CN111494007B - Prosthesis projection method and device and electronic equipment - Google Patents
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Abstract
The invention discloses a prosthesis projection method, a prosthesis projection device and electronic equipment, wherein the method comprises the following steps: acquiring correction data of human tissues; back-projecting the implanted prosthesis to a position corresponding to original data based on the correction data to form a prosthesis projection, wherein the original data comprises medical image data of human tissues before correction; and cutting the prosthesis by using a cutting algorithm, and generating a prosthesis contour at the prosthesis projection position. The implanted prosthesis is reversely changed according to the correction data of the human tissue structure planned by the operation, the implanted position of the prosthesis is found in the original data, namely the original medical image, and then the prosthesis is cut at the projected position of the prosthesis by a cutting algorithm to generate the prosthesis outline, so that the accuracy of the position of the implanted prosthesis can be ensured, meanwhile, the prosthesis outline generated at the corresponding position has small calculated amount and high generation speed, and the simulation of the prosthesis at the preset position can be accurately and quickly realized.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a prosthesis projection method, a prosthesis projection device and electronic equipment.
Background
After the pathological changes of human tissues, the treatment means of implanting prosthesis is sometimes adopted, for example, after the human bones are damaged, the treatment can be carried out by implanting prosthesis. Generally, the implanted prosthesis not only needs to satisfy biocompatibility, but also needs to satisfy biomechanical characteristics, that is, various performances after the prosthesis is close to those of normal tissues, so that the effect after the prosthesis is placed can be verified in advance before the prosthesis implantation operation is carried out, and the condition that the prosthesis is difficult to satisfy normal use after the prosthesis is implanted is prevented. When the implanted prosthesis is verified, the prosthesis needs to be projected onto a medical image to further simulate the implantation effect of the prosthesis, so how to project the prosthesis becomes an urgent technical problem to be solved.
Disclosure of Invention
The invention mainly aims to provide a prosthesis projection method to solve the problem of how to project a prosthesis.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a prosthesis projection method including: acquiring correction data of human tissues; back-projecting the implanted prosthesis to a position corresponding to original data based on the correction data to form a prosthesis projection, wherein the original data comprises medical image data of human tissues before correction; and cutting the prosthesis by using a cutting algorithm, and generating a prosthesis contour at the prosthesis projection position.
Optionally, the remedial data comprises: translation data and/or rotation data of human tissue during implantation of the prosthesis.
Optionally, the back-projecting the implanted prosthesis to a location corresponding to in the original data based on the correction data, forming a prosthesis projection comprises: and performing inverse transformation corresponding to the translation data and/or the rotation data on the prosthesis according to the translation data and/or the rotation data to form the prosthesis projection.
Optionally, the back-projecting the implanted prosthesis to a location corresponding to in the original data based on the correction data, forming a prosthesis projection comprises: acquiring the tissue type of human tissue; determining a transformation order of the correction data based on the tissue type; and sequentially carrying out back projection based on the transformation sequence.
Optionally, the cutting the prosthesis by using a cutting algorithm, and generating a prosthesis contour at the prosthesis projection position includes: obtaining a three-dimensional model of the prosthesis; corresponding the prosthesis three-dimensional model to the prosthesis projection position; cutting the prosthesis three-dimensional model by using a cutting algorithm to obtain a cutting plane; and extracting the intersection of the cutting plane and the three-dimensional model of the prosthesis at the projection position of the prosthesis to obtain the contour of the prosthesis.
Optionally, the cutting plane comprises a normal vector for indicating at least one of a transverse plane, a sagittal plane and a coronal plane and point coordinates for indicating a scan layer in which the cutting plane is located.
Optionally, the extracting the intersection of the cutting plane and the three-dimensional model of the prosthesis to obtain the contour of the prosthesis includes: and superposing the intersection of the cutting planes of different scanning layers and the three-dimensional prosthesis model on the projection position of the prosthesis to form the prosthesis contour on the medical image.
According to a second aspect, embodiments of the present invention provide a prosthetic implant verification device comprising: the acquisition module is used for acquiring correction data of human tissues; the back projection module is used for back projecting the implanted prosthesis to a position corresponding to original data based on the correction data to form prosthesis projection, and the original data comprises medical image data of human tissues before correction; and the contour generation module is used for cutting the prosthesis by utilizing a cutting algorithm to generate a prosthesis contour at the prosthesis projection position.
According to a third aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions for causing a computer to execute the method for projecting a prosthesis according to any one of the above first aspects.
According to a fourth aspect, an embodiment of the present invention provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of prosthesis projection according to any of the first aspect.
