CN112353493A - 3D printing navigation system and method for ischial osteotomy of hip dislocation triple osteotomy - Google Patents
3D printing navigation system and method for ischial osteotomy of hip dislocation triple osteotomy Download PDFInfo
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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Abstract
The invention belongs to the technical field of operation auxiliary devices, and discloses a 3D printing navigation system and a method for ischial osteotomy of hip dislocation triple osteotomy, wherein the 3D printing navigation system for the ischial osteotomy of the hip dislocation triple osteotomy comprises: the hip joint positioning device comprises a hip joint fixing module, an image acquisition module, an image analysis module, a central control module, a hip joint model building module, a supporting point determining module, a supporting point positioning module, a hip joint supporting module, an osteotomy angle determining module, an osteotomy angle adjusting module, an osteotomy navigation module, an evaluation module, a simulated osteotomy module and a driving module. According to the invention, the hip joint is fixed through the hip joint fixing module, so that errors caused by movement are reduced, and image acquisition and model construction are more accurate; the hip joint model is built through the hip joint model building module, simulated osteotomy is carried out on the built hip joint model, problems in osteotomy operations are found through simulation and corrected in time, and osteotomy accuracy is improved.
Description
Technical Field
The invention belongs to the technical field of operation auxiliary devices, and particularly relates to a 3D printing navigation system and method for ischial osteotomy in hip dislocation triple osteotomy.
Background
At present, developmental dislocation of hip joints of children is one of the more common congenital lower limb malformations of children, has high disability rate, seriously affects physical and mental health of children patients, and is particularly more serious in dislocation of hip joints of old age. The triple osteotomy is an operation mode of changing the direction of an acetabulum after the ilium, the ischium and the pubis around the acetabulum are subjected to osteotomy so as to change the accommodation of the acetabulum to a femoral head, and the ischium osteotomy is an important link. However, the hip joint is difficult to expose, the peripheral nerve and blood vessels are abundant, and the ischia of children is angled, so that the difficulty of the operation is increased. The bone is required to be cut at a strict angle in the deformed narrow ischium, the incorrect angle can easily cause the too high or too low bone cutting position of the ischium or the incorrect direction, further the rotation of the hip joint can be influenced, the operation effect is influenced, and even the complications such as femoral head necrosis, joint stiffness and the like can be caused. However, the current surgical auxiliary device for hip dislocation triple osteotomy has no device which can realize osteotomy according to a strict angle, and cannot realize simplification of surgical operation and reduction of surgical risks.
Through the above analysis, the problems and defects of the prior art are as follows: the prior surgery auxiliary device for hip dislocation triple osteotomy has no device which can realize osteotomy according to a strict angle, and can not realize the simplification of surgery operation and the reduction of surgery risks.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a 3D printing navigation system and method for ischial osteotomy of hip dislocation triple osteotomy.
The invention is realized in such a way that a 3D printing navigation method for ischium osteotomy of hip joint dislocation triple osteotomy comprises the following steps:
firstly, fixing a hip joint by a hip joint fixing module through a hip joint fixing device; acquiring an image of the fixed hip joint by using a camera through an image acquisition module; acquiring two images of the hip joint at different angles through an image analysis module, wherein the two images are respectively defined as a first image and a second image; and respectively processing the first image and the second image by using an image analysis program, obtaining corresponding first parameters and second parameters, and outputting the first parameters and the second parameters.
Measuring the distance between the hip joint position and the camera, and selecting at least two characteristic points from the image aiming at the hip joint position on the basis of the output information of the characteristic points; and calculating the relative size of the original image which is pre-stored for the hip joint shooting based on the measured distance to obtain the proportion of the original image to the collected image.
Thirdly, calculating the structural information of the hip joint obtained in the second step and the specification of the hip joint according to the proportion, realizing the analysis of the collected hip joint image and generating a hip joint image analysis report; and the central control module is used for controlling the normal operation of each module of the 3D printing navigation system for the ischial osteotomy of the hip dislocation triple osteotomy by utilizing the central processing unit.
