CN112451090B - Construction system of analysis model - Google Patents
Construction system of analysis model Download PDFInfo
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- CN112451090B CN112451090B CN202011325087.1A CN202011325087A CN112451090B CN 112451090 B CN112451090 B CN 112451090B CN 202011325087 A CN202011325087 A CN 202011325087A CN 112451090 B CN112451090 B CN 112451090B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
Abstract
The invention relates to a construction system of an analysis model. The system comprises: the device comprises a model building module, an image display module and a discrimination module. The model construction module constructs a femur-acetabulum model based on the inspection data. An image display module to present the femur-acetabulum model; the judging module is used for judging whether the rotating shaft meets the first characteristic requirement. If the angle between the rotating shaft and the normal vector of the cutting surface is smaller than a first angle threshold value, the rotating shaft meets the first characteristic requirement; otherwise, the rotating shaft does not meet the first characteristic requirement. The model cutting module cuts the femur head model and the femur body model based on the femur model to regenerate a cutting surface when the determination module determines that the rotation axis does not satisfy the first feature requirement.
Description
The scheme is the divisional application with the application number of 201911080296.1, the application date of 2019, 11 and 06, the application type of the invention patent and the application name of the construction method and the system based on the analysis model of the femoral rotation axis and the inner varus axis.
Technical Field
The invention relates to the technical field of medical informatization, in particular to a construction system of an analysis model.
Background
Femoral head necrosis is a pathological evolution process, which initially occurs in a weight bearing area of a femoral head, and a necrotic bone trabecular structure is damaged under stress, namely, a microfracture and a subsequent repair process aiming at damaged bone tissues. The cause of osteonecrosis is not eliminated, the repair is incomplete, and the process of injury-repair is continued, which results in the structural change of femoral head, the collapse and deformation of femoral head, the arthritis and the dysfunction. If the disease is simply diagnosed from clinical symptoms and signs, the condition of misdiagnosis or missed diagnosis is easy to occur, and the detection methods mainly adopted clinically at present are 3 diagnosis modes of X-ray examination, CT examination and magnetic resonance examination. In clinical diagnosis of femoral head necrosis, X-ray examination is the most widely used method, and can mainly be used for understanding the progress of the patient's condition and the degree of osteonecrosis, and CT examination also mainly is used for understanding the osteonecrosis of the patient, and an appropriate treatment method is selected by analyzing the image.
Femoral head necrosis (ANFH) is mainly treated by the following means: non-operative treatment, hip protection operative treatment and artificial joint replacement. With the rapid development of the computer technology, the spatial navigation technology and the image processing technology, the computer aided navigation technology is better applied to the traditional TKR operation method. The computer aided navigation technology system is to form three-dimensional visible image after the image data obtained before and after operation is processed by computer. The simulation operation can be carried out, the most suitable size joint part and the simulation scalpel can be automatically selected before the operation, the inductor is placed in the bone in the operation, the infrared camera is arranged on the navigation system, the real-time space position relation of the surgical instrument relative to the anatomy of a patient is dynamically tracked, and the artificial joint can be accurately placed by a surgeon according to the real-time space position relation. However, the navigation technique has the following disadvantages: the navigation technique cannot determine the weight bearing area, that is, the navigation technique measures the lower limb force line under the condition of no weight bearing, and the result is different from the result under the weight bearing.
For example, chinese patent publication No. CN108542408A discloses a three-dimensional femoral head size measuring device. It mainly comprises: scanning bed, protector, measuring device. The first section of the scanning bed is provided with a protective device, the other end of the scanning bed is provided with a measuring device, and the scanning device is arranged on the side surface of the scanning bed. The three-dimensional femoral head size measuring device disclosed by the invention combines X-ray scanning, binocular three-dimensional shooting and three-dimensional modeling technologies, accurately measures the three-dimensional size of the femoral head of a patient, achieves the aim of accurate measurement, carries out three-dimensional modeling on the femoral head of the patient before carrying out an artificial femoral head replacement operation, and prepares an optimal operation scheme by medical staff according to the actual treatment condition of the patient.
For example, chinese patent publication No. CN107545578A discloses a method, an apparatus and a device for segmenting a femoral head region in a CT image. The method comprises the steps of obtaining CT sequence images of a femoral head region of a detected object, and constructing a femoral head bounding box and a femoral neck bounding box by positioning the femoral head region of each image of the CT sequence images; acquiring a plurality of sampling points in a femoral head surrounding box and a femoral neck surrounding box based on a space radial line method; generating a two-dimensional sampling image according to a plurality of sampling points; determining a cortical bone outer boundary of the femoral head region on the two-dimensional sampled image. The invention aims to accurately segment the cortical bone outer boundary of the femoral head region in CT sequence images.