The method comprises the steps of firstly, reversely changing an implanted prosthesis according to correction data of a human tissue structure planned by an operation, finding a prosthesis implantation position in original data, namely in an original medical image, ensuring that the contour of the prosthesis projected subsequently is in an accurate position, then cutting the prosthesis through a cutting algorithm to generate a prosthesis contour at the prosthesis projection position, and generating the prosthesis contour at a corresponding position.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow diagram of a method of prosthesis projection according to an embodiment of the invention;
FIG. 2 is a schematic view of a prosthetic implant verification device according to an embodiment of the present invention; and
FIG. 3 is a schematic diagram of an electronic device according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As described in the background, the effect after the prosthesis is placed can be verified in advance before the prosthesis implantation operation is performed, so as to prevent the prosthesis from being difficult to satisfy the normal use after the prosthesis is implanted, and therefore, the implanted prosthesis needs to be projected in the original medical image. The inventors have found that there are some methods in the prior art that can simulate the contours (contour lines/contour regions) of a prosthesis, for example: the method is characterized in that a medical image is converted through a Material's Interactive Medical Image Control System (MIMICS) to establish a three-dimensional model, but the system cannot project the contour of the prosthesis back to the original medical image after the position of the skeleton changes, namely if the position of the corresponding human tissue changes when the prosthesis is implanted, the MIMICS is directly adopted to establish the three-dimensional model, the implanted prosthesis cannot be accurately positioned to the post-operation human tissue, and projection position deviation can be caused. In addition, the inventor finds that another method for constructing a three-dimensional model is to convert a STereoLithography (STL) file into a voxel matrix, extract the outline of each layer of the acceleration matrix by an image processing means, and update the outline into a matrix of CT raw data in real time. However, the process of processing the voxel matrix and extracting the contour by an image processing algorithm is relatively complicated, the calculated amount is large, the speed is low, and the calculation resources are seriously occupied. Therefore, when the position of the human tissue changes, the implanted prosthesis is projected, which is difficult to be well completed in the prior art, based on the surgical planning involving the position correction of the human tissue (in this embodiment, the bone is taken as an example) in which the prosthesis is included, the correction process includes rotation and translation, the prosthesis needs to be placed in the bone after the bone correction is completed, the prosthesis after being placed in the three-dimensional space needs to be projected back to the original CT tomographic image to generate a contour of the corresponding position, that is, the position of the contour of the prosthesis after being corrected relative to the bone in the original CT is the same as the position of the prosthesis in the three-dimensional space relative to the corrected bone, so as to ensure the accuracy of the projected position of the prosthesis, the inventor proposes a prosthesis projection method, as shown in fig. 1, and the method includes the following steps:
s11, acquiring correction data of human tissues. Correction of the position of the native tissue is often required prior to implantation of the prosthesis. In the present embodiment, the bone is taken as an example, and the position correction of the human tissue may be usually involved in the planning or implementation of the memorial prosthesis implantation operation. In particular, the corrective procedure includes rotation and/or translation. As an exemplary embodiment, the body tissue correction data may be acquired in planning data for a procedure.
S12, back projecting the implanted prosthesis to a position corresponding to the original data based on the corrected data to form prosthesis projection, wherein the original data comprises medical image data of human tissues before correction. In this embodiment, after obtaining the corrected data, the prosthesis placed after the correction is completed may be transformed back along the process of correcting the anatomical structure of the human body in the reverse direction, so that the prosthesis corresponds back to the corresponding position in the original data. In particular, a backprojection reconstruction algorithm may be used to backproject the prosthesis into the raw data, forming a prosthesis projection in the raw data. As an exemplary embodiment, the correction data may be exemplified as translation data and rotation data of human tissue during the implantation of the prosthesis, that is, when the prosthesis is implanted, if translation and rotation of human tissue are involved, during the back projection of the prosthesis, the inverse transformation is performed according to the translation and rotation processes of human tissue, and the projection of the prosthesis is constructed in the original data center, so as to form a medical image with the projection of the prosthesis, such as a CT image, an X-ray image or a magnetic resonance image.
S13, cutting the prosthesis by using a cutting algorithm to generate a prosthesis contour at the prosthesis projection position. As an exemplary embodiment, a visualized three-dimensional model of the prosthesis may be generated using a Visualization Toolkit (VTK) and the three-dimensional model of the prosthesis may be cut. In this embodiment, taking the original data as the medical CT image as an example, when the three-dimensional model of the prosthesis is cut, layered cutting may be performed according to the scanning layers of the medical CT image, the intersection of the cutting plane and the three-dimensional model may be used as the contour of the single-layer endoprosthesis, and finally, the layers are integrated to form the contour of the prosthesis, so as to display the synthesized contour of the prosthesis at the prosthesis projection position of the medical CT image. The simulation of the implantation effect of the prosthesis is realized.
