CN109077776A - A kind of positional punch system and method for joint replacement surgery - Google Patents
A kind of positional punch system and method for joint replacement surgery Download PDFInfo
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- CN109077776A CN109077776A CN201810960986.5A CN201810960986A CN109077776A CN 109077776 A CN109077776 A CN 109077776A CN 201810960986 A CN201810960986 A CN 201810960986A CN 109077776 A CN109077776 A CN 109077776A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1604—Chisels; Rongeurs; Punches; Stamps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1703—Guides or aligning means for drills, mills, pins or wires using imaging means, e.g. by X-rays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/369—Electroencephalography [EEG]
Abstract
The invention belongs to medical arthroscopic technique fields, a kind of positional punch system and method for joint replacement surgery is disclosed, positional punch and method system for joint replacement surgery include: image capture module, physiological parameter detection module, central control module, central point determining module, joint structure measurement module, perforating module, display module.The present invention determines articulation center point in three-dimensional space by central point determining module, the 2-D data positioning joint central point that the conventional method that compares is obtained by the measurement of the imaging datas such as x-ray, CT, MRI and cadaver sample, and accuracy is higher；The present invention focuses on core stressed zone more articulation center point is measured, and more meets the measurement of the lower limb line of force；Meanwhile by joint structure measurement module for the joint injury of irregular shape, can make to realize that graft accurately matches with joint injury.
Description
Technical field
The invention belongs to medical arthroscopic technique field more particularly to a kind of positional punches for joint replacement surgery
System and method.
Background technique
Connection between bone and bone claims bone to connect.Bone connection is divided into again and is directly connected to and is indirectly connected with, joint be between in succession
A kind of form connect.Generally it is made of articular surface, joint capsule and articular cavity three parts.Articular surface is connecing for more than two adjacent bones
Contacting surface, one slightly convex, cries ball and socket joint, another is slightly concave, is glenoid.It is covered with one layer of smooth cartilage on articular surface, can subtract
Friction when moving less, cartilage are flexible, moreover it is possible to slow down the vibration and impact when movement.Joint capsule is a kind of very tough and tensile connective
Tissue, securely connects adjacent two bone.Joint capsule outer layer is fibrous layer, and internal layer is stratum synoviale, and stratum synoviale can secrete cunning
Liquid reduces friction when movement.Articular cavity is articular cartilage and the close clearance that joint capsule surrounds, and a little cunning is contained only when normal
Liquid.However, the positional punch error of traditional joint replacement surgery is big, center position can not accurately be determined；Meanwhile for not
Regular joint injury, transplanting matching degree are poor.
In conclusion problem of the existing technology is:
The positional punch error of traditional joint replacement surgery is big, can not accurately determine center position；Meanwhile for not
Regular joint injury, transplanting matching degree are poor.
The positional punch method intelligence degree of existing joint replacement surgery is low, and the data precision of acquisition is poor, causes
Equipment service performance is low.
Believed by physiological parameter detection module using the blood pressure, heart rate, brain wave data that physiological detection equipment detects patient
Breath；Detect the blood pressure of patient, heart rate, brain wave data information the fractional lower-order ambiguity function of digital modulation signals x (t) indicate
Are as follows:
Wherein, τ is delay skew, and f is Doppler frequency shift, 0 < a, b < α/2, x*(t) conjugation for indicating x (t), when x (t) is
When real signal, x (t)<p>=| x (t) |<p>sgn(x(t))；When x (t) is time multiplexed signal, [x (t)]<p>=| x (t) |p-1x*(t)；
The data precision of acquisition improves nearly 6 percentage points.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of positional punch for joint replacement surgery and sides
Method.
The invention is realized in this way a kind of positional punch method for joint replacement surgery, described to set for joint
The positional punch method of hand-off art includes:
Patient articular's target image is acquired using medicine picture pick-up device by image capture module, the target image includes
Intra-articular lesion defect image and the measuring scale image being set near intra-articular lesion defect；Medicine picture pick-up device
It acquires in patient articular's target image,
Intra-articular lesion defect image-region is divided into size not equal grid；
The cluster head node in grid is chosen according to the dump energy of node in each grid, remaining node is according to nearest former
Then selective addition cluster；
Judge whether the data that the member node in cluster is collected into meet Grubbs test method, meets, then it is assumed that node is
Effectively, i.e., cluster head node sends data and does not otherwise send data；
The number that cluster head node polymerize the data from effective member node according to adaptive aggregating algorithm and itself generates
According to；
Cluster head node sends data until having run given wheel number to sink node in the form of multi-hop；
After having run given wheel number, also need to carry out: rebuild intra-articular lesion defect attenuation coefficient, rebuild it is intra-articular
Lesion defect scattering coefficient, the absorption coefficient for calculating intra-articular lesion defect；
Believed by physiological parameter detection module using the blood pressure, heart rate, brain wave data that physiological detection equipment detects patient
Breath；Detect the blood pressure of patient, heart rate, brain wave data information the fractional lower-order ambiguity function of digital modulation signals x (t) indicate
Are as follows:
Wherein, τ is delay skew, and f is Doppler frequency shift, 0 < a, b < α/2, x*(t) conjugation for indicating x (t), when x (t) is
When real signal, x (t)<p>=| x (t) |<p>sgn(x(t))；When x (t) is time multiplexed signal, [x (t)]<p>=| x (t) |p-1x*(t)；
Central control module determines the central point in joint by central point determining module using image processing software；Pass through pass
Section structure measurement module calculate using image of the image processing software to acquisition the structure in measurement joint；
The image information and physiological parameter information of display display acquisition are utilized by display module.
