CN110613469A - Automatic leg bone and lower limb force line detection method and device - Google Patents
Automatic leg bone and lower limb force line detection method and device Download PDFInfo
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Abstract
A leg bone lower limb force line automatic detection method comprises the following steps: (1) acquiring CT image data; (2) segmenting and three-dimensionally reconstructing the skeleton of a patient in the CT image, and establishing a three-dimensional skeleton model of the patient in a model space; (3) aiming at the femur three-dimensional model, determining the position of a femoral head spherical center point by a method of obtaining a mass center through double section planes; (4) aiming at the femur and tibia three-dimensional models, coordinates of a knee joint intercondylar concave central point, a tibia platform central point and an ankle joint central point are obtained by adopting a rigid + elastic registration method; (5) obtaining a mechanical axis of the femur through a connecting line of a spherical center of the femoral head and a concave center point between condyles of the knee joint, and obtaining a mechanical axis of the tibia through a connecting line of a center point of a tibial plateau and a center point of an ankle joint; (6) aiming at the femur or tibia three-dimensional model, determining the anatomical axis of the femur or tibia by adopting a method of iteratively searching a maximum distance point pair. There are also devices.
Description
Technical Field
The invention relates to the technical field of medical image processing, in particular to a leg bone lower limb force line automatic detection method and a leg bone lower limb force line automatic detection device.
Background
Artificial hip-knee joint replacement is the most effective means for treating the final-stage bone diseases such as osteoarthritis, severe rheumatoid arthritis, cartilage destruction and the like at present. With the gradual progress of China into the aging society, the replacement amount of artificial hip and knee joints is rapidly increased, and the market share of joint replacement surgery is rapidly increased.
Effective detection of the success of hip and knee joint replacement surgery without leaving the force line is that the accurate finding of the lower limb force line is the basis for guaranteeing the success of the whole surgery. The lower limb force line comprises a femur anatomical axis, a femur mechanical axis, a tibia anatomical axis and a tibia mechanical axis.
Wherein, the femur mechanical axis refers to the connection line of the spherical center of the femoral head and the concave center point between the condyles; two cross sections are taken at the middle point of the total length of the femur and at the position of 10cm above the distal femur joint line, the center of the irregular medullary cavity body is obtained, and the connecting line of the two central points is the femur dissection axis.
Wherein, the mechanical axis of tibia means the line connecting the slightly lateral side of the midpoint of the tibial spine and the midpoint of the talus as the mechanical axis of tibia. Tibial anatomical axis: two cross sections are taken at the middle point of the total length of the tibia and the position 10cm above the distal joint line of the tibia, the center of the irregular medullary cavity body is obtained, and the connecting line of the two central points is the anatomical axis of the tibia.
In the clinic, conventional hip-knee replacements are performed with preoperative X-rays for anatomical and mechanical axis determination. The conventional method for determining the anatomical axis and the mechanical axis by a doctor is to select point connecting lines on an X-ray film of a patient, and the mode of determining the anatomical axis and the mechanical axis depends on the experience of an operator seriously, so that the reliability is poor, and the mode becomes an important factor for restricting the operation effect.
Therefore, an effective way to solve this problem would be to automatically extract the lower limb force lines from the patient CT or X-ray images, and reduce the human error caused by the doctor manually taking the dotted or drawn lines while ensuring the accuracy.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the automatic leg bone lower limb force line detection method, which can ensure the accurate automatic detection of a mechanical axis and an anatomical axis, reduce subjective errors caused by human factors, reduce the workload of doctors and improve the reliability of the operation.
