CN106264731A - A kind of method based on point-to-point registration technique virtual knee joint single condyle replacement model construction - Google Patents
A kind of method based on point-to-point registration technique virtual knee joint single condyle replacement model construction Download PDFInfo
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Abstract
The present invention relates to a kind of method based on point-to-point registration technique virtual knee joint single condyle replacement model construction, belong to Computerized three-dimensional simulation technical field.The method includes UKA postoperative CT image acquisition, UKA preoperative MRI image collection, data preservation, the importing of CT two dimensional image and reconstructing three-dimensional model, the importing of MRI two dimensional image and reconstructing three-dimensional model, knee joint model registration and modification, the structure of prosthese threedimensional model, the simulation prosthese assembling of UKA postoperative knee joint, Optimized model, stress and strain model, definition each several part material properties, imposed load and boundary condition and the big step of modelling verification 13.The present invention carries out iconography scanning based on case, result of the test has specific aim, and build the model obtained closer to truth, especially can tackle failure case or success case is studied, operating process is simple, relate to software few, only carry out corresponding prosthese scanning according to the model used in actual operation, decrease test period and cost.
Description
Technical field
The invention belongs to Computerized three-dimensional simulation technology field, relate to a kind of for setting up complete human body knee joint
The method that after single condyle replacement, geometry dissects phantom, is specifically related to a kind of based on point-to-point registration technique virtual knee joint list
The method of condyle replacement model construction.
Background technology
The most existing many for the modeling of knee joint single condyle replacement operation three-dimensional digital and biomechanical analysis
Research, it is therefore an objective to carry out pre-by the contingent change of knee joint in threedimensional model long process postoperative to knee prosthesis
Survey, with during post-operative optimize operation technique and instruct patient carry out after surgery effectively reconditioning and avoid infringement
Joint and the bad life style of prosthese.Meanwhile, by knee joint threedimensional model finite element analysis, also compensate for the external of complexity
Biomechanical analysis and the deficiency of very long Clinical Follow-up, make contact stress change that joint replacement postoperative ankle becomes by researcher and
Kinematic parameter change has assurance more intuitively.
The accuracy of Finite element analysis results is the accuracy modeled in early days, and the most critically important step is that prosthese
Simulation assembling.Object of study was to choose normal person's knee joint to carry out bidimensional image scanning, by scanogram in dicom format in the past
Preserve and input in Medical Image Processing software Mimics, construct the kneed three-dimensional digitalization model of normal person afterwards.Connect
Get off and the normal person's knee joint model built in Mimics software imported in computer-aided engineering software Hypermesh,
Build the important axis that operation technique is relevant, be simulated osteotomy according to single condyle replacement operative Principle, and big according to osteotomy surface
The prosthese that little and knee joint reference axis line options is suitable for is simulated assembling.Before this, all model prostheses need to be carried out three
Dimension laser scanning, and use reverse engineering software Geomagic inversely to build the threedimensional model of all model prostheses.
There is following inferior position in traditional method: (1) study, the emphasis followed up a case by regular visits to seeks to the regression of patient autologous tissue, increasing
During life, defect and actual operation, the problems such as osteotomy is the best, prosthese position is incorrect are taken into account, and are analyzed, and select
Normal person's lower limb are simulated operation technique, it is impossible to the real situation of true reduction, it is difficult to accomplish that individuation research, experiment lack
Specific aim；(2) research process relates to simulating three-dimensional modeling, simulation osteotomy and prosthese installation, and difficulty is big, the most not cures
Give birth to, but engineering staff has completed by experience, therefore may be with in simulated surgical operation and prosthese installation process
There is deviation in practical situation, and osteotomy is inaccurate and prosthese installation site is bad, will have a strong impact on later stage Finite element analysis results；
(3) because not knowing osteotomy surface size after osteotomy operation in advance, it is impossible to judge in advance to choose prosthese model, therefore need to be to all prostheses
It is scanned and inversely rebuilds, consuming plenty of time, energy, quantities；(4) simulated operation design engineering software is more, undoubtedly
Increase cost and the consumption of time.The most how overcoming the deficiencies in the prior art is current Computerized three-dimensional simulation technology neck
The problem that solution is needed in territory badly.
Summary of the invention
Present invention aims to the deficiencies in the prior art, always choose the simulation section of normal person's lower limb to overcome
Bone, installation prosthese simulate knee prosthesis postoperative lower limb biomechanical analysis, and the avoidance feature of case own, operation easier are big
Drawback, it is provided that a kind of method based on point-to-point registration technique virtual knee joint single condyle replacement model construction.