Further, the method for medicine picture pick-up device acquisition patient articular's target image, specifically includes:
Step 1, in the intra-articular lesion defect image-region that area is S=L*L, the N number of isomorphism of random distribution
Wireless sensor node, sink node are located at except intra-articular lesion defect image-region, and node processing entirely wirelessly passes
The data being collected into sensor network；
Step 2, non-homogeneous cluster
Sink node is located at the top of intra-articular lesion defect image-region；Lesion defect figure intra-articular first
As region X-axis is divided into S image transmitting area channel, there are identical width w, and each image in all image transmitting areas channel
The equal length of the length in transmission range channel and intra-articular lesion defect image-region；It uses from 1 to s as image transmitting area
The ID in channel, the ID in the image transmitting area channel of left end are 1, and then each image transmitting area channel is divided into more along y-axis
A rectangular mesh, each grid in each image transmitting area channel are defined a level, the level of the lowermost grid
It is 1, there is identical width w in each grid and each image transmitting area channel；The number of grid in each image transmitting area channel,
The distance dependent of length and image transmitting area channel to sink；The size of grid is adjusted by the way that the length of grid is arranged；For
Different image transmitting area channels, the lattice number that distance sink remoter image transmitting area channel is contained are smaller；For same
Image transmitting area channel, the length of distance sink remoter grid are bigger；Contain S element in A, k-th of element representation is in kth
The number of grid in a image transmitting area channel；Each grid is used as ID with an array (i, j), indicates i-th of image transmitting
There is horizontal j in area channel；Define the length of S array representation grid, v-th of array HvIt indicates in v-th of image transmitting area channel
The length of grid, and HvW-th of element hvwIndicate the length of grid (v, w)；The boundary of grid (i, j) are as follows:
o_x+(i-1)×w<x≤o_x+i×w
Non-uniform grid carries out the cluster stage after dividing；Algorithm, which is divided into many wheels, to carry out, and chooses in each round each
The maximum node of dump energy is added cluster according to nearby principle, is then counted again as cluster head node, remaining node in grid
According to polymerization；
Step 3, Grubbs pretreatment
Sensor node needs pre-process the data of collection, then transmit data to cluster head node again；Using lattice
This pre- criterion of granny rag carries out pretreatment to the collected data of sensor node institute and assumes that some cluster head node contains n sensor
Node, the data that sensor node is collected into are x1,x2,…,xn, Normal Distribution, and set:
According to order statistics principle, Grubbs statistic is calculated:
After given level of significance α=0.05, measured value meets gi≤g0(n, α), then it is assumed that measured value is effective, measurement
Value participates in the data aggregate of next level；It is on the contrary, then it is assumed that measured value is invalid, it is therefore desirable to reject, that is, be not involved in next
The data aggregate of level；
Step 4, adaptive aggregating algorithm
The unbiased estimator of each node measurement data is obtained by iteration, seeks the measurement data of each sensor node
Euclidean distance between value and estimated value, using normalized Euclidean distance as adaptive weighted warm weight；It selects in cluster
The collected data of sensor node maxima and minima average value centered on data；
There is a sensor node in some cluster, with dimensional vector D=(d1,d2,…,dn) indicate respective nodes measured value,
Euclidean distance by calculating each node data and centre data reacts the deviation between different node datas and centre data
Size, wherein liCalculation formula are as follows:
According to the corresponding weight size of Euclidean distance adaptive setting, the bigger weight of distance is smaller, gets over apart from smaller weight
Greatly；
WhereinwiFor corresponding weight.