Step four, constructing a descriptor for the characteristic points through a hip joint model construction module according to the characteristic points determined in the image analysis to obtain a descriptor of the characteristic points; finding out matched feature points in the first image and the second image according to the descriptors of the feature points, and establishing a matching relation to obtain a disparity map; and acquiring the spatial position of the spatial point corresponding to the feature point by using the disparity map and the internal parameter and the external parameter of the camera, and constructing a hip joint 3D printing navigation model by using a hip joint model construction program according to a hip joint image analysis report.
Fifthly, support point determination is carried out in the collected image according to the image analysis structure by using a support point determination program through a support point determination module; positioning a support point on the hip joint according to the support point determined in the image by using a support point positioning program through a support point positioning module; and supporting each supporting point of the hip joint by using the hip joint supporting frame through the hip joint supporting module.
Sixthly, determining an osteotomy angle according to the hip joint 3D printing navigation model by using an osteotomy angle determination module through an angle determination program; detecting actual position information of the osteotomy device, and calculating an offset according to the received actual position information of the osteotomy device and predetermined angle information through an osteotomy angle adjusting module; and adjusting the position of the osteotomy device by using an adjusting program according to the offset, so that the adjusted position of the osteotomy device is in a preset standard position.
Seventhly, performing navigation of ischial osteotomy of the hip joint dislocation triple osteotomy by using the osteotomy navigation module according to the positioning information of the supporting points on the hip joints by using the osteotomy navigation device, and generating a simulation osteotomy scheme; evaluating the simulated osteotomy scheme by an evaluation module by utilizing an evaluation program, and generating a final osteotomy scheme; simulating osteotomy is carried out on the hip joint 3D printing navigation model according to the final osteotomy scheme by utilizing a simulated osteotomy program through a simulated osteotomy module; the driving module drives the driver, and the osteotomy device is used for osteotomy of the hip joint according to the determined angle.
Further, in step one, the first and second images have different weights for different compositions of the hip joint of the target subject.
Further, in the fourth step, the descriptor of the feature point is a vector formed by values of pixels corresponding to the feature point in each layer of the convolution directional diagram.
Further, in step four, the method for obtaining a descriptor of a feature point by constructing a descriptor for the feature point according to the feature point determined in the image analysis by the hip joint model construction module includes:
(1) solving gradients of the shot images along the x direction and the y direction respectively to obtain a gradient map; projecting each pair of gradient maps in multiple directions in a plane, and calculating a gradient directional diagram for each pair of gradient maps;
(2) performing convolution operation of at least three different Gaussian kernels on the obtained gradient directional diagram to obtain a convolution directional diagram; and constructing descriptors for the characteristic points according to the obtained convolution directional diagram.
Further, in step five, the support points comprise at least two of a most lateral point on the iliac crest, a highest point on the iliac wing, a lowest point on the ischial tuberosity, a posterior superior iliac spine and an anterior superior iliac spine on the same side.
Further, in step six, the method for calculating the offset includes:
(1) installing the osteotomy device in the guider, connecting the guider with the hip joint fixing device, starting the osteotomy device, and horizontally correcting the osteotomy device through a gyroscope of a motion sensing unit of the osteotomy device;
(2) vertically positioning the osteotomy device by 90 degrees, enabling the osteotomy device to enter a working state after the initial position correction is completed, and acquiring and recording hip joint motion acceleration and motion angular velocity data in real time;
(3) positioning a lower limb force line, and converting the acquired motion acceleration and motion angular velocity data into data describing an angle between the direction pointed by the osteotomy device and the lower limb force line;
(4) and calculating the offset angle of the osteotomy device through the osteotomy angle adjusting module according to the difference between the preset target osteotomy angle and the angle between the direction pointed by the osteotomy navigation device and the lower limb force line.
