CN111166538A - Pre-operation prosthesis pre-positioning method and device for joint replacement operation - Google Patents
Pre-operation prosthesis pre-positioning method and device for joint replacement operation Download PDFInfo
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- CN111166538A CN111166538A CN201910164262.4A CN201910164262A CN111166538A CN 111166538 A CN111166538 A CN 111166538A CN 201910164262 A CN201910164262 A CN 201910164262A CN 111166538 A CN111166538 A CN 111166538A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
- A61F2002/4633—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery for selection of endoprosthetic joints or for pre-operative planning
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Physical Education & Sports Medicine (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Surgical Instruments (AREA)
Abstract
The invention relates to the technical field of medical treatment, and discloses a method and a device for pre-positioning a prosthesis before a joint replacement operation, wherein the method comprises the following steps: acquiring CT image data; carrying out segmentation and three-dimensional reconstruction on the skeleton of the patient in the CT image data to obtain a skeleton model of the patient in a model space; the skeleton model comprises a joint three-dimensional model; selecting at least two fixed characteristic points on the end face of the joint three-dimensional model; selecting the same number of fixed points at the same positions as the fixed characteristic points of the joint three-dimensional model on the end surface of the prosthesis model; and carrying out three-dimensional matching on the joint three-dimensional model and the prosthesis model to realize the pre-positioning of the prosthesis. The scheme of the invention improves the pre-positioning efficiency and precision.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a method and a device for pre-positioning a prosthesis before a joint replacement operation.
Background
Currently, various common orthopedic diseases include osteoarthritis, rheumatoid arthritis, cartilage destruction and the like. With the increase of aging degree, the incidence rate of orthopedic diseases is increased, and the artificial joint replacement operation is an effective means for treating the diseases.
In the clinic, the determination of the osteotomy plane for a conventional hip-knee replacement procedure is dependent on the empirical judgment of the operator. The surgeon infers the approximate osteotomy location based on the prosthesis to be replaced. The mode greatly influences the precision of osteotomy and the recovery of postoperative patients, and is easy to cause various complications. And the osteotomy position is judged only by experience of an operator, so that the prosthesis mounting position is deviated, and the prosthesis falls off after the operation.
At present, the main approach to solve the problem is that in preoperative planning, an operator finds the position of an osteotomy plane by positioning a prosthesis model, and then the osteotomy plane can be directly resected in an operation. However, this approach is inefficient and less accurate.
Disclosure of Invention
In order to overcome the technical problems, the invention provides a prosthesis pre-positioning method and a prosthesis pre-positioning device before joint replacement surgery, which improve the efficiency and the precision of pre-positioning.
To achieve the above objects, in one aspect, the present invention provides a method of pre-positioning a prosthesis before joint replacement surgery, comprising:
acquiring CT image data;
carrying out segmentation and three-dimensional reconstruction on the skeleton of the patient in the CT image data to obtain a skeleton model of the patient in a model space; the skeleton model comprises a joint three-dimensional model;
selecting at least two fixed characteristic points on the end face of the joint three-dimensional model;
selecting the same number of fixed points at the same positions as the fixed characteristic points of the joint three-dimensional model on the end surface of the prosthesis model;
and carrying out three-dimensional matching on the joint three-dimensional model and the prosthesis model to realize the pre-positioning of the prosthesis.
In an optional embodiment of the present invention, the three-dimensional matching between the joint three-dimensional model and the prosthesis model to achieve the prosthesis pre-positioning specifically includes:
performing initial registration on point clouds of at least two fixed characteristic points of the joint three-dimensional model and point clouds formed by the same number of fixed points of the prosthesis model by a Super4PCS method to initially align the two point clouds;
and performing secondary registration on the two initially aligned point clouds through an ICP (inductively coupled plasma) algorithm to enable the two point clouds to be accurately matched, and realizing that the prosthesis is pre-placed to the position needing osteotomy.
In an alternative embodiment of the invention, the method further comprises:
and carrying out fine adjustment on the prosthesis model.