For example, chinese patent publication No. CN104462636B discloses a modeling method of a necrotic femoral head repair model based on an umbrella-shaped femoral head support. The method comprises the following steps: firstly, obtaining a three-dimensional model of a femoral head to be repaired; obtaining a femoral head NURBS curved surface model to be repaired, wherein the femoral head to be repaired is a femoral head which has a bone tissue necrosis area and is to be repaired by adopting a femoral head support; the femoral head support consists of an umbrella-shaped support and a support sleeve; secondly, determining a necrotic area to be separated according to the shape of the umbrella-shaped support, and establishing a necrotic femoral head model; thirdly, establishing a femoral head support model; fourthly, establishing a necrotic femoral head implantation model: establishing a necrotic femoral head implantation model with an implantation channel and a three-dimensional model of an implanted bone; and fifthly, establishing a necrotic femoral head repair model. The invention can simply and quickly establish the restoration model of the femoral head support implanted into the necrotic femoral head, and the established restoration model has high quality.
In the research of scientific and technical papers, for example, the article of 2009, volume 49 (second phase) of university of college studios-human femoral head repair modeling based on CT image back-finding technology. The method comprises the steps of respectively extracting three-dimensional point data of contours of a femur and an acetabulum bone from a human hip joint CT image by using a segmentation method based on a model, extracting point cloud data of a target area by carrying out regularization processing, simplification, segmentation and the like on discrete point cloud data, and finally carrying out restoration reconstruction on the surface of a femur head collapsed due to pathological changes by using least square fitting to recover the spherical morphological characteristics of the healthy state of the femur head. Two femoral head necrosis cases with different degrees are used for carrying out repair experiments, and the repair reduction effect is more accurate. The method not only can well reconstruct a human hip joint model and restore the original form of the defected femoral head, but also can be popularized to other joints or bone tissues, provides a theoretical model for the accurate positioning and biomechanics finite element analysis of orthopedic surgery, and provides an effective method for the individual rapid manufacture of joint prosthesis.
The Master thesis of northeast university provides a CT and MRI image registration and fusion method.
In other related technical fields, the patent publication No. CN104622572A discloses a personalized orthopedics positioning sheet based on medical images. This patent aims to provide a method for accurately determining the location of the joint alignment holes and cutting surfaces in a knee replacement. Firstly, a skeleton model is reconstructed based on a medical image, preoperative planning is carried out on the reconstructed model, parameters such as a lower limb force line, a femur rotation axis, an osteotomy reference point and the like are determined, and osteotomy and prosthesis implantation are simulated. Determining and designing a locating plate by using the result; and the doctor logs in the data management module and inquires data.
Chinese patent (publication No. CN108711187A) discloses a method for establishing a human lumbar vertebra three-dimensional simulation model by registering and fusing CT and MRI signals, which comprises the following steps: acquiring a Computed Tomography (CT) image; acquiring a Magnetic Resonance Imaging (MRI) image; establishing a three-dimensional model of a computed tomography image; establishing a magnetic resonance imaging image three-dimensional model; and registering and fusing the three-dimensional model of the computed tomography image and the three-dimensional model of the magnetic resonance imaging image, wherein simple registration and global computational registration are carried out according to the lumbar vertebra anatomical structure. The patent makes full use of the existing routine examination such as computed tomography and magnetic resonance imaging combined with the optimized magnetic resonance scanning sequence, establishes the important soft tissue three-dimensional models of the lumbar intervertebral disc, the nerve root and the ligamentum flavum which can verify the accuracy in each magnetic resonance sequence, establishes a new medical image high-accuracy modeling mode of the lumbar intervertebral disc, and greatly improves the utilization rate of data of the medical image examination.
For osteotomy, before the operation, the surgeon needs to obtain an anatomical image of the body structure of the operation object as accurately as possible, and the diagnosis of femoral head necrosis mainly comes from CT/MR image data, so as to determine the operation scheme, such as determining the size and position of the incision, avoiding other organs and nerves, and so on. Only after estimating the rotation angle and rotating the corresponding angle according to the CT/MR images, the orthopedist can roughly estimate whether most necrotic bone regions are moved out of the weight bearing area and normal bone regions are moved into the weight bearing area, and even if the estimated result is obtained, some doctors may rotate to different angles to try whether a better surgical plan is possible in the actual operation process after the osteotomy. Therefore, it is difficult for the surgeon to accurately determine the spatial relationship of femoral head necrosis based on CT or MR influence data, which is detrimental to the determination of the surgical plan, the implementation and the success rate of the surgery.
Disclosure of Invention
In view of the deficiencies of the prior art, the present invention is directed to acquiring tomographic data using a computed tomography technique to generate a three-dimensional visualization for enabling spatial relationships of femoral head necrosis, thereby enabling determination of a surgical plan and assessment of risks present during surgery based on the spatial relationships. The invention can construct a dynamic model capable of simulating the human body structure in a virtual space by importing the form of the inspection data, is convenient for a doctor to simulate the operation by means of three-dimensional cutting, three-dimensional interaction, three-dimensional measurement and the like, and provides a reasonable operation scheme for the operation of a patient.
