CN112967374B - Method and system for obtaining digital pre-bending model of orthopedic operation steel plate - Google Patents
Method and system for obtaining digital pre-bending model of orthopedic operation steel plate Download PDFInfo
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Abstract
The invention provides a method and a system for acquiring a digital pre-bending model of a steel plate for orthopedic surgery, which are all based on a three-dimensional skeleton model after virtual reduction of broken bones of a patient and can realize the following steps: reading a three-dimensional skeleton model after virtual reduction of a broken bone of a patient; determining a position for placing a steel plate on the three-dimensional skeleton model, and generating a steel plate pre-bending line based on the determined position; calculating the length of the steel plate pre-bending line, and selecting a steel plate model with the length closest to the calculated length of the steel plate pre-bending line from a pre-created digital steel plate library; extracting the central axis of the selected steel plate model; registering the steel plate pre-bending line based on the central axis to obtain a registered steel plate pre-bending line; and according to the registered steel plate pre-bending line, performing axial deformation pre-bending on the selected steel plate model to obtain a pre-bending model corresponding to the selected steel plate model. The invention is used for assisting in realizing digital pre-bending of the solid steel plate.
Description
Technical Field
The invention relates to the field of computer-aided geometric design, in particular to a method and a system for acquiring a digital pre-bending model of an orthopedic operation steel plate.
Background
Fracture incidence in life is always high. At present, the treatment method aiming at the fracture mainly adopts a method of combining artificial reduction and a fixed phase in the injured limb, namely, the method adopts an artificial means to restore the broken bones to the healthy anatomical form, and then medical screws and steel plates (such as an anatomical bone fracture plate) are utilized to fix the two broken bones. Specifically, in the operation, a doctor cuts open tissues such as muscles at a fracture site of a patient, leaks out a broken bone, and then manually bends a steel plate according to the shape of the bone after artificial reduction. In the bending process, a doctor needs to repeatedly bend the steel plate and compare the steel plate with the reset bone so as to enable the bent steel plate to be well attached to the bone.
However, in the above-described operation, the steel plate is pre-bent by a doctor using an instrument manually by his own experience. However, the doctor only relies on his experience to bend the steel plate, which often causes a relatively large error in the fit between the steel plate and the bone, and is not favorable for fixing the two cut bones.
Therefore, the invention provides a method and a system for acquiring a digital pre-bending model of an orthopedic operation steel plate, which are used for solving the problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a system for acquiring a digital pre-bending model of an orthopedic operation steel plate, which are used for assisting in realizing digital pre-bending of a solid steel plate so as to improve the fitting property of the pre-bent steel plate and bones.
In a first aspect, the present invention provides a method for obtaining a digital pre-bending model of an orthopedic operation steel plate, the method is based on a three-dimensional skeleton model after virtual reduction of a broken bone of a patient, and the method comprises the following steps:
s1: reading a three-dimensional skeleton model after virtual reduction of a broken bone of a patient;
s2: determining a position for placing a steel plate on the three-dimensional skeleton model, and generating a steel plate pre-bending line based on the determined position;
s3: calculating the length of the steel plate pre-bending line, and selecting a steel plate model with the length closest to the calculated length of the steel plate pre-bending line from a pre-created digital steel plate library; the digital steel plate library is pre-stored with steel plate models of solid steel plates with different specifications;
s4: extracting the central axis of the selected steel plate model;
s5: registering the steel plate pre-bending line based on the central axis to obtain a registered steel plate pre-bending line;
s6: and according to the registered steel plate pre-bending line, performing axial deformation pre-bending on the selected steel plate model to obtain a pre-bending model corresponding to the selected steel plate model.
Further, step S2 includes:
step S21: selecting a starting point pointa and a terminal point pointa of a steel plate placing position and a trend point pointac of pre-bending of the steel plate on the virtually reset three-dimensional skeleton model in a man-machine interaction mode;
step S22: creating a plane according to the clicked starting point pointa, the clicked end point pointa and the pre-bent trend point pointa of the steel plate;
step S23: calculating a point set intersector _ points of the intersection of the plane created in the step S22 and the virtual reset three-dimensional skeleton model;
step S24: adopting a shortest path algorithm to the points in the point set intersect _ points to obtain an ordered point set curve _ points;
step S25: and sequentially connecting each point in the ordered point set curve _ points to obtain the steel plate pre-bending line.
Further, the implementation method of step S4 is:
step S41: acquiring a midpoint object _ center of a target steel plate model, wherein the target steel plate model is the selected steel plate model;
step S42: calculating a direction vector axis _ vector of the target steel plate model;
step S43: taking the midpoint object _ center as a center, taking the direction vector axis _ vector as a ray vector, and increasing the ray towards the two ends of the target steel plate model until the two end boundaries of the target steel plate model are reached to obtain two end points on the two end boundaries of the target steel plate model;
step S44: and connecting the two end points to obtain a straight line segment, namely obtaining the central axis of the target steel plate model.
Further, the implementation method of step S5 is:
step S51: translating the curved starting point pointa to the central axis starting point endpoint _ a, then translating all other points except the starting point pointa in the ordered point set curved _ points according to the vectors of the two adjacent points, and finally obtaining the translated pre-bending line curved _ translation; wherein, curve is a steel plate pre-bending line generated in the step S2, and a central axis starting point endpoint _ a is an end point of one end of the central axis which is closest to the starting point pointa;
step S52: rotating the obtained translated pre-bending line curve _ transition to intersect with the central axis by taking the central axis starting point endpoint _ a as a rotation center, and recording the pre-bending line curve _ transition at the moment as a curve _ rotate1;
step S53: taking the central axis starting point endpoint _ a as a rotation center, rotating the curve _ rotate1 to be parallel to the vertical vector to obtain a curve _ rotate2;
the method for acquiring the vertical vector comprises the following steps:
creating a plane by taking the midpoint object _ center as the midpoint of the plane and taking the direction vector axis _ normal of the central axis as the normal of the plane, and calculating a point set intersector _ points1 of the intersection of the plane and the target steel plate model;
traversing each point in the intersector _ points1 of the point set, respectively calculating the distance between each traversed point and the object _ center, and selecting four points in the intersector _ points1 of the point set corresponding to the minimum four distances;
and calculating the distance between every two selected four points, selecting two points with the shortest distance, wherein the vector difference of the coordinates of the two points is the vertical vector _ vector of the target steel plate model.
