CN107292062B - Design method and system of personalized medical instrument - Google Patents
Design method and system of personalized medical instrument Download PDFInfo
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Abstract
The application discloses a design method of a personalized medical instrument, which comprises the following steps: generating a three-dimensional model of the human body part from the two-dimensional tomographic image of the human body part; performing local morphological feature extraction operation on the three-dimensional model to obtain local morphological feature parameters, and generating a corresponding medical instrument model according to the local morphological feature parameters; acquiring a total error existing in the process of generating the medical instrument model, and judging whether the total error exceeds a threshold value; and if not, obtaining the corresponding medical instrument through the 3D printing technology. The medical apparatus designed by the method has good adaptability to different human body parts, has higher accuracy in use compared with a general medical apparatus, can be well attached to an implementation part, and can remarkably improve the operation precision and the use experience of a patient. The application also discloses a design system of the personalized medical instrument, and the design system has the beneficial effects.
Description
Technical Field
The present application relates to the field of medical devices, and in particular, to a method and a system for designing a personalized medical device.
Background
With the development of medical technology, medical treatment means are diversified, and treatment can be completed by matching with various medical instruments. At present, a common medical instrument is a universal medical instrument, and only the common medical instrument is designed by considering that the common medical instrument can be approximately matched with a treatment part of a patient, in order to improve the matching performance of the device and the instrument, a plurality of fine adjustment structures are usually added in the medical instrument, the problem of the matching performance is solved to a certain extent, but the number of parts of the device is too large, the size of the parts is small, the situation that the parts fall into the body when the instrument is installed can occur, therefore, the situation that the parts fall off in the installation and operation processes can occur, and the difficulty and complexity of the operation can be greatly increased.
In order to ensure the accuracy of the medical instrument during use, the medical instrument needs to be calibrated during operation, when the part needing to use the medical instrument is in the body, whether the calibration is successful needs to be observed under the irradiation of an X-ray machine during calibration, and meanwhile, the guidance of the X-ray machine is also needed during operation. For example, in internal fixation of femoral neck fractures and hip protection after collapse of femoral head necrosis, an implant for treating proximal femoral disease needs to be placed along the central axis of the femoral neck and in the direction, provided that the central axis of the femoral neck is located. In practice, the femoral neck axis is determined by inserting the positioning guide pin, and by observing the position of the positioning guide pin inside the femur to determine whether the guide pin has passed through the relative neutral axis position of the femoral neck. Therefore, the operation is performed under the guidance of the X-ray machine, and the doctor operates the operation by bare hands without a guide device. Due to the lack of an effective positioning device and the narrow geometric space near the proximal femur, the accuracy, safety and effectiveness of the positioning guide pin insertion process are low, and the problem that the guide pin can be inserted into a proper position only by repeatedly threading the needle is caused, which further damages the remaining normal bone structure of the neck of the femoral head and causes unnecessary iatrogenic damage; in addition, repeated needle penetration requires repeated fluoroscopy, and both the patient and the physician receive a considerable dose of ionizing radiation, which is also quite harmful.
Meanwhile, the universal medical instruments adopted by the existing medical instruments depend on import, and the imported medical instruments are designed according to the body structures of foreigners and are slightly different from the foreigners, so that the instruments are possibly not matched with the human body too much, and the injury of the human body part or the unsuccessful operation is caused.
Therefore, the technical problem to be solved by those skilled in the art is how to provide a targeted and effective personalized medical device design mechanism based on the above technical shortcomings.
Disclosure of Invention
The purpose of the application is to provide a design method and a system of personalized medical instruments, the designed medical instruments have good adaptability to different human body parts, compared with general medical instruments, the medical instruments have higher accuracy in use, can be well attached to implementation parts, and can remarkably improve the operation precision and the use experience of patients.
In order to solve the above technical problem, the present application provides a method for designing a personalized medical device, the method comprising:
generating a three-dimensional model of a human body part from a two-dimensional tomographic image of the human body part;
performing local morphological feature extraction operation on the three-dimensional model to obtain local morphological feature parameters, and generating a corresponding medical instrument model according to the local morphological feature parameters;
acquiring a total error existing in the process of generating the medical instrument model, and judging whether the total error exceeds a threshold value; and if the medical instrument model does not exceed the threshold, obtaining the corresponding medical instrument through the 3D printing technology.
