CN113077498A - Pelvis registration method, pelvis registration device and pelvis registration system - Google Patents
Pelvis registration method, pelvis registration device and pelvis registration system Download PDFInfo
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Abstract
The application provides a pelvis registration method, a pelvis registration device and a pelvis registration system, wherein the method comprises the following steps: registering the three-dimensional model of the pelvis and the actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model; carrying out region division on the surface of the three-dimensional model according to the first mark point to obtain a plurality of regions to be selected; sequencing the multiple regions to be selected according to a hierarchical analysis model to obtain an optimal region, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises the multiple regions to be selected, the factor layer comprises multiple influence factors for pelvic registration, and the scheme layer comprises multiple feasible sequencing schemes; selecting at least three second mark points in the preferred area; and registering the primary registration model and the actual pelvis according to the second mark point to obtain a secondary registration model. The pelvis registration method solves the problem of low precision of pelvis registration in the prior art.
Description
Technical Field
The present application relates to the field of pelvic registration technology, and in particular, to a pelvic registration method, a pelvic registration apparatus, a computer-readable storage medium, a processor, and a pelvic registration system.
Background
Although artificial joint replacement is now well established, a significant proportion of patients undergoing primary joint replacement surgery still require revision surgery for a number of reasons including loosening of the prosthesis (sterility/sterility), fractures around the prosthesis, dislocation of the prosthesis, and the like.
Due to the numerous reasons for revision surgery and the complex conditions of the patients, performing the joint revision surgery requires extremely high surgical techniques and abundant surgical experience. Even so, the satisfactory rate of revision surgery is low. Proper filling of the defect site is an important step in revision joint surgery. With the development of 3D printing technology, patches of various shapes begin to play an important role, personalized prostheses of patients begin to appear, and revision surgery also makes certain progress. However, one problem that has not been addressed in revision surgery has been how to accurately place patches or prostheses. Even if the prosthesis is customized, the problem of misplacement and misplacement still occurs very frequently.
In the orthopedic revision surgery operation, an important step is to match the digital three-dimensional model of the skeleton with the actual skeleton, namely, the pose of the actual skeleton is obtained through a positioning device, a series of transformations are established, so that the pose of the digital three-dimensional model can be expressed by the pose of the actual skeleton through the transformations, the process is called registration, and the actual effect is equivalent to aligning the digital three-dimensional model with the actual skeleton. Registration has a large impact on the accuracy of the procedure.
A conventional registration procedure includes: low precision registration, high precision registration, and registration validation. Low precision registration, also known as point registration, is typically achieved by selecting matching bony landmark points on the digital three-dimensional model and the actual bone. High precision registration, also known as surface registration, is performed by a positioning system continuously acquiring the positions of a plurality of actual bone surface points, automatically calculating the positions of points on a digital three-dimensional model matched with the positions, and finely adjusting the alignment of the digital three-dimensional model and the actual bone. In the conventional registration process, accurate acquisition of actual bone surface points is particularly important.
The difficulty of pelvis registration in hip revision surgery is that at the moment, a digital three-dimensional model of the pelvis possibly has difference with an actual skeleton, and accurate bony mark points and skeleton surface points need to be determined to ensure the smooth implementation of a registration process.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
A primary object of the present application is to provide a pelvis registration method, a pelvis registration apparatus, a computer-readable storage medium, a processor and a pelvis registration system, so as to solve the problem of low precision of pelvis registration in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a pelvic registration method, the method including: registering the three-dimensional model of the pelvis and the actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line; carrying out region division on the surface of the three-dimensional model according to the first mark point to obtain a plurality of regions to be selected; sequencing the multiple regions to be selected according to a hierarchical analysis model to obtain an optimal region, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises the multiple regions to be selected, the factor layer comprises multiple influence factors of pelvis registration, and the scheme layer comprises multiple feasible sequencing schemes; selecting at least three second mark points in the preferred area; and registering the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line.