Based on this, the invention provides a construction system based on a femur rotation axis and varus analysis model, comprising: a model construction module for constructing a femur-acetabulum model based on the inspection data; an image display module to present the femur-acetabulum model; a model segmentation module capable of generating an acetabular model and a femoral model based on the femur-acetabulum model; the system further comprises: the femoral head model comprises a model cutting module, a rotary shaft constructing module and an inner turnover shaft constructing module, wherein the model cutting module generates a cutting surface which can be used for dividing the femoral head model and the femoral body model based on the femoral model, the rotary shaft constructing module can construct a rotary shaft based on the femoral head model and the cutting surface, the femoral head model can rotate in a hip joint surface in a mode of moving a femoral head part region out of a weight bearing region under the condition that the femoral head model rotates around the rotary shaft, the inner turnover shaft constructing module can construct an inner turnover shaft according to a bone surface of the femoral head model and the rotary shaft, and the femoral head model can generate an inclination angle with the hip joint surface in a mode of removing the femoral head part region out of the weight bearing region under the condition that the femoral head model rotates around the inner turnover shaft.
According to a preferred embodiment, the system further comprises a determination module for determining whether the rotating shaft satisfies a first characteristic requirement; if the angle between the rotating shaft and the normal vector of the cutting surface is smaller than a first angle threshold value, the rotating shaft meets the first characteristic requirement; otherwise, the rotating shaft does not meet the first characteristic requirement; and under the condition that the judging module judges that the rotating shaft does not meet the first characteristic requirement, the model cutting module cuts the femoral head model and the femoral body model based on the femoral model so as to regenerate a cutting surface.
According to a preferred embodiment, the judging module is further configured to judge whether the cutting surface meets a second feature requirement; if the gravity center line of a space body formed by the normal vector of the cutting surface and the hip joint surface is smaller than a second angle threshold value, the cutting surface meets the second characteristic requirement; otherwise, the cutting surface does not meet the second feature requirement; and under the condition that the judging module judges that the cutting surface does not meet the second characteristic requirement, the model cutting module cuts the femoral head model and the femoral body model based on the femoral model so as to regenerate the cutting surface.
According to a preferred embodiment, the judging module is further configured to judge whether the cutting surface meets a third feature requirement; if the spatial distance of the cutting surface from a spatial volume formed by the hip joint surface meets a distance threshold, the cutting surface meets the third characteristic requirement; otherwise, the cutting surface does not meet the third feature requirement; and under the condition that the judging module judges that the cutting surface does not meet the third characteristic requirement, the model cutting module cuts the femoral head model and the femoral body model based on the femoral model so as to regenerate the cutting surface.
According to a preferred embodiment, the system further comprises a pivot axis construction module for generating a pivot axis for at least two rotational axes meeting the first characteristic requirement, wherein the femoral head model can be rotated in the hip joint surface in such a way that the femoral head part region is moved out of the weight bearing region when the femoral head model is rotated about the pivot axis.
According to a preferred embodiment, the varus construction module is capable of constructing an varus based on the pivot axis without constructing a varus based on a rotation axis in a case where the pivot axis construction module constructs the pivot axis, so that the varus can be mated with a rotation center axis of the femoral head model.
According to a preferred embodiment, the rotation axis construction module is capable of constructing the rotation axis in the following manner: calculating a point set of the cutting surface and the femoral head model, and generating a gravity center of a plane graph formed based on the point set to serve as a first mark point; taking the center of gravity of the femoral head model as a second mark point; constructing a straight line passing through the first index point and the second index point at the same time as the rotation axis.
According to a preferred embodiment, the inner axle construction modeling block constructs the inner axle in the following manner: generating a directional bounding box capable of bounding the complete femur head model surface; extracting the shortest line segment of all line segments forming the direction bounding box; normalizing the shortest line segment to obtain a first line segment; moving the first line segment to the first mark point to obtain a second line segment; performing cross product operation on the rotating shaft and the second line segment to obtain a normalized third line segment; solving the intersection point of the third line segment and the surface of the complete femur model as a third mark point; and translating the second line segment along the third line segment to a third index point as an inverted axis.
According to a preferred embodiment, the invention further provides a construction method based on the analysis model of the femoral rotation axis and the varus, which comprises the following steps: constructing a femur-acetabulum model based on the inspection data; presenting the femur-acetabulum model; generating an acetabulum model and a femur model based on the femur-acetabulum model; the method further comprises the following steps: generating a cutting plane on the basis of the femur model, which can be used for separating a femur head model and a femur body model, and constructing a rotation axis on the basis of the femur head model and the cutting plane, wherein the femur head model can be rotated in a hip joint plane in such a way that a femoral head part region is moved out of a weight bearing region when the femur head model is rotated about the rotation axis, and constructing an varus shaft on the basis of a bone surface of the femur head model and the rotation axis, wherein the femur head model can generate an inclination angle with the hip joint plane in such a way that a femoral head part region is removed from a weight bearing region when the femur head model is rotated about the varus shaft.
According to a preferred embodiment, the method further comprises: judging whether the rotating shaft meets a first characteristic requirement or not; if the angle between the rotating shaft and the normal vector of the cutting surface is smaller than a first angle threshold value, the rotating shaft meets the first characteristic requirement; otherwise, the rotating shaft does not meet the first characteristic requirement; and under the condition that the rotating shaft is judged not to meet the first characteristic requirement, cutting the femoral head model and the femoral body model based on the femoral model to regenerate cutting surfaces.