Optionally, the performing a local morphological feature extraction operation on the three-dimensional model to obtain a local morphological feature parameter includes:
performing reference feature extraction operation on the three-dimensional model to obtain reference feature parameters; the datum characteristic parameters comprise datum planes and/or datum lines and/or datum points;
performing positioning feature extraction operation on the three-dimensional model to obtain matching surface parameters;
and generating the local morphological characteristic parameters by using the benchmark characteristic parameters and the matching surface parameters.
Optionally, generating a corresponding medical instrument model according to the local morphological feature parameters includes:
obtaining a corresponding matching surface according to the local morphological characteristic parameters, and taking the matching surface as a contact surface;
generating a positioning model by using the contact surface;
generating a corresponding functional model according to the functional action of the medical instrument;
and forming the medical instrument model by using the positioning model and the functional model.
Optionally, acquiring a total error existing in the process of generating the medical instrument model includes:
acquiring a measurement error of the two-dimensional tomographic image in a measurement process;
acquiring a processing error existing in the reference feature extraction operation process;
acquiring a curved surface reconstruction error existing in the positioning feature extraction operation process;
and calculating the measurement error, the processing error and the curved surface reconstruction error according to a preset algorithm to obtain the total error.
Optionally, the design method further includes:
judging whether the obtained reference characteristic parameters are in a preset range or not;
and if the reference feature is not in the preset range, the reference feature extraction operation is executed again.
The present application further provides a design system for a personalized medical device, the design system comprising:
a three-dimensional model generation unit for generating a three-dimensional model of a human body part from a two-dimensional tomographic image of the human body part;
the extraction generation unit is used for executing local morphological feature extraction operation on the three-dimensional model to obtain local morphological feature parameters and generating a corresponding medical instrument model according to the local morphological feature parameters;
the judgment processing unit is used for acquiring the total error existing in the process of generating the medical instrument model and judging whether the total error exceeds a threshold value; and if the medical instrument model does not exceed the threshold, obtaining the corresponding medical instrument through the 3D printing technology.
Optionally, the extraction generating unit includes:
the reference characteristic subunit is used for executing reference characteristic extraction operation on the three-dimensional model to obtain reference characteristic parameters; the datum characteristic parameters comprise datum planes and/or datum lines and/or datum points;
the positioning feature subunit is used for executing positioning feature extraction operation on the three-dimensional model to obtain matching surface parameters;
and the local morphological characteristic parameter generation subunit is used for generating the local morphological characteristic parameters by using the reference characteristic parameters and the matching surface parameters.
Optionally, the extraction generating unit includes:
the contact surface generation subunit is used for obtaining a corresponding matching surface according to the local morphological characteristic parameters and taking the matching surface as a contact surface;
a positioning model generating subunit, configured to generate a positioning model using the contact surface;
the functional model generating subunit is used for generating a corresponding functional model according to the functional action of the medical instrument;
and the medical instrument model generating subunit is used for forming the medical instrument model by utilizing the positioning model and the functional model.
Optionally, the judging and processing unit includes:
a measurement error acquisition unit for acquiring a measurement error existing in the two-dimensional tomographic image during measurement;
a processing error acquisition unit for acquiring a processing error existing in the process of the reference feature extraction operation;
a curved surface reconstruction error obtaining unit, configured to obtain a curved surface reconstruction error existing in the positioning feature extraction operation process;
and the total error calculation unit is used for calculating the measurement error, the processing error and the curved surface reconstruction error according to a preset algorithm to obtain the total error.
Optionally, the extraction generating unit further includes:
the judgment subunit is used for judging whether the obtained reference characteristic parameter is in a preset range;
and the re-execution subunit is used for re-executing the reference feature extraction operation if the reference feature extraction operation is not in the preset range.
The design method of the personalized medical instrument provided by the application comprises the following steps: generating a three-dimensional model of a human body part from a two-dimensional tomographic image of the human body part; performing local morphological feature extraction operation on the three-dimensional model to obtain local morphological feature parameters, and generating a corresponding medical instrument model according to the local morphological feature parameters; acquiring a total error existing in the process of generating the medical instrument model, and judging whether the total error exceeds a threshold value; and if the medical instrument model does not exceed the threshold, obtaining the corresponding medical instrument through the 3D printing technology.