Optionally, performing region division on the surface of the three-dimensional model according to the first mark point to obtain a plurality of regions to be selected, including: determining a plurality of areas to be selected according to a plurality of second cylinders, wherein the areas to be selected are areas where the second cylinders intersect with the three-dimensional model, the second cylinders are formed by stretching a first circle along the current view angle, the first circle is a circle with the first mark point as the center of the circle, the first circle is tangent to a second circle, and the second circle is a circle with the center of the acetabulum as the center of the circle.
Optionally, the sorting the multiple regions to be selected according to a hierarchical analysis model to obtain a preferred region includes: determining the evaluation grade of each influence factor, wherein the influence factors comprise original bone defect influence, prosthesis extraction influence and metal artifact influence; determining feasible sorting schemes of the multiple regions to be selected according to the evaluation level; determining the weight of each influence factor and the weight of the feasible sorting scheme, and respectively constructing a judgment matrix according to the weight of each influence factor and the weight of the feasible sorting scheme; carrying out consistency detection on the judgment matrix to obtain a detection result; determining whether the judgment matrix is an optimal judgment matrix according to the detection result; determining a preferred sorting scheme of each to-be-selected area according to the preferred judgment matrix under the condition that the judgment matrix is the preferred judgment matrix; and determining the preferred region in the plurality of regions to be selected according to the preferred sorting scheme.
Optionally, determining whether the determination matrix is the preferred determination matrix according to the detection result includes: determining the judgment matrix as the preferred judgment matrix under the condition that the judgment matrix passes the consistency detection; and under the condition that the judgment matrix does not pass the consistency detection, adjusting the weight of each influence factor until the judgment matrix passes the consistency detection.
Optionally, determining a preferred sorting scheme of each to-be-selected area according to the preferred judgment matrix includes: calculating a hierarchy list sorting result according to the optimal judgment matrix, wherein the hierarchy list sorting result comprises a hierarchy list sorting result of the factor layer and a hierarchy list sorting result of the scheme layer; calculating a result of the total hierarchical ranking according to the result of the hierarchical single ranking; and determining the preferred sorting scheme according to the total sorting result of the hierarchy.
Optionally, the method further comprises: and recording the preferred area to form a database.
There is also provided, in accordance with another aspect of an embodiment of the present invention, apparatus for pelvic registration, the apparatus including: the first registration unit is used for registering the three-dimensional model of the pelvis and the actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line; the first processing unit is used for carrying out region division on the surface of the three-dimensional model according to the first mark point to obtain a plurality of regions to be selected; the second processing unit is used for sequencing the multiple areas to be selected according to the hierarchical analysis model to obtain an optimal area; the third processing unit is used for selecting at least three second mark points in the preferred area; and the second registration unit is used for registering the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, and at least three second mark points are not positioned on the same straight line.
According to still another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes any one of the methods.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes any one of the methods.
There is also provided, in accordance with a further aspect of an embodiment of the present invention, a pelvic registration system, including a pelvic registration device for performing any one of the methods.
In an embodiment of the present invention, in the method for registering a pelvis, a three-dimensional model of a pelvis and an actual pelvis are registered according to at least three first mark points to obtain a primary registration model, where the first mark points are any point of the three-dimensional model, and the at least three first mark points are not located on a same straight line; then, carrying out region division on the surface of the three-dimensional model according to the first mark point to obtain a plurality of regions to be selected; then, sequencing the plurality of to-be-selected areas according to a hierarchical analysis model to obtain a preferred area, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises the plurality of to-be-selected areas, the factor layer comprises a plurality of influence factors for pelvic registration, and the scheme layer comprises a plurality of feasible sequencing schemes; then, selecting at least three second mark points in the preferred area; and finally, registering the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line. According to the pelvis registration method, the optimized areas are screened through the hierarchical analysis model, so that the influence of the influence factors on the areas to be selected is sequenced, the areas with smaller influence are selected as the optimized areas, the mark points are selected in the optimized areas for registration, and the problem of low precision of pelvis registration in the prior art is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 shows a flow diagram of a pelvic registration method according to an embodiment of the application;
FIG. 2 shows a schematic diagram of region partitioning according to an embodiment of the present application;
fig. 3 shows a schematic view of a pelvic registration apparatus according to an embodiment of the application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background, the prior art has low accuracy in pelvic registration, and in order to solve the above problems, in an exemplary embodiment of the present application, a pelvic registration method, a pelvic registration apparatus, a computer-readable storage medium, a processor, and a pelvic registration system are provided.