Further, rebuilding intra-articular lesion defect attenuation coefficient includes:
Using the directional light of space uniform distribution to intra-articular lesion defect g in imaginginIt is irradiated, passes through doctor
It learns the irradiation light that picture pick-up device acquisition is blocked without intra-articular lesion defect and measures incident intensity；It is rightThe right and left is the same as divided by ginAnd take negative logarithm, then:
Collect 360 degree of measurement data G0Afterwards, inverse Radon is realized using accurate efficient filter back-projection reconstruction algorithm
Transformation calculates attenuation coefficient, i.e. μt=FBP (G0)；
Scattering coefficient is rebuild by formulag1Contain OPT imaging
The influence of middle scattering, as the angle acquisition data g from a certain determination1When,WithScattering angle determine, coefficient k be one
Determining constant；Both sides are the same as divided by kgin, then have:
Known by above formulaProlong for scattering coefficientThe weighting Radon in direction is converted, institute weighted value ω1(t) and ω2(t)
It is function related with attenuation coefficient, it willDiscretization is simultaneously expressed as follows with a matrix type:
Wμs=G1；
Wherein W indicates the weight matrix after discretization, μsAnd G1Scattering coefficient vector sum different angle is respectively indicated to measure
The AVHRR NDVI vector arrived establishes following objective function using the weighted least-squares criterion with penalty function:
Wherein the first item of expression formula is the approximate expression form of likelihood function, Section 2 R (μs) it is regular terms, usual root
It is constructed according to the prior information of image, β is regularization factors, and Matrix C is covariance matrix；With niIndicate ccd detector inspection
The scattered photon number measured, corresponding covariance matrix indicate are as follows:
Using optimal method to Φ (μs) objective function solve, that is, find out scattering coefficient:
μs=argmin Φ (μs)；
Absorption coefficient is calculated, relational expression μ is utilizedt=μa+μsCalculate the absorption coefficient μ of intra-articular lesion defecta。
Further, the localization method of central point determining module includes:
Firstly, the arthrosis image of acquisition is carried out three-dimensional reconstruction；
Then, the joint space after three-dimensional reconstruction is irrigated by 3D modeling software, the joint space by shin bone,
The non-bone space that distal fibular inferior articular surface, inside and outside articular surface and trochlea of talus are wrapped to form；
It is articulation center point finally, looking for the central point for taking bottling body by 3D modeling software.
Further, joint structure measurement module measurement method includes:
(1) when detecting the trigger action of image taking, the arthroscope by probeing into intra articular obtains target image,
Target image includes intra-articular lesion defect and the measuring scale that is set near intra-articular lesion defect；
(2) according to actual range indicated by measuring scale in the target image indicated pixel distance and measuring scale, meter
Calculate the display scale ruler of target image；
(3) it is operated according to the described point to intra-articular lesion defect profile, determines the wheel of intra-articular lesion defect
Profile；
(4) according to the contour line and display scale ruler of intra-articular lesion defect, intra-articular lesion defect is calculated
Contour line on any two points actual range and/or intra-articular lesion defect area.
Another object of the present invention is to provide a kind of computer program, for closing described in the computer program operation
Save the positional punch method of replacement operation.
Another object of the present invention is to provide a kind of terminal, the terminal is at least carried described for joint replacement surgery
Positional punch method controller.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation, so that computer executes the positional punch method for joint replacement surgery.
Another object of the present invention is to provide a kind of positional punch methods that joint replacement surgery is used for described in realize
For the positional punch system of joint replacement surgery, the positional punch system for joint replacement surgery includes:
Image capture module is connect with central control module, for acquiring patient articular's target by medicine picture pick-up device
Image, the target image include intra-articular lesion defect and the measurement that is set near intra-articular lesion defect
Ruler；
Physiological parameter detection module is connect with central control module, for detecting the blood of patient by physiological detection equipment
The data informations such as pressure, heart rate, brain wave；
Central control module, with image capture module, physiological parameter detection module, central point determining module, joint structure
Measurement module, perforating module, display module connection, work normally for controlling modules by single-chip microcontroller；
Central point determining module, connect with central control module, for determining the center in joint by image processing software
Point；
Joint structure measurement module, connect with central control module, for the image by image processing software to acquisition
Calculate the structure in measurement joint；
Perforating module is connect with central control module, for being punched by controlling perforating head to patient articular position；
Display module is connect with central control module, for being joined by the image information and physiology of display display acquisition
Number information.
It is described for closing another object of the present invention is to provide a kind of positional punch equipment for joint replacement surgery
The positional punch equipment of section replacement operation at least carries the positional punch system for joint replacement surgery.
