CN113974828A

CN113974828A - Operation reference scheme generation method and device

Info

Publication number: CN113974828A
Application number: CN202111169025.0A
Authority: CN
Inventors: 王坤正; 王伟; 沈丽萍; 陈汉清; 戴维焕
Original assignee: Second Affiliated Hospital School of Medicine of Xian Jiaotong University; Hangzhou Santan Medical Technology Co Ltd
Current assignee: Second Affiliated Hospital School of Medicine of Xian Jiaotong University; Hangzhou Santan Medical Technology Co Ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-01-28
Anticipated expiration: 2041-09-30
Also published as: CN113974828B

Abstract

The embodiment of the invention provides a method and a device for generating a surgical reference scheme, which relate to the technical field of data processing, and the method comprises the following steps: identifying key points of preset joint parts of an object body in a two-dimensional skeleton perspective image; determining a distorted part of the object based on the position information of the key point, and determining a correction angle, an osteotomy line length and an osteotomy height for correcting the skeleton of the distorted part; and generating a surgical reference scheme with the distorted part, the correction angle, the length of the osteotomy line and the height of the osteotomy as reference information. The scheme provided by the embodiment of the invention is applied to generate the operation reference scheme, and reference information can be provided for doctors.

Description

Operation reference scheme generation method and device

Technical Field

The invention relates to the technical field of data processing, in particular to a method and a device for generating an operation reference scheme.

Background

Nowadays, before a tibia high-level osteotomy is performed on a subject, a doctor obtains a two-dimensional bone perspective image of the subject, for example, an X-ray image, and then the doctor knows the lower limb bone structure of the subject according to the two-dimensional bone perspective image to determine a surgical plan.

In this case, the surgical plan determined by the doctor is often influenced by human subjective factors such as the age of the subject and the surgical experience of the doctor, resulting in low accuracy of the surgical plan. Therefore, there is a need to provide a surgical reference plan that provides reference information to the surgeon, thereby improving the accuracy of the final determined surgical plan.

Disclosure of Invention

The embodiment of the invention aims to provide a method and a device for generating a surgical reference scheme, which are used for providing reference information for doctors. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a surgical reference plan generating method, where the method includes:

identifying key points of preset joint parts of an object body in a two-dimensional skeleton perspective image;

determining a distorted part of the object body based on the position information of the key point, and determining a correction angle, an osteotomy line length and an osteotomy height for correcting the skeleton of the distorted part;

and generating a surgical reference scheme with the distortion part, the correction angle, the length of the osteotomy line and the height of the osteotomy as reference information.

In a second aspect, an embodiment of the present invention provides a surgical reference plan generating apparatus, where the apparatus includes:

the identification module is used for identifying key points of preset joint parts of the object body in the two-dimensional skeleton perspective image;

the first determination module is used for determining a distorted part of the object body based on the position information of the key point, and determining a correction angle, an osteotomy line length and an osteotomy height for correcting the skeleton of the distorted part;

and the generation module is used for generating an operation reference scheme which takes the distorted part, the correction angle, the length of the osteotomy line and the osteotomy height as reference information.

In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of the first aspect when executing the program stored in the memory.

In a fourth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps of the first aspect.

In a fifth aspect, embodiments of the present invention also provide a computer program product including instructions, which when executed on a computer, cause the computer to perform the method steps of the first aspect.

The embodiment of the invention has the following beneficial effects:

as can be seen from the above, when the plan generation information provided by the embodiment of the present invention is applied, a surgical reference plan including a distorted portion, a correction angle, an osteotomy line length, and an osteotomy height as reference information can be generated according to a two-dimensional skeleton perspective image of a target body, and a doctor can determine a surgical plan by referring to the reference information included in the surgical reference plan. Therefore, the operation reference scheme generation scheme provided by the embodiment of the invention can provide reference information for doctors.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by referring to these drawings.

Fig. 1a is a schematic flow chart of a first surgical reference plan generating method according to an embodiment of the present invention;

FIG. 1b is a two-dimensional bone perspective image of a hip joint of a subject according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a second surgical reference plan generating method according to an embodiment of the present invention;

FIG. 3a is a two-dimensional bone perspective view of a lower limb bone structure of a subject according to an embodiment of the present invention;

FIG. 3b is a schematic diagram of the locations of key points in a first two-dimensional bone perspective image according to an embodiment of the present invention;

FIG. 4a is a schematic flow chart illustrating a third surgical reference plan generating method according to an embodiment of the present invention;

FIG. 4b is a schematic diagram illustrating the locations of key points in a second two-dimensional bone perspective image according to an embodiment of the present invention;

FIG. 5a is a schematic flow chart illustrating a fourth surgical reference plan generating method according to an embodiment of the present invention;

FIG. 5b is a schematic diagram illustrating the locations of key points in a third two-dimensional bone perspective image according to an embodiment of the present invention;

fig. 6 is a schematic flow chart of a fifth surgical reference plan generating method according to an embodiment of the present invention;

fig. 7a is a schematic flow chart of a sixth surgical reference plan generating method according to an embodiment of the present invention;

FIG. 7b is a schematic diagram of the locations of key points in a fourth two-dimensional bone perspective image according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a first surgical reference plan generating device according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a second surgical reference plan generating device according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a third surgical reference plan generating device provided in an embodiment of the present invention;

fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention are within the scope of the present invention.

Referring to fig. 1a, a schematic flow diagram of a first surgical reference plan generation method is provided, the method comprising the following steps S101-S103.

Step S101: and identifying key points of preset joint parts of the object body in the two-dimensional skeleton perspective image.

The object may be a human body, an animal body, or the like.

The two-dimensional bone fluoroscopy image may be an X-ray image.

Before the tibia high level osteotomy is performed on the object, the bone of the object displayed in the two-dimensional bone fluoroscopic image may be a lower limb bone of the object, and therefore, the two-dimensional bone fluoroscopic image may be a lower limb force line full length X-ray image in which the object is in a weight bearing position, in order to enable a doctor to better observe the bone structure of the object.

The preset joint part can be a hip joint, a knee joint or an ankle joint.

The key points are pixel points which are positioned in a preset joint part of the object body in the two-dimensional skeleton perspective image.