According to an embodiment of the present application, a pelvic registration method is provided.
Fig. 1 is a flow chart of a pelvic registration method according to an embodiment of the application. As shown in fig. 1, the method comprises the steps of:
step S101, registering a three-dimensional model of a pelvis and an actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line;
step S102, dividing the surface of the three-dimensional model into regions according to the first mark point to obtain a plurality of regions to be selected;
step S103, sequencing a plurality of to-be-selected areas according to a hierarchical analysis model to obtain a preferred area, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises a plurality of to-be-selected areas, the factor layer comprises a plurality of influence factors for pelvic registration, and the scheme layer comprises a plurality of feasible sequencing schemes;
step S104, selecting at least three second mark points in the preferred area;
and step S105, registering the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line.
In the pelvis registration method, firstly, a three-dimensional model of a pelvis is registered with an actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any one point of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line; then, carrying out region division on the surface of the three-dimensional model according to the first mark point to obtain a plurality of regions to be selected; then, sequencing the plurality of to-be-selected areas according to a hierarchical analysis model to obtain a preferred area, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises the plurality of to-be-selected areas, the factor layer comprises a plurality of influence factors for pelvic registration, and the scheme layer comprises a plurality of feasible sequencing schemes; then, selecting at least three second mark points in the preferred area; and finally, registering the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line. According to the pelvis registration method, the optimized areas are screened through the hierarchical analysis model, so that the influence of the influence factors on the areas to be selected is sequenced, the areas with smaller influence are selected as the optimized areas, the mark points are selected in the optimized areas for registration, and the problem of low precision of pelvis registration in the prior art is solved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In an embodiment of the application, performing region division on the surface of the three-dimensional model according to the first marked point to obtain a plurality of candidate regions includes: and determining a plurality of areas to be selected according to a plurality of second cylinders, wherein the areas to be selected are areas where the second cylinders are intersected with the three-dimensional model, the second cylinders are formed by stretching a first circle along the current visual angle, the first circle is a circle with the first mark point as the center, the first circle is tangent to a second circle, and the second circle is a circle with the center of the acetabulum as the center. Specifically, as shown in fig. 2, there are three first mark points, which are marked as 1, 2, and 3, the large circle is a second circle, three small circles in the large circle are first circles, the three small circles are second cylinders formed by stretching the three small circles along the current view, and areas intersecting the three-dimensional model are to-be-selected areas, i.e., area 1, area 2, and area 3.
It should be noted that, at the current view angle, the first circle is located inside the second circle, and the area covered by the second circle is greater than 2/3 of the area of the exposed area at the current view angle, so as to ensure that the range of division of the to-be-selected area is sufficiently large, avoid omission of a proper selected point area, and further improve the precision of pelvis registration.
It should be further noted that the area to be selected may be further subdivided, a coordinate system is established with the first mark point as an origin, the area corresponding to the first circle is divided into a plurality of areas according to a quadrant or other manners, for example, the nth circular area is divided according to a quadrant, and the n area is defined as an area of the first quadrant.