In another aspect, the present invention provides a pre-prosthetic repositioning device for joint replacement surgery, comprising:
an acquisition unit for acquiring CT image data;
the segmentation and reconstruction unit is used for segmenting and reconstructing the skeleton of the patient in the CT image data in a three-dimensional manner to obtain a skeleton model of the patient in a model space; the skeleton model comprises a joint three-dimensional model;
the fixed characteristic point selecting unit is used for selecting at least two fixed characteristic points on the end face of the joint three-dimensional model;
the prosthesis fixed point selecting unit is used for selecting the fixed points with the same number at the same positions as the fixed characteristic points of the joint three-dimensional model on the end surface of the prosthesis model;
and the three-dimensional matching unit is used for performing three-dimensional matching on the joint three-dimensional model and the prosthesis model to realize the pre-positioning of the prosthesis.
In an optional implementation manner of the present invention, the three-dimensional matching unit specifically includes:
the initial registration subunit is used for initially registering the point clouds of at least two fixed feature points of the joint three-dimensional model and the point clouds formed by the same number of fixed points of the prosthesis model by a Super4PCS method so as to initially align the two point clouds;
and the secondary registration subunit is used for carrying out secondary registration on the two initially aligned point clouds through an ICP (inductively coupled plasma) algorithm so as to accurately match the two point clouds and realize that the prosthesis is pre-positioned to the position needing osteotomy.
In an alternative embodiment of the invention, the apparatus further comprises:
and the fine adjustment unit is used for performing fine adjustment on the prosthesis model.
The invention relates to a prosthesis pre-positioning method before joint replacement surgery, which comprises the following steps: acquiring CT image data; segmenting and three-dimensionally reconstructing the skeleton of a patient in the CT image data to obtain a skeleton model of the patient in a model space; the skeleton model comprises a joint three-dimensional model; selecting at least two fixed characteristic points on the end face of the joint three-dimensional model; selecting the same number of fixed points at the same positions as the fixed characteristic points of the joint three-dimensional model on the end surface of the prosthesis model; and carrying out three-dimensional matching on the joint three-dimensional model and the prosthesis model to realize the pre-positioning of the prosthesis. According to the invention, the prosthesis is pre-placed to the position needing osteotomy through three-dimensional matching of the characteristic points, the preoperative planning efficiency is improved, and the placement accuracy is ensured.
Drawings
FIG. 1 is a flow chart of a pre-positioning method of a prosthesis according to the present invention prior to joint replacement surgery;
FIG. 2 is a flow chart of another method of pre-positioning a prosthesis prior to joint replacement surgery according to the present invention;
FIG. 3 is a block diagram of a pre-prosthetic repositioning device according to the present invention prior to joint replacement surgery;
fig. 4 is a block diagram of another pre-joint replacement surgical prosthetic repositioning device according to the present invention.
Detailed Description
Embodiments of the present invention are described below with reference to the drawings. Elements and features depicted in one drawing or one embodiment of the invention may be combined with elements and features shown in one or more other drawings or embodiments. It should be noted that the figures and description omit representation and description of components or processes that are not relevant to the present invention and that are known to those of ordinary skill in the art for the sake of clarity.
An embodiment of the present invention provides a method for pre-positioning a prosthesis before joint replacement surgery, as shown in fig. 1, the method includes:
101. CT image data are acquired.
102. And (3) carrying out segmentation and three-dimensional reconstruction on the bone of the patient in the CT image data to obtain a bone model of the patient in the model space.
Wherein, the skeleton model comprises a joint three-dimensional model.
103. And selecting at least two fixed characteristic points on the end surface of the joint three-dimensional model.
In particular cases, 3, 4, 5 or more fixed feature points may be selected.
The fixed feature points may be selected by the surgeon or the operator. The selection may also be made by a device-assisted surgical personnel.
104. And selecting an equal number of fixed points at the same positions as the fixed characteristic points of the joint three-dimensional model on the end surface of the prosthesis model.
The fixation points on the prosthesis model may be selected by the surgeon or the operator. The selection may also be made by a device-assisted surgical personnel.
105. And carrying out three-dimensional matching on the joint three-dimensional model and the prosthesis model to realize the pre-positioning of the prosthesis.
According to the prosthesis pre-positioning method before the joint replacement surgery, provided by the embodiment of the invention, the prosthesis is pre-positioned to the position needing bone cutting through three-dimensional matching of the characteristic points, the preoperative planning efficiency is improved, the efficiency and the precision of the prosthesis pre-positioning are improved, the dependence on the experience of an operator is reduced, and the success rate of the artificial joint replacement surgery and the postoperative recovery effect of a patient are favorably improved.