Specifically, since the positions of the joint portions of the object body in the two-dimensional skeleton perspective image are usually not changed, the region where the preset joint portion is located may be determined in the two-dimensional skeleton perspective image, and then the key points of the preset joint portion of the object body may be identified in the region based on the shape features of different bones in the preset joint portion.

For example, fig. 1b is a two-dimensional bone perspective image of a hip joint of a subject, and since the hip joint includes a femoral head and the femoral head is an approximately circular region in the image, in fig. 1b, a region where the femoral head is located, such as a circular region shown by a dotted line in fig. 1b, can be determined by using a circle finding method, and the center of the circular region can be used as a key point of the hip joint of the subject.

In addition, feature extraction can be carried out on the two-dimensional skeleton perspective image, and key points of preset joint parts of the object body in the two-dimensional skeleton perspective image are determined.

The feature extraction of the two-dimensional bone perspective image can be realized based on a trained deep neural network which is used for identifying key points of preset joint parts of the object body in the two-dimensional bone perspective image.

When the deep neural network is trained, the sample data may be divided into training data, verification data, and test data. The training data is used for training the deep neural network, the verification data is used for adjusting hyper-parameters of the deep neural network, such as learning rate, regularization parameters and the like, and the test data is used for testing the network performance of the deep neural network.

Before the deep neural network is used for identifying key points in the two-dimensional bone perspective image, the two-dimensional bone perspective image can be preprocessed, and the specific preprocessing operation can be to adjust the gray value of a pixel point of the two-dimensional bone perspective image, of which the gray value is greater than a first gray threshold value, to a first preset gray value, or adjust the gray value of a pixel point of which the gray value is less than a second gray threshold value, to a second preset gray value, or adjust the size of the two-dimensional bone perspective image to the size of the preset image, or increase noise in the two-dimensional bone perspective image, so that the image content is richer, and the like. In addition, the two-dimensional bone perspective image can be subjected to image normalization processing to accelerate the convergence speed of the deep neural network.

In an embodiment of the present invention, the deep neural network may be a ResNet (residual error network), and the number of network layers of the deep neural network may be 102.

Step S102: based on the position information of the key point, a distorted part of the object body is determined, and a correction angle, an osteotomy line length and an osteotomy height for correcting the skeleton of the distorted part are determined.

The position information of the key points, that is, the position information of the key points in the two-dimensional bone fluoroscopic image. Based on the location information of the keypoints, the relative locations between the different keypoints can be obtained.

Specifically, the distorted portion of the object may be determined according to the shape of the bone of the object, and if the bone of the object has a larger difference in shape than the normal bone, it may be determined that the bone of the object is distorted, and the portion where the distorted bone is located is the distorted portion.

In the two-dimensional bone perspective image, since the key points of the preset joint portion of the object may be pixel points in the bone included in the preset joint portion, the bone of the object may be represented by the key points in the bone, and the shape feature of the bone of the object may be represented by the relative position relationship between the plurality of key points in the bone. Therefore, whether the bones corresponding to the key points are distorted or not can be determined by determining the relative positions of the different key points and obtaining the specific parameter based on the relative positions of the different key points, for example, the specific parameter can be the distance between the different key points or the angle obtained by the different key points, and whether the parameter value of the specific parameter is within the preset parameter value range or not is judged, so that the distorted part of the object body is determined. And if the parameter value of the specific parameter is not in the preset parameter value range, determining that the bone corresponding to the key point is distorted.

The distorted portion of the subject may be a tibia or a femur. Therefore, whether the distorted part of the object is the tibia can be determined through the relative position relationship among the key points of the tibia in the two-dimensional bone perspective image, and whether the distorted part of the object is the femur can be determined through the relative position relationship among the key points of the femur.

In one case, after the distorted portion of the object is specified, the correction angle, the osteotomy line length, and the osteotomy height for correcting the bone at the distorted portion may be specified based on the position information of the key point in the bone at the distorted portion.

In this case, the correction angle, the osteotomy line length, and the osteotomy height may be determined through subsequent steps S102A-S102C in the embodiment shown in fig. 2, which will not be described in detail herein.

In another case, since the deformed portion of the subject may be a tibia or a femur, the deformed portion of the subject may be the tibia, and the first correction angle, the first resection line length, and the first resection height for correcting the tibia may be determined based on the positional information of the key point in the tibia. Then, assuming that the distorted portion of the object is a femur, a second correction angle, a second osteotomy line height, and a second osteotomy height for correcting the femur are determined based on the position information of the key point in the femur.

In this case, since the distortion site of the object is assumed to be known, the first correction angle, the first osteotomy line length, the first osteotomy height, the second correction angle, the second osteotomy line height, and the second osteotomy height may be determined in steps S102A-S102C in the embodiment shown in fig. 2, which will not be described in detail herein.

Further, the first correction angle, the first osteotomy line length and the first osteotomy height may be used as a first set of parameters, the second correction angle, the second osteotomy line length and the second osteotomy height may be used as a second set of parameters, and one set of parameters may be selected among the two sets of parameters to be used as the correction angle, the osteotomy line length and the osteotomy height for correcting the bone at the distorted portion.

For example, one of the two sets of parameters having a larger value of the correction angle parameter may be selected, one of the two sets of parameters having a larger value of the osteotomy line length parameter may be selected, and one of the two sets of parameters having a larger value of the osteotomy height parameter may be selected.

Step S103: and generating a surgical reference scheme with the distorted part, the correction angle, the length of the osteotomy line and the height of the osteotomy as reference information.

The distorted part, the correction angle, the length of the osteotomy line and the osteotomy height obtained in the embodiment of the invention can be used as reference information to provide reference for doctors. The doctor can obtain the reference information when reading the operation reference scheme.

When determining the surgical plan, the doctor may directly use the reference information included in the surgical reference plan as the information in the determined surgical plan, or may adjust the reference information based on the reference information according to his own surgical experience to determine the surgical plan.

In an embodiment of the present invention, referring to fig. 2, a flow chart of a second surgical reference plan generating method is provided, and compared with the foregoing embodiment shown in fig. 1, in this embodiment, the foregoing step S102 can be implemented by the following steps S102A-S102C.

Step S102A: based on the position information of the key points, a distorted portion of the object is specified.