For achieving the above object, the technical solution used in the present invention is as follows:
A kind of method based on point-to-point registration technique virtual knee joint single condyle replacement model construction, comprises the steps:
Step (1), the postoperative CT scan of UKA:
Use SIEMENS 128 row's double source Spiral CT scan lower limb；
Scanning position: knee joint is stretched naturally and 10 °～15 ° angles of outward turning are fixed；
Sweep limits: top to mid plane of pelvis, lower section completely includes foot；
Step (2), the preoperative MRI scan of UKA:
Using the double knee joint of GE 1.5T superconduction type magnetic resonance machine scanning, magnetic resonance machine is using head coil as receiving coil；
Scanning position: knee joint is stretched naturally and outward turning 10 °～15 ° degree angle is fixed；
Sweep limits: centered by knee space, to respectively scanning 10cm；
Step (3), data preserve:
Step (1) and step (2) are scanned the data obtained store with DICOM 3.0 form and be burnt to CD-ROM on a workstation
On；
Step (4), the importing of CT two dimensional image and reconstructing three-dimensional model:
On computer workstation, CT two-dimensional scan image step (1) obtained imports Medical Image Processing in dicom format
In software Mimics 17.0, the data at software import forward and backward, upper and lower, left and right six direction defined in module, then make
Bony structure tonal range is set so that the color of establishment can be completely covered the bone of structure at all levels by Thresholding function
Structure, then separates initial full bony structure mask, use Regional growing function successively by femur, tibia, fibula,
Patella structure extraction is also demarcated by different colours, manually removes adhesion part by edit mask function and repairs simultaneously
Cavity on model, after division, selects Calculate 3D from Masks, and uses " High Quality " to calculate
Method, reconstructs UKA postoperative knee joint bony structure three-dimensional digitalization model after operation；
Step (5), the importing of MRI two dimensional image and reconstructing three-dimensional model:
On computer workstation, the MRI two dimensional image that step (2) obtains is imported Medical Image Processing in dicom format soft
In part Mimics 17.0, the data at software import forward and backward, upper and lower, left and right six direction defined in module, then use
Thresholding function sets soft tissue structure's tonal range so that the color of establishment can be completely covered soft group of structure at all levels
Knit structure, then separate initial full soft tissue structure mask, use Regional growing function successively by lateral meniscus,
Quadriceps femoris tendon, kneecap tendon, interior lateral collateral ligament and ligamentaum cruciatum extraction front and back are also demarcated by different colours, use edit simultaneously
Mask function manually removes the cavity on noise and the burr of segmenting edge patch formation model, after division, selects
Calculate 3D from Masks, and use " High Quality " computational methods, reconstruct the preoperative knee joint of UKA after operation and close
The three-dimensional digitalization model of joint soft tissue structure；
Step (6), knee joint model registration and modification:
The knee joint bony structure three-dimensional digitalization model that step (4) is obtained based on CT scan view data and step (5) base
In the knee joint soft tissue structure three-dimensional digitalization model that MRI scan view data obtains by the movement in Mimics software,
The function rotated is assembled according to knee anatomy, finally gives same person and comprises bony structure and soft tissue structure
Complete knee joint threedimensional model；
Step (7), the structure of prosthese threedimensional model:
Select the respective model prosthese model of all uses in the UKA art of scanned object, use three-dimensional laser scanner to it
Carrying out high-rate laser scanning and measurement, acquisition prosthetic surface is complete, continuous print panorama point three-dimensional coordinate data, is then used by reverse
The cloud data that scanning is obtained by engineering software Geomagic Studio carries out post processing, and the prosthese obtaining all uses is three-dimensional
Model；
Described post processing includes denoising, polygon repairing, fairing processing, extraction contour curve and fitting surface；
The prosthese model of all uses includes that tibial prosthesis, polyethylene liner and femoral prosthesis, i.e. three constitute single condyle prosthese；
Step (8), the simulation prosthese assembling of UKA postoperative knee joint:
The complete knee joint threedimensional model built in step (6), selects Load in STLs in Mimics software interface
STL function imports the prosthese threedimensional model of all uses inversely rebuild, by movement, rotation process by prosthese threedimensional model
It is adjusted and combines；Select the Point Registration function in Registration, by by prosthese threedimensional model
Dissect point corresponding with on complete knee joint threedimensional model carries out point-to-point registration operation, makes prosthese threedimensional model be assembled to knee joint and closes
On joint model, obtain being equipped with the knee joint threedimensional model of prosthese；
Step (9), Optimized model:
The knee joint threedimensional model being equipped with prosthese step (8) obtained imports Geomagic Studio reverse engineering software
In, carry out repairing and optimization process；
First obtain in bidimensional image data procedures because scanned object moves and at Mimics software at CT, MRI scan
Interface expert moves and divides in each organizational process of knee joint because the redundant data that manually division not exclusively obtains is carried out at denoising
Reason；Principle based on continual curvature fills model surface cavity, removes the impression of model surface；Become according to model surface curvature
Change, Curvature varying substantially and affect the part of model silhouette, obvious according to Curvature varying and affect the part of model silhouette
The contour curve of this part of central line pick-up, edits the contour curve of this part afterwards, obtains the curve of smooth-going；
Next building tetragon grid screen of uniform size at model surface, regulation nurbs surface fineness also fits to
Nurbs surface, obtains optimizing UKA postoperative knee joint threedimensional model；
Step (10), stress and strain model:
In Abaqus software, the optimization UKA postoperative knee joint threedimensional model obtaining step (9) uses tetrahedron to carry out grid
Divide；
Step (11), definition each several part material properties:
All material in knee joint model is assumed to be the linear elastic materials of isotropism, uniformly continuous, and at Abaqus 6.10