Based on the technical scheme provided by the invention, compared with the prior art, the invention at least has the following advantages:
(1) in the present invention, in the case where the femoral head model is rotated about the rotation axis, the femoral head model can be rotated within the hip joint surface in such a manner that the femoral head partial region is moved out of the weight bearing region. This simulated operation, similar or identical to the actual surgical operation, is such that the femoral head remains in the hip joint plane after removal of the weight bearing zone in the femoral head segment area; this facilitates the determination of the surgical plan by the physician before surgery to be of great value;
(2) the relation position of the rotating shaft and the cutting surface can be clearly defined, so that the construction precision of the rotating shaft can be improved, and the method is very beneficial to the determination of the surgical scheme;
(3) the invention can restrain the position of the rotating shaft, so that the femoral head model can rotate in the socket-shaped structure of the hip joint surface when the femoral head model rotates around the rotating shaft model; secondly, the judgment is carried out based on the angle of the gravity line of the space body formed by the hip joint surface, which is beneficial to improving the accuracy of the rotating angle required by moving the femoral head part region out of the weight bearing region.
Drawings
FIG. 1 is a schematic diagram of preferred relationships between modules of a system provided by the present invention; and
FIG. 2 is a schematic flow diagram of a preferred method of the present invention.
List of reference numerals
1: the model construction module 5: rotating shaft building block
2: image display module 6: inner overturning shaft construction module
3: the model segmentation module 7: discrimination module
4: model cutting module 8: fitting module for rotating shaft
Detailed Description
This is described in detail below with reference to fig. 1-2.
Example 1
The embodiment discloses a system for constructing an analysis model based on a femur rotation axis and an varus.
In the construction system, important terms are referred to as follows,
femur-acetabulum model: and constructing a three-dimensional model from the real inspection data of the femoral-acetabular part.
The femur model: a model of a femoral part separated from a femoral-acetabular model.
An acetabulum model: model of acetabular site isolated from femoral-acetabular model
Cutting a surface: a virtual plane for separating the femoral head model and the femoral shaft model.
Rotation axis: a virtual axis is constructed in this embodiment.
An inner overturning shaft: is another virtual axis constructed in the present embodiment.
Femur head model: including a femoral head model and a femoral neck model. The femoral head model corresponds to the femoral head of a human body. The femoral neck model corresponds to the femoral neck of a human body.
A femoral shaft model: corresponding to the femoral shaft of the human body.
Hip joint surface: the femoral head and the acetabulum are matched through a hip joint, namely the acetabulum is provided with a socket-shaped structure for accommodating the femoral head. The hip joint surface is a socket surface matched with the surface of the femoral head. The femoral head/femoral head model is capable of rotation about an axis of rotation within the hip joint plane.
The embodiment provides a system for constructing an analysis model based on a femoral rotation axis and an varus, as shown in fig. 1, the system comprises a model construction module 1, an image display module 2, a model cutting module 4, a rotation axis construction module 5 and an varus construction module 6. The model building module 1 and the image display module 2 are in data interaction. Preferably, the system further comprises a model segmentation module 3. The image display module 2 and the model segmentation module 3 are in data interaction. The model cutting module 4 and the model segmentation module 3 are in data interaction. The model cutting module 4 is in data interaction with a rotation axis construction module 5 and an inner rollover axis construction module 6, respectively. In particular, the amount of the solvent to be used,
and the model construction module 1 is used for constructing a femur-acetabulum model based on the inspection data. The inspection data is derived from at least two different scanning imaging modalities. For example, the examination data is mainly derived from medical scan data such as CT and MRI. Of course, the examination data is not limited to CT and MRI scan data, and may be PET scan data. CT, refers to computed tomography or computed tomography. MRI is the abbreviation of Nuclear Magnetic Resonance Imaging, and refers to Magnetic Resonance tomography or Magnetic Resonance tomography. In the embodiment, the femur-acetabulum model is constructed by CT acquired computerized tomography data of femur-acetabulum and MR acquired computerized tomography data of femur-acetabulum through a registration fusion method. The medical image registration and fusion technology mainly comprises two technologies: medical image registration and image fusion techniques. Medical image registration aims at determining a geometrical transformation relationship between two images, by which the coordinates of any point in one image can be transformed to the coordinates of a corresponding location in the other image. Medical image registration mainly comprises three steps: extracting image features, determining a geometric transformation from the feature vector pairs and performing the transformation. The image fusion technology is mainly divided into: image pixel based fusion methods and image feature based fusion methods.
And the image display module 2 is used for presenting the femur-acetabulum model. For example, MRI scan data and CT data are imported into the construction system and a femur-acetabulum model is generated based on the model construction module 1, which can be displayed by the image display module 2. The image display module 2 may be a display device such as a liquid crystal display, VR glasses, and a computer screen.