Further, the implementation method of step S6 is:
step S60: on the central axis, subdividing the central axis into the number of curve point sets by using subdividing points; then, collecting each subdivision point on the central axis and two end points of the central axis to form a central axis point set;
step S61: respectively establishing a mapping relation between each point on the target steel plate model and a point which is in the central axis point set and is closest to the central axis point set;
step S62: saving points on the target steel plate model, and simultaneously saving the topological structure of the target steel plate model;
step S63: establishing a local coordinate system of each central axis point set, and storing the local coordinate system to a location _ coordinate; in the local coordinate system, a point with a central axis point concentration is taken as an origin of the coordinate system, an x-axis direction vector is a direction vector axis _ vector of the target steel plate model, a y-axis direction vector is a vertical vector of the target steel plate model, and a z-axis direction vector is a cross product of the x-axis direction vector and the y-axis direction vector;
step S64: using the mapping relation established in step S61, correspondingly calculating a local coordinate value of each point in the target steel plate model in the local coordinate system of the point in the central axis point set mapped by each point, and storing the local coordinate value in the list _ locality;
step S65: moving each point in the central axis point set to a corresponding point of a curve _ rotate2, calculating the global coordinate of each point in the moved central axis point set on a point on a target steel plate model mapped by each point according to the local coordinate of each point on the target steel plate model, and storing the global coordinate into a list _ final;
step S66: and reconstructing a three-dimensional model by using the stored topological structure of the target steel plate model and the list _ final to obtain the pre-bending model.
In a second aspect, the present invention provides a digital pre-bending model obtaining system for an orthopedic operation steel plate, the system being based on a three-dimensional bone model after virtual reduction of a fractured bone of a patient, comprising:
a bone model reading unit for reading a three-dimensional bone model after virtual reduction of a broken bone of a patient;
a pre-bending line generating unit for determining a position for placing a steel plate on the three-dimensional skeleton model and generating a steel plate pre-bending line based on the determined position;
the steel plate model selecting unit is used for calculating the length of the steel plate pre-bending line and selecting a steel plate model with the length closest to the calculated length of the steel plate pre-bending line from a pre-created digital steel plate library; the digital steel plate library is pre-stored with steel plate models of solid steel plates with different specifications;
a central axis extracting unit for extracting the central axis of the selected steel plate model;
the registration unit is used for registering the steel plate pre-bending line based on the central axis to obtain the registered steel plate pre-bending line;
and the pre-bending model obtaining unit is used for performing axial deformation pre-bending on the selected steel plate model according to the registered steel plate pre-bending line to obtain a pre-bending model corresponding to the selected steel plate model.
Further, the pre-bending line generating unit includes:
the first module is used for clicking a starting point pointa and a terminal point pointa of a steel plate placing position and a trend point pointac of pre-bending of a steel plate on the virtually reset three-dimensional skeleton model in a man-machine interaction mode;
the second module is used for creating a plane according to the point-selected starting point pointana, the point-selected finishing point pointanb and the trend point pointanc of the pre-bending of the steel plate;
a third module, configured to calculate a point set intersector _ points at which the plane created in the second module intersects with the virtual-reset three-dimensional bone model;
a fourth module, configured to obtain an ordered point set current _ points by using a shortest path algorithm for points in the point set intersector _ points;
and the fifth module is used for sequentially connecting all points in the ordered point set curve _ points to obtain the steel plate pre-bending line.
Further, the implementation method for extracting the central axis of the selected steel plate model by the central axis extraction unit includes:
step S41: acquiring a midpoint object _ center of a target steel plate model, wherein the target steel plate model is the selected steel plate model;
step S42: calculating a direction vector axis _ vector of the target steel plate model;
step S43: taking the midpoint object _ center as a center, taking the direction vector axis _ vector as a ray vector, and increasing the ray towards the two ends of the target steel plate model until the two end boundaries of the target steel plate model are reached to obtain two end points on the two end boundaries of the target steel plate model;
step S44: and connecting the two end points to obtain a straight line segment, namely obtaining the central axis of the target steel plate model.
Further, the registration unit specifically performs the following steps:
step S51: translating the curved starting point pointa to the central axis starting point endpoint _ a, then translating all other points except the starting point pointa in the ordered point set curved _ points according to the vectors of the two adjacent points, and finally obtaining the translated pre-bending line curved _ translation; wherein, curve is a steel plate pre-bending line generated by the pre-bending line generating unit, and a central axis starting point endpoint _ a is an end point of one end of the central axis which is closest to the starting point pointa;
step S52: taking the central axis starting point endpoint _ a as a rotation center, rotating the obtained translated pre-bending line curve _ transition to intersect with the central axis, and recording the current pre-bending line curve _ transition as a curve _ rotate1;
step S53: taking the central axis starting point endpoint _ a as a rotation center, rotating the curve _ rotate1 to be parallel to the vertical vector to obtain a curve _ rotate2;
the method for acquiring the vertical vector comprises the following steps:
creating a plane by taking the midpoint object _ center as the midpoint of the plane and taking the direction vector axis _ normal of the central axis as the normal of the plane, and calculating a point set intersector _ points1 of the intersection of the plane and the target steel plate model;
traversing each point in the intersector _ points1 of the point set, respectively calculating the distance between each traversed point and the object _ center, and selecting four points in the intersector _ points1 of the point set corresponding to the minimum four distances;
and calculating the distance between every two selected four points, selecting two points with the shortest distance, wherein the vector difference of the coordinates of the two points is the vertical vector of the target steel plate model.
