tool serves as the tibial measurement board and the tracker a of the tracking tool serves as the tibial tracker.
For example, referring to fig. 5, if the femoral resection Plane to be measured is the resection Plane3 of the distal femur 1, the femoral measurement plate is attached to the resection Plane3 of the distal femur 1, and the tibial measurement plate is attached to the tibial resection Plane 6.
For example, referring to fig. 6, in this embodiment, the step S100 may include the following steps:
step S110, collecting femur tracking data of each tracking point of the femur tracker and tibia tracking data of each tracking point of the tibia tracker by using the visual sensor.
It can be understood that, in a predetermined time period, the position and orientation data of each tracking point of the femur tracker and the position and orientation data of each tracking point of the tibia tracker are simultaneously acquired by the vision sensor according to a predetermined acquisition frequency to obtain a plurality of groups of positions and orientations of the femur tracker and the tibia tracker, and then mean filtering is performed on the plurality of groups of positions and orientations of the femur tracker and the tibia tracker to obtain femur tracking data and tibia tracking data.
For example, the position and orientation data of each tracking point of the femur tracker and the position and orientation data of each tracking point of the tibia tracker are acquired once every 40ms by using the vision sensor, the position and orientation data of each tracking point of the femur tracker and the position and orientation data of each tracking point of the tibia tracker respectively acquire 500 sets of position and orientation data, and noise caused by micro-jitter of the vision sensor is reduced through processing of mean value filtering so as to acquire stable output data, so that a first real-time position and orientation relation between the vision sensor and the femur tracker and a second real-time position and orientation relation between the vision sensor and the tibia tracker are obtained.
For example, the corresponding pose data set of the pose data of each tracking point of the femoral tracker can be expressed as { T }i，i＝1，2，……，n}，TiRepresenting the matrix corresponding to the ith group of posture data, n being the total number of groups, and performing cumulative average on each position of n matrixes, i.e.
Wherein, TmarkerData is tracked for the femur. Similarly, tibial tracking data may be determined in this manner.
And step S120, determining a first real-time pose relationship between the vision sensor and the femur tracker according to the femur tracking data.
The first real-time pose relationship between the vision sensor and the femoral tracker may be expressed as
And S130, determining a second real-time pose relationship between the vision sensor and the tibia tracker according to the tibia tracking data.
The second real-time pose relationship between the vision sensor and the tibial tracker may be denoted as Tticbaimaera。
And step S140, determining a real-time target pose relationship between the femur osteotomy plane to be detected and the tibia osteotomy plane according to the first real-time pose relationship, the second real-time pose relationship, the pose relationship between the femur measuring plate and the femur tracker, and the pose relationship between the tibia measuring plate and the tibia tracker.
Wherein, the position and posture relation between the femur measuring plate and the femur tracker and the position and posture relation between the tibia measuring plate and the tibia tracker are known and respectively expressed as
And
furthermore, the real-time target pose relationship between the femur osteotomy plane to be detected and the tibia osteotomy plane
And S200, calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane according to the real-time target pose relationship.
In this embodiment, an implementation manner of calculating the real-time normal included angle is to calculate the real-time target pose relationship according to the real-time target pose relationship
Mapping the normal of the femur osteotomy plane to be tested to the coordinate system of the tibia osteotomy plane; and calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane under the coordinate system of the tibia osteotomy plane.
Another method for calculating real-time normal angleThe implementation mode is that the real-time target pose relationship is obtained
Mapping the normal of the tibia osteotomy plane to a coordinate system of the femur osteotomy plane to be detected; and calculating a real-time normal included angle between the normal of the femoral osteotomy plane to be detected and the normal of the tibial osteotomy plane to be detected in a coordinate system of the femoral osteotomy plane to be detected.
And step S300, when the real-time normal included angle is equal to zero, calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the current target pose relationship.