In this embodiment, the implanted prosthesis is reversely changed according to the correction data of the surgical planned human tissue structure, and the implanted position of the prosthesis is found in the original data, that is, in the original medical image, so that the contour of the prosthesis projected later can be ensured to be at an accurate position, and then the prosthesis is cut at the projected position of the prosthesis by the cutting algorithm to generate the prosthesis contour, and the prosthesis contour generated at the corresponding position is generated.
As an exemplary embodiment, since different human tissues have different structures and different operation sequences, different sequences of back projection of the implanted prosthesis are required according to different human tissues before back projection, specifically, the tissue types of the human tissues are obtained; determining a transformation order of the correction data based on the tissue type; and sequentially carrying out back projection based on the transformation sequence. Exemplarily, an acetabular cup and a femoral stem are respectively taken as an example for illustration: the acetabular cup back-projection process involves several links in sequence, correction of the pelvis, translation of the acetabular cup, and rotation of the acetabular cup. The process of back projection is then in turn: 1. performing inverse transformation along the rotation transformation of the acetabular cup; 2. performing inverse transformation along the translation transformation of the acetabular cup; 3. the inverse transformation is performed along the pelvic correction transformation so that we can transform the acetabular cup prosthesis to a position matching the pre-correction raw data. The process of back projection of the femoral stem needs to sequentially involve the following links, namely correction of the leg bone, secondary translation of the leg bone on the basis of correction and secondary rotation of the leg bone on the basis of correction. The process of back projection is then in turn: 1. performing inverse transformation along the secondary rotational transformation of the leg bone; 2. performing inverse transformation along the secondary translation transformation of the leg bones; 3. the inverse transformation is performed along the leg bone correction transformation so that we can transform the prosthesis of the femoral stem to a position matching the pre-correction raw data. In this embodiment, after the tissue structure for performing the operation is determined and the prosthesis is implanted, the prosthesis may be inversely transformed according to the correction sequence of the relevant tissue structure of the human body during the operation, so as to ensure that the prosthesis of different tissue of the human body can be accurately projected to a proper position.
As an exemplary embodiment, the cutting algorithm is used for cutting the prosthesis, and the cutting algorithm is used for cutting the three-dimensional model of the prosthesis, specifically, the three-dimensional model of the prosthesis may be obtained first, and the three-dimensional model may be an STL model, and after the STL model is adjusted to the prosthesis projection position, the cutting algorithm is used for cutting the three-dimensional model of the prosthesis to obtain a cutting plane; and extracting the intersection of the cutting plane and the three-dimensional prosthesis model to obtain the contour of the prosthesis. Specifically, the cutting plane may be determined by a normal vector and a point, and as an exemplary embodiment, the normal vectors of the transverse plane, the sagittal plane, and the coronal plane are constants (0,0,1), (1,0,0), (0,1,0), respectively, and the point coordinates may be determined by the number of scanning layers where the normal vector is currently located. Namely, the normal vector is used for indicating at least one of the transverse plane, the sagittal plane and the coronal plane, the point coordinate is used for indicating the layer where the normal vector is located, and since the CT image is composed of a plurality of scanning layers, when the layer is changed, the point coordinate of the cutting plane is reset, and then the updating is called. The contours cut in the two-dimensional view are displayed on the corresponding CT slice. After the prosthesis contours of the layers are obtained in the two-dimensional views in the different layers, the prosthesis contours can be formed at the corresponding positions on the medical image by superposing the prosthesis contours on the prosthesis projection positions layer by layer. It should be noted that after the position of the three-dimensional model of the prosthesis is changed, the changed position of the three-dimensional model needs to be reloaded, and then cutting and stacking are performed, and then the prosthesis contour is formed at the corresponding position of the medical image.
There is also provided, in accordance with an embodiment of the present invention, apparatus for performing the prosthetic implant verification apparatus shown in fig. 1 and described above, as shown in fig. 2, the apparatus including: the acquisition module 10 is used for acquiring correction data of human tissues; a back projection module 20, configured to back-project the implanted prosthesis to a position corresponding to original data based on the correction data to form a prosthesis projection, where the original data includes pre-correction medical image data of human tissue; and the contour generating module 30 is used for cutting the prosthesis by using a cutting algorithm to generate a prosthesis contour at the prosthesis projection position.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
An embodiment of the present invention provides an electronic device, as shown in fig. 3, which includes one or more processors 31 and a memory 32, and one processor 33 is taken as an example in fig. 3.
The controller may further include: an input device 33 and an output device 34.
The processor 31, the memory 32, the input device 33 and the output device 34 may be connected by a bus or other means, and fig. 3 illustrates the connection by a bus as an example.
The processor 31 may be a Central Processing Unit (CPU). The processor 31 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 32, which is a non-transitory computer readable storage medium, may be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the control method in the embodiments of the present invention. The processor 31 executes various functional applications of the server and data processing, namely, the method of prosthesis projection of the above-described method embodiment, by running the non-transitory software programs, instructions and modules stored in the memory 32.