Obviously, according to the design method of the personalized medical instrument, the generated three-dimensional model is subjected to local morphological feature extraction to obtain feature data, the corresponding medical instrument model is designed according to the feature data, the overall error judgment is performed on the model, if the medical instrument is obtained through the 3D printing technology according to the requirements, the designed medical instrument has good adaptability to the human body parts with the difference, compared with the general medical instrument, the method has higher accuracy in use, can be well attached to the implementation parts, and can remarkably improve the operation precision and the use experience of patients. The application also provides a design system of the personalized medical instrument, which has the beneficial effects and is not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flow chart of a method for designing a personalized medical device according to an embodiment of the present application;
FIG. 2 is a flow chart of another method for designing a personalized medical device provided by an embodiment of the present application;
FIG. 3 is a flow chart of a method for designing a personalized medical device according to an embodiment of the present application;
FIG. 4 is a flow chart of a method for designing a personalized medical device according to an embodiment of the present application;
fig. 5 is a block diagram of a design system of a personalized medical device according to an embodiment of the present application.
Detailed Description
The core of the application is to provide a design method and a system of personalized medical instruments, the designed medical instruments have good adaptability to different human body parts, compared with general medical instruments, the medical instruments have higher accuracy in use, can be well attached to implementation parts, and can remarkably improve the operation precision and the use experience of patients.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart illustrating a design method of a personalized medical device according to an embodiment of the present application.
The steps of this embodiment may include:
s101, generating a three-dimensional model of the human body part according to the two-dimensional tomographic image of the human body part;
the step aims to generate a digital three-dimensional model which can be stored in a terminal by carrying out a series of processing on the acquired two-dimensional tomographic image. The task of acquiring the two-dimensional tomographic image can be obtained by the same technology including the CT or MRI technology, and of course, different parameter settings can be performed on the generated two-dimensional tomographic image, that is, the parameter settings of the two-dimensional tomographic image can be specifically set according to the requirements of the generated three-dimensional model. And after the proper two-dimensional tomographic image is successfully acquired, generating a corresponding three-dimensional model for the position described by the two-dimensional tomographic image by using medical modeling software.
Of course, when acquiring the three-dimensional model, some processing is inevitably performed on the two-dimensional tomographic image, and a manner of selecting the processing according to a required portion may be performed, which may refer to the following example, and other cases are not described again.
For example, in a femur surgery, a thigh portion of a human body is scanned by medical equipment for acquiring three-dimensional reconstruction data to obtain a continuous two-dimensional tomographic image, the tomographic image is imported into the Mimics software, a threshold value is set to extract a contour of the femur within a certain range, and the image is subjected to operations such as segmentation and repair; based on a 3D interpolation method, the continuous two-dimensional tomographic image is converted into a three-dimensional model by using a three-dimensional calculation tool of Mimics software, and the three-dimensional model of the femur is obtained.
S102, performing local morphological feature extraction operation on the three-dimensional model to obtain local morphological feature parameters, and generating a corresponding medical instrument model according to the local morphological feature parameters;
on the basis of step S101, this step is intended to perform an operation of extracting local features on the generated three-dimensional model, obtain parameters of local morphological features, and generate a corresponding medical instrument model according to the obtained parameters. In the use of medical instruments, some medical instruments are always required to be arranged outside a required implementation part to assist and guide the smooth operation of the operation, model parameters of the implementation part can be obtained by extracting the characteristics of the implementation part, and a model which is more beneficial to the operation implementation can be established according to the parameters. If parameters needed by generating the model are directly extracted through the part of the patient, secondary damage of the operation part can be caused by repeatedly scanning the operation part of the patient in the extraction process, and the patient is unlikely to keep a static state when the parameters are extracted, so that the extracted parameters are possibly inaccurate due to tiny actions, and the generation of the corresponding model is not facilitated.
For some operations, auxiliary medical instruments are required to be attached to the operation surface as much as possible, and in some cases, the physical characteristics of the operation part cannot be accurately obtained, so that a model of the required medical instruments cannot be conveniently designed.