Specifically, this step is similar to the step S102, and the distortion part of the object can be determined based on the position information of the key point, which is not described herein again.

Step S102B: and obtaining target key points for correcting the skeleton from the key points according to the distorted parts.

The key points identified in step S101 may be a plurality of key points of a plurality of preset joint portions, but the distorted portions of the object are different, and the bones to be corrected are also different, so that the correction angle, the height of the osteotomy line, and the length of the osteotomy may be determined only by the position information of some key points in the key points, and therefore, the target key point for correcting the bones in the key points needs to be determined according to the distorted portions of the object.

Specifically, in the case where the distortion site is a femur, the target key point can be determined by the following step S102B1 in the embodiment shown in fig. 4a, which will not be described in detail here.

In the case where the distortion site is a tibia, the target key point may be determined in step S102B2 in the embodiment shown in the subsequent fig. 5a, which will not be described in detail here.

Step S102C: and determining a correction angle, an osteotomy line length and an osteotomy height for correcting the skeleton of the distorted part based on the position information of the target key point.

When a doctor performs a high tibial osteotomy on a subject, the doctor usually needs to cut and saw the bone of a distorted portion of the subject, a gap formed after the cutting and sawing can be called a bone gap, and then the bone gap is spread by a certain angle to realize the correction of the distorted portion. The angle of the bone gap is a correction angle, and the depth of the bone gap, namely the depth of the cutting saw, is the length of the osteotomy line. Since the bone is cut, two cuts can be formed, the maximum distance between the two cuts, i.e. the height of the osteotomy.

In one case, the position of the target key point of the joint part in the two-dimensional skeleton perspective image can be preset in the post-operation object, and the correction angle, the length of the osteotomy line and the osteotomy height for correcting the skeleton of the distorted part can be determined according to the position information of the pre-operation target key point and the position information of the post-operation target key point.

Alternatively, in the case where the location of the deformity is the femur, the correction angle, the length of the osteotomy line, and the height of the osteotomy can be determined through the following steps S102C1-S102C5 in the embodiment shown in FIG. 4a, which will not be described in detail herein.

In the case where the distortion site is a tibia, the correction angle, the osteotomy line length, and the osteotomy height may be determined through steps S102C6-S102C10 in the embodiment shown in the subsequent fig. 5a, which will not be described in detail here.

As can be seen from the above, in the solution provided in the embodiment of the present invention, the distorted portion of the object is determined based on the position information of the key points, the target key point among the key points is determined according to the distorted portion, and the correction angle, the length of the osteotomy line, and the height of the osteotomy for correcting the bone of the distorted portion are determined based on the position information of the target key point. Because the key points in the two-dimensional skeleton perspective image correspond to the preset joint parts of the object body, the position information of the key points also reflects the position information of the preset joint parts relative to the lower limb skeleton of the object body, so that the distorted parts of the object body can be accurately determined based on the position information of the key points, and similarly, the correction angle, the length of the osteotomy line and the osteotomy height for correcting the skeleton of the distorted parts can be accurately determined according to the position information of the target key points determined by the distorted parts, so that the reference information in the final operation reference scheme can be more accurate.

In an embodiment of the present invention, referring to fig. 3a, a two-dimensional bone perspective image of the lower limb bone structure of a subject is provided, and as can be seen from fig. 3a, point a 1-point a12 and point B1-point B12 are all key points of a preset joint portion of the subject, and point a 1-point a12 and point B1-point B12 are symmetrical to each other, and only point a 1-point a12 correspond to the preset joint portion in the right leg of the subject, and point B1-point B12 correspond to the preset joint portion in the left leg of the subject.

Taking a 1-point a12 as an example, point a1 corresponds to the center of the femoral head of the subject, point a2 corresponds to the hinge position of the subject, points A3 and a5 correspond to the upper two end points of the knee joint of the subject, point a4 corresponds to the center of the knee joint of the subject, points A6 and A8 correspond to the lower two end points of the knee joint of the subject, point a7 corresponds to the lower limb center of the subject, point a9 corresponds to any position in the range of 10mm to 15mm from the lateral tibial plateau of the subject in the tibia, point a10 corresponds to the ankle joint center of the subject, point a11 corresponds to a position 30mm from the medial tibial plateau of the subject in the tibia, and point a12 corresponds to a position 30mm from the medial femoral plateau of the subject in the femur.

The above 10mm, 15mm and 30mm are lengths in an actual scene. In addition, in the document of the application, the numerical values taking mm or cm as a unit are the lengths in the actual scene, and the lengths taking pixel points as a unit are the lengths in the image.

In an embodiment of the present invention, a first straight line where a first key point corresponding to a femoral head center of an object and a second key point corresponding to a knee joint center of the object are located in key points may be determined, a second straight line where a third key point and a fourth key point corresponding to two end points on an upper side of the knee joint of the object respectively are located in the key points may be determined, whether an angle of a first included angle is an angle in a first preset angle range is determined, and if not, a distorted portion of the object is determined to be a femur, where the first included angle is: an angle formed by the first straight line and the second straight line and close to the outer thigh of the object body.

The first predetermined angle may be in the range of 84 to 90.

In the two-dimensional skeleton perspective image, the preset joint part of the object may be a joint part in the lower limb of the object, so the identified key point may also be a key point of the joint part of the lower limb of the object, and the region where the two legs of the object are located may be determined according to the position information of the key point. For example, in FIG. 3a, the region of the right leg of the subject can be determined based on the position information from point A1 to point A12, and the region of the left leg of the subject can be determined based on the position information from point B1 to point B12. Therefore, the outer thigh region, the inner thigh region, the outer calf region, and the inner calf region in the two-dimensional skeleton fluoroscopic image can be specified based on the regions where the legs of the subject are located.

Referring to fig. 3b, a schematic diagram of the locations of keypoints in a first two-dimensional perspective image of bone is shown. In fig. 3b, (1) in fig. 3b is a schematic diagram of the positions of some key points in the two-dimensional bone perspective image, (2) in fig. 3b is a schematic diagram of the relative positions of key points in the femur of the subject, and (3) in fig. 3b is a schematic diagram of the relative positions of key points in the tibia of the subject. The first key point is a point a1, the second key point is a point a4, the first straight line is L1, the first key point a1 and the second key point a4 are located on a first straight line L1, the third key point and the fourth key point are a point A3 and a point a5, respectively, the second straight line is L2, the third key point A3 and the fourth key point a5 are located on a second straight line L2, the first included angle is D1, and the first included angle D1 is an included angle formed by the first straight line L1 and the second straight line L2.