Further, the motion sensing unit comprises an acceleration sensor and a gyroscope, wherein the acceleration sensor is a three-axis accelerometer with programmable full scale of +/-2 g, +/-4 g, +/-8 g, +/-16 g, and the highest sensitivity is 1 mg/LSB; the gyroscope is a chip which digitally outputs X-, Y-and Z-axis angular rates and has full range of +/-250, +/-500, +/-1000 and +/-2000 °/sec.
Another object of the present invention is to provide a hip dislocation triple osteotomy and ischium osteotomy 3D printing navigation system applying the hip dislocation triple osteotomy and ischium osteotomy 3D printing navigation method, the hip dislocation triple osteotomy and ischium osteotomy 3D printing navigation system comprising:
the hip joint fixing module is connected with the central control module and is used for fixing a hip joint through the hip joint fixing device;
the image acquisition module is connected with the central control module and is used for acquiring images of the fixed hip joint through the camera;
the image analysis module is connected with the central control module and is used for analyzing the collected hip joint image through an image analysis program and generating a hip joint image analysis report;
the central control module is connected with the hip joint fixing module, the image acquisition module, the image analysis module, the hip joint model construction module, the supporting point determination module, the supporting point positioning module, the hip joint supporting module, the osteotomy angle determination module, the osteotomy angle adjustment module, the osteotomy navigation module, the evaluation module, the simulated osteotomy module and the driving module and is used for controlling the normal operation of each module of the hip joint dislocation triple osteotomy ischial osteotomy 3D printing navigation system through the central processing unit;
the hip joint model building module is connected with the central control module and used for building a hip joint 3D printing navigation model according to the hip joint image analysis report through a hip joint model building program;
the supporting point determining module is connected with the central control module and is used for determining the supporting points in the acquired image according to the image analysis structure through a supporting point determining program;
the supporting point positioning module is connected with the central control module and is used for positioning the supporting points on the hip joint according to the supporting points determined in the image through a supporting point positioning program;
the hip joint support module is connected with the central control module and is used for supporting each support point of the hip joint through the hip joint support frame;
the osteotomy angle determining module is connected with the central control module and used for determining an osteotomy angle according to the hip joint 3D printing navigation model through an angle determining program;
the osteotomy angle adjusting module is connected with the central control module and is used for adjusting the osteotomy angle through an adjusting program;
the osteotomy navigation module is connected with the central control module and used for navigating the ischial osteotomy of the hip joint dislocation triple osteotomy according to the positioning information of the supporting points on each hip joint through the osteotomy navigation device and generating a simulation osteotomy scheme;
the evaluation module is connected with the central control module and used for evaluating the simulated osteotomy scheme through an evaluation program and generating a final osteotomy scheme;
the simulation osteotomy module is connected with the central control module and is used for simulating osteotomy of the hip joint 3D printing navigation model according to the final osteotomy scheme through a simulation osteotomy program;
and the driving module is connected with the central control module and is used for driving through the driver to complete osteotomy.
It is another object of the present invention to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the hip dislocation triple osteotomy ischial osteotomy 3D printing navigation method when executed on an electronic device.
Another object of the present invention is to provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the 3D printing navigation method for hip dislocation triple osteotomy and ischial osteotomy.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the 3D printing navigation method for ischial osteotomy in hip dislocation triple osteotomy, provided by the invention, the hip joint is fixed through the hip joint fixing module, so that errors caused by movement are reduced, and the image acquisition and model construction are more accurate; the hip joint model can be constructed by arranging the hip joint model construction module, the simulation osteotomy is carried out on the constructed hip joint model, the simulation of the osteotomy operation can be realized, the problem in the osteotomy operation is found through simulation and corrected in time, and the osteotomy accuracy can be improved; the support points are determined and the hip joint is supported, so that the hip joint can be fixed, and the accuracy of ischial osteotomy in the hip joint dislocation triple osteotomy is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a flowchart of a 3D printing navigation method for hip dislocation triple osteotomy ischial osteotomy provided by an embodiment of the invention.