In this embodiment, an implementation manner of calculating a distance between a tibia osteotomy plane and a femur osteotomy plane to be measured is to project a tibia target coordinate corresponding to a tibia target position of the tibia osteotomy plane onto the femur osteotomy plane to be measured along a normal direction of the tibia osteotomy plane according to the current target pose relationship, so as to obtain a tibia projection coordinate corresponding to the tibia target position on the femur osteotomy plane to be measured; and calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the tibia target coordinate and the tibia projection coordinate.
The tibia target coordinates corresponding to the tibia target position comprise coordinates corresponding to the inner side mark point and coordinates corresponding to the outer side mark point. The tibia projection coordinates include coordinates corresponding to the medial projection point and coordinates corresponding to the lateral projection point.
Illustratively, the current object pose relationship is obtained according to
Can unify the femoral osteotomy surface to the tibial osteotomy surface coordinate system, thereby corresponding the coordinate P of the inner side marking point on the tibial osteotomy planemedialCoordinates P corresponding to outer markerslateralProjecting the projection image onto the femur osteotomy plane to be measured along the normal direction of the tibia osteotomy plane to obtain the corresponding coordinates of the inner side projection point
Coordinates corresponding to the outer projection points
Further, the coordinates P corresponding to the inner side mark pointsmedialCoordinates P corresponding to outer markerslateralCoordinates corresponding to the inner projection points
Coordinates corresponding to the outer projection points
The distance of the inside marker point can be calculated:
and the distance corresponding to the outer mark point:
further, in this embodiment, another implementation manner of calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be measured is to project, according to the current target pose relationship, a femur target coordinate corresponding to a femur target position of the femur osteotomy plane to be measured onto the tibia osteotomy plane along a normal direction of the femur osteotomy plane to be measured, so as to obtain a femur projection coordinate corresponding to the femur target position on the tibia osteotomy plane; and calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the femur target coordinate and the femur projection coordinate.
It can be understood that, through rotating the knee joint, with the osteotomy plane of thighbone front end, the osteotomy plane of thighbone antelope, the osteotomy plane of thighbone distal end, the osteotomy plane of thighbone hou gaine and the osteotomy plane of thighbone rear end regard as the thighbone osteotomy plane that awaits measuring in proper order, can each of thighbone cut the gap between plane and the shin bone osteotomy plane, in this embodiment, knee joint clearance measurement process is very simple, is difficult for producing the error, and measuring precision is higher.
Example 2
Referring to fig. 7, another embodiment of the present application provides a knee joint gap measuring device 10, which includes: a pose determination module 11, an included angle calculation module 12 and a distance calculation module 13.
The pose determining module 11 is configured to determine a real-time target pose relationship between a femur osteotomy plane to be detected and a tibia osteotomy plane according to a pose relationship among a visual sensor, a femur measuring plate, a femur tracker, a tibia measuring plate and a tibia tracker, where the femur measuring plate is attached to the femur osteotomy plane to be detected, and the tibia measuring plate is attached to the tibia osteotomy plane; an included angle calculation module 12, configured to calculate a real-time normal included angle between a normal of the femur osteotomy plane to be detected and a normal of the tibia osteotomy plane according to the real-time target pose relationship; and the distance calculation module 13 is configured to calculate a distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the current target pose relationship when the real-time normal included angle is equal to zero.
Further, the determining a real-time target pose relationship between the femur osteotomy plane to be measured and the tibia osteotomy plane according to the pose relationship between the vision sensor, the femur measuring plate, the femur tracker, the tibia measuring plate and the tibia tracker includes: collecting, by the vision sensor, femur tracking data of each tracking point of the femur tracker and tibia tracking data of each tracking point of the tibia tracker; determining a first real-time pose relationship between a vision sensor and a femur tracker according to the femur tracking data; determining a second real-time pose relationship between the vision sensor and the tibia tracker according to the tibia tracking data; and determining a real-time target pose relationship between the femur osteotomy plane to be detected and the tibia osteotomy plane according to the first real-time pose relationship, the second real-time pose relationship, the pose relationship between the femur measuring plate and the femur tracker, and the pose relationship between the tibia measuring plate and the tibia tracker.