When the angle D1 is within the first preset angle range, it indicates that the first included angle is within the normal range, and at this time, the femur of the object can be regarded as not distorted; when the angle D1 does not belong to the angle in the first preset angle range, it indicates that the first included angle is outside the normal range, and at this time, the femur of the object can be regarded as being distorted, and the distorted part of the object is determined to be the femur.

In another embodiment of the present invention, a third straight line where a fifth key point corresponding to a middle point of a lower limb of the object and a sixth key point corresponding to a center of an ankle joint of the object are located in the key points may be determined, a seventh key point and a fourth straight line where an eighth key point corresponding to two end points of a lower side of a knee joint of the object are located in the key points, respectively, are determined, whether an angle of the second included angle is an angle in a second preset angle range is determined, and if not, it is determined that a distorted portion of the object is a tibia, where the second included angle is: an angle formed by the third straight line and the fourth straight line and close to the inner side of the small leg of the object body.

The second predetermined angle range may be the same as the first predetermined angle range, or may be different from the first predetermined angle range.

In fig. 3b, the fifth key point is a point a7, the sixth key point is a point a10, the third straight line is L3, the fifth key point a7 and the sixth key point a10 are located on a third straight line L3, the seventh key point and the eighth key point are a point a6 and a point A8, respectively, the fourth straight line is L4, the seventh key point a6 and the eighth key point A8 are located on a fourth straight line L4, the second included angle is D2, and the second included angle D2 is an included angle formed by the third straight line L3 and the fourth straight line L4.

When the angle D2 is within the second preset angle range, it indicates that the second included angle is within the normal range, and at this time, the tibia of the subject may be regarded as not distorted; when the angle D2 does not belong to the angle in the second preset angle range, it indicates that the second included angle is outside the normal range, and at this time, the tibia of the subject can be regarded as being distorted, and the distorted portion of the subject is determined to be the tibia.

In an embodiment of the present invention, four straight lines in total, which are the first straight line, the second straight line, the third straight line, and the fourth straight line, may be determined, whether the angle of the first included angle is an angle in a first preset angle range may be determined, and whether the angle of the second included angle is an angle in a second preset angle range may be determined, so as to determine the distorted portion of the object.

If the angle of the first included angle belongs to an angle in a first preset angle range and the angle of the second included angle does not belong to an angle in a second preset angle range, determining that the distorted part of the object is a tibia; if the angle of the first included angle does not belong to the angle in the first preset angle range and the angle of the second included angle belongs to the angle in the second preset angle range, the distorted part of the object body can be determined as the femur; if the angle of the first included angle does not belong to the angle in the first preset angle range and the angle of the second included angle does not belong to the angle in the second preset angle range, the deformed part of the object can be determined to be the tibia and the femur.

As can be seen from the above, in the solution provided in the embodiment of the present invention, the first included angle or the second included angle can be formed according to different straight lines where different key points are located, and the distorted portion of the object can be determined by respectively determining whether the angle of the first included angle is within the first preset angle range and whether the angle of the second included angle is within the second preset angle range, compared with the prior art that a doctor needs to determine the distorted portion according to his own experience, in the solution, the distorted portion can be determined as the femur as long as the angle of the first included angle is not within the first preset angle range, and the distorted portion can be determined as the tibia as long as the angle of the second included angle is not within the second preset angle range, so that the solution provided in the embodiment of the present invention can determine the distorted portion of the object more quickly and accurately, and avoid interference of artificial subjective factors, thereby enabling improved accuracy of the surgical reference plan.

In an embodiment of the present invention, referring to fig. 4a, a flow chart of a third surgical reference plan generating method is provided, and compared with the foregoing embodiment shown in fig. 2, in this embodiment, in the case that the distorted portion is a femur, the foregoing step S102B1 can be implemented as the following step S102B.

Step S102B 1: and determining a first key point corresponding to the center of the femoral head of the object, a fifth key point corresponding to the middle point of the lower limb of the object, a sixth key point corresponding to the center of the ankle joint of the object, a ninth key point corresponding to the hinge position of the object and a tenth key point corresponding to a first preset position in the femur of the object as target key points for correcting the skeleton.

The first predetermined location may be a location in the femur that is 30mm from the medial femoral plateau.

In fig. 3a, the first key point is a point a1, the fifth key point is a point a7, the sixth key point is a point a10, the ninth key point is a point a2, and the tenth key point is a point a 12.

In the embodiment of the present invention, the step S102C may be further implemented by the following steps S102C1-S102C 5.

Referring to fig. 4b, a schematic diagram of locations of key points in the second two-dimensional bone perspective image is provided, where (1) in fig. 4b is a schematic diagram of locations of target key points in the first two-dimensional bone perspective image, and (2) in fig. 4b is a schematic diagram of relative locations of the first target key points. Steps S102C1-S102C5 will now be described with reference to FIG. 4 b.

Step S102C 1: and determining a fifth straight line where the fifth key point and the sixth key point are located, and determining a first line segment taking the first key point and the ninth key point as end points.

In fig. 4b, the fifth straight line is L5, the fifth key point a7 and the sixth key point a10 are located on the fifth straight line L5, the first line segment is X1, and two end points of the first line segment X1 are the first key point a1 and the ninth key point a2, respectively.

Step S102C 2: and determining a second line segment with the same length as the first line segment, wherein one end point of the second line segment is a ninth key point, the other end point of the second line segment is positioned on a fifth straight line, and the second line segment is closer to the inner thigh of the object body than the first line segment.

In fig. 4b, the second line segment is X2, and the two end points of the second line segment X2 are the ninth key point a2 and the point AC1 located on the fifth straight line L5.

In an embodiment of the present invention, the first line segment X1 may be rotated in a direction close to the inner side of the thigh of the subject body with the ninth key point a2 as an origin until the other end point of the first line segment X1, that is, the first key point a1 is rotated onto the fifth straight line L5, and the rotated first line segment X1 is determined to be the second line segment X2.