And the model segmentation module 3 can generate an acetabulum model and a femur model based on the femur-acetabulum model. The acetabulum and the femur are two relatively independent bone tissues. In this embodiment, the generation of the acetabulum model and the femur model can be generated according to the following method: there are interface generation, contour extraction and contour map segmentation. The interfaced generation is used for processing all triangles included in the femur-acetabulum model according to the triangle network data of the model to generate an interfaced suitable for segmenting the three-dimensional model. Contour extraction is used to extract a contour map of a three-dimensional model with bounded surfaces. And the contour map segmentation is used for segmenting the extracted contour map into one sub-map or at least two non-overlapping sub-maps meeting the preset condition according to the generated bounded surface information and the information of the vertex adjacent map of the three-dimensional model. The vertex adjacency graph may be constructed in the following manner: according to the triangle network data of the three-dimensional model, the vertexes of the three-dimensional model are taken as nodes, and an edge is added between every two vertexes shared by one or more triangles, so that the vertex adjacency graph is constructed. The predetermined condition includes any one of the following: the number of vertices of the subgraph is less than a predetermined first threshold; the number of interfaces contained in the subgraph is smaller than a preset second threshold value; candidate splitting surfaces do not exist in all bounded planes contained in the subgraph; or the subgraph does not have a candidate division surface which can divide the contour graph corresponding to the subgraph into at least two subgraphs. As another example, the model segmentation module 3 can segment the femur-acetabulum model into an acetabulum model and a femur model based on boolean operations. As another example, the model segmentation module 3 may also employ a medical image three-dimensional segmentation technique, a structure-based segmentation technique. The structure-based segmentation technique is image segmentation by detecting edges or boundary surfaces in volume data, and includes: detecting edge points by distinguishing different attributes; these edge points are combined into a continuous contour, separating the voxels of the region of interest from the other voxels.
And a model cutting module 4 for generating a cutting surface capable of being used for dividing the femur head model and the femur body model based on the femur model. The cutting surface can also serve as a base surface for the rotation axis generation. Preferably, the cutting surface is planar. For example, the generation of the cut surface may be generated according to a structure-based segmentation technique. First, the operator may select a point on the femoral head as a point of the segmentation plane, and then the model cutting module 4 generates the segmentation plane with the structural feature and the point. As another example, the generation of the cut surface may also be generated based on statistical methods, such as based on a threshold segmentation algorithm, a markov random field model, a clustering algorithm, or a classifier algorithm. As yet another example, the generation of the cut surface may also be based on a hybrid segmentation algorithm, such as a region growing algorithm, a split-merge algorithm, or a map-guided algorithm.
A rotation axis construction module 5 capable of constructing a rotation axis based on the femoral head model and the cutting plane. In the present invention, the rotation axis is a virtual axis, mainly enabling the femoral head model to simulate the femoral head rotation for the surgeon to observe the maximum rotation angle required for the partial area to remove the weight bearing area. This part-area is the femoral head necrosis area selected by the physician. The doctor can measure the angle while operating the model in the construction system to determine its maximum rotation angle. During a true osteotomy, the femoral head is cut from the femoral shaft and then a substantial portion or all of a partial area of the femoral head is rotated out of the weight bearing zone. Because of the large number of blood vessels and nerves around the head of the femur, the angle of rotation of the femoral head is limited in the actual operation process, and the femoral head cannot rotate completely for one circle. Clinical data show that the counterclockwise rotation of the femoral head can only rotate 90 degrees, and the counterclockwise rotation can only rotate 130 degrees. In the present invention, in the case where the femoral head model is rotated about the rotation axis, the femoral head model can be rotated within the hip joint surface in such a manner that the femoral head partial region is moved out of the weight bearing region. This simulated operation, similar or identical to the actual surgical operation, is that the femoral head remains in the hip joint plane after removal of the weight bearing area in the femoral head segment area. This is of great value to the physician in determining the surgical plan prior to surgery. Preferably, the rotation axis building block 5 may generate the rotation axis as follows. In the case where the positional relationship of the cutting surface meets the above-described second characteristic requirement and third characteristic requirement, the rotation axis construction module 5 calculates a point set of the cutting surface and the femoral head model. At this time, the cutting surface and the point set of the femoral head model form a closed plane figure. The rotation axis construction module 5 uses the center of gravity of the closed plane figure as a first index point for constructing the rotation axis. The cutting surface and the femoral head model form a space body. The rotation axis construction module 5 takes the center of gravity of the space body as a second marker point. The straight line formed by the first mark point and the second mark point is taken as a rotating shaft.
An varus construction module 6 capable of constructing an varus from the bone surface and the axis of rotation of the femoral head model. Wherein, when the femoral head model rotates around the varus axis, the femoral head model can generate an inclination angle with the hip joint surface in a manner that the femoral head part area is removed from the weight bearing area. Preferably, the varus construction module 6 may generate the varus as follows: in the case where the rotation axis satisfies the first characteristic requirement, the varus construction module 6 generates an orientation bounding box that can enclose the complete femoral head model surface. The shortest line segment among all the line segments constituting the directional bounding box is extracted. And carrying out normalization processing on the shortest line segment to obtain a first line segment. Moving the first line segment to the first marking point results in the second line segment. And performing cross product operation on the rotating shaft and the second line segment to obtain a normalized third line segment. And solving the intersection point of the third line segment and the surface of the complete femur model as a third marker point. Translating the second line segment along the third line segment to a third index point as an inverted axis.