Further, the pre-bending model obtaining unit specifically executes the following steps:
step S60: on the central axis, subdividing the central axis into the number of curve point sets by using subdividing points; then, collecting each subdivision point on the central axis and two end points of the central axis to form a central axis point set;
step S61: respectively establishing a mapping relation between each point on the target steel plate model and a point which is in the central axis point set and is closest to the central axis point set;
step S62: saving points on the target steel plate model, and simultaneously saving the topological structure of the target steel plate model;
step S63: establishing a local coordinate system of each central axis point set, and storing the local coordinate system to a location _ coordinate; in the local coordinate system, a point with a central axis point concentration is taken as an origin of the coordinate system, an x-axis direction vector is a direction vector axis _ vector of the target steel plate model, a y-axis direction vector is a vertical vector of the target steel plate model, and a z-axis direction vector is a cross product of the x-axis direction vector and the y-axis direction vector;
step S64: using the mapping relation established in step S61, correspondingly calculating a local coordinate value of each point in the target steel plate model in the local coordinate system of the point in the central axis point set mapped by each point, and storing the local coordinate values in the list _ locality;
step S65: moving each point in the central axis point set to a corresponding point of a curve _ rotate2, calculating the global coordinate of each point in the moved central axis point set on a point on a target steel plate model mapped by each point according to the local coordinate of each point on the target steel plate model, and storing the global coordinate into a list _ final;
step S66: and reconstructing a three-dimensional model by using the stored topological structure of the target steel plate model and the list _ final to obtain the pre-bending model.
The beneficial effect of the invention is that,
(1) According to the method and the system for acquiring the digital pre-bending model of the steel plate for the orthopedic surgery, after the pre-bending line is obtained, the steel plate model closest to the calculated pre-bending line can be selected from the digital steel plate library through the calculated length of the pre-bending line, the steel plate model in the digital steel plate library is a three-dimensional steel plate model generated by three-dimensionally sampling selected real medical steel plates with different specifications in advance, and the specification of the three-dimensional steel plate model is completely the same as that of a corresponding steel plate in real life.
(2) According to the method and the system for obtaining the digital pre-bending model of the steel plate for the orthopedic surgery, the position for placing the steel plate is determined on the three-dimensional skeleton model after the virtual reduction of the broken bone of the patient, and the pre-bending line of the steel plate is generated based on the determined position for generating the pre-bending model.
(3) The pre-bending model obtained based on the invention can be directly transmitted to a factory, and a pre-bending machine of the factory adopts the pre-bending model to pre-bend the solid steel plate, and is also beneficial to directly realizing digital pre-bending of the solid steel plate in a hospital (only a corresponding pre-bending machine is arranged in the hospital), so that the time for conveying the pre-bent steel plate in the factory is saved, and the treatment process of a patient is accelerated.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a method of one embodiment of the invention.
FIG. 2 is a schematic block diagram of a system of one embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
FIG. 1 is a schematic flow chart of a method based on a three-dimensional bone model after virtual reduction of a patient's fractured bone (to be positioned using a surgical steel plate) in accordance with an embodiment of the present invention.
As shown in fig. 1, the method 100 includes:
step S1: a three-dimensional skeletal model of a patient's fractured bone after virtual reduction is read.
Before step S1 is performed, a three-dimensional bone model after virtual reduction of a fractured bone of a patient is acquired in advance.
Wherein, the three-dimensional skeleton model after the virtual reduction of the broken bone of the patient can be obtained by adopting the prior art. For example, but not limited to, the following methods may be used: introducing a CT image of a broken bone of a patient, reconstructing a bone three-dimensional model of the broken bone by using vtkMarchingCubes (), clicking and coiling a peripheral outline of a position of the broken bone in a man-machine interaction mode, searching the broken bone in an iteration mode, iterating to the edge of the broken bone, storing two search result point sets, and driving the two broken bone models to perform automatic matching restoration by using an ICP (Iterative closed point) registration mode to the two point sets to obtain the three-dimensional bone model after virtual restoration of the broken bone.
When the step S1 is realized, the three-dimensional skeleton model after virtual resetting can be read out by using vtkSTLReader () class, and then visual display is carried out.
Step S2: positions for placing steel plates are determined on the three-dimensional bone model, and steel plate pre-bending lines are generated based on the determined positions.
And step S3: the length of the steel plate pre-bending line is calculated, and a steel plate model having a length closest to the calculated length of the steel plate pre-bending line is selected from a digital steel plate library created in advance.
The digital steel plate library is pre-stored with steel plate models of solid steel plates with different specifications.
Each steel plate model stored in the digital steel plate library is a three-dimensional steel plate model generated by performing three-dimensional sampling on selected real medical steel plates (namely solid steel plates) with different specifications in advance. The specification of each steel plate model in the digital steel plate library is completely the same as that of the corresponding steel plate in real life.
And step S4: and extracting the central axis of the selected steel plate model.
Step S5: and registering the steel plate pre-bending line based on the central axis to obtain the registered steel plate pre-bending line.
Step S6: and according to the registered steel plate pre-bending line, performing shaft deformation pre-bending on the selected steel plate model to obtain a pre-bending model corresponding to the selected steel plate model.
Optionally, as an embodiment of the present invention, step S2 includes:
step S21: and clicking a starting point pointa and a terminal point pointa of the position where the steel plate is placed and a trend point pointac of the pre-bending of the steel plate on the three-dimensional skeleton model after the virtual reset in a man-machine interaction mode.
Specifically, a vtkPointPicker () class can be used to click a starting point pointa and a terminal point pointa of a steel plate placement position and a trend point pointa of a steel plate pre-bending on the visually displayed three-dimensional skeleton model after virtual resetting in a human-computer interaction manner.