FIG. 2 is a block diagram of a 3D printing navigation system for hip dislocation triple osteotomy and ischial osteotomy provided by the embodiment of the invention;
in the figure: 1. a hip joint fixation module; 2. an image acquisition module; 3. an image analysis module; 4. a central control module; 5. a hip joint model construction module; 6. a support point determination module; 7. a support point positioning module; 8. a hip joint support module; 9. an osteotomy angle determination module; 10. an osteotomy angle adjustment module; 11. an osteotomy navigation module; 12. an evaluation module; 13. a simulation osteotomy module; 14. and a driving module.
Fig. 3 is a flowchart of a method for analyzing a hip joint image acquired by an image analysis module using an image analysis program according to an embodiment of the present invention.
Fig. 4 is a flowchart of a method for constructing a hip joint model by a hip joint model construction module using a hip joint model construction program according to an embodiment of the present invention.
Fig. 5 is a flowchart of a method for adjusting an osteotomy angle by an osteotomy angle adjusting module using an adjusting program according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a 3D printing navigation system and a method for ischial osteotomy of hip dislocation triple osteotomy, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the 3D printing navigation method for ischial osteotomy of hip dislocation triple osteotomy provided by the embodiment of the present invention includes the following steps:
s101, fixing the hip joint by using a hip joint fixing device through a hip joint fixing module; acquiring an image of the fixed hip joint by using a camera through an image acquisition module;
s102, analyzing the collected hip joint image by using an image analysis program through an image analysis module, and generating a hip joint image analysis report;
s103, controlling the normal operation of each module of the hip joint dislocation triple osteotomy ischial osteotomy 3D printing navigation system by using a central control module and a central processing unit;
s104, constructing a hip joint 3D printing navigation model according to the hip joint image analysis report by utilizing a hip joint model construction program through a hip joint model construction module;
s105, determining an osteotomy angle according to the hip joint 3D printing navigation model by using an angle determination program through an osteotomy angle determination module; adjusting the osteotomy angle by an osteotomy angle adjusting module by using an adjusting program;
s106, determining a supporting point in the acquired image according to the image analysis structure by using a supporting point determining program through a supporting point determining module;
s107, positioning the supporting points on the hip joint by using a supporting point positioning program through a supporting point positioning module according to the supporting points determined in the image; supporting each supporting point of the hip joint by a hip joint supporting module through a hip joint supporting frame;
s108, navigation of ischial osteotomy of hip joint dislocation triple osteotomy is carried out through the osteotomy navigation module according to the positioning information of the supporting points on the hip joints by means of a navigation program, and a simulated osteotomy scheme is generated; evaluating the simulated osteotomy scheme by an evaluation module by utilizing an evaluation program, and generating a final osteotomy scheme;
s109, simulating osteotomy is carried out on the hip joint 3D printing navigation model according to the final osteotomy scheme by utilizing a simulated osteotomy program through a simulated osteotomy module; the driver is used for driving through the driving module, and therefore the osteotomy is completed.
In step S106 provided in the embodiments of the present invention, the supporting points include at least two of the most lateral point on the iliac crest, the highest point on the iliac wing, the lowest point on the ischial tuberosity, the posterior superior iliac spine, and the anterior superior iliac spine on the same side.
As shown in fig. 2, a 3D printing navigation system for ischial osteotomy of hip dislocation triple osteotomy provided by the embodiment of the present invention includes: the hip joint simulation system comprises a hip joint fixing module 1, an image acquisition module 2, an image analysis module 3, a central control module 4, a hip joint model building module 5, a supporting point determining module 6, a supporting point positioning module 7, a hip joint supporting module 8, an osteotomy angle determining module 9, an osteotomy angle adjusting module 10, an osteotomy navigation module 11, an evaluation module 12, a simulated osteotomy module 13 and a driving module 14.