The technical scheme of the invention is as follows: the automatic detection method for the leg bone lower limb force line comprises the following steps:
(1) acquiring CT image data: carrying out preoperative scanning on a preset part of a patient by utilizing CT equipment to obtain a preoperative CT image;
(2) segmenting and three-dimensionally reconstructing the skeleton of a patient in the CT image, and establishing a three-dimensional skeleton model of the patient in a model space;
(3) aiming at the femur three-dimensional model, determining the position of a femoral head spherical center point by a method of obtaining a mass center through double section planes;
(4) aiming at the femur and tibia three-dimensional models, coordinates of a knee joint intercondylar concave central point, a tibia platform central point and an ankle joint central point are obtained by adopting a rigid + elastic registration method;
(5) obtaining a mechanical axis of the femur through a connecting line of a spherical center of the femoral head and a concave center point between condyles of the knee joint, and obtaining a mechanical axis of the tibia through a connecting line of a center point of a tibial plateau and a center point of an ankle joint;
(6) aiming at the femur or tibia three-dimensional model, determining the anatomical axis of the femur or tibia by adopting a method of iteratively searching a maximum distance point pair.
The invention determines the position of the spherical center point of the femoral head by a method of obtaining the mass center through double sectioning surfaces, obtains the coordinates of the knee joint intercondylar concave center point, the tibial plateau center point and the ankle joint center point by a rigid + elastic registration method so as to obtain the mechanical axis of the femur and the mechanical axis of the tibia, and determines the anatomical axis of the femur or the tibia by a method of iteratively searching the maximum distance point pair, thereby ensuring the accurate automatic detection of the mechanical axis and the anatomical axis, reducing the subjective error caused by human factors, and improving the reliability of the operation while reducing the workload of doctors.
Still provide a leg bone low limbs force line automatic checkout device, the device includes:
a CT image data acquisition module configured to perform a preoperative scan of a predetermined portion of a patient to acquire a preoperative CT image;
a skeleton three-dimensional model acquisition module configured to segment and three-dimensionally reconstruct a patient's skeleton in the CT image, and establish a three-dimensional model of the patient's skeleton in a model space;
the femoral head center point acquisition module is configured to determine the position of a femoral head center point by acquiring a mass center through double section planes aiming at a femoral three-dimensional model;
the registration module is configured to acquire coordinates of a knee joint intercondylar concave central point, a tibial plateau central point and an ankle joint central point by adopting a rigid + elastic registration method aiming at the femur and tibia three-dimensional models;
the mechanical axis acquisition module is configured to acquire a femoral mechanical axis through a connecting line of a femoral head spherical center and a knee joint intercondylar concave center point and acquire a tibial mechanical axis through a connecting line of a tibial plateau center point and an ankle joint center point;
and the anatomical axis acquisition module is configured to determine the anatomical axis of the femur or the tibia by adopting a method of iteratively searching the maximum distance point pairs aiming at the three-dimensional model of the femur or the tibia.
Drawings
Fig. 1 shows a knee joint center and a tibial plateau center.
Figure 2 shows the ankle joint centre.
Fig. 3 is a flowchart of the method for automatically detecting the leg bone lower limb force line according to the invention.
Fig. 4 is a flowchart of an embodiment of a method for automatically detecting a leg lower limb force line according to the present invention.
Detailed Description
As shown in fig. 3, the method for automatically detecting the leg bone lower limb force line comprises the following steps:
(1) acquiring CT image data: carrying out preoperative scanning on a preset part of a patient by utilizing CT equipment to obtain a preoperative CT image;
(2) segmenting and three-dimensionally reconstructing the skeleton of a patient in the CT image, and establishing a three-dimensional skeleton model of the patient in a model space;
(3) aiming at the femur three-dimensional model, determining the position of a femoral head spherical center point by a method of obtaining a mass center through double section planes;
(4) aiming at the femur and tibia three-dimensional models, coordinates of a knee joint intercondylar concave central point, a tibia platform central point and an ankle joint central point are obtained by adopting a rigid + elastic registration method;
(5) obtaining a mechanical axis of the femur through a connecting line of a spherical center of the femoral head and a concave center point between condyles of the knee joint, and obtaining a mechanical axis of the tibia through a connecting line of a center point of a tibial plateau and a center point of an ankle joint;
(6) aiming at the femur or tibia three-dimensional model, determining the anatomical axis of the femur or tibia by adopting a method of iteratively searching a maximum distance point pair.