In an embodiment of the present application, the sorting a plurality of the regions to be selected according to a hierarchical analysis model to obtain a preferred region includes: determining the evaluation grade of each influence factor, wherein the influence factors comprise the influence of original bone defect, the influence of prosthesis extraction and the influence of metal artifact; determining a feasible sorting scheme of a plurality of the areas to be selected according to the evaluation level; determining the weight of each influence factor and the weight of the feasible ordering scheme, and respectively constructing to obtain a judgment matrix according to the weight of each influence factor and the weight of the feasible ordering scheme; carrying out consistency detection on the judgment matrix to obtain a detection result; determining whether the judgment matrix is a preferred judgment matrix according to the detection result; determining a preferred sorting scheme of each to-be-selected area according to the preferred judgment matrix under the condition that the judgment matrix is the preferred judgment matrix; and determining the preferred region in the plurality of regions to be selected according to the preferred sorting scheme. Specifically, the influence factors of the factor layer are divided into three evaluation levels I, II and III, for example, the influence of the original bone defect is divided into three levels of no bone defect, mild bone defect and severe bone defect, the influence of prosthesis extraction and the influence of metal artifacts are respectively divided into three levels of no influence, mild influence and severe influence, each evaluation level corresponds to one or a plurality of feasible sorting schemes, one or a plurality of levels which can be met by each influence factor are sequentially judged according to the condition information of high-precision registration, an evaluation level table of the influence factors is listed, a plurality of feasible sorting schemes are preliminarily determined according to the evaluation level table, a judgment matrix is respectively constructed according to the weight of each influence factor and the weight of the feasible sorting schemes, namely, a hierarchical structure model according to pelvic registration is constructed from the factor layer of the hierarchical structure model to the scheme layer, and constructing a judgment matrix of each layer of elements for each element of the previous layer by using a 1-9 scaling method, determining whether the weight distribution is reasonable or not through consistency detection, and determining the preferred sorting scheme of each to-be-selected area according to the preferred judgment matrix through detection so as to determine the preferred area in the plurality of to-be-selected areas.
In an embodiment of the present application, determining whether the determination matrix is the preferred determination matrix according to the detection result includes: determining the judgment matrix as the preferred judgment matrix when the judgment matrix passes the consistency detection; and in the case that the judgment matrix does not pass the consistency detection, adjusting the weight of each influencing factor until the judgment matrix passes the consistency detection. Specifically, the maximum eigenvalue and the corresponding eigenvector are calculated for each judgment matrix, consistency detection is performed by using a consistency index, a random consistency index and a consistency ratio, if the judgment matrix passes the consistency detection, the judgment matrix can be determined to be the preferred judgment matrix, and if the judgment matrix does not pass the consistency detection, the weight of each influence factor is adjusted to reconstruct the judgment matrix until the judgment matrix passes the consistency detection.
In an embodiment of the application, determining a preferred sorting scheme of each of the candidate areas according to the preferred judgment matrix includes: calculating a hierarchical list sorting result according to the preferred judgment matrix, wherein the hierarchical list sorting result comprises a hierarchical list sorting result of the factor layer and a hierarchical list sorting result of the scheme layer; calculating the result of the total hierarchical ranking according to the result of the hierarchical single ranking; and determining the preferred sorting scheme according to the overall sorting result of the hierarchy. Specifically, the feature vector after normalization processing of the preferred judgment matrix is hierarchical single sequencing, the total sequencing weight of each hierarchy to the system is calculated layer by layer according to the hierarchical single sequencing result, consistency detection is performed by using a consistency index, a random consistency index and a consistency ratio, if the detection fails, a hierarchical analysis model is reconstructed or a judgment matrix is reconstructed, the hierarchical total sequencing is recalculated until the detection passes, the result of the hierarchical total sequencing is the preferred sequencing scheme, for example, the first bit is 3 regions, and then 3 regions are determined as preferred regions, of course, when there are more regions, a plurality of results can be selected as the preferred regions according to the total sequencing result, for example, the first three bits are selected as the preferred regions.
In an embodiment of the present application, the method further includes: and recording the preferred area to form a database. Specifically, the three-dimensional model of the pelvis marking the preferred region is recorded in the database, so that the preferred region of the three-dimensional model of the pelvis to be registered is directly determined by adopting big data analysis subsequently, the preferred region is screened instead of the hierarchical analysis model, and the workload is reduced.
The embodiment of the present application further provides a pelvis registration device, and it should be noted that the pelvis registration device according to the embodiment of the present application can be used for executing the method for pelvis registration provided by the embodiment of the present application. The following describes a pelvis registration device provided in an embodiment of the present application.
Fig. 3 is a schematic diagram of a pelvic registration apparatus according to an embodiment of the application. As shown in fig. 3, the apparatus includes:
a first registration unit 10, configured to register a three-dimensional model of a pelvis with an actual pelvis according to at least three first mark points, so as to obtain a primary registration model, where the first mark points are any point of the three-dimensional model, and the at least three first mark points are not located on the same straight line;
the first processing unit 20 is configured to perform region division on the surface of the three-dimensional model according to the first mark point to obtain a plurality of regions to be selected;
the second processing unit 30 is configured to sort the multiple candidate regions according to a hierarchical analysis model to obtain a preferred region;
a third processing unit 40, configured to select at least three second marker points in the preferred area;
and a second registration unit 50, configured to register the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, where at least three of the second mark points are not located on the same straight line.