Step S102C 3: and determining the angle of an included angle formed by the first line segment and the second line segment as the correction angle.

In fig. 4b, the correction angle is D3, and the correction angle D3 is the angle formed by the first line segment X1 and the second line segment X2.

Step S102C 4: determining the length of an osteotomy line for correcting the skeleton of the distorted part according to the distance between the ninth key point and the tenth key point and a preset proportion, wherein the preset proportion represents that: the ratio between the unit length in the two-dimensional bone fluoroscopic image and the unit length in the actual scene.

Because the length is usually expressed by the number of the pixel points in the image, the unit length in the two-dimensional skeleton perspective image can be expressed by the number of the pixel points in the two-dimensional skeleton perspective image, and the preset proportion can be expressed by the proportion between the number of the pixel points in the two-dimensional skeleton perspective image and the unit length in the actual scene.

For example, if the preset ratio is 300:1, it indicates that the number of pixel points occupied by the same object in the two-dimensional skeleton perspective image is 300, and the length in the actual scene is 1 cm.

In fig. 4b, the distance between the ninth key point a2 and the tenth key point a12 can be determined, and the distance is multiplied by the preset ratio to obtain the length of the osteotomy line for correcting the bone of the distorted portion.

Step S102C 5: and determining the osteotomy height for correcting the skeleton at the distorted part according to the preset corresponding relation among the correction angle, the length of the osteotomy line and the osteotomy height based on the correction angle and the length of the osteotomy line.

The preset correspondence among the above correction angle, the length of the osteotomy line, and the height of the osteotomy can be represented as table 1 below.

TABLE 1

4°

5°

6°

7°

8°

9°

10°

11°

12°

50mm

3mm

4mm

5mm

6mm

7mm

8mm

9mm

10mm

55mm

4mm

5mm

6mm

7mm

8mm

9mm

10mm

11mm

60mm

4mm

5mm

6mm

7mm

8mm

9mm

10mm

11mm

12mm

65mm

5mm

6mm

7mm

8mm

9mm

10mm

11mm

12mm

14mm

70mm

5mm

6mm

7mm

8mm

10mm

11mm

12mm

13mm

15mm

75mm

5mm

6mm

8mm

9mm

10mm

12mm

13mm

14mm

16mm

80mm

5mm

6mm

8mm

9mm

10mm

12mm

13mm

14mm

16mm

In table 1, the parameter in the first row is the correction angle, the parameter in the first column is the length of the osteotomy line, and the parameters in other rows and other columns are the height of the osteotomy.

By referring to the above table 1, the osteotomy height corresponding to the above correction angle and the length of the osteotomy line can be determined.

For example, if the correction angle is 6 ° and the osteotomy line length is 65mm, the osteotomy height may be determined to be 7 mm.

As can be seen from the above, in the solution provided in the embodiment of the present invention, when the distorted portion is a femur, the first key point, the fifth key point, the sixth key point, the ninth key point, and the tenth key point may be determined as target key points, and the fifth straight line, the first line segment, and the second line segment may be determined based on the target key points, so as to determine a correction angle, and according to a distance between the ninth key point and the tenth key point and a preset ratio, a length of an osteotomy line may be obtained, and finally, according to a preset corresponding relationship between the correction angle, the length of the osteotomy line, and the osteotomy height, the osteotomy height may be obtained. Therefore, the correction angle, the length of the osteotomy line and the osteotomy height can be obtained by only utilizing the position information, the preset proportion and the preset corresponding relation of the target key point, and the distorted part of the object body is determined, so that the target key point is determined.

In an embodiment of the present invention, referring to fig. 5a, a schematic flow chart of a fourth surgical reference plan generating method is provided, and compared with the foregoing embodiment shown in fig. 2, in this embodiment, in the case that the distorted portion is a tibia, the foregoing step S102B2 may be implemented as the following step S102B.

Step S102B 2: and determining a first key point corresponding to the center of the femoral head of the object body, a second key point corresponding to the center of the knee joint of the object body, a sixth key point corresponding to the center of the ankle joint of the object body, an eleventh key point corresponding to a second preset position in the tibia of the object body and a twelfth key point corresponding to a third preset position in the tibia of the object body as target key points for correcting the bones.

The second predetermined position may be any position within a range of positions from 10mm to 15mm from the lateral tibial plateau.

The third predetermined position may be a position 30mm from the medial tibial plateau.

In fig. 3a, the first key point is a point a1, the second key point is a point a4, the sixth key point is a point a10, the eleventh key point is a point a9, and the twelfth key point is a point a 11.

In the embodiment of the present invention, the step S102C may be further implemented by the following steps S102C6-S102C 10.

Referring to fig. 5b, a schematic diagram of locations of key points in the third two-dimensional bone perspective image is provided, where (1) in fig. 5b is a schematic diagram of locations of target key points in the second two-dimensional bone perspective image, and (2) in fig. 5b is a schematic diagram of relative locations of the second target key points. Steps S102C6-S102C10 will now be described with reference to FIG. 5 b.

Step S102C 6: and determining a sixth straight line in which the first key point and the second key point are positioned, and determining a third line segment taking the sixth key point and the eleventh key point as end points.

In fig. 5b, the sixth straight line is L6, the first key point a1 and the second key point a4 are located on the sixth straight line L6, the first key point a1 is not shown in (1) of fig. 5b, the third line segment is X3, and two end points of the third line segment X3 are the sixth key point a10 and the eleventh key point a9, respectively.

Step S102C 7: and determining a fourth line segment which is equal to the third line segment in length, wherein one end point of the fourth line segment is an eleventh key point, the other end point of the fourth line segment is positioned on a sixth straight line, and the fourth line segment is closer to the outer side of the shank of the object than the third line segment.

In fig. 5b, the fourth line segment is X4, and the two end points of the fourth line segment X4 are the eleventh key point a9 and the point AC2 located on the sixth straight line L6, respectively.

In an embodiment of the present invention, the eleventh key point a9 may be used as an origin, and the third line segment X3 may be rotated in a direction close to the outer side of the lower leg of the subject until the other end point of the third line segment X3, that is, the sixth key point a10 is rotated onto the sixth straight line L6, and the rotated third line segment X3 is determined to be the fourth line segment X4.