Software gives corresponding material properties and pool to the optimization UKA postoperative knee joint threedimensional model after step (10) stress and strain model
Pine ratio, material properties and Poisson such as table 1；
Table 1
Step (12), imposed load and boundary condition:
Quadriceps strength being reduced to 400N, is parallel to femoral shaft, quadriceps femoris starting point is pointed in direction；Simultaneously along knee joint power
Line applies 300N power, with simulated body weight；Setting tibia is motionless, and femur occurs to bend relative to tibia under application of a force
Bent, stretch, interior receipts, abduction, inward turning and the motion of outward turning six-freedom degree；For the bone tissue in knee joint threedimensional model,
Soft tissue and prosthetic component, define femoral prosthesis false with tibia with polyethylene liner, polyethylene liner with femur, femoral prosthesis
Body, tibial prosthesis and tibia, kneecap tendon and tibia, kneecap tendon and patella, stock market trend prediction and femur, stock market trend prediction and patella, interior
Side para-ligament and femur, medial collateral ligament and tibia, lateral collateral ligament and femur, lateral collateral ligament and tibia, anterior cruciate ligament
With femur, anterior cruciate ligament and tibia, posterior cruciate ligament and femur, posterior cruciate ligament and tibia, lateral meniscus and femur, outer
Side meniscus and tibia interface；The most each bar ligament two ends are defined as rigidly fixing with osseous tissue contact area, with osseous tissue phase
Even；It is set as binding constraint between femoral prosthesis, tibial prosthesis and osteotomy surface, between prosthese contact surface, is set to friction, coefficient of friction
It is 0.04；
Step (13), modelling verification:
By the optimization UKA postoperative knee joint threedimensional model imposed load to imparting material properties, simulate knee joint Dynamic Buckling
0-120 °, extraction be knee joint flexing 0 ° respectively, 30 °, 60 °, 90 °, femur is sent out relative to tibia under 120 ° of five positions
Raw outward turning, abduction and the angle-data of interior receipts, compare with existing data in literature, and result is consistent, it was demonstrated that model successfully.
The model that the present invention is the most complete refers to the knee joint model after being applied with material properties, boundary condition and load,
This model can be directly used for knee joint and dynamically analyzes.
As the existing document compared it is: Hanson GR, Moynihan AL, Suggs JF, Kwon YM,
Johnson T, Li G.Kinematics of midial unicondylar knee arthroplasty:an in vivo
investigation.J Knee Surg,2009,22(3):237-242.
It is further preferred that the CT image acquisition sweep parameter described in step (1) is set as: the tube voltage 120kV of double source CT
And 70kV, tube current 100mA and 60mA, thickness 0.6mm, interlayer is every 0.6mm, pitch 0.5.
It is further preferred that the MRI image acquisition scans parameter described in step (2) is set as: sagittal plain 3D proton is close
Degree weighted imaging sequence, TR 11000ms, TE 25ms；Thickness 1.0 mm；Interlamellar spacing 0.2mm；Echo train 14；Encourage 2 times；Square
Battle array 192/320；FOV 18.
It is further preferred that step (8) is by prosthese threedimensional model and the homographic solution on the postoperative knee joint model of corresponding UKA
Cut open when a little carrying out point-to-point registration operation, be successively by femoral prosthesis threedimensional model, polyethylene liner threedimensional model, tibial prosthesis
Threedimensional model dissect point corresponding with on complete knee joint threedimensional model carries out point-to-point registration operation.
The point-to-point registration formula rule that the present invention is discussed is to study based on medical record itself, the most truly reduces
Surgical effect, explores a series of mechanics and kinematics parameters that object of study knee joint is brought by operation.For failure case research,
Optimize operation technique, instruct operation in patients after efficient rehabilitation take exercise and how to avoid bad life posture provide strong evidence.This
Method belongs to image registration techniques, and it is by from two width of different sensors or several images, in same target area, structure
Build the alignment on locus, fusion, finally utilize the advantage of each image, fully demonstrate in same picture.With image
The registration technique extensively application in fields such as iconographys is compared, the application in computer simulation replacement knee in arthroplasty of this technology
The rarest, this technology of use is carried out single condyle displacement simulated surgical operation by the present invention.
The present invention is preoperative suffers from, to it, MRI scan of moving forward on one's knees, postoperative to Ipsilateral lower limb row CT scan.Twice sweep result all with
DICOM format preserves；Use Mimics17.0 Medical Image Processing software to build this patient based on CT and MRI scan data to suffer from
The three-dimensional digitalization model of knee joint；Move, Rotation is used to operate based on dissection in Mimics17.0 software under same interface
Patella, femur, tibia, fibula and MRI scan that CT is built by position and build interior lateral collateral ligament, front and back intersect tough
Band, lateral meniscus, quadriceps femoris tendon and kneecap tendon registrate, and obtain complete not only comprising bony structure but also comprise the softest
The knee joint threedimensional model of organizational structure.Record the prosthese model used in this operation in patients, prosthese is carried out three-dimensional laser
Scanning, obtains prosthese cloud data, inversely reconstructs prosthese threedimensional model based on cloud data；By prosthese model with STL form
Import the knee joint threedimensional model interface rebuild, based on point-to-point method for registering, prosthese the most accurately can be assembled to
Knee joint relevant position.Afterwards by Geomagic Studio reverse engineering software by knee joint threedimensional model process of refinement,
For the model basis that the accuracy offer of later stage finite element analysis computation is good；Subsequently model is imported in Abaqus software and carry out
Stress and strain model, it is therefore intended that by the complicated cell that model refinement is limited quantity so that solution procedure is greatly simplified；At this
On the basis of, knee joint model internal structure is carried out material properties definition, boundary condition applying and the applying of load, finally makes knee joint
Joint Dynamic Buckling 0-120 °, during its flexing of extract real-time, femur is relative to the motor pattern of tibia, and enters with the past document
Row comparison, verifies model validation.