Advantages of the present invention and good effect are as follows:
The present invention determines articulation center point in three-dimensional space by central point determining module, and the conventional method that compares passes through X
The 2-D data positioning joint central point that the measurement of the imaging datas such as line, CT, MRI and cadaver sample obtains, accuracy is more
It is high；And fibula is included by conventional method when determining articulation center point, but fibula at most only carries the 1/4 of lower limb stress,
It is to play stablizing effect that fibula, which more acts on, and the still shin bone of main bearing stress, therefore, the present invention more focuses on core
Stressed zone is measured articulation center point, more meets the measurement of the lower limb line of force；Meanwhile passing through joint structure measurement module
For the joint injury of irregular shape, can make to realize that graft accurately matches with joint injury.
In medicine picture pick-up device acquisition patient articular's target image of the present invention, by intra-articular lesion defect image-region
It is divided into size not equal grid；The cluster head node in grid is chosen according to the dump energy of node in each grid,
Remaining node is according to the addition cluster of nearby principle selectivity；Judge whether the data that the member node in cluster is collected into meet Ge La
Buss criterion meets, then it is assumed that node is that effectively, i.e., cluster head node sends data and otherwise do not send data；Cluster head node
The data for polymerizeing the data from effective member node according to adaptive aggregating algorithm and itself generating；Cluster head node is with multi-hop
Form to sink node send data until having run given wheel number；It can get accurate target image information, and force
True degree improves much compared with the existing technology, has wide practical use in medicine.
It after the present invention has run given wheel number, also needs to carry out: rebuilding intra-articular lesion defect attenuation coefficient, rebuilds
Intra-articular lesion defect scattering coefficient, the absorption coefficient for calculating intra-articular lesion defect；
Both it can effectively solve that existing scattering problems are imaged；Image quality, while the richer information provided are provided
Amount, so that describing texture characteristic from two angles of absorption coefficient and scattering coefficient.
Detailed description of the invention
Fig. 1 is that the present invention implements the positional punch method flow diagram for joint replacement surgery provided.
Fig. 2 is that the present invention implements the positional punch system construction drawing for joint replacement surgery provided.
In figure: 1, image capture module；2, physiological parameter detection module；3, central control module；4, central point determines mould
Block；5, joint structure measurement module；6, perforating module；7, display module.
Fig. 3 is the relation schematic diagram between attenuation coefficient and scattering coefficient and absorption coefficient that present invention implementation provides.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
With reference to the accompanying drawing and specific embodiment is further described application principle of the invention.
As shown in Figure 1, a kind of positional punch method for joint replacement surgery provided by the invention the following steps are included:
S101 acquires patient articular's target image, the target figure using medicine picture pick-up device by image capture module
As the measuring scale for including intra-articular lesion defect and being set near intra-articular lesion defect；
S102 detects blood pressure, heart rate, the brain wave etc. of patient by physiological parameter detection module using physiological detection equipment
Data information；
S103, central control module determine the central point in joint by central point determining module using image processing software；
Calculate using image of the image processing software to acquisition the structure in measurement joint by joint structure measurement module；
S104 controls perforating head by perforating module and punches to patient articular position；
S105 utilizes the image information and physiological parameter information of display display acquisition by display module.
As shown in Fig. 2, the positional punch system provided by the present invention for joint replacement surgery includes: image capture module
1, physiological parameter detection module 2, central control module 3, central point determining module 4, joint structure measurement module 5, perforating module
6, display module 7.
Image capture module 1 is connect with central control module 3, for acquiring patient articular's mesh by medicine picture pick-up device
Logo image, the target image include intra-articular lesion defect and the measurement that is set near intra-articular lesion defect
Ruler；
Physiological parameter detection module 2 is connect with central control module 3, for detecting patient's by physiological detection equipment
The data informations such as blood pressure, heart rate, brain wave；
Central control module 3, with image capture module 1, physiological parameter detection module 2, central point determining module 4, joint
Structure measurement module 5, perforating module 6, display module 7 connect, and work normally for controlling modules by single-chip microcontroller；
Central point determining module 4 is connect with central control module 3, for being determined in joint by image processing software
Heart point；
Joint structure measurement module 5 is connect with central control module 3, for the figure by image processing software to acquisition
Structure as calculate measurement joint；
Perforating module 6 is connect with central control module 3, for being beaten by controlling perforating head patient articular position
Hole；
Display module 7 is connect with central control module 3, for the image information and physiology by display display acquisition
Parameter information.
4 method of central point determining module provided by the invention is as follows:
Firstly, the arthrosis image of acquisition is carried out three-dimensional reconstruction；
Then, the joint space after three-dimensional reconstruction is irrigated by 3D modeling software, the joint space by shin bone,
The non-bone space that distal fibular inferior articular surface, inside and outside articular surface and trochlea of talus are wrapped to form；
Finally, look for the central point for taking bottling body by 3D modeling software, as articulation center point.