In the pelvis registration device, a first registration unit registers a three-dimensional model of a pelvis and an actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any one point of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line; the first processing unit divides the surface of the three-dimensional model into a plurality of regions to be selected according to the first mark point; the second processing unit sequences a plurality of to-be-selected areas according to a hierarchical analysis model to obtain a preferred area, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises a plurality of to-be-selected areas, the factor layer comprises a plurality of influence factors for pelvic registration, and the scheme layer comprises a plurality of feasible sequencing schemes; the third processing unit selects at least three second mark points in the preferred area; and the second registration unit registers the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line. The pelvis registration device screens the optimal regions through the hierarchical analysis model, so that the influence of the influence factors on the regions to be selected is sequenced, the regions with smaller influence are selected as the optimal regions, the mark points are selected in the optimal regions for registration, and the problem of low precision of pelvis registration in the prior art is solved.
In an embodiment of the application, performing region division on the surface of the three-dimensional model according to the first marked point to obtain a plurality of candidate regions includes: and determining a plurality of areas to be selected according to a plurality of second cylinders, wherein the areas to be selected are areas where the second cylinders are intersected with the three-dimensional model, the second cylinders are formed by stretching a first circle along the current visual angle, the first circle is a circle with the first mark point as the center, the first circle is tangent to a second circle, and the second circle is a circle with the center of the acetabulum as the center. Specifically, as shown in fig. 2, there are three first mark points, which are marked as 1, 2, and 3, the large circle is a second circle, three small circles in the large circle are first circles, the three small circles are second cylinders formed by stretching the three small circles along the current view, and areas intersecting the three-dimensional model are to-be-selected areas, i.e., area 1, area 2, and area 3.
It should be noted that, at the current view angle, the first circle is located inside the second circle, and the area covered by the second circle is greater than 2/3 of the area of the exposed area at the current view angle, so as to ensure that the range of division of the to-be-selected area is sufficiently large, avoid omission of a proper selected point area, and further improve the precision of pelvis registration.
It should be further noted that the area to be selected may be further subdivided, a coordinate system is established with the first mark point as an origin, the area corresponding to the first circle is divided into a plurality of areas according to a quadrant or other manners, for example, the nth circular area is divided according to a quadrant, and the n area is defined as an area of the first quadrant.
In an embodiment of the present application, the second processing unit includes a first determining subunit, a second determining subunit, a constructing subunit, a detecting subunit, a third determining subunit, a fourth determining subunit, and a fifth determining subunit, where the first determining subunit is configured to determine an evaluation level of each of the influencing factors, where the influencing factors include an original bone defect influence, a prosthesis extraction influence, and a metal artifact influence; the second determining subunit is configured to determine, according to the evaluation level, a feasible sorting scheme for the multiple candidate regions; the construction subunit is configured to determine a weight of each of the influencing factors and a weight of the feasible ordering scheme, and respectively construct a judgment matrix according to the weight of each of the influencing factors and the weight of the feasible ordering scheme; the detection subunit is used for carrying out consistency detection on the judgment matrix to obtain a detection result; the third determining subunit is configured to determine, according to the detection result, whether the determination matrix is a preferred determination matrix; the fourth determining subunit is configured to determine, according to the preferred judgment matrix, a preferred ordering scheme for each of the to-be-selected regions when the judgment matrix is the preferred judgment matrix; the fifth determining subunit is configured to determine the preferred region from among the plurality of regions to be selected according to the preferred sorting scheme. Specifically, the influence factors of the factor layer are divided into three evaluation levels I, II and III, for example, the influence of the original bone defect is divided into three levels of no bone defect, mild bone defect and severe bone defect, the influence of prosthesis extraction and the influence of metal artifacts are respectively divided into three levels of no influence, mild influence and severe influence, each evaluation level corresponds to one or a plurality of feasible sorting schemes, one or a plurality of levels which can be met by each influence factor are sequentially judged according to the condition information of high-precision registration, an evaluation level table of the influence factors is listed, a plurality of feasible sorting schemes are preliminarily determined according to the evaluation level table, a judgment matrix is respectively constructed according to the weight of each influence factor and the weight of the feasible sorting schemes, namely, a hierarchical structure model according to pelvic registration is constructed from the factor layer of the hierarchical structure model to the scheme layer, and constructing a judgment matrix of each layer of elements for each element of the previous layer by using a 1-9 scaling method, determining whether the weight distribution is reasonable or not through consistency detection, and determining the preferred sorting scheme of each to-be-selected area according to the preferred judgment matrix through detection so as to determine the preferred area in the plurality of to-be-selected areas.