Compared with prior art, it has the beneficial effect that the present invention
1. carrying out iconography scanning based on case, result of the test has specific aim, and builds the model obtained closer to true feelings
Condition, especially can tackle failure case or success case is studied；
2. operating process is simple, it is not necessary to manually simulation osteotomy operation, substantially can be by doctor's complete independently, it is to avoid non-practitioner
The relatively large deviation of the result of the test caused owing to medical speciality field is unfamiliar with；
3. relate to software less, it is only necessary to Medical Image Processing software Mimics carries out initial construction to knee joint, use reverse
The model built is optimized by engineering software Geomagic Studio, and final utilization Mimics software carries out registration operation
Model construction can be completed；
4. prosthese is no longer dependent on the simple experience of non-practitioner to the assembling in knee joint, and is made by orthopedist to solution
The rich experiences cutd open carry out point-to-point registration operation；
5., without before the test the prosthese of all models being scanned, assemble further according to osteotomy effect, but according to actual hands
The model used in art carries out corresponding prosthese scanning, decreases test period and cost.
6, the inventive method is compared with test in the past: test procedure was relatively cumbersome and complicated in the past, i.e. selected normal person
Carry out CT and MRI scan, consume a large amount of medical resource, and increase normal person's personal radiation and the most ill probability, and this test
Select UKA patient to be scanned, do not expend extra medical treatment cost；Test in the past need to carry out three-dimensional laser to all model prostheses and sweep
Retouch and build prosthese model, carry out prosthese placement further according to computer simulation osteotomy result, and this test only needs according to actual hands
Respective model prosthese scanning used in art, is greatly saved time and cost；Normal knee joint model need to be entered by test in the past
Row analogue simulation is performed the operation, and is on the one hand completed by Non-medical specialty personnel, and operation may have greater difference with actual operation, the opposing party
Face analogue simulation surgical technic difficulty is relatively big, different human users can considerable influence result of the test, and this test is without artificial mould
Intend operation, carry out the assembling of simple respective model prosthese only for UKA postoperative patient knee joint model, be greatly saved the operating time
And cost.
Accompanying drawing explanation
Fig. 1 is knee joint CT scanning two dimensional image；Wherein, a is sagittal plain, and b is Coronal, and c is axle position；
Fig. 2 is knee joint MRI scan two dimensional image；Wherein, a is sagittal plain；B is Coronal；C is axle position；
Fig. 3 is the schematic diagram that UKA postoperative knee joint CT scanning image imports in Mimicsl7.0 software；Wherein, a is that lower limb are crown
Position；B is sagittal plain；C is cross-section position；D is 3-D view；
Fig. 4 is UKA postoperative knee joint bony structure three-dimensional digitalization model；Wherein, a is that front is seen, and b is that side is seen；
Fig. 5 is the schematic diagram that UKA preoperative MRI scan image imports in Mimicsl7.0 software；Wherein, a is knee joint Coronal；
B is sagittal plain；C is cross-section position；D is 3-D view；
The three-dimensional digitalization model of Tu6Shi knee joint soft tissue structure；Wherein, a is medial collateral ligament；B is lateral collateral ligament；c
For anterior cruciate ligament；D is posterior cruciate ligament；E is lateral meniscus；
Fig. 7 is U complete knee joint threedimensional model；Wherein, a is that front is seen, and b is that side is seen；
Fig. 8 is the stereogram of the respective model prosthese model 3 D laser scanning of all uses；
Fig. 9 is inversely to be rebuild and optimize single condyle prosthese threedimensional model by Geomagic Studio 12 software；Wherein, a is just
Face is seen, and b is that side is seen, and c is for see below；
Figure 10 is that the prosthese threedimensional model of all uses rebuild is imported the schematic diagram in Mimics17.0 software；Wherein,
1, polyethylene liner；2, femoral prosthesis；3, tibial prosthesis；
Figure 11 is the schematic diagram after the prosthese threedimensional model of all uses is adjusted, combined；Wherein, a is that front is seen, and b is side
Face is seen, and c is for see below；
Figure 12 is to carry out point-to-point registration operation in Mimics software；Wherein, a is for selecting Point Registration function
Module, b is to select corresponding point to carry out registrating front to see, and c is to see after selection corresponding point registrate, and d is the UKA art after registration
Rear model front is seen, and e is to see after the postoperative model of UKA after registration；
Figure 13 is by Geomagic Studio12 software optimization knee joint model figure；A is to import coarse, to there is hole mould
Type, b is denoising, and c is for extracting contour curve, and d is structure grid, and e is surface fitting, and f is the UKA postoperative knee joint mould after optimizing
Type；
Figure 14 is the optimization UKA postoperative knee joint threedimensional model after stress and strain model；
Figure 15 is the three-dimensional finite element model under UKA postoperative knee joint difference flexion angle；Wherein, a is 0 °, and b is 30 °, and c is
60 °, d is 90 °, and e is 120 °；
Figure 16 be UKA postoperative knee joint Three-Dimensional Dynamic FEM (finite element) model difference go down on one's knees angle time femur relative to the motion wire of tibia
Schematic diagram.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail.