The invention determines the position of the spherical center point of the femoral head by a method of obtaining the mass center through double sectioning surfaces, obtains the coordinates of the knee joint intercondylar concave center point, the tibial plateau center point and the ankle joint center point by a rigid + elastic registration method so as to obtain the mechanical axis of the femur and the mechanical axis of the tibia, and determines the anatomical axis of the femur or the tibia by a method of iteratively searching the maximum distance point pair, thereby ensuring the accurate automatic detection of the mechanical axis and the anatomical axis, reducing the subjective error caused by human factors, and improving the reliability of the operation while reducing the workload of doctors.
Preferably, in the step (3), a point is optionally selected on the surface of the three-dimensional model of the femoral head ball as an initial point position, the point is cut along the cross section in the first step to obtain a cross-sectional cut surface, the closed edge of the cut surface is extracted, then the distance value of any two points on the closed edge of the cut surface is calculated by using an iterative loop search method, the point pair with the largest distance value in all the point pairs is taken, and then the midpoint coordinate of the point pair is obtained and is used as the centroid point coordinate of the cross-sectional cut surface; secondly, sectioning the centroid point of the transverse sectioning surface along the sagittal plane to obtain a sagittal sectioning surface, extracting the closed edge of the sectioning surface, calculating the distance value of any two points on the closed edge of the sectioning surface by using an iterative cyclic search method, taking the point pair with the largest distance value in all the point pairs, and then obtaining the midpoint coordinate of the point pair, wherein the midpoint coordinate is used as the centroid point coordinate of the sagittal sectioning surface; and thirdly, using the centroidal coordinates of the sagittal sectioning surface as the centroidal coordinates of the femoral head.
Preferably, in the step (4), a leg CT image is selected as a standard template, the positions of 3 central points are marked on the standard template, the 3 central points are a knee joint intercondylar fovea central point, a tibial plateau central point and an ankle joint central point, the standard template CT is registered to the CT to be measured to obtain a registration matrix, the 3 points on the standard template are multiplied by the registration matrix to obtain the position coordinates of the 3 points on the CT to be measured, and a leg three-dimensional model of the CT to be measured is reconstructed, so that the positions of the 3 central points (i.e., physiological characteristic points) on the leg model can be visually observed.
Preferably, in the step (6), a height value h of the bounding box of the three-dimensional model of the femur is extracted, cross-sections with a height from the topmost x1, x2, and x3 are selected as 3 medically defined cross-sections, where x1/h is 10%, x2/h is 20%, and x3/h is 30%, after the 3 cross-sections are obtained, coordinates of center points of the cross-sections are determined by using an iterative cyclic search method, and then the 3 center points are fitted to a straight line by using a least square method, where the straight line is an anatomical axis of the femur.
Preferably, in the step (6), a height value h of the bounding box of the three-dimensional tibial model is extracted, cross-sections with a height from the topmost x1, x2, and x3 of the bounding box are selected as 3 medically defined cross-sections, where x1/h is 10%, x2/h is 20%, and x3/h is 30%, after the 3 cross-sections are obtained, coordinates of center points of the cross-sections are determined by using an iterative cyclic search method, and then the 3 center points are fitted to a straight line by using a least square method, where the straight line is a tibial anatomical axis.