Therefore, it is necessary to generate a three-dimensional model and extract a local form from the three-dimensional model. The extraction of the local morphology can extract different data according to different operations, but generally extracts some features required in the three-dimensional model to obtain corresponding parameters, which are also called model information parameterization description. The obtained data about the characteristics is convenient to store and transmit in the terminal, and brings convenience to subsequent model design.
The part described by the parameters can be kept accurate by extracting the characteristics of the three-dimensional model, and the extracted parameters can be used for generating an accurate model of the medical instrument conveniently in a terminal by utilizing modeling software, so that secondary damage to a patient is avoided. Wherein, the design can be carried out by modeling software such as UG, SolidWorks, Pro/E.
For example, in a femur surgery, a surgical site is a neck of a femur section, a guide needle needs to be inserted into the femur along a neck axis of the femur, so that an auxiliary device for the surgery is a locator for the neck axis, neck axis information can be extracted through a fitting algorithm by using an acquired three-dimensional model, guidance of the neck axis is determined, whether the locator is installed properly and whether an implementation point is accurate needs to be determined in the surgery, a contact device in contact with one end surface of the femur needs to be designed by extracting characteristics of a fitting surface, and a locator device model can be designed in modeling software by comprehensively using the characteristics information to guide the surgery on the neck axis of the femur. Of course, in the operation, other functional modules and fixing modules are also needed, for example, a clamping module for fixing the positioner device at the operation site is needed, and the specific design is designed according to the problem to be solved in specific situations, and will not be described herein again.
S103, acquiring a total error existing in the process of generating the medical instrument model, and judging whether the total error exceeds a threshold value;
s104, judging whether the total error exceeds a threshold value;
on the basis of step S102, S103 and S104 aim to perform a total error determination on the generated medical instrument model to obtain a determination result of whether the total error exceeds a threshold value. After a plurality of processes are performed on the obtained medical instrument model, a certain error is generated in each process, so that the total error needs to be calculated, and whether the total error exceeds a set threshold value or not is judged.
And S105, obtaining the corresponding medical instrument from the medical instrument model through a 3D printing technology.
The step is based on the result of the judgment of S104 that the total error exceeds the set threshold, and the step aims to print the medical instrument model which is judged not to exceed the threshold by using a 3D printing technology to quickly obtain a qualified medical instrument.
Based on the technical scheme, according to the design method of the personalized medical instrument, the generated three-dimensional model is subjected to local morphological feature extraction to obtain feature data, the corresponding medical instrument model is designed according to the feature data, the overall error judgment is carried out on the model, if the medical instrument is obtained through the 3D printing technology according to the requirements, the designed medical instrument has good adaptability to the human body parts with differences, compared with the general medical instrument, the method has higher accuracy in use, can be well attached to the implementation parts, and can remarkably improve the operation precision and the use experience of patients.
Referring to fig. 2, fig. 2 is a flowchart of another method for designing a personalized medical device according to an embodiment of the present application.
The present embodiment is a specific limitation on how to perform the local morphological feature extraction operation on the three-dimensional model to obtain the local morphological feature parameters in S102 in the previous embodiment, other steps are substantially the same as those in the previous embodiment, and the same parts may refer to relevant parts of the previous embodiment, and are not described herein again.
The method specifically comprises the following steps:
s201, performing reference feature extraction operation on the three-dimensional model to obtain reference feature parameters; the datum characteristic parameters comprise datum planes and/or datum lines and/or datum points;
this step is intended to perform a series of operations for extracting reference features on the three-dimensional model, obtaining reference features for positioning and designing the model. For a three-dimensional model of a human body part, a design reference point needs to be found firstly, which is equivalent to the function of establishing a coordinate axis when describing the position of a point in a terminal, so that when a positioning direction is found for the model, a proper reference characteristic parameter needs to be extracted firstly. The reference feature comprises a reference surface, a reference line and a reference point.
In this embodiment, based on the three-dimensional model of the femur, a reference line feature, i.e., the trans-axis of the femur, is extracted, which is specifically operated by fitting the trans-axis of the femur with a spatial straight line by least squares fitting.
The process of reconstructing the local form of the product is a process of fitting scanning data by using a surface equation, and the surface fitting is usually carried out by using a least square method. Least squares solves the problem of overdetermined systems of equations by finding the least squares residual of the objective function. The least square sum of the coordinate differences (i.e., residuals) from the generation of the objective function is found from the known random data, and the parameter values of the objective function are determined.