It will be understood to those of skill in the art that the following example is merely to illustrate the present invention, and should not be regarded as limiting this
Bright scope.Unreceipted concrete technology or condition person in embodiment, according to the technology described by the document in this area or condition
Or carry out according to product description.Material therefor or instrument unreceipted production firm person, be and can be obtained by purchase
Conventional products.
Between we choose inside 1 knee joint, room osteoarthritis implements the patient of single condyle replacement, based on patient itself
Knee joint carries out threedimensional model structure, and concrete operation method method is as follows:
Step (1), the postoperative CT scan of UKA:
Use SIEMENS 128 row's double source Spiral CT scan lower limb；
Scanning position: knee joint is stretched naturally and 10 °～15 ° angles of outward turning are fixed；
Sweep limits: top to mid plane of pelvis, lower section completely includes foot；
CT image acquisition sweep parameter is set as: tube voltage 120kV and 70kV of double source CT, tube current 100mA and 60mA, thickness
0.6mm, interlayer is every 0.6mm, pitch 0.5.
Step (2), the preoperative MRI scan of UKA:
Using the double knee joint of GE 1.5T superconduction type magnetic resonance machine scanning, magnetic resonance machine is using head coil as receiving coil；
Scanning position: knee joint is stretched naturally and outward turning 10 °～15 ° degree angle is fixed；
Sweep limits: centered by knee space, to respectively scanning 10cm；
MRI image acquisition scans parameter is set as: sagittal plain 3D proton density weighted imaging sequence, TR 11000ms, TE
25ms；Thickness 1.0 mm；Interlamellar spacing 0.2mm；Echo train 14；Encourage 2 times；Matrix 192/320；FOV 18.
Step (3), data preserve:
Step (1) and step (2) are scanned the data obtained on a workstation with DICOM 3.0(Digital Imaging and
Communication in Medicine) form stores and is burnt on CD-ROM, as depicted in figs. 1 and 2；
Step (4), the importing of CT two dimensional image and reconstructing three-dimensional model:
On computer workstation, CT two-dimensional scan image step (1) obtained imports Medical Image Processing in dicom format
In software Mimics 17.0, the data at software import forward and backward, upper and lower, left and right six direction defined in module, Ke Yixian
Coronal, sagittal plain and the two dimensional image of axle position are shown, such as Fig. 3.Then Thresholding function is used to set bony structure
Tonal range so that the color of establishment can be completely covered the bony structure of structure at all levels, then separates initial full bony structure
Mask, uses Regional growing function by femur, tibia, fibula, patella structure extraction and to draw by different colours successively
Separately, manually remove the cavity on adhesion part patch formation model by edit mask function simultaneously, after division, choosing
Select Calculate 3D from Masks, and use " High Quality " computational methods, after operation, reconstruct the postoperative knee joint of UKA
Joint bony structure three-dimensional digitalization model, such as Fig. 4；
Step (5), the importing of MRI two dimensional image and reconstructing three-dimensional model:
On computer workstation, the MRI two dimensional image that step (2) obtains is imported Medical Image Processing in dicom format soft
In part Mimics 17.0, such as Fig. 5, the data at software import forward and backward, upper and lower, left and right six direction defined in module, so
Rear use Thresholding function sets soft tissue structure's tonal range so that the color of establishment can be completely covered structure at all levels
Soft tissue structure, then separate initial full soft tissue structure mask, use Regional growing function successively by outside
Meniscus, quadriceps femoris tendon, kneecap tendon, interior lateral collateral ligament and ligamentaum cruciatum extraction front and back are also demarcated by different colours, with
Time manually remove the cavity on noise and the burr of segmenting edge patch formation model by edit mask function, divide complete
After, select Calculate 3D from Masks, and use " High Quality " computational methods, after operation, reconstruct UKA art
The three-dimensional digitalization model of knee joint soft tissue structure, such as Fig. 6；
Step (6), knee joint model registration and modification:
The knee joint bony structure three-dimensional digitalization model that step (4) is obtained based on CT scan view data and step (5) base
In the knee joint soft tissue structure three-dimensional digitalization model that MRI scan view data obtains by the movement in Mimics software,
The function rotated is assembled according to knee anatomy, finally gives same person and comprises bony structure and soft tissue structure
Complete knee joint threedimensional model, such as Fig. 7；
Step (7), the structure of prosthese threedimensional model:
(small size femoral prosthesis, small size 4mm gathers the respective model prosthese model of all uses in the UKA art of the scanned object of selection
Vinyl liners, tibial prosthesis " left AA " model), use three-dimensional laser scanner (3DSS STDLED type III laser scanner,
Shanghai Shuo Zao Electromechanical Technology Co., Ltd) it is carried out high-rate laser scanning and measurement, such as Fig. 8, obtain prosthetic surface complete, even
Continuous panorama point three-dimensional coordinate data, is then used by the some cloud number that scanning is obtained by reverse engineering software Geomagic Studio
According to carrying out post processing, obtain the prosthese threedimensional model of all uses, such as Fig. 9；
Described post processing includes denoising, polygon repairing, fairing processing, extraction contour curve and fitting surface；
The prosthese model of all uses includes tibial prosthesis, polyethylene liner and femoral prosthesis；
Step (8), the simulation prosthese assembling of UKA postoperative knee joint:
The complete knee joint threedimensional model built in step (6), selects Load in STLs in Mimics software interface
STL function imports the prosthese threedimensional model of all uses inversely rebuild, the femoral prosthesis threedimensional model i.e. rebuild, poly-second