It will be understood by those skilled in the art that all or part of the steps in the method of the above embodiments may be implemented by hardware instructions related to a program, the program may be stored in a computer-readable storage medium, and when executed, the program includes the steps of the method of the above embodiments, and the storage medium may be: ROM/RAM, magnetic disks, optical disks, memory cards, and the like. Therefore, corresponding to the method of the invention, the invention also includes an automatic leg bone and lower limb force line detection device, which is generally expressed in the form of functional modules corresponding to the steps of the method. The device includes:
a CT image data acquisition module configured to perform a preoperative scan of a predetermined portion of a patient to acquire a preoperative CT image;
a skeleton three-dimensional model acquisition module configured to segment and three-dimensionally reconstruct a patient's skeleton in the CT image, and establish a three-dimensional model of the patient's skeleton in a model space;
the femoral head center point acquisition module is configured to determine the position of a femoral head center point by acquiring a mass center through double section planes aiming at a femoral three-dimensional model;
the registration module is configured to acquire coordinates of a knee joint intercondylar concave central point, a tibial plateau central point and an ankle joint central point by adopting a rigid + elastic registration method aiming at the femur and tibia three-dimensional models;
the mechanical axis acquisition module is configured to acquire a femoral mechanical axis through a connecting line of a femoral head spherical center and a knee joint intercondylar concave center point and acquire a tibial mechanical axis through a connecting line of a tibial plateau center point and an ankle joint center point;
and the anatomical axis acquisition module is configured to determine the anatomical axis of the femur or the tibia by adopting a method of iteratively searching the maximum distance point pairs aiming at the three-dimensional model of the femur or the tibia.
Further, the femoral head center of sphere acquisition module performs the following steps: optionally selecting a point on the surface of the three-dimensional model of the femoral head ball as an initial point position, sectioning along the cross section by passing the point in the first step to obtain a transverse sectioning surface, extracting the closed edge of the sectioning surface, then calculating the distance value of any two points on the closed edge of the sectioning surface by using an iterative cyclic search method, taking the point pair with the maximum distance value in all the point pairs, and then obtaining the midpoint coordinate of the point pair, wherein the midpoint coordinate is used as the centroid point coordinate of the transverse sectioning surface; secondly, sectioning the centroid point of the transverse sectioning surface along the sagittal plane to obtain a sagittal sectioning surface, extracting the closed edge of the sectioning surface, calculating the distance value of any two points on the closed edge of the sectioning surface by using an iterative cyclic search method, taking the point pair with the largest distance value in all the point pairs, and then obtaining the midpoint coordinate of the point pair, wherein the midpoint coordinate is used as the centroid point coordinate of the sagittal sectioning surface; and thirdly, using the centroidal coordinates of the sagittal sectioning surface as the centroidal coordinates of the femoral head.
Still further, the registration module performs the steps of: selecting a leg bone CT image as a standard template, marking the positions of 3 central points on the standard template, wherein the 3 central points are a knee joint intercondylar fovea central point, a tibial plateau central point and an ankle joint central point, registering the standard template CT onto a CT to be detected to obtain a registration matrix, multiplying the 3 points on the standard template by the registration matrix to obtain the position coordinates of the 3 points on the CT to be detected, and reconstructing a leg bone three-dimensional model of the CT to be detected so as to visually observe the positions of the 3 central points (namely, physiological characteristic points) on the leg bone model.
Still further, the anatomical axis acquisition module performs the steps of: extracting the height value h of the bounding box of the femur three-dimensional model, and selecting the cross sections with the heights of x1, x2 and x3 from the topmost end of the bounding box as 3 cross sections defined by medical science, wherein
x1/h is 10%, x2/h is 20%, and x3/h is 30%, after 3 transverse sections are obtained, the coordinates of the central points of the transverse sections are determined by an iterative loop search method, and then the 3 central points are fitted into a straight line by a least square method, wherein the straight line is the femoral anatomy axis.
Alternatively, the anatomical axis acquisition module performs the steps of: extracting the height value h of the bounding box of the tibia three-dimensional model, and selecting cross sections with the heights of x1, x2 and x3 from the topmost end of the bounding box as 3 cross sections defined by medical science, wherein the height of the cross sections is the height of the topmost end of the bounding box, and the height of the topmost end of the bounding box is the height of the topmost end of the bounding box, and the cross sections are the height of
x1/h is 10%, x2/h is 20%, and x3/h is 30%, after 3 transverse sections are obtained, the coordinates of the central points of the transverse sections are determined by an iterative loop search method, and then the 3 central points are fitted into a straight line by a least square method, wherein the straight line is the tibial anatomical axis.