Further, an embodiment of the present invention also provides a method for pre-positioning a prosthesis before joint replacement surgery, as shown in fig. 2, the method including:
201. CT image data are acquired.
202. And (3) carrying out segmentation and three-dimensional reconstruction on the bone of the patient in the CT image data to obtain a bone model of the patient in the model space.
Wherein, the skeleton model comprises a joint three-dimensional model.
203. And selecting at least two fixed characteristic points on the end surface of the joint three-dimensional model.
In particular cases, 3, 4, 5 or more fixed feature points may be selected.
The fixed feature points may be selected by the surgeon or the operator. The selection may also be made by a device-assisted surgical personnel.
204. And selecting an equal number of fixed points at the same positions as the fixed characteristic points of the joint three-dimensional model on the end surface of the prosthesis model.
The fixation points on the prosthesis model may be selected by the surgeon or the operator. The selection may also be made by a device-assisted surgical personnel.
205. And initially registering the point clouds of at least two fixed characteristic points of the joint three-dimensional model and the point clouds formed by the same number of fixed points of the prosthesis model by a Super4PCS method to initially align the two point clouds.
206. And performing secondary registration on the two initially aligned point clouds through an ICP (inductively coupled plasma) algorithm to enable the two point clouds to be accurately matched, and realizing that the prosthesis is pre-placed to the position needing osteotomy.
207. And carrying out fine adjustment on the prosthesis model.
After the prosthesis is pre-placed, the prosthesis model can be continuously fine-tuned until a satisfactory effect is achieved.
According to the prosthesis pre-positioning method before the joint replacement surgery, provided by the embodiment of the invention, the prosthesis is pre-positioned to the position needing bone cutting through three-dimensional matching of the characteristic points, the preoperative planning efficiency is improved, the efficiency and the precision of the prosthesis pre-positioning are improved, the dependence on the experience of an operator is reduced, and the success rate of the artificial joint replacement surgery and the postoperative recovery effect of a patient are favorably improved. And two registration algorithms are combined, Super4PCS is used for global registration, ICP is used for local registration, and the Super4PCS and the ICP are jointly applied to mutual registration of the bone joint surface and the joint prosthesis, so that the registration result is more accurate.
An embodiment of the present invention provides a pre-prosthesis repositioning device before joint replacement surgery, as shown in fig. 3, including:
an acquiring unit 31 is used for acquiring the CT image data.
And a segmentation and reconstruction unit 32, configured to perform segmentation and three-dimensional reconstruction on the patient bone in the CT image data acquired by the acquisition unit 31 to obtain a bone model of the patient in the model space. The bone model includes a three-dimensional model of the joint.
And a fixed feature point selecting unit 33, configured to select at least two fixed feature points on the end surface of the three-dimensional joint model obtained by the segmentation and reconstruction unit 32.
And a prosthesis fixed point selecting unit 34 for selecting an equal number of fixed points at the same positions as the fixed feature points of the three-dimensional model of the joint on the end face of the prosthesis model.
And the three-dimensional matching unit 35 is used for performing three-dimensional matching on the joint three-dimensional model and the prosthesis model to realize the pre-positioning of the prosthesis.
Further, as shown in fig. 4, the three-dimensional matching unit 35 specifically includes:
the initial registration subunit 351 is configured to perform initial registration on the point clouds of the at least two fixed feature points of the three-dimensional joint model and the point clouds formed by the same number of fixed points of the prosthesis model by using a Super4PCS method, so that the two point clouds are initially aligned.
And the second registration subunit 352 is configured to perform second registration on the two point clouds initially aligned by the initial registration subunit 351 through an ICP algorithm, so that the two point clouds are accurately matched, and the prosthesis is pre-positioned to a position where the osteotomy is required.
Further, the device comprises a fine adjustment unit for fine adjustment of the prosthesis model.
According to the pre-positioning device for the prosthesis before the joint replacement surgery, provided by the embodiment of the invention, the pre-positioning of the prosthesis to the position needing bone cutting is realized through three-dimensional matching of the characteristic points, the pre-operation planning efficiency is improved, the efficiency and the precision of the pre-positioning of the prosthesis are improved, the dependence on the experience of an operator is reduced, and the success rate of the artificial joint replacement surgery and the postoperative recovery effect of a patient are improved. And two registration algorithms are combined, Super4PCS is used for global registration, ICP is used for local registration, and the Super4PCS and the ICP are jointly applied to mutual registration of the bone joint surface and the joint prosthesis, so that the registration result is more accurate.