The expression for the residual is:
the expression for the general equation for least squares is then as follows:
the objective function in the fitting stage is performed as a quadratic curve, which is generally a polynomial equation:
F(x，y，)＝a1+a2x+a3y+a4xy+a5x2+a6y2
s202, performing positioning feature extraction operation on the three-dimensional model to obtain matching surface parameters;
the method comprises the following steps of performing a series of operations of extracting and positioning features on the three-dimensional model to obtain matching surface parameters for contacting the human body part. Of course, there are many ways to obtain the parameters of the matching surface, and there may be other processing steps in performing the operation of extracting the parameter features, which is not limited in this respect.
In the embodiment, based on the three-dimensional model of the femur, the positioning feature, that is, the fitting surface parameter of the femur in implementation is extracted, and the operation is to extract the parameter information of the fitting surface needing to be contacted in the femur by using the parameterization method of the curved surface.
Generally, in the traditional surface fitting process, a polynomial surface equation is directly fitted, and most modeling software platforms have difficulty in modifying the surface model. Therefore, the parametric expression of the curved surface is provided in a parameter-driven mode in the process of surface fitting, and the surface is convenient to modify in various CAD modeling software platforms. In order to fit the local form in a form convenient for editing, the general flow is to intercept the contour line of the curved surface by a cross section, describe the contour line of the curved surface in a parameter-driven form, and generate the curved surface by a curve, so that the curved surface can be modified in a CAD software in a parameter form, and then the curved surface is modified, and the purpose of driving the curved surface by the parameter is achieved.
Except for regular curved surfaces which can be directly described by straight lines and circular arcs, the general free-form surface construction line mainly has three forms of a Bezier curve, a B-spline curve and a non-uniform rational B-spline curve (NURBS), and the final curved surface is formed by operations of stretching, sweeping, skinning and the like on the curve.
In general, the above is a parameterized surface of a feature obtained by a processing operation such as description or fitting. There are other processing operations that are inevitable during processing and are not specifically limited herein.
And S203, generating local morphological characteristic parameters by using the reference characteristic parameters and the matching surface parameters.
In step S201 and step S202, the local morphological feature parameter is generated by using the reference feature parameter and the matching surface parameter.
Further, in addition to the operation of extracting the local morphological feature in the embodiment, the following judgment can be performed to obtain a better parameter:
judging whether the obtained reference characteristic parameters are in a preset range or not;
and if the current position is not in the preset range, the reference feature extraction operation is executed again.
This section is directed to a process of verifying the extracted reference feature parameters in order to prevent a case where a design error is large.
Specifically, the steps of extracting the local morphological feature of the three-dimensional model of the femur obtained in the above embodiment are as follows:
step 1, a plane is created according to the fitting of 3 protruding parts (namely, lesser trochanter, medial condyle and lateral condyle) on the back of the femur;
and 2, selecting data of the femoral shaft and fitting the central axis of the part, namely the femoral shaft axis.
Step 3, matching the plane created by fitting with an XOY plane of the global coordinate system; the femoral neck shaft angle is a projection included angle of the central axis of the femoral neck and the femoral shaft axis on an XOY plane, so that the femoral shaft axis can be matched with the X axis of a coordinate system to obtain the global posture of the femoral model;
and 4, fitting the axis by using a fitting algorithm. Selecting femoral neck data and optimally fitting the data to the rotation axis of the femoral neck, or intercepting the femoral neck by using a series of normal planes in the approximate direction of the femoral neck axis to obtain a plurality of section lines, performing circle fitting on each layer of section lines to obtain a group of circle center coordinates, wherein the circle centers are not on the same straight line, and the femoral neck axis can be fitted by using a space straight line through a least square method;
step 5, verifying the extracted axis characteristics;
and 6, intercepting the triangular mesh model data by using the section plane to obtain a characteristic section line, and generating a smooth transition curved surface by using a curved surface modeling command of modeling software.
Referring to fig. 3, fig. 3 is a flowchart of another method for designing a personalized medical device according to an embodiment of the present application.