The present invention is described in more detail below.
The invention provides a method for automatically detecting a leg bone lower limb force line, which can be used for but not limited to determining the force line of a leg bone of a lower limb.
Specifically, as shown in fig. 4, the method includes the steps of:
s101, acquiring CT image data;
preoperative scanning is performed on a predetermined part of a patient by using CT equipment to acquire preoperative CT images. A predetermined part such as a lower limb of a human body.
S102, segmenting and three-dimensionally reconstructing the skeleton of the patient in the CT image, and establishing a three-dimensional skeleton model of the patient in a model space.
S103, aiming at the femur three-dimensional model, determining the position of the spherical center point of the femoral head by a method of obtaining the center of mass through double sections. The three-dimensional model of the femoral head ball is not a regular ball, and the method for detecting the irregular center of the ball is implemented as follows: optionally selecting a point on the surface of the three-dimensional model of the femoral head ball as an initial point position, sectioning along the cross section by passing the point in the first step to obtain a transverse sectioning surface, extracting the closed edge of the sectioning surface, then calculating the distance value of any two points on the closed edge of the sectioning surface by using an iterative cyclic search method, taking the point pair with the maximum distance value in all the point pairs, and then obtaining the midpoint coordinate of the point pair, wherein the midpoint coordinate is the centroid point coordinate of the transverse sectioning surface; secondly, cutting the centroid point of the transverse section cutting plane along the sagittal section to obtain a sagittal section, and then obtaining the centroid point coordinate of the sagittal section by the same method; and thirdly, the centroid point of the sagittal section plane is the coordinate of the spherical point of the femoral head.
And S104, aiming at the femur and tibia three-dimensional models, acquiring coordinates of a knee joint intercondylar concave central point, a tibia platform central point and an ankle joint central point by adopting a rigid + elastic registration method. The details are as follows: selecting a leg bone CT as a standard template, marking the positions of 3 central points on the template, registering the template CT on the CT to be detected to obtain a registration matrix, multiplying the registration matrix by the 3 points on the template to obtain the position coordinates of the 3 points on the CT to be detected, reconstructing a leg bone three-dimensional model of the CT to be detected, and visually observing the positions of the 3 physiological characteristic points on the leg bone model.
And S105, aiming at the femur or tibia three-dimensional model, determining an anatomical axis by adopting a method of iteratively searching a maximum distance point pair. The details are as follows: the 3 transverse slices near the distal surface of the femur are automatically selected according to the medical definition of the femoral anatomical axis by: extracting a height value h of a bounding box of the three-dimensional femoral model, selecting cross sections with the height being x1, x2 and x3(x1/h is 10%, x2/h is 20% and x3/h is 30%) away from the topmost end of the bounding box as 3 cross sections defined in medicine, determining central point coordinates of the cross sections by using an iterative loop search method in S103 after obtaining the 3 cross sections, fitting the 3 central points into a straight line by using a least square method, wherein the straight line is a femoral anatomical axis; the tibial anatomical axis determination method is the same as above.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above embodiment according to the technical spirit of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (10)
1. A leg bone lower limb force line automatic detection method is characterized by comprising the following steps: which comprises the following steps:
(1) acquiring CT image data: carrying out preoperative scanning on a preset part of a patient by utilizing CT equipment to obtain a preoperative CT image;
(2) segmenting and three-dimensionally reconstructing the skeleton of a patient in the CT image, and establishing a three-dimensional skeleton model of the patient in a model space;
(3) aiming at the femur three-dimensional model, determining the position of a femoral head spherical center point by a method of obtaining a mass center through double section planes;
(4) aiming at the femur and tibia three-dimensional models, coordinates of a knee joint intercondylar concave central point, a tibia platform central point and an ankle joint central point are obtained by adopting a rigid + elastic registration method;
(5) obtaining a mechanical axis of the femur through a connecting line of a spherical center of the femoral head and a concave center point between condyles of the knee joint, and obtaining a mechanical axis of the tibia through a connecting line of a center point of a tibial plateau and a center point of an ankle joint;
(6) aiming at the femur or tibia three-dimensional model, determining the anatomical axis of the femur or tibia by adopting a method of iteratively searching a maximum distance point pair.