Although the present invention and its advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims. Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, means, methods and steps described in the specification. As one of ordinary skill in the art will readily appreciate from the disclosure of the present invention, processes, machines, means, methods, or steps, presently existing or later to be developed that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized according to the present invention. Accordingly, the appended claims are intended to include within their scope such processes, devices, means, methods, or steps.
Claims (6)
1. A method of pre-positioning a prosthesis prior to joint replacement surgery, comprising:
acquiring CT image data;
carrying out segmentation and three-dimensional reconstruction on the skeleton of the patient in the CT image data to obtain a skeleton model of the patient in a model space; the skeleton model comprises a joint three-dimensional model;
selecting at least two fixed characteristic points on the end face of the joint three-dimensional model;
selecting the same number of fixed points at the same positions as the fixed characteristic points of the joint three-dimensional model on the end surface of the prosthesis model;
and carrying out three-dimensional matching on the joint three-dimensional model and the prosthesis model to realize the pre-positioning of the prosthesis.
2. The method of pre-prosthesis repositioning according to claim 1, wherein the three-dimensional matching of the joint three-dimensional model and the prosthesis model, the achieving of prosthesis repositioning specifically comprises:
performing initial registration on point clouds of at least two fixed characteristic points of the joint three-dimensional model and point clouds formed by the same number of fixed points of the prosthesis model by a Super4PCS method to initially align the two point clouds;
and performing secondary registration on the two initially aligned point clouds through an ICP (inductively coupled plasma) algorithm to enable the two point clouds to be accurately matched, and realizing that the prosthesis is pre-placed to the position needing osteotomy.
3. The pre-joint replacement surgical prosthesis pre-positioning method of claim 2, further comprising:
and carrying out fine adjustment on the prosthesis model.
4. A pre-prosthetic repositioning device for joint replacement surgery, comprising:
an acquisition unit for acquiring CT image data;
the segmentation and reconstruction unit is used for segmenting and reconstructing the skeleton of the patient in the CT image data in a three-dimensional manner to obtain a skeleton model of the patient in a model space; the skeleton model comprises a joint three-dimensional model;
the fixed characteristic point selecting unit is used for selecting at least two fixed characteristic points on the end face of the joint three-dimensional model;
the prosthesis fixed point selecting unit is used for selecting the fixed points with the same number at the same positions as the fixed characteristic points of the joint three-dimensional model on the end surface of the prosthesis model;
and the three-dimensional matching unit is used for performing three-dimensional matching on the joint three-dimensional model and the prosthesis model to realize the pre-positioning of the prosthesis.
5. The pre-joint replacement surgery prosthesis pre-positioning device according to claim 4, characterized in that the three-dimensional matching unit comprises in particular:
the initial registration subunit is used for initially registering the point clouds of at least two fixed feature points of the joint three-dimensional model and the point clouds formed by the same number of fixed points of the prosthesis model by a Super4PCS method so as to initially align the two point clouds;
and the secondary registration subunit is used for carrying out secondary registration on the two initially aligned point clouds through an ICP (inductively coupled plasma) algorithm so as to accurately match the two point clouds and realize that the prosthesis is pre-positioned to the position needing osteotomy.
6. The pre-joint replacement surgical prosthetic pre-positioning device of claim 4, further comprising:
and the fine adjustment unit is used for performing fine adjustment on the prosthesis model.
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| CN201910164262.4A CN111166538B (en) | 2019-03-05 | 2019-03-05 | Pre-operation prosthesis pre-positioning method and device for joint replacement operation |
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| CN201910164262.4A CN111166538B (en) | 2019-03-05 | 2019-03-05 | Pre-operation prosthesis pre-positioning method and device for joint replacement operation |
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| CN111166538B CN111166538B (en) | 2022-10-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112998854A (en) * | 2021-03-17 | 2021-06-22 | 杭州素问九州医疗科技有限公司 | Fitting method of tibial prosthesis and tibia and robot surgery system |
| CN114305697A (en) * | 2021-12-25 | 2022-04-12 | 山东航维骨科医疗器械股份有限公司 | Control method of joint replacement surgical robot |
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| Publication number | Publication date |
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| CN111166538B (en) | 2022-10-14 |
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