Alkene liner threedimensional model and tibial prosthesis threedimensional model, such as Figure 10, adjusted prosthese threedimensional model by movement, rotation process
Whole and combination, such as Figure 11；Select the Point Registration function in Registration, by by prosthese threedimensional model
Dissect point corresponding with on complete knee joint threedimensional model carries out point-to-point registration operation, makes prosthese threedimensional model be assembled to knee joint and closes
On joint model, obtain being equipped with the knee joint threedimensional model of prosthese, such as Figure 12；
When corresponding dissection point on postoperative with corresponding UKA for prosthese threedimensional model knee joint model is carried out point-to-point registration operation,
It is successively that femoral prosthesis threedimensional model, polyethylene liner threedimensional model, tibial prosthesis threedimensional model is three-dimensional with complete knee joint
Corresponding point of dissecting on model carries out point-to-point registration operation；
Step (9), Optimized model:
The knee joint threedimensional model being equipped with prosthese step (8) obtained imports Geomagic Studio reverse engineering software
In, carry out repairing and optimization process；
First obtain in bidimensional image data procedures because scanned object moves and at Mimics software at CT, MRI scan
Interface expert moves and divides in each organizational process of knee joint because the redundant data that manually division not exclusively obtains is carried out at denoising
Reason；Principle based on continual curvature fills model surface cavity, removes the impression of model surface；Become according to model surface curvature
Change, Curvature varying substantially and affect the part of model silhouette, obvious according to Curvature varying and affect the part of model silhouette
The contour curve of this part of central line pick-up, edits the contour curve of this part afterwards, obtains the curve of smooth-going；
Next build tetragon grid screen of uniform size at model surface, regulate nurbs surface fineness, by curved surface
Automatically inserting new summit between summit and summit so that the curved surface of knee joint model is got the finest and the smoothest, visual effect is more
Add smooth densification, finally fit to nurbs surface, even if all discrete datas of composition knee joint model all meet one jointly
Function analytic expression, completed the closing of Discrete Surfaces by the method asking for function analytic expression, obtain optimize the postoperative knee joint of UKA
Threedimensional model, such as Figure 13；
Step (10), stress and strain model:
In Abaqus software, the optimization UKA postoperative knee joint threedimensional model obtaining step (9) uses tetrahedron to carry out grid
Divide；Stress and strain model is an extremely important step in finite element analysis later stage numerical simulation analysis.Number of grid will directly affect
The precision calculated and the scale of calculating.It is said that in general, number of grid is the most, computational accuracy will increase, but may increase simultaneously and calculate
Scale, consumes excessive cost, therefore should fully weigh the relation between computational accuracy and scale when determining grid number, make every effort to
The calculating of degree of precision is obtained under minimum consumption.
The present embodiment UKA postoperative knee joint element number 130416, nodes 193787, such as Figure 14, stress and strain model obtains
Unit number and nodes explanation model convergence, i.e. above model construction is errorless.
Step (11), definition each several part material properties:
All material in knee joint model is assumed to be the linear elastic materials of isotropism, uniformly continuous, and at Abaqus 6.10
Software gives corresponding material properties and pool to the optimization UKA postoperative knee joint threedimensional model after step (10) stress and strain model
Pine ratio, material properties and Poisson such as table 1；
Table 1
Step (12), imposed load and boundary condition:
Quadriceps strength being reduced to 400N, is parallel to femoral shaft, quadriceps femoris starting point is pointed in direction；Simultaneously along knee joint power
Line applies 300N power, with simulated body weight；Setting tibia is motionless, and femur occurs to bend relative to tibia under application of a force
Bent, stretch, interior receipts, abduction, inward turning and the motion of outward turning six-freedom degree；For the bone tissue in knee joint threedimensional model,
Soft tissue and prosthetic component, define femoral prosthesis false with tibia with polyethylene liner, polyethylene liner with femur, femoral prosthesis
Body, tibial prosthesis and tibia, kneecap tendon and tibia, kneecap tendon and patella, stock market trend prediction and femur, stock market trend prediction and patella, interior
Side para-ligament and femur, medial collateral ligament and tibia, lateral collateral ligament and femur, lateral collateral ligament and tibia, anterior cruciate ligament
With femur, anterior cruciate ligament and tibia, posterior cruciate ligament and femur, posterior cruciate ligament and tibia, lateral meniscus and femur, outer
Side meniscus and tibia interface；The most each bar ligament two ends are defined as rigidly fixing with osseous tissue contact area, with osseous tissue phase
Even；It is set as binding constraint between femoral prosthesis, tibial prosthesis and osteotomy surface, between prosthese contact surface, is set to friction, coefficient of friction
It is 0.04；
Step (13), modelling verification:
By the optimization UKA postoperative knee joint threedimensional model imposed load to imparting material properties, simulate knee joint Dynamic Buckling
0-120 °, extraction be knee joint flexing 0 ° respectively, 30 °, 60 °, 90 °, femur is sent out relative to tibia under 120 ° of five positions
Raw outward turning, abduction and the angle-data of interior receipts, such as Figure 15 and Figure 16, compare with existing data in literature, and result is consistent, it was demonstrated that
Model successfully.