5 measurement method of joint structure measurement module provided by the invention is as follows:
(1) when detecting the trigger action of image taking, the arthroscope by probeing into intra articular obtains target image,
Target image includes intra-articular lesion defect and the measuring scale that is set near intra-articular lesion defect；
(2) according to actual range indicated by measuring scale in the target image indicated pixel distance and measuring scale, meter
Calculate the display scale ruler of target image；
(3) it is operated according to the described point to intra-articular lesion defect profile, determines the wheel of intra-articular lesion defect
Profile；
(4) according to the contour line and display scale ruler of intra-articular lesion defect, intra-articular lesion defect is calculated
Contour line on any two points actual range and/or intra-articular lesion defect area.
Below with reference to concrete analysis, the invention will be further described.
Positional punch method provided in an embodiment of the present invention for joint replacement surgery, comprising:
Patient articular's target image is acquired using medicine picture pick-up device by image capture module, the target image includes
Intra-articular lesion defect image and the measuring scale image being set near intra-articular lesion defect；Medicine picture pick-up device
It acquires in patient articular's target image,
Intra-articular lesion defect image-region is divided into size not equal grid；
The cluster head node in grid is chosen according to the dump energy of node in each grid, remaining node is according to nearest former
Then selective addition cluster；
Judge whether the data that the member node in cluster is collected into meet Grubbs test method, meets, then it is assumed that node is
Effectively, i.e., cluster head node sends data and does not otherwise send data；
The number that cluster head node polymerize the data from effective member node according to adaptive aggregating algorithm and itself generates
According to；
Cluster head node sends data until having run given wheel number to sink node in the form of multi-hop；
After having run given wheel number, also need to carry out: rebuild intra-articular lesion defect attenuation coefficient, rebuild it is intra-articular
Lesion defect scattering coefficient, the absorption coefficient for calculating intra-articular lesion defect；
Believed by physiological parameter detection module using the blood pressure, heart rate, brain wave data that physiological detection equipment detects patient
Breath；Detect the blood pressure of patient, heart rate, brain wave data information the fractional lower-order ambiguity function of digital modulation signals x (t) indicate
Are as follows:
Wherein, τ is delay skew, and f is Doppler frequency shift, 0 < a, b < α/2, x*(t) conjugation for indicating x (t), when x (t) is
When real signal, x (t)<p>=| x (t) |<p>sgn(x(t))；When x (t) is time multiplexed signal, [x (t)]<p>=| x (t) |p-1x*(t)；
Central control module determines the central point in joint by central point determining module using image processing software；Pass through pass
Section structure measurement module calculate using image of the image processing software to acquisition the structure in measurement joint；
The image information and physiological parameter information of display display acquisition are utilized by display module.
The method that medicine picture pick-up device acquires patient articular's target image, specifically includes:
Step 1, in the intra-articular lesion defect image-region that area is S=L*L, the N number of isomorphism of random distribution
Wireless sensor node, sink node are located at except intra-articular lesion defect image-region, and node processing entirely wirelessly passes
The data being collected into sensor network；
Step 2, non-homogeneous cluster
Sink node is located at the top of intra-articular lesion defect image-region；Lesion defect figure intra-articular first
As region X-axis is divided into S image transmitting area channel, there are identical width w, and each image in all image transmitting areas channel
The equal length of the length in transmission range channel and intra-articular lesion defect image-region；It uses from 1 to s as image transmitting area
The ID in channel, the ID in the image transmitting area channel of left end are 1, and then each image transmitting area channel is divided into more along y-axis
A rectangular mesh, each grid in each image transmitting area channel are defined a level, the level of the lowermost grid
It is 1, there is identical width w in each grid and each image transmitting area channel；The number of grid in each image transmitting area channel,
The distance dependent of length and image transmitting area channel to sink；The size of grid is adjusted by the way that the length of grid is arranged；For
Different image transmitting area channels, the lattice number that distance sink remoter image transmitting area channel is contained are smaller；For same
Image transmitting area channel, the length of distance sink remoter grid are bigger；Contain S element in A, k-th of element representation is in kth
The number of grid in a image transmitting area channel；Each grid is used as ID with an array (i, j), indicates i-th of image transmitting
There is horizontal j in area channel；Define the length of S array representation grid, v-th of array HvIt indicates in v-th of image transmitting area channel
The length of grid, and HvW-th of element hvwIndicate the length of grid (v, w)；The boundary of grid (i, j) are as follows:
o_x+(i-1)×w<x≤o_x+i×w
Non-uniform grid carries out the cluster stage after dividing；Algorithm, which is divided into many wheels, to carry out, and chooses in each round each
The maximum node of dump energy is added cluster according to nearby principle, is then counted again as cluster head node, remaining node in grid
According to polymerization；
Step 3, Grubbs pretreatment
Sensor node needs pre-process the data of collection, then transmit data to cluster head node again；Using lattice
This pre- criterion of granny rag carries out pretreatment to the collected data of sensor node institute and assumes that some cluster head node contains n sensor