In an embodiment of the present application, the third determining subunit includes a first determining module and a second determining module, where the first determining module is configured to determine that the determination matrix is the preferred determination matrix when the determination matrix passes the consistency detection; the second determining module is configured to adjust a weight of each of the influencing factors until the determination matrix passes the consistency detection when the determination matrix does not pass the consistency detection. Specifically, the maximum eigenvalue and the corresponding eigenvector are calculated for each judgment matrix, consistency detection is performed by using a consistency index, a random consistency index and a consistency ratio, if the judgment matrix passes the consistency detection, the judgment matrix can be determined to be the preferred judgment matrix, and if the judgment matrix does not pass the consistency detection, the weight of each influence factor is adjusted to reconstruct the judgment matrix until the judgment matrix passes the consistency detection.
In an embodiment of the application, the fourth determining subunit includes a first calculating module, a second calculating module, and a third determining module, where the first calculating module is configured to calculate a result of ranking according to the preferred judgment matrix, and the result of ranking includes a result of ranking of the factor layer and a result of ranking of the scheme layer; the second calculation module is used for calculating the result of the total hierarchical ranking according to the result of the single hierarchical ranking; the third determining module is configured to determine the preferred sorting scheme according to the total hierarchical sorting result. Specifically, the feature vector after normalization processing of the preferred judgment matrix is hierarchical single sequencing, the total sequencing weight of each hierarchy to the system is calculated layer by layer according to the hierarchical single sequencing result, consistency detection is performed by using a consistency index, a random consistency index and a consistency ratio, if the detection fails, a hierarchical analysis model is reconstructed or a judgment matrix is reconstructed, the hierarchical total sequencing is recalculated until the detection passes, the result of the hierarchical total sequencing is the preferred sequencing scheme, for example, the first bit is 3 regions, and then 3 regions are determined as preferred regions, of course, when there are more regions, a plurality of results can be selected as the preferred regions according to the total sequencing result, for example, the first three bits are selected as the preferred regions.
In an embodiment of the application, the apparatus further includes a recording unit, and the recording unit is configured to record the preferred region forming database. Specifically, the three-dimensional model of the pelvis marking the preferred region is recorded in the database, so that the preferred region of the three-dimensional model of the pelvis to be registered is directly determined by adopting big data analysis subsequently, the preferred region is screened instead of the hierarchical analysis model, and the workload is reduced.
Embodiments of the present application also provide a pelvic registration system, comprising a pelvic registration device configured to perform any of the above-described methods.
The pelvis registration system comprises a pelvis registration device, a first registration unit registers a three-dimensional model of a pelvis and an actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line; the first processing unit divides the surface of the three-dimensional model into a plurality of regions to be selected according to the first mark point; the second processing unit sequences a plurality of to-be-selected areas according to a hierarchical analysis model to obtain a preferred area, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises a plurality of to-be-selected areas, the factor layer comprises a plurality of influence factors for pelvic registration, and the scheme layer comprises a plurality of feasible sequencing schemes; the third processing unit selects at least three second mark points in the preferred area; and the second registration unit registers the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line. The pelvis registration device screens the optimal regions through the hierarchical analysis model, so that the influence of the influence factors on the regions to be selected is sequenced, the regions with smaller influence are selected as the optimal regions, the mark points are selected in the optimal regions for registration, and the problem of low precision of pelvis registration in the prior art is solved.