Step S102C 8: and determining the angle of an included angle formed by the third line segment and the fourth line segment as the correction angle.

In fig. 5b, the correction angle is D4, and the correction angle D4 is the angle formed by the third line segment X3 and the fourth line segment X4.

Step S102C 9: determining the length of an osteotomy line for correcting the skeleton of the distorted part according to the distance between the eleventh key point and the twelfth key point and a preset proportion, wherein the preset proportion represents that: the ratio between the unit length in the two-dimensional bone fluoroscopic image and the unit length in the actual scene.

This step is similar to the step S102C4, except that the step uses the distance between the eleventh key point and the twelfth key point, and the step S102C4 uses the distance between the ninth key point and the tenth key point, which is not described again here.

Step S102C 10: and determining the osteotomy height for correcting the skeleton at the distorted part according to the preset corresponding relation among the correction angle, the length of the osteotomy line and the osteotomy height based on the correction angle and the length of the osteotomy line.

This step is similar to step S102C5 described above and will not be described again here.

As can be seen from the above, in the solution provided in the embodiment of the present invention, when the deformed portion is a tibia, the first key point, the second key point, the sixth key point, the eleventh key point, and the twelfth key point may be determined as target key points, the sixth straight line, the third line segment, and the fourth line segment may be determined based on the target key points, so as to determine a correction angle, the osteotomy line length may be obtained according to a distance between the eleventh key point and the twelfth key point and a preset ratio, and the osteotomy height may be obtained according to a preset corresponding relationship between the correction angle, the osteotomy line length, and the osteotomy height. Therefore, the correction angle, the length of the osteotomy line and the osteotomy height can be obtained by only utilizing the position information, the preset proportion and the preset corresponding relation of the target key point, and the distorted part of the object body is determined, so that the target key point is determined.

In an embodiment of the present invention, referring to fig. 6, a flowchart of a fifth surgical reference plan generating method is provided, and compared with the foregoing embodiment shown in fig. 1, in this embodiment, after the step S101 identifies a key point of a preset joint region of a subject in a two-dimensional bone perspective image, the method further includes the following step S104.

Step S104: based on the location information of the keypoints, a distortion type of the object volume is determined.

Specifically, the type of aberration of the subject may be genu varum or genu valgus. The type of the object body distortion can be determined by determining the relative position and distance between the center of the knee joint of the object body and the mechanical axis, wherein the mechanical axis is the straight line where the center of the femoral head and the center of the ankle joint of the object body are located.

In the two-dimensional skeleton perspective image, the key points of the preset joint part of the object body can be a first pixel point corresponding to the center of the knee joint of the object body, a second pixel point corresponding to the center of the femoral head of the object body and a third pixel point corresponding to the center of the ankle joint of the object body, so that the mechanical axis can be determined in the two-dimensional skeleton perspective image based on the position information of the key points, the relative position and the distance between the center of the knee joint of the object body and the mechanical axis are determined, and the distortion type of the object body is determined.

In the embodiment of the present invention, the step S103 may be further implemented by the following step S103A.

Step S103A: and generating a surgical reference scheme with the distortion type, the distortion part, the correction angle, the length of the osteotomy line and the height of the osteotomy as reference information.

The type of the distortion, the distortion part, the correction angle, the length of the osteotomy line and the height of the osteotomy obtained in the embodiment of the invention can be used as reference information to provide reference for doctors. The doctor can obtain the reference information when reading the operation reference scheme.

As can be seen from the above, in the solution provided by the embodiment of the present invention, the distortion type of the object can be determined, and the surgical reference solution in which the distortion type, the distortion portion, the correction angle, the osteotomy line length, and the osteotomy height are used as reference information can be generated. Compared with the operation reference scheme which takes the distorted part, the correction angle, the length of the osteotomy line and the osteotomy height as reference information, the operation reference scheme in the scheme increases the distortion type as the reference information, so that the generated operation reference scheme is more detailed, and more reference information can be provided for doctors.

In an embodiment of the present invention, referring to fig. 7a, a flowchart of a sixth surgical reference plan generating method is provided, and compared with the foregoing embodiment shown in fig. 6, in this embodiment, the foregoing step S104 can be implemented by the following steps S104A-S104E.

Referring to fig. 7b, a schematic diagram of the locations of key points in a fourth two-dimensional bone perspective image is provided, in fig. 7b, (1) is a two-dimensional bone perspective image of the genu valgus of the subject, in fig. 7b, (2) is a two-dimensional bone perspective image of the genu varus of the subject, and in fig. 7b, (3) is a schematic diagram of the relative locations of key points in the two-dimensional bone perspective image. Steps S104A-S104E will now be described with reference to FIG. 7 b.

Step S104A: and determining a seventh straight line in which a first key point corresponding to the femoral head center of the object and a sixth key point corresponding to the ankle joint center of the object are located among the key points, wherein if the second key point corresponding to the knee joint center of the object is closer to the inner side of the knee joint than the seventh straight line, step S104B is executed, and if the second key point is closer to the outer side of the knee joint than the seventh straight line, step S104D is executed.

Since the knee joint center, the femoral head center, and the ankle joint center of the subject are generally aligned in the normal case, if the knee joint center of the subject is closer to the inner side of the knee joint than the mechanical axis, it is indicated that the type of distortion of the subject may be genu valgus, and if the knee joint center of the subject is closer to the outer side of the knee joint than the mechanical axis, it is indicated that the type of distortion of the subject may be genu varus.

In fig. 7b, the seventh straight line is L7, that is, the mechanical axis of the object, and the first critical point a1 and the sixth critical point a10 are located on the seventh straight line L7. If the second key point a4 is closer to the inner side of the knee joint than the seventh straight line L7, it is determined that the type of the object may be genu valgus, and then step S104B is performed, and if the second key point a4 is closer to the outer side of the knee joint than the seventh straight line L7, it is determined that the type of the object may be genu varus, and then step S104D is performed.

Step S104B: and judging whether the distance between the second key point and the seventh straight line is greater than the first preset distance, if so, executing the step S104C.

The first predetermined distance may be 10 mm.