Further, the acquiring, by the visual sensor, femur tracking data of each tracking point of the femur tracker and tibia tracking data of each tracking point of the tibia tracker includes: acquiring the pose data of each tracking point of the femur tracker and the pose data of each tracking point of the tibia tracker by using the vision sensor according to a preset acquisition frequency in a preset time period to obtain a plurality of groups of poses of the femur tracker and a plurality of groups of poses of the tibia tracker; and performing mean filtering on the multiple groups of the femur tracker poses and the multiple groups of the tibia tracker poses to obtain the femur tracking data and the tibia tracking data.
Further, the calculating a real-time normal included angle between the normal of the femur osteotomy plane to be measured and the normal of the tibia osteotomy plane according to the real-time target pose relationship includes: mapping the normal of the femur osteotomy plane to be detected to a coordinate system of the tibia osteotomy plane according to the real-time target pose relation; and calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane under the coordinate system of the tibia osteotomy plane.
Further, the calculating a real-time normal included angle between the normal of the femur osteotomy plane to be measured and the normal of the tibia osteotomy plane according to the real-time target pose relationship includes: mapping the normal of the tibia osteotomy plane to a coordinate system of the femur osteotomy plane to be detected according to the real-time target pose relation; and calculating a real-time normal included angle between the normal of the femoral osteotomy plane to be detected and the normal of the tibial osteotomy plane to be detected in a coordinate system of the femoral osteotomy plane to be detected.
Further, the calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the current target pose relationship includes: projecting a tibia target coordinate corresponding to a tibia target position of the tibia osteotomy plane onto the femur osteotomy plane to be detected along a normal direction of the tibia osteotomy plane according to the current target pose relation, so as to obtain a tibia projection coordinate corresponding to the tibia target position on the femur osteotomy plane to be detected; and calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the tibia target coordinate and the tibia projection coordinate.
Further, the calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the current target pose relationship includes: projecting a femur target coordinate corresponding to a femur target position of the femur osteotomy plane to be detected onto the tibia osteotomy plane along a normal direction of the femur osteotomy plane to be detected according to the current target pose relation, so as to obtain a femur projection coordinate corresponding to the femur target position on the tibia osteotomy plane; and calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the femur target coordinate and the femur projection coordinate.
In this embodiment, the knee joint gap measuring apparatus 10 is used to execute the knee joint gap measuring method according to the above embodiment by using the pose determining module 11, the included angle calculating module 12, and the distance calculating module 13 in a matching manner, and the implementation and the beneficial effects related to the above embodiment are also applicable in this embodiment, and are not described herein again.
Example 3
In a third embodiment of the present application, a terminal device is provided, which includes a memory and a processor, where the memory stores a computer program, and the computer program executes the knee joint gap measurement method according to the above embodiment of the present application when running on the processor.
Example 4
In a fourth embodiment of the present application, a readable storage medium is proposed, which stores a computer program that, when run on a processor, performs the knee joint gap measurement method according to the above-described embodiment of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A knee joint gap measurement method, comprising:
determining a real-time target pose relationship between a femur osteotomy plane to be detected and a tibia osteotomy plane according to the pose relationship among a visual sensor, a femur measuring plate, a femur tracker, a tibia measuring plate and a tibia tracker, wherein the femur measuring plate is attached to the femur osteotomy plane to be detected, and the tibia measuring plate is attached to the tibia osteotomy plane;
calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane according to the real-time target pose relationship;
and when the real-time normal included angle is equal to zero, calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the current target pose relationship.
2. The knee joint gap measurement method according to claim 1, wherein the determining of the real-time target pose relationship between the femoral resection plane to be measured and the tibial resection plane from the pose relationships between the vision sensor, the femoral measurement plate, the femoral tracker, the tibial measurement plate, and the tibial tracker comprises:
collecting, by the vision sensor, femur tracking data of each tracking point of the femur tracker and tibia tracking data of each tracking point of the tibia tracker;
determining a first real-time pose relationship between a vision sensor and a femur tracker according to the femur tracking data;
determining a second real-time pose relationship between the vision sensor and the tibia tracker according to the tibia tracking data;
and determining a real-time target pose relationship between the femur osteotomy plane to be detected and the tibia osteotomy plane according to the first real-time pose relationship, the second real-time pose relationship, the pose relationship between the femur measuring plate and the femur tracker, and the pose relationship between the tibia measuring plate and the tibia tracker.