The pelvis registration device comprises a processor and a memory, wherein the first registration unit, the first processing unit, the second processing unit, the third processing unit, the first registration unit and the like are stored in the memory as program units, and the program units stored in the memory are executed by the processor to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more than one kernel can be set, and the problem of low precision of pelvis registration in the prior art is solved by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium on which a program is stored, which when executed by a processor implements the above-described method.
The embodiment of the invention provides a processor, which is used for running a program, wherein the method is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, registering a three-dimensional model of a pelvis and an actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line;
step S102, dividing the surface of the three-dimensional model into regions according to the first mark point to obtain a plurality of regions to be selected;
step S103, sequencing a plurality of to-be-selected areas according to a hierarchical analysis model to obtain a preferred area, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises a plurality of to-be-selected areas, the factor layer comprises a plurality of influence factors for pelvic registration, and the scheme layer comprises a plurality of feasible sequencing schemes;
step S104, selecting at least three second mark points in the preferred area;
and step S105, registering the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, registering a three-dimensional model of a pelvis and an actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line;
step S102, dividing the surface of the three-dimensional model into regions according to the first mark point to obtain a plurality of regions to be selected;
step S103, sequencing a plurality of to-be-selected areas according to a hierarchical analysis model to obtain a preferred area, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises a plurality of to-be-selected areas, the factor layer comprises a plurality of influence factors for pelvic registration, and the scheme layer comprises a plurality of feasible sequencing schemes;
step S104, selecting at least three second mark points in the preferred area;
and step S105, registering the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a computer-readable storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned computer-readable storage media comprise: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) according to the pelvis registration method, firstly, a three-dimensional model of a pelvis is registered with an actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model, and the at least three first mark points are not located on the same straight line; then, carrying out region division on the surface of the three-dimensional model according to the first mark point to obtain a plurality of regions to be selected; then, sequencing the plurality of to-be-selected areas according to a hierarchical analysis model to obtain a preferred area, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises the plurality of to-be-selected areas, the factor layer comprises a plurality of influence factors for pelvic registration, and the scheme layer comprises a plurality of feasible sequencing schemes; then, selecting at least three second mark points in the preferred area; and finally, registering the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line. According to the pelvis registration method, the optimized areas are screened through the hierarchical analysis model, so that the influence of the influence factors on the areas to be selected is sequenced, the areas with smaller influence are selected as the optimized areas, the mark points are selected in the optimized areas for registration, and the problem of low precision of pelvis registration in the prior art is solved.
2) In the pelvis registration device, a first registration unit registers a three-dimensional model of a pelvis and an actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line; the first processing unit divides the surface of the three-dimensional model into a plurality of regions to be selected according to the first mark point; the second processing unit sequences a plurality of to-be-selected areas according to a hierarchical analysis model to obtain a preferred area, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises a plurality of to-be-selected areas, the factor layer comprises a plurality of influence factors for pelvic registration, and the scheme layer comprises a plurality of feasible sequencing schemes; the third processing unit selects at least three second mark points in the preferred area; and the second registration unit registers the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line. The pelvis registration device screens the optimal regions through the hierarchical analysis model, so that the influence of the influence factors on the regions to be selected is sequenced, the regions with smaller influence are selected as the optimal regions, the mark points are selected in the optimal regions for registration, and the problem of low precision of pelvis registration in the prior art is solved.