The hip joint fixing module 1 is connected with the central control module 4 and is used for fixing a hip joint through a hip joint fixing device;
the image acquisition module 2 is connected with the central control module 4 and is used for acquiring images of the fixed hip joint through a camera;
the image analysis module 3 is connected with the central control module 4 and is used for analyzing the collected hip joint images through an image analysis program and generating a hip joint image analysis report;
the central control module 4 is connected with the hip joint fixing module 1, the image acquisition module 2, the image analysis module 3, the hip joint model construction module 5, the supporting point determination module 6, the supporting point positioning module 7, the hip joint supporting module 8, the osteotomy angle determination module 9, the osteotomy angle adjustment module 10, the osteotomy navigation module 11, the evaluation module 12, the simulated osteotomy module 13 and the driving module 14, and is used for controlling the normal operation of each module of the hip joint dislocation triple osteotomy ischial osteotomy 3D printing navigation system through a central processing unit;
the hip joint model building module 5 is connected with the central control module 4 and used for building a hip joint 3D printing navigation model according to the hip joint image analysis report through a hip joint model building program;
the supporting point determining module 6 is connected with the central control module 4 and is used for determining the supporting points in the acquired image according to the image analysis structure through a supporting point determining program;
a support point positioning module 7 connected with the central control module 4 and used for positioning the support points on the hip joint according to the support points determined in the image through a support point positioning program;
the hip joint support module 8 is connected with the central control module 4 and is used for supporting each support point of the hip joint through the hip joint support frame;
the osteotomy angle determining module 9 is connected with the central control module 4 and used for determining the osteotomy angle according to the hip joint 3D printing navigation model through an angle determining program;
the osteotomy angle adjusting module 10 is connected with the central control module 4 and is used for adjusting the osteotomy angle through an adjusting program;
the osteotomy navigation module 11 is connected with the central control module 4 and used for navigating the ischial osteotomy of the hip joint dislocation triple osteotomy according to the positioning information of the supporting points on each hip joint through the osteotomy navigation device and generating a simulated osteotomy scheme;
the evaluation module 12 is connected with the central control module 4 and used for evaluating the simulated osteotomy scheme through an evaluation program and generating a final osteotomy scheme;
the simulation osteotomy module 13 is connected with the central control module 4 and is used for simulating osteotomy of the hip joint 3D printing navigation model according to the final osteotomy scheme through a simulation osteotomy program;
and the driving module 14 is connected with the central control module 4 and is used for driving through a driver to complete the osteotomy.
The invention is further described with reference to specific examples.
Example 1
The 3D printing navigation method for ischial osteotomy of hip dislocation triple osteotomy provided by the embodiment of the present invention is shown in fig. 1, and as a preferred embodiment, as shown in fig. 3, the method for analyzing the collected hip image by an image analysis module using an image analysis program provided by the embodiment of the present invention includes:
s201, acquiring two images of the hip joint at different angles, and respectively defining the two images as a first image and a second image;
s202, respectively processing the first image and the second image, obtaining a corresponding first parameter and a corresponding second parameter, and outputting the first parameter and the second parameter;
s203, measuring the distance between the hip joint position and the camera, and selecting at least two characteristic points from the image aiming at the hip joint position on the basis of the output information of the characteristic points;
s204, calculating the relative size of the original image which is pre-stored for the hip joint shooting based on the measured distance to obtain the proportion of the original image and the collected image, and calculating the hip joint specification according to the obtained structural information of the hip joint and the proportion.
The first image and the second image provided by the embodiment of the invention have different weights for different compositions of the hip joint of the target object.
Example 2
The 3D printing navigation method for ischial osteotomy of hip dislocation triple osteotomy provided by the embodiment of the present invention is shown in fig. 1, and as a preferred embodiment, as shown in fig. 4, the method for constructing a hip joint model by using a hip joint model construction program through a hip joint model construction module provided by the embodiment of the present invention includes:
s301, constructing a descriptor for the feature points to obtain a descriptor of the feature points through a hip joint model construction module according to the feature points determined in the image analysis;
s302, finding out matched feature points in the first image and the second image according to the descriptors of the feature points, and establishing a matching relation to obtain a disparity map;
and S303, acquiring the spatial position of the spatial point corresponding to the feature point by using the disparity map, the internal parameter and the external parameter of the camera, and constructing a hip joint 3D printing navigation model according to a hip joint image analysis report by using a hip joint model construction program.