The accuracy of the construction of the rotation axis and the varus is crucial for the determination of the clinical protocol.
In the first aspect, in the construction system, in order to simulate the angle required by most of the rotation of the femoral head partial region to remove the load bearing region through the system, and provide accurate data support for operation decision, the construction precision of the rotation axis is crucial. In order to effectively control the error between the constructed rotating shaft and the rotating shaft in the actual operation process, the system provided by the invention preferably further comprises a judging module 7, which is mainly used for judging the construction precision of the rotating shaft. In connection with fig. 2, J3: the judging module 7 is used for judging whether the rotating shaft meets the first characteristic requirement. If the angle of the rotating shaft and the normal vector of the cutting surface is smaller than a first angle threshold value, the rotating shaft meets a first characteristic requirement. Otherwise, the rotating shaft does not meet the first characteristic requirement. The first angle threshold may be determined according to an area of the partial region. The area of the partial region is inversely related to the first angle threshold. For example, the fractional area is 10% of the femoral head, the first angular threshold is 1.5 °. The partial area represents 12% of the femoral head, the first angular threshold is 1.4 °. The area of the partial region can be determined by the physician from the examination data and then entered into the construction system. Since in a preferred embodiment the axis of rotation is intended to pass through the center of gravity of the cutting plane and the center of gravity of the three-dimensional volume enclosed by the cutting plane and the model of the femoral head. Thus, in the case where the determination module 7 determines that the rotation axis does not satisfy the first feature requirement, the model cutting module 4 cuts the femoral head model and the femoral body model based on the femoral model to regenerate the cut surface. With this arrangement: the relative position of the rotation axis and the cut surface can be clearly defined, so that the construction accuracy of the rotation axis can be improved, which is very advantageous for the determination of the surgical plan.
In the second aspect, the accuracy of the construction of the rotation axis is positively correlated with the accuracy and precision of the construction of the cut surface. This is particularly disadvantageous for determining the rotation angle required to remove the weight bearing region from the femoral head part if the cutting surface configuration has significant deviations. Therefore, the determination module 7 preferably needs to determine the positional relationship of the cut surfaces after the cut surfaces are generated. Specifically, in conjunction with fig. 2, J1: the judging module 7 is further configured to judge whether the cutting surface meets the second feature requirement. The second characteristic requirement is a construction requirement for determining whether the position of the cutting surface relative to the hip joint surface satisfies the rotation axis. Preferably, the second characteristic requirement is for determining whether the position of the cutting surface relative to the spatial volume formed by the socket configuration of the hip joint surface meets the construction requirement of the rotation axis. And if the angle of the gravity center line of the space body formed by the normal vector of the cutting surface and the hip joint surface is smaller than a second angle threshold value, the cutting surface meets a second characteristic requirement. Otherwise, the cut surface does not meet the second characteristic requirement. The second angle threshold is likewise inversely related to the area of the subregion. The larger the partial area, the smaller the second angle threshold. The smaller the partial area, the larger the second angular threshold value. The second angular threshold is also related to a structural characteristic of the individual femur-acetabulum. Thus, the specific second angle threshold is set by the physician. In the case where the determination module 7 determines that the cutting surface does not satisfy the second feature requirement, the model cutting module 4 cuts the femoral head model and the femoral body model based on the femoral model to regenerate the cutting surface. As can be seen from the constraint on the cutting plane, the constraint is a constraint on the position of the axis of rotation relative to the hip joint surface. Through the judgment arrangement, the position of the rotating shaft can be restrained, so that the femoral head model can rotate in the socket-shaped structure of the hip joint surface when the femoral head model rotates around the rotating shaft model; secondly, the judgment is carried out based on the angle of the gravity line of the space body formed by the hip joint surface, which is beneficial to improving the accuracy of the rotating angle required by moving the femoral head part region out of the weight bearing region.