This research establishes the three-dimensional that the postoperative knee joint of UKA is made up of 130416 unit number and 193787 nodes to be had
Limit meta-model, compared with entity specimen, height of contour is true to nature, can the relatively true representations original.
During knee sprung 0-120 °, femur is relative to tibia generation outward turning, and before flexing 80 °, outward turning trend increases, and exceedes
After 80 °, it is gradually reduced, during flexing 80 °, reaches maximum outward turning angle, about 15 °；During flexing 0-75 °, femur relative to tibia abduction,
Maximum abduction angle is reached during flexing 30 °, about 3 °；After flexing is more than 75 °, femur starts interior receipts, reaches imperial palace when flexing 120 °
Receipts angle, about 2.5 °.Comparing with document, result of the test is consistent with previous investigation, it was demonstrated that model is effective.
As the existing document compared it is: Hanson GR, Moynihan AL, Suggs JF, Kwon YM,
Johnson T, Li G.Kinematics of midial unicondylar knee arthroplasty:an in vivo
investigation.J Knee Surg,2009,22(3):237-242.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.The technical staff of the industry
It should be appreciated that the present invention is not restricted to the described embodiments, described in above-described embodiment and description, the present invention is simply described
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these change and
Improvement both falls within scope of the claimed invention.Claimed scope is by appending claims and equivalence thereof
Thing defines.
Claims (4)
1. a method based on point-to-point registration technique virtual knee joint single condyle replacement model construction, it is characterised in that bag
Include following steps:
Step (1), the postoperative CT scan of UKA:
Use SIEMENS 128 row's double source Spiral CT scan lower limb；
Scanning position: knee joint is stretched naturally and 10 °～15 ° angles of outward turning are fixed；
Sweep limits: top to mid plane of pelvis, lower section completely includes foot；
Step (2), the preoperative MRI scan of UKA:
Using the double knee joint of GE 1.5T superconduction type magnetic resonance machine scanning, magnetic resonance machine is using head coil as receiving coil；
Scanning position: knee joint is stretched naturally and outward turning 10 °～15 ° degree angle is fixed；
Sweep limits: centered by knee space, to respectively scanning 10cm；
Step (3), data preserve:
Step (1) and step (2) are scanned the data obtained store with DICOM 3.0 form and be burnt to CD-ROM on a workstation
On；
Step (4), the importing of CT two dimensional image and reconstructing three-dimensional model:
On computer workstation, CT two-dimensional scan image step (1) obtained imports Medical Image Processing in dicom format
In software Mimics 17.0, the data at software import forward and backward, upper and lower, left and right six direction defined in module, then make
Bony structure tonal range is set so that the color of establishment can be completely covered the bone of structure at all levels by Thresholding function
Structure, then separates initial full bony structure mask, use Regional growing function successively by femur, tibia, fibula,
Patella structure extraction is also demarcated by different colours, manually removes adhesion part by edit mask function and repairs simultaneously
Cavity on model, after division, selects Calculate 3D from Masks, and uses " High Quality " to calculate
Method, reconstructs UKA postoperative knee joint bony structure three-dimensional digitalization model after operation；
Step (5), the importing of MRI two dimensional image and reconstructing three-dimensional model:
On computer workstation, the MRI two dimensional image that step (2) obtains is imported Medical Image Processing in dicom format soft
In part Mimics 17.0, the data at software import forward and backward, upper and lower, left and right six direction defined in module, then use
Thresholding function sets soft tissue structure's tonal range so that the color of establishment can be completely covered soft group of structure at all levels
Knit structure, then separate initial full soft tissue structure mask, use Regional growing function successively by lateral meniscus,
Quadriceps femoris tendon, kneecap tendon, interior lateral collateral ligament and ligamentaum cruciatum extraction front and back are also demarcated by different colours, use edit simultaneously
Mask function manually removes the cavity on noise and the burr of segmenting edge patch formation model, after division, selects
Calculate 3D from Masks, and use " High Quality " computational methods, reconstruct the preoperative knee joint of UKA after operation and close
The three-dimensional digitalization model of joint soft tissue structure；
Step (6), knee joint model registration and modification:
The knee joint bony structure three-dimensional digitalization model that step (4) is obtained based on CT scan view data and step (5) base
In the knee joint soft tissue structure three-dimensional digitalization model that MRI scan view data obtains by the movement in Mimics software,
The function rotated is assembled according to knee anatomy, finally gives same person and comprises bony structure and soft tissue structure
Complete knee joint threedimensional model；
Step (7), the structure of prosthese threedimensional model:
Select the respective model prosthese model of all uses in the UKA art of scanned object, use three-dimensional laser scanner to it
Carrying out high-rate laser scanning and measurement, acquisition prosthetic surface is complete, continuous print panorama point three-dimensional coordinate data, is then used by reverse
The cloud data that scanning is obtained by engineering software Geomagic Studio carries out post processing, and the prosthese obtaining all uses is three-dimensional
Model；
Described post processing includes denoising, polygon repairing, fairing processing, extraction contour curve and fitting surface；
The prosthese model of all uses includes tibial prosthesis, polyethylene liner and femoral prosthesis；