The descriptor of the feature point provided by the embodiment of the invention is a vector formed by values of corresponding pixels of the feature point in each layer of convolution directional diagram.
The method for obtaining the descriptor of the feature point by constructing the descriptor for the feature point through the hip joint model construction module according to the feature point determined in the image analysis, which is provided by the embodiment of the invention, comprises the following steps:
(1) solving gradients of the shot images along the x direction and the y direction respectively to obtain a gradient map; projecting each pair of gradient maps in multiple directions in a plane, and calculating a gradient directional diagram for each pair of gradient maps;
(2) performing convolution operation of at least three different Gaussian kernels on the obtained gradient directional diagram to obtain a convolution directional diagram; and constructing descriptors for the characteristic points according to the obtained convolution directional diagram.
Example 3
The 3D printing navigation method for ischial osteotomy of hip dislocation triple osteotomy provided by the embodiment of the present invention is shown in fig. 1, and as a preferred embodiment, as shown in fig. 5, the method for adjusting an osteotomy angle by an osteotomy angle adjustment module using an adjustment program provided by the embodiment of the present invention includes:
s401, determining an osteotomy angle according to a hip joint 3D printing navigation model by an osteotomy angle determining module through an angle determining program;
s402, detecting actual position information of the osteotomy device, and calculating an offset according to the received actual position information of the osteotomy device and predetermined angle information through an osteotomy angle adjusting module;
and S403, adjusting the position of the osteotomy device according to the offset by using an adjusting program so that the adjusted position of the osteotomy device is in a preset standard position.
The method for calculating the offset provided by the embodiment of the invention comprises the following steps:
(1) installing the osteotomy device in the guider, connecting the guider with the hip joint fixing device, starting the osteotomy device, and horizontally correcting the osteotomy device through a gyroscope of a motion sensing unit of the osteotomy device;
(2) vertically positioning the osteotomy device by 90 degrees, enabling the osteotomy device to enter a working state after the initial position correction is completed, and acquiring and recording hip joint motion acceleration and motion angular velocity data in real time;
(3) positioning a lower limb force line, and converting the acquired motion acceleration and motion angular velocity data into data describing an angle between the direction pointed by the osteotomy device and the lower limb force line;
(4) and calculating the offset angle of the osteotomy device through the osteotomy angle adjusting module according to the difference between the preset target osteotomy angle and the angle between the direction pointed by the osteotomy navigation device and the lower limb force line.
The motion sensing unit provided by the embodiment of the invention comprises an acceleration sensor and a gyroscope, wherein the acceleration sensor is a three-axis accelerometer with programmable full-scale ranges of +/-2 g, +/-4 g, +/-8 g and +/-16 g, and the highest sensitivity is 1 mg/LSB; the gyroscope is a chip which digitally outputs X-, Y-and Z-axis angular rates and has full range of +/-250, +/-500, +/-1000 and +/-2000 °/sec.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed herein, which is within the spirit and principle of the present invention, should be covered by the present invention.