Node, the data that sensor node is collected into are x1,x2,…,xn, Normal Distribution, and set:
According to order statistics principle, Grubbs statistic is calculated:
After given level of significance α=0.05, measured value meets gi≤g0(n, α), then it is assumed that measured value is effective, measurement
Value participates in the data aggregate of next level；It is on the contrary, then it is assumed that measured value is invalid, it is therefore desirable to reject, that is, be not involved in next
The data aggregate of level；
Step 4, adaptive aggregating algorithm
The unbiased estimator of each node measurement data is obtained by iteration, seeks the measurement data of each sensor node
Euclidean distance between value and estimated value, using normalized Euclidean distance as adaptive weighted warm weight；It selects in cluster
The collected data of sensor node maxima and minima average value centered on data；
There is a sensor node in some cluster, with dimensional vector D=(d1,d2,…,dn) indicate respective nodes measured value,
Euclidean distance by calculating each node data and centre data reacts the deviation between different node datas and centre data
Size, wherein liCalculation formula are as follows:
According to the corresponding weight size of Euclidean distance adaptive setting, the bigger weight of distance is smaller, gets over apart from smaller weight
Greatly；
WhereinwiFor corresponding weight.
Rebuilding intra-articular lesion defect attenuation coefficient includes:
Using the directional light of space uniform distribution to intra-articular lesion defect g in imaginginIt is irradiated, passes through doctor
It learns the irradiation light that picture pick-up device acquisition is blocked without intra-articular lesion defect and measures incident intensity；It is rightThe right and left is the same as divided by ginAnd take negative logarithm, then:
Collect 360 degree of measurement data G0Afterwards, inverse Radon is realized using accurate efficient filter back-projection reconstruction algorithm
Transformation calculates attenuation coefficient, i.e. μt=FBP (G0)；
Scattering coefficient is rebuild by formulag1Contain OPT imaging
The influence of middle scattering, as the angle acquisition data g from a certain determination1When,WithScattering angle determine, coefficient k be one really
Fixed constant；Both sides are the same as divided by kgin, then have:
Known by above formulaProlong for scattering coefficientThe weighting Radon in direction is converted, institute weighted value ω1(t) and ω2(t)
It is function related with attenuation coefficient, it willDiscretization is simultaneously expressed as follows with a matrix type:
Wμs=G1；
Wherein W indicates the weight matrix after discretization, μsAnd G1Scattering coefficient vector sum different angle is respectively indicated to measure
The AVHRR NDVI vector arrived establishes following objective function using the weighted least-squares criterion with penalty function:
Wherein the first item of expression formula is the approximate expression form of likelihood function, Section 2 R (μs) it is regular terms, usual root
It is constructed according to the prior information of image, β is regularization factors, and Matrix C is covariance matrix；With niIndicate ccd detector inspection
The scattered photon number measured, corresponding covariance matrix indicate are as follows:
Using optimal method to Φ (μs) objective function solve, that is, find out scattering coefficient:
μs=argmin Φ (μs)；
Such as Fig. 3, absorption coefficient is calculated, relational expression μ is utilizedt=μa+μsCalculate the absorption coefficient of intra-articular lesion defect
μa。
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of positional punch method for joint replacement surgery, which is characterized in that described to determine for joint replacement surgery
Position drilling method include:
Patient articular's target image is acquired using medicine picture pick-up device by image capture module, the target image includes joint
Interior lesion defect image and the measuring scale image being set near intra-articular lesion defect；The acquisition of medicine picture pick-up device
In patient articular's target image,
Intra-articular lesion defect image-region is divided into size not equal grid；
The cluster head node in grid is chosen according to the dump energy of node in each grid, remaining node is selected according to nearby principle
The addition cluster of selecting property；
Judge whether the data that the member node in cluster is collected into meet Grubbs test method, meets, then it is assumed that node is effective
, i.e., cluster head node sends data and does not otherwise send data；
The data that cluster head node polymerize the data from effective member node according to adaptive aggregating algorithm and itself generates；
Cluster head node sends data until having run given wheel number to sink node in the form of multi-hop；
It after having run given wheel number, also needs to carry out: rebuilding intra-articular lesion defect attenuation coefficient, rebuilds intra-articular lesion
Defect scattering coefficient, the absorption coefficient for calculating intra-articular lesion defect；
Blood pressure, the heart rate, brain wave data information of patient are detected using physiological detection equipment by physiological parameter detection module；Inspection
Survey the blood pressure of patient, heart rate, brain wave data information the fractional lower-order ambiguity function of digital modulation signals x (t) indicate are as follows:
Wherein, τ is delay skew, and f is Doppler frequency shift, 0 < a, b < α/2, x*(t) conjugation for indicating x (t), when x (t) is real letter
Number when, x (t)<p>=| x (t) |<p>sgn(x(t))；When x (t) is time multiplexed signal, [x (t)]<p>=| x (t) |p-1x*(t)；
Central control module determines the central point in joint by central point determining module using image processing software；It is tied by joint
Structure measurement module calculate using image of the image processing software to acquisition the structure in measurement joint；
The image information and physiological parameter information of display display acquisition are utilized by display module.