The present embodiment is a specific limitation on how to generate a corresponding medical instrument model from the local morphological feature parameters in S102 in the previous embodiment, other steps are substantially the same as those in the previous embodiment, and the same parts may refer to relevant parts of the previous embodiment, and are not described herein again.
The method specifically comprises the following steps:
s301, obtaining a corresponding matching surface according to the local morphological characteristic parameters, and taking the matching surface as a contact surface;
s302, generating a positioning model by using the contact surface;
the step aims to obtain a corresponding matching surface according to the local morphological characteristic parameters, take the matching surface as a contact surface and generate a corresponding positioning model by using the contact surface.
Specifically, when the extracted three-dimensional model is the femur of a human body, the proximal femur shape of the patient must be extracted and fitted to obtain a fitting surface due to certain difference between the human femur and the human femur, so that the designed device can be completely attached to the proximal femur to accurately position the axis of the femoral neck. The positioning device is thus created by the mating surfaces in order to conform to the surgical site of the patient.
S303, generating a corresponding functional model according to the functional action of the medical instrument;
this step is intended to generate a corresponding functional module according to the functional role of the medical instrument, in order to cooperate with the corresponding function of the medical instrument in implementation.
And S304, forming a medical instrument model by using the positioning model and the functional model.
Based on the above steps, the step aims to combine the generated positioning module and the function module into a medical instrument model so as to observe whether the model is suitable or not.
Optionally, when designing the medical device model, the fixing module of the medical device may be designed according to the difference of the use modes of the medical device and the implemented part.
Specifically, based on the local morphological characteristic parameters obtained in the above embodiment, the specific steps of performing model design on the local morphological characteristic parameters are as follows:
step 1, generating a device with a matching surface as a contact surface of the proximal femur, and generating a model of a positioning module of the device in modeling software by taking the surface as one surface of the device;
step 2, generating a model of the guide module by taking the axis of the extracted femoral neck as a central line;
step 3, after the model design of the positioning module and the guiding module is finished, the whole device needs to be perfectly designed;
step 4, arranging a clamping module at the tail end of the positioning module, so that the device can be fixed on the femur;
step 5, arranging a loose and tight nut at the tail end of the guide module, aiming at temporarily fixing the guide pin in the guide module;
step 6, observing whether the guide pin is positioned on the femoral neck axis or not through a C-arm X-ray machine, and realizing the function of in-vitro positioning and checking of the guide pin;
and 7, attaching a positioning module of the device to the proximal femur surface to realize the positioning function, fixing the device on the femur by using a clamping module, and driving a positioning guide pin into the femur by using a guide module.
In general, the above steps are to generate a corresponding medical instrument model through the extracted local morphological feature parameters, wherein a series of other processing operations inevitably exist, and are not described herein again.
Referring to fig. 4, fig. 4 is a flowchart of a method for designing a personalized medical device according to an embodiment of the present application.
The present embodiment is a specific limitation on how to analyze the total error of the medical device model from the design process in S103 in the previous embodiment, other steps are substantially the same as those in the previous embodiment, and the same parts may refer to relevant parts of the previous embodiment, and are not described again here.
The method specifically comprises the following steps:
s401, acquiring a measurement error of a two-dimensional tomographic image in a measurement process;
s402, acquiring a processing error existing in the operation process of reference feature extraction;
s403, acquiring a curved surface reconstruction error existing in the process of generating the matching surface by using the matching surface parameters;
and S404, calculating the measurement error, the processing error and the curved surface reconstruction error according to a preset algorithm to obtain a total error.
The present embodiment is directed to analyzing the design error after the overall design of the device is completed. In order to verify the design precision and the accuracy of the medical instrument, prevent medical accidents caused by errors in the using and implementing process, and continuously perfect the design method according to the data of the total error analysis, thereby improving the precision and the accuracy of the further technical scheme.
Specifically, based on the medical instrument model designed according to the above embodiment, the design accuracy of the positioning module is mainly ensured by the positioning matching surface, and the accuracy of the positioning matching surface affects the position of the guide sleeve and the trans-axial position of the femur.
The mating surface design error can be expressed as:
wherein: u. ofaIs the total design error; u. ofdIs a measurement error; u. ofεTo deal with errors; u. offIs the curved surface reconstruction error.