Step S22: and creating a plane according to the clicked starting point pointa, the end point pointa and the pre-bent trend point pointa of the steel plate.
Specifically, using a vtkPlaneSource () class, taking the midpoint between the two points of the starting point pointa and the ending point pointa as the plane midpoint (for example, the coordinate of the pointa is (x 1, y1, z 1), and the coordinate of the pointa is (x 2, y2, z 2), the coordinate of the midpoint between the two points of the pointa and the pointa is ((x 1+ x 2)/2, (y 1+ y 2)/2, (z 1+ z 2)/2)), and taking the normal direction of the plane of the triangle formed by the three points of the pointa, the pointanb, and the pointatc as the normal direction of the plane to be created, creating a plane, which is denoted as plane a.
Step S23: and calculating a point set intersect _ points of the plane created in the step S22 and the virtual reset three-dimensional bone model.
Specifically, a set of points, inter _ points, where plane a intersects the virtual-repositioned three-dimensional bone model is calculated using the vtkIntersectionPolyDataFilter () class.
Step S24: and (3) adopting a shortest path algorithm to the points in the point set intersects _ points to obtain an ordered point set current _ points.
In this embodiment, a dijkstra algorithm is adopted to sort the points in the point set intersector _ points to obtain an ordered point set current _ points.
Step S25: and sequentially connecting each point in the ordered point set curve _ points to obtain the steel plate pre-bending line.
In the concrete implementation, the point set curve _ points is used as input, vtkkpolyline () class is used, all points in the ordered point set curve _ points are sequentially connected according to the distribution sequence of the points in the ordered point set curve _ points, and a curve (abbreviated as "curve") is obtained, and the curve is the pre-bending line/pre-bending line curve.
Optionally, as an embodiment of the present invention, the method for calculating the length of the steel plate pre-bending line in step S3 is:
calculating the point distance between each adjacent point in the ordered point set curve _ points;
and calculating the sum of the point distances to obtain the length of the steel plate pre-bending line.
Specifically, when this step S3 is implemented: traversing the ordered point set curve _ points, starting from traversing to the second point, calculating the point distance between the currently traversed point and the previously traversed point every time when traversing to one point until the point distance between every two adjacent points in the ordered point set curve _ points is obtained through calculation, and then summing all the calculated point distances to obtain the length of the pre-bent line; and then selecting a steel plate model with the length closest to the obtained pre-bending line from the digital steel plate library.
Optionally, as an embodiment of the present invention, an implementation method of step S4 is:
step S41: and acquiring the midpoint object _ center of the target steel plate model, wherein the target steel plate model is the selected steel plate model.
During specific implementation, reading in a target steel plate model through vtkSTLReader () classes, and collecting all points on the target steel plate model to form point sets object _ points; and then respectively accumulating the coordinate components of the x, y and z axes of each point in the point set object _ points, and finally dividing the coordinate components by the number of the points in the point set object _ points to obtain a midpoint object _ center of the target steel plate model.
Step S42: and calculating a direction vector axis _ vector of the target steel plate model.
For example, the set of all points in the point set object _ points is { P } i I =1,2,3,.., n }, where P is a positive integer i Represents the ith point, P, in the point set object _ points i Is (xi, yi, zi), i =1,2,3, ·, n, which step S42, when implemented: p the n points i The values of the coordinates of (i =1,2,3., n) are assigned to a 3 × n matrix, resulting in a 3 × n initial sample matrix
Then, centralizing the initial sample matrix Z to obtain a matrix X, wherein the matrix X is the center of the three-dimensional skeleton model of the fractured bone of the patient in space after virtual reduction; then calculating a covariance matrix C of the matrix X, wherein the covariance matrix C is a 3X 3 matrix; then, for the covariance array C, obtaining characteristic vectors corresponding to characteristic values lambda 1, lambda 2 and lambda 3 and characteristic values lambda 1, lambda 2 and lambda 3 respectively; and then comparing the magnitudes of the eigenvalues lambda 1, lambda 2 and lambda 3, obtaining the maximum eigenvalue after comparison, and obtaining the eigenvector corresponding to the maximum eigenvalue, wherein the eigenvector corresponding to the maximum eigenvalue is the direction vector axis _ vector of the target steel plate model.
Step S43: and taking the midpoint object _ center as a center and taking the direction vector axis _ vector as a ray vector to increase in a ray mode towards the two ends of the target steel plate model until the two end boundaries of the target steel plate model are reached, and obtaining two end points on the two end boundaries of the target steel plate model.
Specifically, the midpoint object _ center is advanced one unit at a time along the direction of the direction vector axis _ vector, and the advancement is stopped after the midpoint object _ center reaches the boundary of the target steel plate model to obtain an intersection point _ temp with the boundary of the target steel plate model; and then, creating a plane B by using a vtkPlaneSource () class, wherein the plane B uses point _ temp as the midpoint of the plane B and the direction vector axis _ vector of the target steel plate model as the normal direction of the plane B, calculating a point set of the intersection of the plane B and the target steel plate model by using a vtkIntersectionPolyDataFilter () class, if the intersected point set is not empty, continuing to advance, and if the intersected point set is empty, marking the intersected point as an end point endPoint _ a. Similarly, the point _ center proceeds along the inverse of the axis _ vector to obtain the end point _ b.
Step S44: and connecting the two end points to obtain a straight line segment, namely obtaining the central axis of the target steel plate model.
Optionally, as an embodiment of the present invention, an implementation method of step S5 is:
step S51: translating the starting point pointa of curve to the central axis starting point endpoint _ a, then translating all other points except the starting point pointa in the ordered set of curve _ points according to the vectors of the two adjacent points, and finally obtaining the translated pre-bent line curve _ translation (for the points obtained by translation in the step S51, connecting the points according to the connection mode of the corresponding points in the ordered set of curve _ points, so as to obtain the pre-bent line curve _ translation).