Claims (10)
1. The 3D printing navigation method for the ischial osteotomy of the hip dislocation triple osteotomy is characterized by comprising the following steps of:
firstly, fixing a hip joint by a hip joint fixing module through a hip joint fixing device; acquiring an image of the fixed hip joint by using a camera through an image acquisition module; acquiring two images of the hip joint at different angles through an image analysis module, wherein the two images are respectively defined as a first image and a second image; respectively processing the first image and the second image by using an image analysis program, obtaining corresponding first parameters and second parameters, and outputting the first parameters and the second parameters;
measuring the distance between the hip joint position and the camera, and selecting at least two characteristic points from the image aiming at the hip joint position on the basis of the output information of the characteristic points; calculating the relative size of an original image which is pre-stored for the hip joint shooting based on the measured distance to obtain the proportion of the original image to the collected image;
thirdly, calculating the structural information of the hip joint obtained in the second step and the specification of the hip joint according to the proportion, realizing the analysis of the collected hip joint image and generating a hip joint image analysis report; controlling the normal operation of each module of the hip joint dislocation triple osteotomy ischial osteotomy 3D printing navigation system by using a central control module and a central processing unit;
step four, constructing a descriptor for the characteristic points through a hip joint model construction module according to the characteristic points determined in the image analysis to obtain a descriptor of the characteristic points; finding out matched feature points in the first image and the second image according to the descriptors of the feature points, and establishing a matching relation to obtain a disparity map; obtaining the spatial position of the feature point corresponding to the spatial point by using the disparity map and the internal parameters and external parameters of the camera, and constructing a hip joint 3D printing navigation model by using a hip joint model construction program according to a hip joint image analysis report;
fifthly, support point determination is carried out in the collected image according to the image analysis structure by using a support point determination program through a support point determination module; positioning a support point on the hip joint according to the support point determined in the image by using a support point positioning program through a support point positioning module; supporting each supporting point of the hip joint by a hip joint supporting module through a hip joint supporting frame;
sixthly, determining an osteotomy angle according to the hip joint 3D printing navigation model by using an osteotomy angle determination module through an angle determination program; detecting actual position information of the osteotomy device, and calculating an offset according to the received actual position information of the osteotomy device and predetermined angle information through an osteotomy angle adjusting module; adjusting the position of the osteotomy device by using an adjusting program according to the offset, so that the adjusted position of the osteotomy device is in a preset standard position;
seventhly, performing navigation of ischial osteotomy of the hip joint dislocation triple osteotomy by using the osteotomy navigation module according to the positioning information of the supporting points on the hip joints by using the osteotomy navigation device, and generating a simulation osteotomy scheme; evaluating the simulated osteotomy scheme by an evaluation module by utilizing an evaluation program, and generating a final osteotomy scheme; simulating osteotomy is carried out on the hip joint 3D printing navigation model according to the final osteotomy scheme by utilizing a simulated osteotomy program through a simulated osteotomy module; the driving module drives the driver, and the osteotomy device is used for osteotomy of the hip joint according to the determined angle.
2. The 3D printing navigation method for hip osteotomy of hip dislocation triplet as claimed in claim 1, wherein in step one, the first and second images have different weights for different compositions of the hip joint of the target object.
3. The 3D printing navigation method for ischial osteotomy of hip dislocation triplet as claimed in claim 1, wherein in step four, the descriptor of the feature point is a vector composed of values of corresponding pixels of the feature point in each layer of convolution directional diagram.
4. The 3D printing navigation method for ischial osteotomy of hip dislocation triplet as claimed in claim 1, wherein in step four, the method for constructing descriptors for feature points determined in image analysis by a hip joint model construction module to obtain descriptors of the feature points comprises:
(1) solving gradients of the shot images along the x direction and the y direction respectively to obtain a gradient map; projecting each pair of gradient maps in multiple directions in a plane, and calculating a gradient directional diagram for each pair of gradient maps;
(2) performing convolution operation of at least three different Gaussian kernels on the obtained gradient directional diagram to obtain a convolution directional diagram; and constructing descriptors for the characteristic points according to the obtained convolution directional diagram.
5. The 3D printing navigation method for the ischial osteotomy of the hip dislocation triplet as set forth in claim 1, wherein in step five, the support points comprise at least two of the most lateral points on the iliac crest, the highest point on the iliac wing, the lowest point on the ischial tuberosity, the posterior superior iliac spine and the ipsilateral anterior superior iliac spine.