3) The pelvis registration system comprises a pelvis registration device, wherein a first registration unit registers a three-dimensional model of a pelvis and an actual pelvis according to at least three first mark points to obtain a primary registration model, the first mark points are any points of the three-dimensional model, and the at least three first mark points are not located on the same straight line; the first processing unit divides the surface of the three-dimensional model into a plurality of regions to be selected according to the first mark point; the second processing unit sequences a plurality of to-be-selected areas according to a hierarchical analysis model to obtain a preferred area, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises a plurality of to-be-selected areas, the factor layer comprises a plurality of influence factors for pelvic registration, and the scheme layer comprises a plurality of feasible sequencing schemes; the third processing unit selects at least three second mark points in the preferred area; and the second registration unit registers the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line. The pelvis registration device screens the optimal regions through the hierarchical analysis model, so that the influence of the influence factors on the regions to be selected is sequenced, the regions with smaller influence are selected as the optimal regions, the mark points are selected in the optimal regions for registration, and the problem of low precision of pelvis registration in the prior art is solved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A pelvic registration method, the method comprising:
registering the three-dimensional model of the pelvis and the actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line;
carrying out region division on the surface of the three-dimensional model according to the first mark point to obtain a plurality of regions to be selected;
sequencing the multiple regions to be selected according to a hierarchical analysis model to obtain an optimal region, wherein the hierarchical analysis model comprises a target layer, a factor layer and a scheme layer, the target layer comprises the multiple regions to be selected, the factor layer comprises multiple influence factors of pelvis registration, and the scheme layer comprises multiple feasible sequencing schemes;
selecting at least three second mark points in the preferred area;
and registering the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, wherein at least three second mark points are not positioned on the same straight line.
2. The method according to claim 1, wherein performing region division on the surface of the three-dimensional model according to the first marked point to obtain a plurality of candidate regions comprises:
determining a plurality of areas to be selected according to a plurality of second cylinders, wherein the areas to be selected are areas where the second cylinders intersect with the three-dimensional model, the second cylinders are formed by stretching a first circle along the current view angle, the first circle is a circle with the first mark point as the center of the circle, the first circle is tangent to a second circle, and the second circle is a circle with the center of the acetabulum as the center of the circle.
3. The method of claim 1, wherein the step of sorting the plurality of regions to be selected according to a hierarchical analysis model to obtain a preferred region comprises:
determining the evaluation grade of each influence factor, wherein the influence factors comprise original bone defect influence, prosthesis extraction influence and metal artifact influence;
determining feasible sorting schemes of the multiple regions to be selected according to the evaluation level;
determining the weight of each influence factor and the weight of the feasible sorting scheme, and respectively constructing a judgment matrix according to the weight of each influence factor and the weight of the feasible sorting scheme;
carrying out consistency detection on the judgment matrix to obtain a detection result;
determining whether the judgment matrix is an optimal judgment matrix according to the detection result;
determining a preferred sorting scheme of each to-be-selected area according to the preferred judgment matrix under the condition that the judgment matrix is the preferred judgment matrix;
and determining the preferred region in the plurality of regions to be selected according to the preferred sorting scheme.
4. The method of claim 3, wherein determining whether the decision matrix is a preferred decision matrix according to the detection result comprises:
determining the judgment matrix as the preferred judgment matrix under the condition that the judgment matrix passes the consistency detection;
and under the condition that the judgment matrix does not pass the consistency detection, adjusting the weight of each influence factor until the judgment matrix passes the consistency detection.
5. The method according to claim 3, wherein determining the preferred sorting scheme of each of the candidate regions according to the preferred judgment matrix comprises:
calculating a hierarchy list sorting result according to the optimal judgment matrix, wherein the hierarchy list sorting result comprises a hierarchy list sorting result of the factor layer and a hierarchy list sorting result of the scheme layer;
calculating a result of the total hierarchical ranking according to the result of the hierarchical single ranking;
and determining the preferred sorting scheme according to the total sorting result of the hierarchy.
6. The method of claim 1, further comprising:
and recording the preferred area to form a database.
7. A pelvic registration device, the device comprising:
the first registration unit is used for registering the three-dimensional model of the pelvis and the actual pelvis according to at least three first mark points to obtain a primary registration model, wherein the first mark points are any points of the three-dimensional model, and the at least three first mark points are not positioned on the same straight line;
the first processing unit is used for carrying out region division on the surface of the three-dimensional model according to the first mark point to obtain a plurality of regions to be selected;
the second processing unit is used for sequencing the multiple areas to be selected according to the hierarchical analysis model to obtain an optimal area;
the third processing unit is used for selecting at least three second mark points in the preferred area;
and the second registration unit is used for registering the primary registration model and the actual pelvis according to the second mark points to obtain a secondary registration model, and at least three second mark points are not positioned on the same straight line.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 6.
9. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 6.
10. A pelvic registration system comprising a pelvic registration device, wherein the pelvic registration device is configured to perform the method of any of claims 1-6.
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