The central axis starting point endpoint _ a is an end point of one end of the central axis, which is closest to the starting point pointa.
Step S52: the obtained translated pre-bent line curve _ transition is rotated to intersect with the central axis starting point endpoint _ a as the rotation center, and the pre-bent line curve _ transition at this time is recorded as a curve _ rotate1.
In implementation, the pretwisted line current _ translation is rotated by using vtkTransformPhotoDataFilter () class by taking the central axis starting point endpoint _ a as the rotation center until the translated pretwisted line current _ translation is rotated to intersect with the central axis, so as to obtain a curve current _ rotate1.
Step S53: taking the central axis starting point endpoint _ a as a rotation center, rotating the curve _ rotate1 to be parallel to the vertical vector to obtain a curve _ rotate2.
Specifically, a vertical vector of the target steel plate model is calculated, and then a curve _ rotate1 is rotated to be parallel to the vertical vector by using a vtkTransformPolyDataFilter () class with an end point — a of a central axis as a rotation center, so that a curve _ rotate2 is obtained.
The method for acquiring the vertical vector comprises the following steps:
adopting a vtkPlaneSource () class, taking a midpoint object _ center as a plane midpoint and taking a direction vector axis _ normal of a central axis as a normal direction of the plane to create a plane, and then using a vtkInterectionPolyDataFilter () class to calculate a point set intersector _ points1 of the plane and the target steel plate model;
traversing each point in the intersector _ points1 of the point set, respectively calculating the distance between each traversed point and the object _ center, and selecting four points in the intersector _ points1 of the point set corresponding to the minimum four distances;
and calculating the distance between every two selected four points, selecting two points with the shortest distance, wherein the vector difference of the coordinates of the two points is the vertical vector of the target steel plate model.
Optionally, as an embodiment of the present invention, an implementation method of step S6 is:
step S60: on the central axis (marked as axis), subdividing the central axis into the number of curved point sets by using a subdividing point; and then, collecting each subdivision point on the central axis and two end points of the central axis to form a central axis point set which is marked as axis _ points.
In this embodiment, the subdivision point is a point on the central axis.
In this embodiment, the number of curve point sets is the total number of points in the ordered point set curve _ points. Assuming that the total number of points in the ordered point set curve _ points is K, the central axis is subdivided into the number of curve point sets by using the subdivision points, specifically: the central axis is divided into K segments by subdivision points.
In this embodiment, the central axis is divided into K equal-length segments by subdivision points.
Step S61: and respectively establishing a mapping relation between each point on the target steel plate model and the point which is in the central axis point set and is closest to the central axis point set.
Specifically, a vtk included octree point location () class may be used to establish a point cloud octree of an axis point set (each point on the octree has a different id (identification code)), then each point of the target steel plate model is traversed, for each traversed point, an octree. For example, taking point-a of the target steel plate model as an example, if id of the point closest to the point-a is found in the octree as id-a, a mapping relationship between the point-a and the id-a is established, and the established mapping relationship is stored in the list _ ids.
Step S62: and saving points on the target steel plate model, and simultaneously saving the topological structure of the target steel plate model.
Specifically, each point on the target steel plate model is traversed, and each traversed point is stored into a point set object _ points; and traversing each triangular patch cell of the target steel plate model, and storing the id of three points of each traversed cell into the patch set object _ cells.
Step S63: establishing a local coordinate system of each central axis point set, and storing the local coordinate system to a location _ coordinate; in the local coordinate system, a point with a central axis point concentration is used as an origin of the coordinate system, an x-axis direction vector is a direction vector axis _ vector of the target steel plate model, a y-axis direction vector is a vertical vector of the target steel plate model, and a z-axis direction vector is a cross product of the x-axis direction vector and the y-axis direction vector.
Specifically, traversing points in the axis _ points, and for each traversed point, respectively taking the traversed point as an origin of a coordinate system, taking a direction vector axis _ vector as an x-axis direction vector, taking a vertical vector of a target steel plate model as a y-axis direction vector, and taking a cross product of the x-axis direction vector and the y-axis direction vector as a z-axis direction vector, and establishing a local coordinate system of the traversed point; and saving each established local coordinate system to a local coordinate storage unit location _ coordinate.
Step S64: and (5) correspondingly calculating a local coordinate value of each point in the target steel plate model in a local coordinate system of the point in the central axis point set mapped by each point in the target steel plate model by using the mapping relation established in the step (S61), and storing the local coordinate values into a list _ locality.
Specifically, the object _ points are traversed, for each traversed point, the local coordinate system of the point corresponding to the point in the central axis point set is found through the list _ ids, the local coordinate value of the point in the corresponding local coordinate system is calculated, and the local coordinate value is stored in the list _ locality.
Step S65: and moving each point in the central axis point set to a corresponding point of a curve _ rotate2, calculating the global coordinates of each point in the moved central axis point set on the point on the target steel plate model mapped by each point according to the local coordinates of each point on the target steel plate model, and storing the global coordinates into a list _ final.
Specifically, after each point in the central axis point set is moved to a corresponding point on the curve _ rotate2, the global coordinates of the point on the target steel plate model mapped by each point in the central axis point set moved in step S65 are calculated according to the local coordinates of each point in object _ points stored in the list _ locality, and the global coordinates are stored in list _ final.
Step S66: and reconstructing a three-dimensional model by using the stored topological structure of the target steel plate model and the list _ final to obtain the pre-bending model.
Specifically, the SetPoints () function in the vtkppolydata () class can be used to set the global coordinates in list _ final as the object point set, and the SetPoints () function can be used to set object _ cells as the topology of the object, so as to reconstruct the three-dimensional model, which is the pre-curved model to be obtained.
Fig. 2 is a diagram of an embodiment of the digital pre-bending model acquisition system for the orthopedic operation steel plate.