2. being used for the positional punch method of joint replacement surgery as described in claim 1, which is characterized in that
The method that medicine picture pick-up device acquires patient articular's target image, specifically includes:
Step 1, area be S=L*L intra-articular lesion defect image-region in, the N number of isomorphism of random distribution it is wireless
Sensor node, sink node are located at except intra-articular lesion defect image-region, the entire wireless sensor of node processing
The data being collected into network；
Step 2, non-homogeneous cluster
Sink node is located at the top of intra-articular lesion defect image-region；Lesion defect image district intra-articular first
Domain X-axis is divided into S image transmitting area channel, and there are identical width w, and each image transmitting in all image transmitting areas channel
The equal length of the length in area channel and intra-articular lesion defect image-region；It uses from 1 to s as image transmitting area channel
ID, the ID in the image transmitting area channel of left end is 1, and then each image transmitting area channel is divided into multiple squares along y-axis
Shape grid, each grid in each image transmitting area channel are defined a level, and the level of the lowermost grid is 1,
There is identical width w in each grid and each image transmitting area channel；Number, the length of grid in each image transmitting area channel
With the distance dependent in image transmitting area channel to sink；The size of grid is adjusted by the way that the length of grid is arranged；For difference
Image transmitting area channel, the lattice number that distance sink remoter image transmitting area channel is contained is smaller；For same image
The length in transmission range channel, distance sink remoter grid is bigger；Contain S element in A, k-th of element representation is in k-th of figure
As the number of grid in transmission range channel；Each grid is used as ID with an array (i, j), indicates that i-th of image transmitting area is logical
There is horizontal j in road；Define the length of S array representation grid, v-th of array HvIndicate grid in v-th of image transmitting area channel
Length, and HvW-th of element hvwIndicate the length of grid (v, w)；The boundary of grid (i, j) are as follows:
o_x+(i-1)×w<x≤o_x+i×w
Non-uniform grid carries out the cluster stage after dividing；Algorithm, which is divided into many wheels, to carry out, and chooses each grid in each round
Cluster is added according to nearby principle as cluster head node, remaining node in the middle maximum node of dump energy, and it is poly- then to carry out data again
It closes；
Step 3, Grubbs pretreatment
Sensor node needs pre-process the data of collection, then transmit data to cluster head node again；Using Ge Labu
This pre- criterion carries out pretreatment to the collected data of sensor node institute and assumes that some cluster head node contains n sensor section
Point, the data that sensor node is collected into are x1,x2,…,xn, Normal Distribution, and set:
vi=xi-x0,
According to order statistics principle, Grubbs statistic is calculated:
After given level of significance α=0.05, measured value meets gi≤g0(n, α), then it is assumed that measured value is effective, measured value ginseng
With the data aggregate for arriving next level；It is on the contrary, then it is assumed that measured value is invalid, it is therefore desirable to reject, that is, be not involved in next level
Data aggregate；
Step 4, adaptive aggregating algorithm
Obtain the unbiased estimator of each node measurement data by iteration, seek the measured data values of each sensor node with
Euclidean distance between estimated value, using normalized Euclidean distance as adaptive weighted warm weight；Select the biography in cluster
Data centered on the average value of the maxima and minima of the collected data of sensor node；
There is a sensor node in some cluster, with dimensional vector D=(d1,d2,…,dn) indicate respective nodes measured value, pass through
The Euclidean distance for calculating each node data and centre data reacts deviation size between different node datas and centre data,
Wherein liCalculation formula are as follows:
According to the corresponding weight size of Euclidean distance adaptive setting, the bigger weight of distance is smaller, bigger apart from smaller weight；
WhereinwiFor corresponding weight.