The following are obtained by calculation:
wherein the total design error uaIs a function of the transfer accumulation of these errors, and since the errors are random and satisfy the normal distribution, the arithmetic square root thereof is taken as the curved surface accuracy evaluation index according to the taylor series and the partial derivative formula. The measuring mode is three-dimensional non-contact laser scannerdThe measurement accuracy is within 0.1 mm. Presetting the deviation u of a fixed point to a curved surface in the data processing processεLess than or equal to 0.1 mm. Performing surface reconstruction error analysis on the reconstructed matching surface, and reconstructing local surface error u of the proximal femurfWithin a range of + -0.5 mm.
The embodiment of the application provides a design method of personalized medical equipment, the generated three-dimensional model is subjected to local morphological feature extraction to obtain feature data, a corresponding medical equipment model is designed according to the feature data, overall error judgment is carried out on the model, if the medical equipment is obtained through a 3D printing technology according to requirements, the designed medical equipment has good adaptability to human body parts with differences, compared with general medical equipment, the medical equipment has higher accuracy in use, the medical equipment can be well attached to implementation parts, and the operation precision and the use experience of patients can be remarkably improved.
The following describes a design system of a personalized medical device provided by an embodiment of the present application, and the design system described below and the design method of the personalized medical device described above may be referred to correspondingly.
Referring to fig. 5, fig. 5 is a block diagram illustrating a design system of a personalized medical device according to an embodiment of the present application.
The system may include:
a three-dimensional model generation unit 100 for generating a three-dimensional model of a human body part from a two-dimensional tomographic image of the human body part;
the extraction and generation unit 200 is used for performing local morphological feature extraction operation on the three-dimensional model to obtain local morphological feature parameters, and generating a corresponding medical instrument model according to the local morphological feature parameters;
a judgment processing unit 300, configured to obtain an overall error existing in the process of generating the medical instrument model, and judge whether the overall error exceeds a threshold; and if the threshold value is not exceeded, obtaining the corresponding medical instrument through the medical instrument model by a 3D printing technology.
Wherein, the extraction generating unit 200 may include:
the reference characteristic subunit is used for executing reference characteristic extraction operation on the three-dimensional model to obtain reference characteristic parameters; the datum characteristic parameters comprise datum planes and/or datum lines and/or datum points;
the positioning feature subunit is used for executing positioning feature extraction operation on the three-dimensional model to obtain matching surface parameters;
the local morphological characteristic parameter generation subunit is used for generating local morphological characteristic parameters by utilizing the reference characteristic parameters and the matching surface parameters;
the contact surface generation subunit is used for obtaining a corresponding matching surface according to the local morphological characteristic parameters and taking the matching surface as a contact surface;
a positioning model generation subunit, configured to generate a positioning model using the contact surface;
the functional model generating subunit is used for generating a corresponding functional model according to the functional action of the medical instrument;
and the medical instrument model generating subunit is used for forming a medical instrument model by utilizing the positioning model and the functional model.
The determining unit 300 may include:
a measurement error acquisition unit for acquiring a measurement error existing in the measurement process of the two-dimensional tomographic image;
a processing error acquisition unit for acquiring a processing error existing in the process of the reference feature extraction operation;
the curved surface reconstruction error acquisition unit is used for acquiring a curved surface reconstruction error existing in the positioning feature extraction operation process;
and the overall error calculation unit is used for calculating the measurement error, the processing error and the curved surface reconstruction error according to a preset algorithm to obtain an overall error.
The extraction generation unit 200 may further include:
the judgment subunit is used for judging whether the obtained reference characteristic parameter is in a preset range;
and the re-execution subunit is used for re-executing the reference feature extraction operation if the reference feature extraction operation is not in the preset range.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. A method of designing a personalized medical device, comprising:
generating a three-dimensional model of a human body part from a two-dimensional tomographic image of the human body part;
performing local morphological feature extraction operation on the three-dimensional model to obtain local morphological feature parameters, and generating a corresponding medical instrument model according to the local morphological feature parameters;
acquiring a total error existing in the process of generating the medical instrument model, and judging whether the total error exceeds a threshold value; if the medical instrument model does not exceed the threshold, obtaining a corresponding medical instrument through a 3D printing technology;
performing local morphological feature extraction operation on the three-dimensional model to obtain local morphological feature parameters, wherein the local morphological feature extraction operation comprises the following steps:
performing reference feature extraction operation on the three-dimensional model to obtain reference feature parameters; the datum characteristic parameters comprise datum planes and/or datum lines and/or datum points;
performing positioning feature extraction operation on the three-dimensional model to obtain matching surface parameters;
generating the local morphological characteristic parameters by using the reference characteristic parameters and the matching surface parameters;
wherein, the executing the positioning feature extraction operation on the three-dimensional model to obtain the fitting surface parameters comprises: and (3) intercepting the contour line of the curved surface by using the cross section, describing the contour line of the curved surface in a parameter-driven mode, and generating the curved surface by using a curve.