As shown in fig. 2, the system 200 is based on a three-dimensional bone model after virtual reduction of a fractured bone of a patient, comprising:
a bone model reading unit 201 for reading a three-dimensional bone model after virtual reduction of a broken bone of a patient;
a pre-bend line generation unit 202 for determining a position for placing a steel plate on the three-dimensional skeleton model and generating a steel plate pre-bend line based on the determined position;
a steel plate model selecting unit 203, configured to calculate the length of the steel plate pre-bending line, and select a steel plate model having a length closest to the calculated length of the steel plate pre-bending line from a pre-created digital steel plate library; the digital steel plate library is pre-stored with steel plate models of solid steel plates with different specifications;
a central axis extracting unit 204, configured to extract a central axis of the selected steel plate model;
a registering unit 205, configured to register the steel plate pre-bending line based on the central axis, so as to obtain a registered steel plate pre-bending line;
and a pre-bending model obtaining unit 206, configured to perform axial deformation pre-bending on the selected steel plate model according to the registered steel plate pre-bending line, so as to obtain a pre-bending model corresponding to the selected steel plate model.
Alternatively, as an embodiment of the present invention, the pre-bending line generating unit 202 includes:
the first module is used for clicking a starting point pointa and a terminal point pointa of a steel plate placing position and a trend point pointac of pre-bending of a steel plate on the virtually reset three-dimensional skeleton model in a man-machine interaction mode;
the second module is used for creating a plane according to the point-selected starting point pointana, the point-selected finishing point pointanb and the trend point pointanc of the pre-bending of the steel plate;
a third module, configured to calculate a point set intersector _ points at which the plane created in the second module intersects with the virtual-reset three-dimensional bone model;
a fourth module, configured to obtain an ordered point set current _ points by using a shortest path algorithm for points in the point set intersector _ points;
and the fifth module is used for sequentially connecting all points in the ordered point set curve _ points to obtain the steel plate pre-bending line.
Optionally, as an embodiment of the present invention, the method for calculating the length of the steel plate pre-bending line by the steel plate model selecting unit 203 is as follows:
calculating the point distance between each adjacent point in the ordered point set curve _ points;
and calculating the sum of the distances of all points to obtain the length of the pre-bending line of the steel plate.
Optionally, as an embodiment of the present invention, an implementation method for the central axis extracting unit 204 to extract the central axis of the selected steel plate model includes:
step S41: acquiring a midpoint object _ center of a target steel plate model, wherein the target steel plate model is the selected steel plate model;
step S42: calculating a direction vector axis _ vector of the target steel plate model;
step S43: taking the midpoint object _ center as a center, taking the direction vector axis _ vector as a ray vector, and increasing the ray towards the two ends of the target steel plate model until the two end boundaries of the target steel plate model are reached to obtain two end points on the two end boundaries of the target steel plate model;
step S44: and connecting the two end points to obtain a straight line segment, namely obtaining the central axis of the target steel plate model.
Optionally, as an embodiment of the present invention, the implementation method of the registration unit 205, based on the central axis, registering the pre-bending line of the steel plate to obtain a registered pre-bending line of the steel plate, includes:
step S51: translating the curved starting point pointa to the central axis starting point endpoint _ a, then translating all other points except the starting point pointa in the ordered point set curved _ points according to the vectors of the two adjacent points, and finally obtaining the translated pre-bending line curved _ translation; wherein, curve is a steel plate pre-bending line generated by the pre-bending line generating unit 202, and a central axis starting point endpoint _ a is an end point of one end of the central axis closest to the starting point pointa;
step S52: rotating the obtained translated pre-bending line curve _ transition to intersect with the central axis by taking the central axis starting point endpoint _ a as a rotation center, and recording the pre-bending line curve _ transition at the moment as a curve _ rotate1;
step S53: taking the central axis starting point endpoint _ a as a rotation center, rotating the curve _ rotate1 to be parallel to the vertical vector to obtain a curve _ rotate2;
the method for acquiring the vertical vector comprises the following steps:
creating a plane by taking the midpoint object _ center as the midpoint of the plane and taking the direction vector axis _ normal of the central axis as the normal of the plane, and calculating a point set intersector _ points1 of the intersection of the plane and the target steel plate model;
traversing each point in the intersector _ points1 of the point set, respectively calculating the distance between each traversed point and the object _ center, and selecting four points in the intersector _ points1 of the point set corresponding to the minimum four distances;
and calculating the distance between every two selected four points, selecting two points with the shortest distance, wherein the vector difference of the coordinates of the two points is the vertical vector of the target steel plate model.
Optionally, as an embodiment of the present invention, the pre-bending model obtaining unit 206 performs axial deformation pre-bending on the selected steel plate model according to the registered steel plate pre-bending line, and an implementation method of obtaining the pre-bending model corresponding to the selected steel plate model includes:
step S60: on the central axis, subdividing the central axis into the number of curve point sets by using a subdividing point; then, collecting each subdivision point on the central axis and two end points of the central axis to form a central axis point set;
step S61: respectively establishing a mapping relation between each point on the target steel plate model and a point which is in the central axis point set and is closest to the central axis point set;
step S62: saving points on the target steel plate model, and simultaneously saving the topological structure of the target steel plate model;
step S63: establishing a local coordinate system of each central axis point set, and storing the local coordinate system to a location _ coordinate; in the local coordinate system, a point with a central axis point concentration is taken as an origin of the coordinate system, an x-axis direction vector is a direction vector axis _ vector of the target steel plate model, a y-axis direction vector is a vertical vector of the target steel plate model, and a z-axis direction vector is a cross product of the x-axis direction vector and the y-axis direction vector;
step S64: using the mapping relation established in step S61, correspondingly calculating a local coordinate value of each point in the target steel plate model in the local coordinate system of the point in the central axis point set mapped by each point, and storing the local coordinate values in the list _ locality;
step S65: moving each point in the central axis point set to a corresponding point of a curve _ rotate2, calculating the global coordinate of each point in the moved central axis point set on a point on a target steel plate model mapped by each point according to the local coordinate of each point on the target steel plate model, and storing the global coordinate into a list _ final;
step S66: and reconstructing a three-dimensional model by using the stored topological structure of the target steel plate model and the list _ final to obtain the pre-bending model.