3. being used for the positional punch method of joint replacement surgery as described in claim 1, which is characterized in that rebuild intra-articular disease
Becoming defect attenuation coefficient includes:
Using the directional light of space uniform distribution to intra-articular lesion defect g in imaginginIt is irradiated, is taken the photograph by medicine
As the irradiation light that equipment acquisition is blocked without intra-articular lesion defect measures incident intensity；It is rightThe right and left is the same as divided by ginAnd take negative logarithm, then:
Collect 360 degree of measurement data G0Afterwards, inverse Radon transform is realized using accurate efficient filter back-projection reconstruction algorithm
Calculate attenuation coefficient, i.e. μt=FBP (G0)；
Scattering coefficient is rebuild by formulag1It contains and is dissipated in OPT imaging
The influence penetrated, as the angle acquisition data g from a certain determination1When,WithScattering angle determine that coefficient k is one determining
Constant；Both sides are the same as divided by kgin, then have:
Known by above formulaProlong for scattering coefficientThe weighting Radon in direction is converted, institute weighted value ω1(t) and ω2(t) it is
Function related with attenuation coefficient, willDiscretization is simultaneously expressed as follows with a matrix type:
Wμs=G1；
Wherein W indicates the weight matrix after discretization, μsAnd G1Respectively indicate what scattering coefficient vector sum different angle measurement obtained
AVHRR NDVI vector establishes following objective function using the weighted least-squares criterion with penalty function:
Wherein the first item of expression formula is the approximate expression form of likelihood function, Section 2 R (μs) it is regular terms, generally according to figure
The prior information of picture constructs, and β is regularization factors, and Matrix C is covariance matrix；With niIndicate that ccd detector detects
Scattered photon number, corresponding covariance matrix indicates are as follows:
Using optimal method to Φ (μs) objective function solve, that is, find out scattering coefficient:
μs=argmin Φ (μs)；
Absorption coefficient is calculated, relational expression μ is utilizedt=μa+μsCalculate the absorption coefficient μ of intra-articular lesion defecta。
4. being used for the positional punch method of joint replacement surgery as described in claim 1, which is characterized in that central point determines mould
The localization method of block includes
Firstly, the arthrosis image of acquisition is carried out three-dimensional reconstruction；
Then, the joint space after three-dimensional reconstruction is irrigated by 3D modeling software, the joint space is by shin bone, fibula
The non-bone space that distal end inferior articular surface, inside and outside articular surface and trochlea of talus are wrapped to form；
It is articulation center point finally, looking for the central point for taking bottling body by 3D modeling software.
5. being used for the positional punch method of joint replacement surgery as described in claim 1, which is characterized in that joint structure measurement
Module measurement method includes:
(1) when detecting the trigger action of image taking, the arthroscope by probeing into intra articular obtains target image, target
Image includes intra-articular lesion defect and the measuring scale that is set near intra-articular lesion defect；
(2) according to actual range indicated by measuring scale in the target image indicated pixel distance and measuring scale, mesh is calculated
The display scale ruler of logo image；
(3) it is operated according to the described point to intra-articular lesion defect profile, determines the contour line of intra-articular lesion defect；
(4) according to the contour line and display scale ruler of intra-articular lesion defect, the wheel of intra-articular lesion defect is calculated
The area of the actual range of any two points on profile and/or intra-articular lesion defect.
6. a kind of computer program, which is characterized in that described in the computer program operation Claims 1 to 5 any one
Positional punch method for joint replacement surgery.
7. a kind of terminal, which is characterized in that the terminal is at least carried described in Claims 1 to 5 for joint replacement surgery
The controller of positional punch method.
8. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer is executed as weighed
Benefit requires the positional punch method that joint replacement surgery is used for described in 1-5 any one.
It realizes described in claim 1 for the positional punch method of joint replacement surgery 9. a kind of for joint replacement surgery
Positional punch system, which is characterized in that the positional punch system for joint replacement surgery includes:
Image capture module is connect with central control module, for acquiring patient articular's target image by medicine picture pick-up device,
The target image includes intra-articular lesion defect and the measuring scale that is set near intra-articular lesion defect；
Physiological parameter detection module is connect with central control module, for detecting blood pressure, the heart of patient by physiological detection equipment
The data informations such as rate, brain wave；
Central control module is measured with image capture module, physiological parameter detection module, central point determining module, joint structure
Module, perforating module, display module connection, work normally for controlling modules by single-chip microcontroller；
Central point determining module, connect with central control module, for determining the central point in joint by image processing software；
Joint structure measurement module, connect with central control module, for being carried out by image of the image processing software to acquisition
Calculate the structure in measurement joint；
Perforating module is connect with central control module, for being punched by controlling perforating head to patient articular position；
Display module is connect with central control module, for being believed by the image information and physiological parameter of display display acquisition
Breath.
10. a kind of positional punch equipment for joint replacement surgery, which is characterized in that described to determine for joint replacement surgery
Position punch device at least carries the positional punch system as claimed in claim 9 for joint replacement surgery.
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