2. The design method according to claim 1, wherein generating a corresponding medical instrument model from the local morphological feature parameters comprises:
obtaining a corresponding matching surface according to the local morphological characteristic parameters, and taking the matching surface as a contact surface;
generating a positioning model by using the contact surface;
generating a corresponding functional model according to the functional action of the medical instrument;
and forming the medical instrument model by using the positioning model and the functional model.
3. The design method of claim 2, wherein obtaining gross errors present in generating the medical instrument model comprises:
acquiring a measurement error of the two-dimensional tomographic image in a measurement process;
acquiring a processing error existing in the reference feature extraction operation process;
acquiring a curved surface reconstruction error existing in the positioning feature extraction operation process;
and calculating the measurement error, the processing error and the curved surface reconstruction error according to a preset algorithm to obtain the total error.
4. The design method of claim 3, further comprising:
judging whether the obtained reference characteristic parameters are in a preset range or not;
and if the reference feature is not in the preset range, the reference feature extraction operation is executed again.
5. A system for designing a personalized medical device, comprising:
a three-dimensional model generation unit for generating a three-dimensional model of a human body part from a two-dimensional tomographic image of the human body part;
the extraction generation unit is used for executing local morphological feature extraction operation on the three-dimensional model to obtain local morphological feature parameters and generating a corresponding medical instrument model according to the local morphological feature parameters;
the judgment processing unit is used for acquiring the total error existing in the process of generating the medical instrument model and judging whether the total error exceeds a threshold value; if the medical instrument model does not exceed the threshold, obtaining a corresponding medical instrument through a 3D printing technology;
the extraction generation unit includes:
the reference characteristic subunit is used for executing reference characteristic extraction operation on the three-dimensional model to obtain reference characteristic parameters; the datum characteristic parameters comprise datum planes and/or datum lines and/or datum points;
the positioning feature subunit is used for executing positioning feature extraction operation on the three-dimensional model to obtain matching surface parameters;
a local morphological characteristic parameter generation subunit, configured to generate the local morphological characteristic parameter by using the reference characteristic parameter and the matching surface parameter;
the positioning characteristic subunit is used for intercepting the curved surface contour line by using a cross section, describing the curved surface contour line in a parameter-driven mode, and generating the curved surface by using a curve.
6. The design system according to claim 5, wherein the extraction generation unit includes:
the contact surface generation subunit is used for obtaining a corresponding matching surface according to the local morphological characteristic parameters and taking the matching surface as a contact surface;
a positioning model generating subunit, configured to generate a positioning model using the contact surface;
the functional model generating subunit is used for generating a corresponding functional model according to the functional action of the medical instrument;
and the medical instrument model generating subunit is used for forming the medical instrument model by utilizing the positioning model and the functional model.
7. The designing system according to claim 6, wherein the judgment processing unit includes:
a measurement error acquisition unit for acquiring a measurement error existing in the two-dimensional tomographic image during measurement;
a processing error acquisition unit for acquiring a processing error existing in the process of the reference feature extraction operation;
a curved surface reconstruction error obtaining unit, configured to obtain a curved surface reconstruction error existing in the positioning feature extraction operation process;
and the total error calculation unit is used for calculating the measurement error, the processing error and the curved surface reconstruction error according to a preset algorithm to obtain the total error.
8. The design system of claim 7, wherein the extraction generation unit further comprises:
the judgment subunit is used for judging whether the obtained reference characteristic parameter is in a preset range;
and the re-execution subunit is used for re-executing the reference feature extraction operation if the reference feature extraction operation is not in the preset range.
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