The same and similar parts among the various embodiments in this specification may be referred to each other.
Although the present invention has been described in detail in connection with the preferred embodiments with reference to the accompanying drawings, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made on the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and these modifications or substitutions are within the scope of the present invention/any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. The method for acquiring the digital pre-bending model of the steel plate for the orthopedic surgery is based on a three-dimensional skeleton model after virtual reduction of broken bones of a patient, and is characterized by comprising the following steps of:
s1: reading a three-dimensional skeleton model after virtual reduction of a broken bone of a patient;
s2: determining a position for placing a steel plate on the three-dimensional skeleton model, and generating a steel plate pre-bending line based on the determined position;
s3: calculating the length of the steel plate pre-bending line, and selecting a steel plate model with the length closest to the calculated length of the steel plate pre-bending line from a pre-created digital steel plate library; the digital steel plate library is pre-stored with steel plate models of solid steel plates with different specifications;
s4: extracting the central axis of the selected steel plate model;
s5: registering the steel plate pre-bending line based on the central axis to obtain a registered steel plate pre-bending line;
s6: according to the registered steel plate pre-bending line, performing shaft deformation pre-bending on the selected steel plate model to obtain a pre-bending model corresponding to the selected steel plate model;
the implementation method of the step S4 comprises the following steps:
step S41: acquiring a midpoint object _ center of a target steel plate model, wherein the target steel plate model is the selected steel plate model;
step S42: calculating a direction vector axis _ vector of the target steel plate model;
step S43: taking the midpoint object _ center as a center, taking the direction vector axis _ vector as a ray vector to increase in a ray manner towards the two ends of the target steel plate model until reaching the boundary of the two ends of the target steel plate model, and obtaining two end points on the boundary of the two ends of the target steel plate model;
step S44: connecting the two end points to obtain a straight line segment, namely obtaining the central axis of the target steel plate model;
the implementation method of the step S5 comprises the following steps:
step S51: translating the curved starting point pointa to the central axis starting point endpoint _ a, then translating all other points except the starting point pointa in the ordered point set curved _ points according to the vectors of the two adjacent points, and finally obtaining the translated pre-bending line curved _ translation; wherein, curve is the steel plate pre-bending line generated in step S2, and a central axis starting point endpoint _ a is an end point of one end of the central axis closest to the starting point pointa;
step S52: rotating the obtained translated pre-bending line curve _ transition to intersect with the central axis by taking the central axis starting point endpoint _ a as a rotation center, and recording the pre-bending line curve _ transition at the moment as a curve _ rotate1;
step S53: taking the central axis starting point endpoint _ a as a rotation center, rotating the curve _ rotate1 to be parallel to the vertical vector to obtain a curve _ rotate2;
the method for acquiring the vertical vector comprises the following steps:
creating a plane by taking the midpoint object _ center as the midpoint of the plane and taking the direction vector axis _ normal of the central axis as the normal of the plane, and calculating a point set intersector _ points1 of the intersection of the plane and the target steel plate model;
traversing each point in the intersector _ points1 of the point set, respectively calculating the distance between each traversed point and the object _ center, and selecting four points in the intersector _ points1 of the point set corresponding to the minimum four distances;
the distance between every two selected four points is calculated, two points with the shortest distance are selected, and the vector difference of the coordinates of the two points is the vertical vector of the target steel plate model;
the implementation method of the step S6 comprises the following steps:
step S60: on the central axis, subdividing the central axis into the number of curve point sets by using subdividing points; then, collecting each subdivision point on the central axis and two end points of the central axis to form a central axis point set;
step S61: respectively establishing a mapping relation between each point on the target steel plate model and a point which is in the central axis point set and is closest to the central axis point set;
step S62: saving points on the target steel plate model, and simultaneously saving the topological structure of the target steel plate model;
step S63: establishing a local coordinate system of each central axis point set, and storing the local coordinate system to a location _ coordinate; in the local coordinate system, a point with a central axis point concentration is taken as an origin of the coordinate system, an x-axis direction vector is a direction vector axis _ vector of the target steel plate model, a y-axis direction vector is a vertical vector of the target steel plate model, and a z-axis direction vector is a cross product of the x-axis direction vector and the y-axis direction vector;
step S64: using the mapping relation established in step S61, correspondingly calculating a local coordinate value of each point in the target steel plate model in the local coordinate system of the point in the central axis point set mapped by each point, and storing the local coordinate values in the list _ locality;
step S65: moving each point in the central axis point set to a corresponding point of a curve _ rotate2, calculating the global coordinate of each point in the moved central axis point set on a point on a target steel plate model to which each point is mapped according to the local coordinate of each point on the target steel plate model, and storing the global coordinate into a list _ final;
step S66: and reconstructing a three-dimensional model by using the stored topological structure of the target steel plate model and the list _ final to obtain the pre-bending model.
2. The method for obtaining the digital pre-bending model of the steel plate for the orthopedic surgery according to claim 1, wherein the step S2 comprises the following steps:
step S21: selecting a starting point pointa and a terminal point pointa of a steel plate placing position and a trend point pointac of pre-bending of the steel plate on the virtually reset three-dimensional skeleton model in a man-machine interaction mode;
step S22: creating a plane according to the clicked starting point pointa, the clicked end point pointa and the pre-bent trend point pointa of the steel plate;
step S23: calculating a point set intersector _ points of the intersection of the plane created in the step S22 and the virtual reset three-dimensional skeleton model;
step S24: adopting a shortest path algorithm to the points in the point set intersect _ points to obtain an ordered point set current _ points;
step S25: and sequentially connecting each point in the ordered point set curve _ points to obtain the steel plate pre-bending line.