Since the bones of different objects are different, it is considered that if the knee joint center, the femoral head center, and the ankle joint center of the object are approximately aligned on a straight line, the degree of distortion indicating that the lower limb bones of the object are distorted is relatively small, the object is less affected, and the tibia high osteotomy operation may not be performed, that is, if the distance between the second key point and the seventh straight line is less than the first preset distance, the degree of distortion indicating that the lower limb bones of the object are distorted is relatively small, and at this time, the distorted part of the object does not need to be determined. If the distance between the second key point and the seventh straight line is greater than the first preset distance, the distortion degree of the lower limb skeleton of the object is relatively high, and at this time, the distortion part of the object needs to be determined.

Step S104C: determining the type of the distortion of the subject's body as genu valgus.

And if the distance between the second key point and the seventh straight line is greater than the first preset distance and the second key point is closer to the inner side of the knee joint than the seventh straight line, determining that the type of the distortion of the object body is the knee valgus.

Step S104D: and judging whether the distance between the second key point and the seventh straight line is greater than a second preset distance, if so, executing the step S104E.

The second predetermined distance may be 15 mm.

This step is similar to step S104B, except that the relative position between the second key point and the seventh straight line is different, and the preset distance is different, which is not described herein again.

Step S104E: determining the type of the distortion of the object body as knee varus.

And if the distance between the second key point and the seventh straight line is greater than a second preset distance and the second key point is closer to the outer side of the knee joint than the seventh straight line, determining that the distortion type of the object body is genu varum.

In an embodiment of the present invention, a fifth line segment with the second keypoint and the first keypoint as endpoints may be further determined, and a sixth line segment with the second keypoint and the sixth keypoint as endpoints may be determined. And judging whether the angle of a fifth included angle formed by the fifth line segment and the sixth line segment and close to the outer side of the thigh is larger than 180 degrees or not.

In fig. 7b, the fifth segment is X5, the two endpoints of the fifth segment X5 are the first keypoint a1 and the second keypoint a4, the sixth segment is X6, the two endpoints of the sixth segment X6 are the second keypoint a4 and the sixth keypoint a10, and the fifth included angle is D5.

And if the angle of the fifth included angle is larger than 180 degrees, judging whether the angle of the fifth included angle is the angle in the first preset angle range, and if not, determining that the distortion type of the object body is genu varus.

And if the angle of the fifth included angle is smaller than or equal to 180 degrees, judging whether the angle of the fifth included angle is the angle in the second preset angle range, and if not, determining that the distortion type of the object body is genu valgus.

As can be seen from the above, in the scheme provided by the embodiment of the present invention, the distortion type of the object can be determined by determining the relative position and the distance between the second key point and the seventh straight line, and compared with the case that a doctor determines the distortion type according to experience, the speed of determining the distortion type of the object is faster.

Corresponding to the surgical reference scheme generation method, the embodiment of the invention also provides a surgical reference scheme generation device.

Referring to fig. 8, there is provided a schematic structural diagram of a first surgical reference plan generating apparatus, the apparatus including:

the identification module 801 is used for identifying key points of preset joint parts of the object body in the two-dimensional skeleton perspective image;

a first determining module 802, configured to determine a distorted portion of the object based on the position information of the key point, and determine a correction angle, an osteotomy line length, and an osteotomy height for correcting a bone of the distorted portion;

a generating module 803, configured to generate a surgical reference plan with the distortion location, the correction angle, the length of the osteotomy line, and the height of the osteotomy as reference information.

In an embodiment of the present invention, referring to fig. 9, a schematic structural diagram of a second surgical reference plan generating device is provided, and compared with the foregoing embodiment shown in fig. 8, in this embodiment, the first determining module 802 includes:

a first determining submodule 802A configured to determine a distorted portion of the object based on the position information of the key point;

an obtaining sub-module 802B, configured to obtain, according to the distorted portion, a target key point for performing bone correction in the key points;

the second determining submodule 802C is configured to determine, based on the position information of the target key point, a correction angle, an osteotomy line length, and an osteotomy height for correcting the bone at the distorted portion.

In an embodiment of the present invention, the first determining sub-module 802A is specifically configured to:

determining a first straight line where a first key point corresponding to the center of the femoral head of the object body and a second key point corresponding to the center of the knee joint of the object body are located in the key points, determining a second straight line where a third key point and a fourth key point corresponding to two end points on the upper side of the knee joint of the object body are located in the key points respectively, judging whether the angle of a first included angle is an angle in a first preset angle range, and if not, determining that the distorted part of the object body is the femur, wherein the first included angle is as follows: an angle formed by the first straight line and the second straight line and close to the outer thigh of the object body;

and/or

Determining a fifth key point corresponding to the middle point of the lower limb of the object and a third straight line corresponding to a sixth key point corresponding to the center of the ankle joint of the object in the key points, determining a seventh key point and a fourth straight line corresponding to the seventh key point and the eighth key point of the two end points of the lower side of the knee joint of the object in the key points, respectively, judging whether the angle of a second included angle is an angle in a second preset angle range, and if not, determining that the distorted part of the object is a tibia, wherein the second included angle is as follows: and an included angle formed by the third straight line and the fourth straight line and close to the inner side of the lower leg of the object body.

In an embodiment of the present invention, in a case where the distorted portion is a femur, the obtaining sub-module 802B is specifically configured to:

determining a first key point corresponding to the center of the femoral head of the object, a fifth key point corresponding to the middle point of the lower limb of the object, a sixth key point corresponding to the center of the ankle joint of the object, a ninth key point corresponding to the hinge position of the object and a tenth key point corresponding to a first preset position in the femur of the object as target key points for correcting bones;

the second determining sub-module 802C is specifically configured to:

determining a fifth straight line where the fifth key point and the sixth key point are located, and determining a first line segment with the first key point and the ninth key point as end points;

determining a second line segment having the same length as the first line segment, wherein one end point of the second line segment is the ninth key point, and the other end point is located on the fifth straight line, and the second line segment is closer to the inner thigh of the subject than the first line segment;

determining the angle of an included angle formed by the first line segment and the second line segment as a correction angle;

determining the length of an osteotomy line for correcting the skeleton of the distorted part according to the distance between the ninth key point and the tenth key point and a preset proportion, wherein the preset proportion represents that: the ratio of unit length in the two-dimensional skeleton perspective image to unit length in an actual scene;

and determining the osteotomy height for correcting the skeleton of the distorted part according to the preset corresponding relation among the correction angle, the length of the osteotomy line and the osteotomy height on the basis of the correction angle and the length of the osteotomy line.