In a third aspect, the distance of the cutting surface from the hip surface is important for the determination of the surgical plan. In the actual surgical procedure, the osteotomy is performed by rotating the femoral neck after cutting it off the greater trochanter on the femoral shaft to move a portion of the area on the femoral head out of the weight bearing zone. Based on this, preferably, the cutting plane is a boundary plane of the femoral neck model and the femoral body model. Therefore, it is necessary to precisely determine the distance relationship between the cutting surface and the hip joint surface. Preferably, in conjunction with fig. 2, J2: the judging module 7 is further configured to judge whether the cutting surface meets a third feature requirement. A third characteristic requirement is the precise definition of the distance between the cutting surface and the hip surface. The cutting plane cannot be too far from the hip joint plane so that the cutting plane does not intersect the femoral neck model. The cutting plane cannot be too far from the hip joint plane so that the cutting plane does not intersect the femoral neck model or the femoral head model. The distance between the surface where the femoral neck and the greater trochanter of each human body are connected is different from the hip joint. Thus, the distance threshold is related to the femur-acetabulum structure of the human body. The doctor can set the distance threshold according to actual conditions. The cutting surface meets a third characteristic requirement if the spatial distance of the cutting surface from the spatial volume formed by the hip joint surface meets a distance threshold. Otherwise, the cut surface does not meet the third characteristic requirement. In the case where the determination module 7 determines that the cutting surface does not satisfy the third feature requirement, the model cutting module 4 cuts the femoral head model and the femoral body model based on the femoral model to regenerate the cutting surface. For example, the distance threshold may be 2cm to 12 cm.
Example 2
This embodiment is a further supplement to embodiment 1 or a further optimization of the technical solution.
Since the rotation axis is generated on the basis of the cutting surface. Since there are an infinite number of cutting surfaces that satisfy the first characteristic requirement, the second characteristic requirement, and the third characteristic requirement. Thus, the number of rotation axes is also infinite. For this reason, the present embodiment is to further improve the construction accuracy of the rotation axis.
The model cutting module 4 will generate at least two cutting surfaces that meet the first, second and third characteristic requirements. At this time, the rotating shaft constructed by the rotating shaft constructing module 5 meets the first characteristic requirement. Preferably, the rotation axis building module 5 is capable of generating at least two rotation axes corresponding to each other with the cutting surfaces. At this time, in conjunction with fig. 2, step S7: the rotation axis fitting module 8 generates a pivot axis based on at least two rotation axes.
Preferably, the rotation axis fitting module 8 generates a revolution axis based on at least two rotation axes as follows:
reference numbers, at least two rotation axes are labeled: l is1、L2……Ln。
Constructing a straight line, selecting at least two lines L capable of simultaneously forming a straight line1、L2……LnParallel straight lines with intersections.
And (3) intersection point calculation: calculating the first straight line and the rotation axis L1、L2……LnThen, the average value of the coordinates of the intersection points on the same straight line is obtained, and an average intersection point is obtained. Analogizing in turn to obtain each straight line and the rotating shaft L1、L2……LnThe average intersection point is formed. The intersection points are connected to obtain the rotating shaft. The femoral head model rotates around the rotating shaft.
For example, the rotation axis building block 5 generates two rotation axes L1And L2. There are two parallel straight lines S in space1And S2。S1And L1Having an intersection A (x)1，y1，z1)。S1And L2Having an intersection B (x)2，y2，z2)。S1And L1、L2The average intersection point formed is
In the same way, S2And L1With an intersection point C (x)3，y3，z3)。S2And L2With an intersection D (x)4，y4，z4)。S2And L1、L2The average intersection point formed is
Then the axis of rotation is EF.
Preferably, the rotation axis fitting module 8 generates a revolution axis based on at least two rotation axes as follows:
firstly, performing space geometric modeling description on a rotating shaft under a rectangular coordinate system:
L1：a1x+b1y+c1z＝d1；L2：a2x+b2y+c2z＝d2；···Ln：anx+bny+cnz＝dn；
secondly, the mathematical equation of the rotating shaft is subjected to superposition operation to obtain a mathematical model:
the superposed mathematical model is a straight line which is used as a space equation of the rotating shaft.
Preferably, the central axis of rotation of the femoral head model should be used in cooperation with the varus. Therefore, when the rotation center axis of the femoral head model is a revolution axis constructed by several rotation axes, the varus construction module 6 can construct the varus based on the revolution axis instead of the rotation axis.
Example 3
The embodiment provides a method for constructing an analysis model based on a femur rotation axis and an varus, which comprises the following steps:
s1, constructing a femur-acetabulum model based on the examination data.
S2, presenting the femur-acetabulum model.
S3, the femur-acetabulum model generates an acetabulum model and a femur model.
S4, generating cutting surfaces which can be used for dividing the femoral head model and the femoral body model based on the femoral model.
S5, constructing a rotation axis based on the femoral head model and the cutting surface, wherein the femoral head model can rotate in the hip joint surface in a manner that the femoral head part area moves out of the weight bearing area when the femoral head model rotates around the rotation axis.
S6, constructing an varus shaft based on the bone surface of the femoral head model and the rotation shaft, wherein the femoral head model can generate an inclination angle with the hip joint surface in a manner that a femoral head part region is removed from a weight bearing region when the femoral head model rotates around the varus shaft.
Preferably, in step S5, the construction accuracy of the rotation axis needs to be determined. And judging whether the rotating shaft meets a first characteristic requirement or not. And if the angle between the rotating shaft and the normal vector of the cutting surface is smaller than a first angle threshold value, the rotating shaft meets the first characteristic requirement. Otherwise, the rotating shaft does not meet the first characteristic requirement. And under the condition that the rotating shaft is judged not to meet the first characteristic requirement, cutting the femoral head model and the femoral body model based on the femoral model to regenerate cutting surfaces.