Step (8), the simulation prosthese assembling of UKA postoperative knee joint:
The complete knee joint threedimensional model built in step (6), selects Load in STLs in Mimics software interface
STL function imports the prosthese threedimensional model of all uses inversely rebuild, by movement, rotation process by prosthese threedimensional model
It is adjusted and combines；Select the Point Registration function in Registration, by by prosthese threedimensional model
Dissect point corresponding with on complete knee joint threedimensional model carries out point-to-point registration operation, makes prosthese threedimensional model be assembled to knee joint and closes
On joint model, obtain being equipped with the knee joint threedimensional model of prosthese；
Step (9), Optimized model:
The knee joint threedimensional model being equipped with prosthese step (8) obtained imports Geomagic Studio reverse engineering software
In, carry out repairing and optimization process；
First obtain in bidimensional image data procedures because scanned object moves and at Mimics software at CT, MRI scan
Interface expert moves and divides in each organizational process of knee joint because the redundant data that manually division not exclusively obtains is carried out at denoising
Reason；Principle based on continual curvature fills model surface cavity, removes the impression of model surface；Become according to model surface curvature
Change, Curvature varying substantially and affect the part of model silhouette, obvious according to Curvature varying and affect the part of model silhouette
The contour curve of this part of central line pick-up, edits the contour curve of this part afterwards, obtains the curve of smooth-going；
Next building tetragon grid screen of uniform size at model surface, regulation nurbs surface fineness also fits to
Nurbs surface, obtains optimizing UKA postoperative knee joint threedimensional model；
Step (10), stress and strain model:
In Abaqus software, the optimization UKA postoperative knee joint threedimensional model obtaining step (9) uses tetrahedron to carry out grid
Divide；
Step (11), definition each several part material properties:
All material in knee joint model is assumed to be the linear elastic materials of isotropism, uniformly continuous, and at Abaqus 6.10
Software gives corresponding material properties and pool to the optimization UKA postoperative knee joint threedimensional model after step (10) stress and strain model
Pine ratio, material properties and Poisson such as table 1；
Table 1
Step (12), imposed load and boundary condition:
Quadriceps strength being reduced to 400N, is parallel to femoral shaft, quadriceps femoris starting point is pointed in direction；Simultaneously along knee joint power
Line applies 300N power, with simulated body weight；Setting tibia is motionless, and femur occurs to bend relative to tibia under application of a force
Bent, stretch, interior receipts, abduction, inward turning and the motion of outward turning six-freedom degree；For the bone tissue in knee joint threedimensional model,
Soft tissue and prosthetic component, define femoral prosthesis false with tibia with polyethylene liner, polyethylene liner with femur, femoral prosthesis
Body, tibial prosthesis and tibia, kneecap tendon and tibia, kneecap tendon and patella, stock market trend prediction and femur, stock market trend prediction and patella, interior
Side para-ligament and femur, medial collateral ligament and tibia, lateral collateral ligament and femur, lateral collateral ligament and tibia, anterior cruciate ligament
With femur, anterior cruciate ligament and tibia, posterior cruciate ligament and femur, posterior cruciate ligament and tibia, lateral meniscus and femur, outer
Side meniscus and the interface of tibia；The most each bar ligament two ends are defined as rigidly fixing with osseous tissue contact area, with osseous tissue
It is connected；It is set as binding constraint between femoral prosthesis, tibial prosthesis and osteotomy surface, between prosthese contact surface, is set to friction, friction system
Number is 0.04；
Step (13), modelling verification:
By the optimization UKA postoperative knee joint threedimensional model imposed load to imparting material properties, simulate knee joint Dynamic Buckling
0-120 °, extraction be knee joint flexing 0 ° respectively, 30 °, 60 °, 90 °, femur is sent out relative to tibia under 120 ° of five positions
Raw outward turning, abduction and the angle-data of interior receipts, compare with existing data in literature, and result is consistent, it was demonstrated that model successfully.
Side based on point-to-point registration technique virtual knee joint single condyle replacement model construction the most according to claim 1
Method, it is characterised in that the CT image acquisition sweep parameter described in step (1) is set as: the tube voltage 120kV of double source CT and
70kV, tube current 100mA and 60mA, thickness 0.6mm, interlayer is every 0.6mm, pitch 0.5.
Side based on point-to-point registration technique virtual knee joint single condyle replacement model construction the most according to claim 1
Method, it is characterised in that the MRI image acquisition scans parameter described in step (2) is set as: sagittal plain 3D proton density weighted imaging
Sequence, TR 11000ms, TE 25ms；Thickness 1.0 mm；Interlamellar spacing 0.2mm；Echo train 14；Encourage 2 times；Matrix 192/320；
FOV 18。
Side based on point-to-point registration technique virtual knee joint single condyle replacement model construction the most according to claim 1
Method, it is characterised in that the corresponding dissection point on postoperative with corresponding UKA for prosthese threedimensional model knee joint model is carried out by step (8)
During point-to-point registration operation, it is successively by femoral prosthesis threedimensional model, polyethylene liner threedimensional model, tibial prosthesis threedimensional model
Dissect point corresponding with on complete knee joint threedimensional model carries out point-to-point registration operation.
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