In an embodiment of the present invention, in a case that the distorted portion is a tibia, the obtaining sub-module 802B is specifically configured to:

determining a first key point corresponding to the center of a femoral head of the object, a second key point corresponding to the center of a knee joint of the object, a sixth key point corresponding to the center of an ankle joint of the object, an eleventh key point corresponding to a second preset position in a tibia of the object and a twelfth key point corresponding to a third preset position in the tibia of the object as target key points for correcting bones;

the second determining sub-module 802C is specifically configured to:

determining a sixth straight line where the first key point and the second key point are located, and determining a third line segment with the sixth key point and the eleventh key point as end points;

determining a fourth line segment having the same length as the third line segment, wherein one end point of the fourth line segment is the eleventh key point, and the other end point is located on the sixth straight line, and the fourth line segment is closer to the outer side of the calf of the subject than the third line segment;

determining the angle of an included angle formed by the third line segment and the fourth line segment as a correction angle;

determining the length of an osteotomy line for correcting the skeleton of the distorted part according to the distance between the eleventh key point and the twelfth key point and a preset proportion, wherein the preset proportion represents that: the ratio of unit length in the two-dimensional skeleton perspective image to unit length in an actual scene;

In an embodiment of the present invention, referring to fig. 10, a schematic structural diagram of a third surgical reference plan generating apparatus is provided, and compared with the foregoing embodiment shown in fig. 8, in this embodiment, the apparatus further includes:

a second determining module 804, configured to determine, after the identification of a key point of a preset joint portion of a target body in a two-dimensional bone perspective image, a distortion type of the target body based on location information of the key point;

the generating module 803 is specifically configured to:

and generating a surgical reference scheme with the distortion type, the distortion part, the correction angle, the length of the osteotomy line and the height of the osteotomy as reference information.

In an embodiment of the present invention, the second determining module 804 is specifically configured to:

determining a seventh straight line in which a first key point corresponding to the center of the femoral head of the object body and a sixth key point corresponding to the center of the ankle joint of the object body are located;

if the second key point corresponding to the knee joint center of the object body is closer to the inner side of the knee joint than the seventh straight line, judging whether the distance between the second key point and the seventh straight line is greater than a first preset distance;

if the distance between the second key point and the seventh straight line is greater than the first preset distance, determining that the distortion type of the object body is genu valgus;

if the second key point is closer to the outer side of the knee joint than the seventh straight line, judging whether the distance between the second key point and the seventh straight line is greater than a second preset distance;

and if the distance between the second key point and the seventh straight line is greater than the second preset distance, determining that the distortion type of the object body is genu varum.

An embodiment of the present invention further provides an electronic device, as shown in fig. 11, including a processor 1101, a communication interface 1102, a memory 1103 and a communication bus 1104, where the processor 1101, the communication interface 1102 and the memory 1103 complete mutual communication through the communication bus 1104,

a memory 1103 for storing a computer program;

the processor 1101 is configured to implement the following steps when executing the program stored in the memory 1103:

In addition, the electronic device may also implement other operation reference scheme generation methods as described in the previous embodiment, and will not be described in detail here.

The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, which when executed by a processor implements the steps of any of the above-mentioned surgical reference plan generating methods.

In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the surgical reference plan generating methods of the above embodiments.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, the electronic device, the computer-readable storage medium, and the computer program product embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A surgical reference plan generation method, the method comprising:

2. The method according to claim 1, wherein the determining a distorted portion of the subject body based on the position information of the key point, and determining a correction angle, an osteotomy line length, and an osteotomy height for correcting a bone of the distorted portion comprises:

determining a distorted part of the object based on the position information of the key point;

obtaining target key points used for correcting bones in the key points according to the distorted parts;

and determining a correction angle, an osteotomy line length and an osteotomy height for correcting the skeleton of the distorted part based on the position information of the target key point.

3. The method of claim 2, wherein determining the distorted portion of the object based on the location information of the keypoints comprises:

and/or

4. The method according to claim 2 or 3, wherein the obtaining a target keypoint for bone correction among the keypoints according to the distortion site in the case that the distortion site is a femur comprises:

the determining, based on the position information of the target key point, a correction angle, an osteotomy line length, and an osteotomy height for correcting the bone of the distorted portion includes:

5. The method according to claim 2 or 3, wherein in the case that the distortion part is a tibia, the obtaining a target key point for bone correction among the key points according to the distortion part comprises:

6. The method according to any one of claims 1-3, further comprising, after said identifying key points of a predetermined joint location of the subject in the two-dimensional bone fluoroscopy image:

determining a distortion type of the object body based on the position information of the key points;

the generating of the operation reference scheme with the distortion part, the correction angle, the length of the osteotomy line and the height of the osteotomy as reference information comprises:

7. The method of claim 6, wherein determining the type of distortion of the object volume based on the location information of the keypoints comprises:

8. A surgical reference plan generating apparatus, the apparatus comprising:

9. The apparatus of claim 8, wherein the first determining module comprises:

a first determining submodule configured to determine a distorted portion of the object based on the position information of the key point;

the obtaining submodule is used for obtaining target key points used for correcting bones in the key points according to the distorted parts;

and the second determining submodule is used for determining a correction angle, an osteotomy line length and an osteotomy height for correcting the skeleton of the distorted part based on the position information of the target key point.

10. The apparatus of claim 9, wherein the first determining submodule is specifically configured to:

and/or

11. The device according to claim 9 or 10, characterized in that, in the case where the distortion site is a femur, the acquisition submodule is particularly configured to:

the second determining submodule is specifically configured to:

12. The device according to claim 9 or 10, characterized in that, in the case where the distortion site is a tibia, the obtaining submodule is particularly configured to:

the second determining submodule is specifically configured to:

13. The apparatus according to any one of claims 8-10, further comprising:

the second determination module is used for determining the distortion type of the object body based on the position information of the key points after the key points of the preset joint part of the object body in the two-dimensional skeleton perspective image are identified;

the generation module is specifically configured to:

14. The apparatus of claim 13, wherein the second determining module is specifically configured to:

15. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1 to 7 when executing a program stored in the memory.

16. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.