2. The method for automatically detecting a leg bone lower limb force line according to claim 1, characterized in that: in the step (3), a point is selected from the surface of the three-dimensional model of the femoral head ball as an initial point position, the point is cut along the cross section in the first step to obtain a cross-section cutting surface, the closed edge of the cutting surface is extracted, then the distance value of any two points on the closed edge of the cutting surface is calculated by using an iterative loop search method, the point pair with the largest distance value in all the point pairs is taken, then the midpoint coordinate of the point pair is obtained, and the midpoint coordinate is used as the centroid point coordinate of the cross-section cutting surface; secondly, sectioning the centroid point of the transverse sectioning surface along the sagittal plane to obtain a sagittal sectioning surface, extracting the closed edge of the sectioning surface, calculating the distance value of any two points on the closed edge of the sectioning surface by using an iterative cyclic search method, taking the point pair with the largest distance value in all the point pairs, and then obtaining the midpoint coordinate of the point pair, wherein the midpoint coordinate is used as the centroid point coordinate of the sagittal sectioning surface; and thirdly, using the centroidal coordinates of the sagittal sectioning surface as the centroidal coordinates of the femoral head.
3. The method for automatically detecting a leg bone lower limb force line according to claim 2, characterized in that: in the step (4), a leg CT image is selected as a standard template, the positions of 3 central points are marked on the standard template, the 3 central points are a knee joint intercondylar concave central point, a tibial plateau central point and an ankle joint central point, the standard template CT is registered on a CT to be detected to obtain a registration matrix, the registration matrix is multiplied by the 3 points on the standard template to obtain the position coordinates of the 3 points on the CT to be detected, and a leg three-dimensional model of the CT to be detected is reconstructed so as to visually observe the positions of the 3 central points on the leg model.
4. The method for automatically detecting a leg bone lower limb force line according to claim 3, characterized in that: in the step (6), a height value h of the bounding box of the three-dimensional femoral model is extracted, cross-sections with heights x1, x2 and x3 from the topmost end of the bounding box are selected as 3 cross-sections defined in the medical science, wherein x1/h is 10%, x2/h is 20% and x3/h is 30%, after the 3 cross-sections are obtained, coordinates of center points of the cross-sections are determined by using an iterative cyclic search method, and the 3 center points are fitted into a straight line by using a least square method, wherein the straight line is a femoral anatomical axis.
5. The method for automatically detecting a leg bone lower limb force line according to claim 3, characterized in that: in the step (6), a height value h of the bounding box of the three-dimensional tibial model is extracted, cross-sections with heights x1, x2 and x3 from the topmost end of the bounding box are selected as 3 cross-sections defined in the medical science, wherein x1/h is 10%, x2/h is 20% and x3/h is 30%, after the 3 cross-sections are obtained, coordinates of center points of the cross-sections are determined by using an iterative cyclic search method, the 3 center points are fitted into a straight line by using a least square method, and the straight line is an anatomical axis of the tibia.