The word "module" as used in this disclosure describes any type of hardware, software, or combination of hardware and software that is capable of performing the functions associated with the "module". For example, the model building module 1, the model segmentation module 3, the model cutting module 4, the rotation axis building module 5, the inner flip axis building module 6, the discrimination module 7, and the rotation axis fitting module 8 are all a data operation processor and an algorithm configured to execute specific steps in the respective modules. For example, the model building module 1, the model segmentation module 3, the model cutting module 4, the rotation axis building module 5, the inner flip building module 6, the discrimination module 7, and the rotation axis fitting module 8 may be one or more of a processor, a server, or an application-specific integrated chip.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.
Claims (8)
1. A system for constructing an analytical model, comprising:
the model building module (1) builds a femur-acetabulum model based on inspection data, wherein the inspection data at least come from two different scanning imaging modes;
an image display module (2) for presenting the femur-acetabulum model;
characterized in that the system also comprises a judging module (7) for judging whether the result constructed by the system meets the requirement or not,
the system further comprises a model cutting module (4) for generating a cutting plane based on the femur-acetabulum model, which can be used for segmenting the femur head model and the femur body model;
a rotation axis construction module (5) which is capable of constructing a rotation axis on the basis of the femoral head model and the cutting plane, wherein the femoral head model is capable of rotating in the hip joint plane in such a way that a femoral head part region is moved out of the weight bearing region when the femoral head model is rotated about the rotation axis,
if the angle between the rotating shaft and the normal vector of the cutting surface is smaller than a first angle threshold value, the rotating shaft meets a first characteristic requirement; otherwise, the rotating shaft does not meet the first characteristic requirement;
in the case where the determination module (7) determines that the rotation axis does not satisfy the first feature requirement, the model cutting module (4) cuts the femoral head model and the femoral body model based on the femoral model to regenerate a cut surface.
2. The construction system according to claim 1, further comprising an varus construction module (6) configured to construct a varus from the bone surface of the femoral head model and the rotation axis, wherein the femoral head model is configured to generate an inclination angle with the hip joint surface in such a way that a femoral head part region is removed from a weight bearing region when the femoral head model is rotated about the varus.
3. The building system according to claim 2, wherein the judging module (7) is further configured to judge whether the cut surface meets a second feature requirement;
if the angle between the normal vector of the cutting surface and the gravity center line of the spatial body formed by the hip joint surface is smaller than a second angle threshold value, the cutting surface meets the second characteristic requirement; otherwise, the cutting surface does not meet the second feature requirement;
and under the condition that the judging module (7) judges that the cutting surface does not meet the second characteristic requirement, the model cutting module (4) cuts the femoral head model and the femoral body model based on the femoral model so as to regenerate the cutting surface.
4. A construction system according to claim 3, wherein the discrimination module (7) is further configured to discriminate whether the cut surface satisfies a third characteristic requirement; if the spatial distance of the cutting surface from a spatial volume formed by the hip joint surface meets a distance threshold, the cutting surface meets the third characteristic requirement; otherwise, the cutting surface does not meet the third feature requirement;
and under the condition that the judging module (7) judges that the cutting surface does not meet the third characteristic requirement, the model cutting module (4) cuts the femoral head model and the femoral body model based on the femoral model so as to regenerate the cutting surface.
5. A building system according to claim 4, further comprising a pivot building block (8) for generating at least two pivot axes according to the first characteristic requirement into a pivot axis, wherein the femoral head model is rotatable within the hip joint surface in such a way that the femoral head part region is moved out of the weight bearing zone in case the femoral head model is rotated around the pivot axis.
6. The constructing system according to claim 5, wherein the varus constructing module (6) is capable of constructing a varus based on the pivot axis without based on a rotation axis in a case where the pivot axis constructing module (8) constructs the pivot axis, so that the varus can be used with a rotation center axis of the femoral head model.
7. The building system according to claim 6, wherein the rotation axis building module (5) is capable of building the rotation axis in such a manner that, in the case where the positional relationship of the cut surfaces conforms to the second characteristic requirement and the third characteristic requirement:
calculating a point set of the cutting surface and the femoral head model, and generating a gravity center of a plane graph formed based on the point set to serve as a first mark point;
taking the center of gravity of the femoral head model as a second mark point;
constructing a straight line passing through the first index point and the second index point at the same time as the rotation axis.
8. The building system according to claim 7, wherein the inner stub building module (6) builds the inner stub as follows:
in the case that the rotation axis meets the first characteristic requirement, the varus construction module (6) generates a directional bounding box that can enclose a femoral head surface of a complete femoral head model;
extracting the shortest line segment of all line segments forming the direction bounding box;
normalizing the shortest line segment to obtain a first line segment;
moving the first line segment to the first mark point to obtain a second line segment;
performing cross product operation on the rotating shaft and the second line segment to obtain a normalized third line segment;
solving the intersection point of the third line segment and the surface of the complete femur model as a third mark point; and
translating the second line segment along the third line segment to a third index point as an inverted axis.
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