The memory 32 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a processing device operated by the server, and the like. Further, the memory 32 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 32 may optionally include memory located remotely from the processor 31, which may be connected to a network connection device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 33 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the processing device of the server. The output device 34 may include a display device such as a display screen.
One or more modules are stored in the memory 32, which when executed by the one or more processors 31 perform the method as shown in fig. 1.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium, and when executed, the program can include the processes of the embodiments of the motor control methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), a flash memory (FlashMemory), a hard disk (hard disk drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (7)
1. A method of prosthesis projection, comprising:
acquiring correction data of human tissues;
back-projecting the implanted prosthesis to a position corresponding to original data based on the correction data to form a prosthesis projection, wherein the original data comprises medical image data of human tissues before correction;
cutting the prosthesis by using a cutting algorithm, and generating a prosthesis contour at the prosthesis projection position;
the remedial data includes: translation data and/or rotation data of human tissue during prosthesis implantation;
the back-projecting the implanted prosthesis to a location corresponding to in the raw data based on the correction data, forming a prosthesis projection comprising:
performing inverse transformation corresponding to the translation data and/or the rotation data on the prosthesis according to the translation data and/or the rotation data to form a prosthesis projection;
the back-projecting the implanted prosthesis to a location corresponding to in the raw data based on the correction data, forming a prosthesis projection comprising:
acquiring the tissue type of human tissue;
determining a transformation order of the correction data based on the tissue type;
and sequentially carrying out back projection based on the transformation sequence.
2. The method of prosthesis projection as claimed in claim 1, wherein said cutting the prosthesis with a cutting algorithm, generating a prosthesis contour at the prosthesis projection location comprises:
obtaining a three-dimensional model of the prosthesis;
corresponding the prosthesis three-dimensional model to the prosthesis projection position;
cutting the prosthesis three-dimensional model by using a cutting algorithm to obtain a cutting plane;
and extracting the intersection of the cutting plane and the three-dimensional model of the prosthesis at the projection position of the prosthesis to obtain the contour of the prosthesis.
3. A method of prosthetic projection as claimed in claim 2 wherein said cutting plane includes a normal vector for indicating at least one of a transverse plane, a sagittal plane and a coronal plane and point coordinates for indicating a scan layer in which said cutting plane is located.
4. The method of prosthesis projection as claimed in claim 3, wherein said extracting an intersection of the cutting plane and the three-dimensional model of the prosthesis to obtain a contour of the prosthesis comprises:
and superposing the intersection of the cutting planes of different scanning layers and the three-dimensional prosthesis model on the projection position of the prosthesis to form the prosthesis contour on the medical image.
5. A prosthetic implant verification device, comprising:
the acquisition module is used for acquiring correction data of human tissues;
the back projection module is used for back projecting the implanted prosthesis to a position corresponding to original data based on the correction data to form prosthesis projection, and the original data comprises medical image data of human tissues before correction;
the contour generation module is used for cutting the prosthesis by utilizing a cutting algorithm and generating a prosthesis contour at the prosthesis projection position;
the remedial data includes: translation data and/or rotation data of human tissue during prosthesis implantation;
the back-projecting the implanted prosthesis to a location corresponding to in the raw data based on the correction data, forming a prosthesis projection comprising:
performing inverse transformation corresponding to the translation data and/or the rotation data on the prosthesis according to the translation data and/or the rotation data to form a prosthesis projection;
the back-projecting the implanted prosthesis to a location corresponding to in the raw data based on the correction data, forming a prosthesis projection comprising:
acquiring the tissue type of human tissue;
determining a transformation order of the correction data based on the tissue type;
and sequentially carrying out back projection based on the transformation sequence.
6. A computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the method of prosthesis projection of any of claims 1-4.
7. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of prosthesis projection of any one of claims 1-4.
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| CN1310622C (en) * | 2000-08-31 | 2007-04-18 | 内用假肢股份公司 | Method and device for determining a load axis of an extremity |
| GB0407624D0 (en) * | 2004-04-02 | 2004-05-05 | Benoist Girard Sas | Prosthetic femoral joint |
| GB0820219D0 (en) * | 2008-11-05 | 2008-12-10 | Imp Innovations Ltd | Hip resurfacing |
| US20100191246A1 (en) * | 2009-01-29 | 2010-07-29 | Zimmer, Gmbh | Tool and method for implanting acetabular cup with external screw retention features |
| CN107126256B (en) * | 2011-02-25 | 2021-01-08 | 科瑞恩公司 | Method comprising computer-implemented steps for providing alignment information data |
| JP5967873B2 (en) * | 2011-07-14 | 2016-08-10 | 帝人ナカシマメディカル株式会社 | Artificial hip joint |
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