6. The utility model provides a leg bone low limbs force line automatic checkout device which characterized in that: the device includes:
a CT image data acquisition module configured to perform a preoperative scan of a predetermined portion of a patient to acquire a preoperative CT image;
a skeleton three-dimensional model acquisition module configured to segment and three-dimensionally reconstruct a patient's skeleton in the CT image, and establish a three-dimensional model of the patient's skeleton in a model space;
the femoral head center point acquisition module is configured to determine the position of a femoral head center point by acquiring a mass center through double section planes aiming at a femoral three-dimensional model;
the registration module is configured to acquire coordinates of a knee joint intercondylar concave central point, a tibial plateau central point and an ankle joint central point by adopting a rigid + elastic registration method aiming at the femur and tibia three-dimensional models;
the mechanical axis acquisition module is configured to acquire a femoral mechanical axis through a connecting line of a femoral head spherical center and a knee joint intercondylar concave center point and acquire a tibial mechanical axis through a connecting line of a tibial plateau center point and an ankle joint center point;
and the anatomical axis acquisition module is configured to determine the anatomical axis of the femur or the tibia by adopting a method of iteratively searching the maximum distance point pairs aiming at the three-dimensional model of the femur or the tibia.
7. The device for automatically detecting a leg bone lower limb force line according to claim 6, characterized in that: the femoral head center of sphere acquisition module executes the following steps: optionally selecting a point on the surface of the three-dimensional model of the femoral head ball as an initial point position, sectioning along the cross section by passing the point in the first step to obtain a transverse sectioning surface, extracting the closed edge of the sectioning surface, then calculating the distance value of any two points on the closed edge of the sectioning surface by using an iterative cyclic search method, taking the point pair with the maximum distance value in all the point pairs, and then obtaining the midpoint coordinate of the point pair, wherein the midpoint coordinate is used as the centroid point coordinate of the transverse sectioning surface; secondly, sectioning the centroid point of the transverse sectioning surface along the sagittal plane to obtain a sagittal sectioning surface, extracting the closed edge of the sectioning surface, calculating the distance value of any two points on the closed edge of the sectioning surface by using an iterative cyclic search method, taking the point pair with the largest distance value in all the point pairs, and then obtaining the midpoint coordinate of the point pair, wherein the midpoint coordinate is used as the centroid point coordinate of the sagittal sectioning surface; and thirdly, using the centroidal coordinates of the sagittal sectioning surface as the centroidal coordinates of the femoral head.
8. The device for automatically detecting a leg bone lower limb force line according to claim 7, characterized in that: the registration module performs the steps of: selecting a leg bone CT image as a standard template, marking the positions of 3 central points on the standard template, wherein the 3 central points are a knee joint intercondylar fovea central point, a tibial plateau central point and an ankle joint central point, registering the standard template CT onto a CT to be detected to obtain a registration matrix, multiplying the 3 points on the standard template by the registration matrix to obtain the position coordinates of the 3 points on the CT to be detected, and reconstructing a leg bone three-dimensional model of the CT to be detected so as to visually observe the positions of the 3 central points on the leg bone model.
9. The device for automatically detecting a leg bone lower limb force line according to claim 8, characterized in that: the anatomical axis acquisition module performs the steps of: extracting the height value h of the bounding box of the femur three-dimensional model, and selecting the cross sections with the heights of x1, x2 and x3 from the topmost end of the bounding box as 3 cross sections defined by medical science, wherein
x1/h is 10%, x2/h is 20%, and x3/h is 30%, after 3 transverse sections are obtained, the coordinates of the central points of the transverse sections are determined by an iterative loop search method, and then the 3 central points are fitted into a straight line by a least square method, wherein the straight line is the femoral anatomy axis.
10. The device for automatically detecting a leg bone lower limb force line according to claim 8, characterized in that: the anatomical axis acquisition module performs the steps of: extracting the height value h of the bounding box of the tibia three-dimensional model, and selecting cross sections with the heights of x1, x2 and x3 from the topmost end of the bounding box as 3 cross sections defined by medical science, wherein the height of the cross sections is the height of the topmost end of the bounding box, and the height of the topmost end of the bounding box is the height of the topmost end of the bounding box, and the cross sections are the height of
x1/h is 10%, x2/h is 20%, and x3/h is 30%, after 3 transverse sections are obtained, the coordinates of the central points of the transverse sections are determined by an iterative loop search method, and then the 3 central points are fitted into a straight line by a least square method, wherein the straight line is the tibial anatomical axis.
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