3. The utility model provides an orthopedic operation steel sheet digit preflex model acquisition system, this orthopedic operation steel sheet digit preflex model acquisition system is based on the three-dimensional skeleton model after the virtual reset of patient's broken bone, its characterized in that includes:
a bone model reading unit for reading a three-dimensional bone model after virtual reduction of a broken bone of a patient;
a pre-bending line generating unit for determining a position for placing a steel plate on the three-dimensional skeleton model and generating a steel plate pre-bending line based on the determined position;
the steel plate model selecting unit is used for calculating the length of the steel plate pre-bending line and selecting a steel plate model with the length closest to the calculated length of the steel plate pre-bending line from a pre-created digital steel plate library; the digital steel plate library is pre-stored with steel plate models of solid steel plates with different specifications;
a central axis extracting unit for extracting the central axis of the selected steel plate model;
the registration unit is used for registering the steel plate pre-bending line based on the central axis to obtain the registered steel plate pre-bending line;
a pre-bending model obtaining unit, configured to perform axial deformation pre-bending on the selected steel plate model according to the registered steel plate pre-bending line, so as to obtain a pre-bending model corresponding to the selected steel plate model;
the implementation method for extracting the central axis of the selected steel plate model by the central axis extraction unit comprises the following steps:
step S41: acquiring a midpoint object _ center of a target steel plate model, wherein the target steel plate model is the selected steel plate model;
step S42: calculating a direction vector axis _ vector of the target steel plate model;
step S43: taking the midpoint object _ center as a center, taking the direction vector axis _ vector as a ray vector, and increasing the ray towards the two ends of the target steel plate model until the two end boundaries of the target steel plate model are reached to obtain two end points on the two end boundaries of the target steel plate model;
step S44: connecting the two end points to obtain a straight line segment, namely obtaining the central axis of the target steel plate model;
the registration unit specifically performs the following steps:
step S51: translating the curved starting point pointa to the central axis starting point endpoint _ a, then translating all other points except the starting point pointa in the ordered point set curved _ points according to the vectors of the two adjacent points, and finally obtaining the translated pre-bending line curved _ translation; the curve is a steel plate pre-bending line generated by a pre-bending line generating unit, and the central axis starting point _ a is an end point of one end of the central axis, which is closest to the starting point pointa;
step S52: rotating the obtained translated pre-bending line curve _ transition to intersect with the central axis by taking the central axis starting point endpoint _ a as a rotation center, and recording the pre-bending line curve _ transition at the moment as a curve _ rotate1;
step S53: taking the central axis starting point endpoint _ a as a rotation center, rotating the curve _ rotate1 to be parallel to the vertical vector to obtain a curve _ rotate2;
the method for acquiring the vertical vector comprises the following steps:
creating a plane by taking the midpoint object _ center as the midpoint of the plane and taking the direction vector axis _ normal of the central axis as the normal of the plane, and calculating a point set intersector _ points1 of the intersection of the plane and the target steel plate model;
traversing each point in the intersector _ points1 of the point set, respectively calculating the distance between each traversed point and the object _ center, and selecting four points in the intersector _ points1 of the point set corresponding to the minimum four distances;
the distance between every two selected four points is calculated, two points with the shortest distance are selected, and the vector difference of the coordinates of the two points is the vertical vector of the target steel plate model;
the pre-bending model obtaining unit specifically executes the following steps:
step S60: on the central axis, subdividing the central axis into the number of curve point sets by using a subdividing point; then, collecting each subdivision point on the central axis and two end points of the central axis to form a central axis point set;
step S61: respectively establishing a mapping relation between each point on the target steel plate model and a point which is in the central axis point set and is closest to the central axis point set;
step S62: saving points on the target steel plate model, and simultaneously saving the topological structure of the target steel plate model;
step S63: establishing a local coordinate system of each point in the central axis point set, and storing the local coordinate system to local _ coordinate; in the local coordinate system, a point with a central axis point concentration is taken as an origin of the coordinate system, an x-axis direction vector is a direction vector axis _ vector of the target steel plate model, a y-axis direction vector is a vertical vector of the target steel plate model, and a z-axis direction vector is a cross product of the x-axis direction vector and the y-axis direction vector;
step S64: using the mapping relation established in step S61, correspondingly calculating a local coordinate value of each point in the target steel plate model in the local coordinate system of the point in the central axis point set mapped by each point, and storing the local coordinate values in the list _ locality;
step S65: moving each point in the central axis point set to a corresponding point of a curve _ rotate2, calculating the global coordinate of each point in the moved central axis point set on a point on a target steel plate model mapped by each point according to the local coordinate of each point on the target steel plate model, and storing the global coordinate into a list _ final;
step S66: and reconstructing a three-dimensional model by using the stored topological structure of the target steel plate model and the list _ final to obtain the pre-bending model.
4. The digital pre-bending model acquisition system for steel plates for orthopedic surgery according to claim 3, characterized in that the pre-bending line generation unit comprises:
the first module is used for clicking a starting point pointa and a terminal point pointa of a steel plate placing position and a trend point pointac of pre-bending of a steel plate on the virtually reset three-dimensional skeleton model in a man-machine interaction mode;
the second module is used for creating a plane according to the point-selected starting point pointana, the point-selected finishing point pointanb and the trend point pointanc of the pre-bending of the steel plate;
a third module, configured to calculate a point set intersector _ points at which the plane created in the second module intersects with the virtual-reset three-dimensional bone model;
a fourth module, configured to obtain an ordered point set current _ points by using a shortest path algorithm for points in the point set intersector _ points;
and the fifth module is used for sequentially connecting all the points in the ordered point set curve _ points to obtain the steel plate pre-bending line.
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