3. The knee joint gap measurement method according to claim 2, wherein the acquiring, with the visual sensor, femoral tracking data of each tracking point of the femoral tracker and tibial tracking data of each tracking point of the tibial tracker includes:
acquiring the pose data of each tracking point of the femur tracker and the pose data of each tracking point of the tibia tracker by using the vision sensor according to a preset acquisition frequency in a preset time period to obtain a plurality of groups of poses of the femur tracker and a plurality of groups of poses of the tibia tracker;
and performing mean filtering on the multiple groups of the femur tracker poses and the multiple groups of the tibia tracker poses to obtain the femur tracking data and the tibia tracking data.
4. The knee joint gap measurement method according to claim 1, wherein the calculating a real-time normal angle between a normal of the femoral resection plane to be measured and a normal of the tibial resection plane according to the real-time target pose relationship comprises:
mapping the normal of the femur osteotomy plane to be detected to a coordinate system of the tibia osteotomy plane according to the real-time target pose relation;
and calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane under the coordinate system of the tibia osteotomy plane.
5. The knee joint gap measurement method according to claim 1, wherein the calculating a real-time normal angle between a normal of the femoral resection plane to be measured and a normal of the tibial resection plane according to the real-time target pose relationship comprises:
mapping the normal of the tibia osteotomy plane to a coordinate system of the femur osteotomy plane to be detected according to the real-time target pose relation;
and calculating a real-time normal included angle between the normal of the femoral osteotomy plane to be detected and the normal of the tibial osteotomy plane to be detected in a coordinate system of the femoral osteotomy plane to be detected.
6. The knee joint gap measurement method according to any one of claims 1 to 5, wherein the calculating the distance between the tibial osteotomy plane and the femoral osteotomy plane to be measured according to the current target pose relationship comprises:
projecting a tibia target coordinate corresponding to a tibia target position of the tibia osteotomy plane onto the femur osteotomy plane to be detected along a normal direction of the tibia osteotomy plane according to the current target pose relation, so as to obtain a tibia projection coordinate corresponding to the tibia target position on the femur osteotomy plane to be detected;
and calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the tibia target coordinate and the tibia projection coordinate.
7. The knee joint gap measurement method according to any one of claims 1 to 5, wherein the calculating the distance between the tibial osteotomy plane and the femoral osteotomy plane to be measured according to the current target pose relationship comprises:
projecting a femur target coordinate corresponding to a femur target position of the femur osteotomy plane to be detected onto the tibia osteotomy plane along a normal direction of the femur osteotomy plane to be detected according to the current target pose relation, so as to obtain a femur projection coordinate corresponding to the femur target position on the tibia osteotomy plane;
and calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the femur target coordinate and the femur projection coordinate.
8. A knee joint gap measuring apparatus, comprising:
the pose determining module is used for determining a real-time target pose relationship between a femur osteotomy plane to be detected and a tibia osteotomy plane according to the pose relationships among the visual sensor, the femur measuring plate, the femur tracker, the tibia measuring plate and the tibia tracker, wherein the femur measuring plate is attached to the femur osteotomy plane to be detected, and the tibia measuring plate is attached to the tibia osteotomy plane;
the included angle calculation module is used for calculating a real-time normal included angle between the normal of the femur osteotomy plane to be detected and the normal of the tibia osteotomy plane according to the real-time target pose relationship;
and the distance calculation module is used for calculating the distance between the tibia osteotomy plane and the femur osteotomy plane to be detected according to the current target pose relation when the real-time normal included angle is equal to zero.
9. A terminal device, characterized in that it comprises a memory and a processor, the memory storing a computer program which, when run on the processor, performs a knee joint gap measurement method according to any one of claims 1 to 7.
10. A readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the knee joint gap measurement method of any one of claims 1 to 7.
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