6. The 3D printing navigation method for the ischial osteotomy of the hip dislocation triple osteotomy as claimed in claim 1, wherein in step six, the method for calculating the offset comprises:
(1) installing the osteotomy device in the guider, connecting the guider with the hip joint fixing device, starting the osteotomy device, and horizontally correcting the osteotomy device through a gyroscope of a motion sensing unit of the osteotomy device;
(2) vertically positioning the osteotomy device by 90 degrees, enabling the osteotomy device to enter a working state after the initial position correction is completed, and acquiring and recording hip joint motion acceleration and motion angular velocity data in real time;
(3) positioning a lower limb force line, and converting the acquired motion acceleration and motion angular velocity data into data describing an angle between the direction pointed by the osteotomy device and the lower limb force line;
(4) and calculating the offset angle of the osteotomy device through the osteotomy angle adjusting module according to the difference between the preset target osteotomy angle and the angle between the direction pointed by the osteotomy navigation device and the lower limb force line.
7. The 3D printing navigation method for ischial osteotomy of hip dislocation triple osteotomy according to claim 6, wherein the motion sensing unit comprises an acceleration sensor and a gyroscope, wherein the acceleration sensor is a three-axis accelerometer with programmable full scale range of ± 2g, ± 4g, ± 8g, ± 16g, and the maximum sensitivity is 1 mg/LSB; the gyroscope is a chip which digitally outputs X-, Y-and Z-axis angular rates and has full range of +/-250, +/-500, +/-1000 and +/-2000 °/sec.
8. A hip-joint dislocation triple osteotomy and ischium osteotomy 3D printing navigation system applying the hip-joint dislocation triple osteotomy and ischium osteotomy 3D printing navigation method according to any one of claims 1 to 7, wherein the hip-joint dislocation triple osteotomy and ischium osteotomy 3D printing navigation system comprises:
the hip joint fixing module is connected with the central control module and is used for fixing a hip joint through the hip joint fixing device;
the image acquisition module is connected with the central control module and is used for acquiring images of the fixed hip joint through the camera;
the image analysis module is connected with the central control module and is used for analyzing the collected hip joint image through an image analysis program and generating a hip joint image analysis report;
the central control module is connected with the hip joint fixing module, the image acquisition module, the image analysis module, the hip joint model construction module, the supporting point determination module, the supporting point positioning module, the hip joint supporting module, the osteotomy angle determination module, the osteotomy angle adjustment module, the osteotomy navigation module, the evaluation module, the simulated osteotomy module and the driving module and is used for controlling the normal operation of each module of the hip joint dislocation triple osteotomy ischial osteotomy 3D printing navigation system through the central processing unit;
the hip joint model building module is connected with the central control module and used for building a hip joint 3D printing navigation model according to the hip joint image analysis report through a hip joint model building program;
the supporting point determining module is connected with the central control module and is used for determining the supporting points in the acquired image according to the image analysis structure through a supporting point determining program;
the supporting point positioning module is connected with the central control module and is used for positioning the supporting points on the hip joint according to the supporting points determined in the image through a supporting point positioning program;
the hip joint support module is connected with the central control module and is used for supporting each support point of the hip joint through the hip joint support frame;
the osteotomy angle determining module is connected with the central control module and used for determining an osteotomy angle according to the hip joint 3D printing navigation model through an angle determining program;
the osteotomy angle adjusting module is connected with the central control module and is used for adjusting the osteotomy angle through an adjusting program;
the osteotomy navigation module is connected with the central control module and used for navigating the ischial osteotomy of the hip joint dislocation triple osteotomy according to the positioning information of the supporting points on each hip joint through the osteotomy navigation device and generating a simulation osteotomy scheme;
the evaluation module is connected with the central control module and used for evaluating the simulated osteotomy scheme through an evaluation program and generating a final osteotomy scheme;
the simulation osteotomy module is connected with the central control module and is used for simulating osteotomy of the hip joint 3D printing navigation model according to the final osteotomy scheme through a simulation osteotomy program;
and the driving module is connected with the central control module and is used for driving through the driver to complete osteotomy.
9. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the hip dislocation triplet osteotomy ischial osteotomy 3D printing navigation method of any one of claims 1-7 when executed on an electronic device.
10. A computer readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the 3D printing navigation method for hip dislocation triple osteotomy ischial osteotomy as defined in any one of claims 1 to 7.
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