CN114617633A

CN114617633A - Operation reference scheme generation method and device

Info

Publication number: CN114617633A
Application number: CN202210333845.7A
Authority: CN
Inventors: 王伟; 王坤正; 陈汉清; 李明; 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: 2022-03-30
Filing date: 2022-03-30
Publication date: 2022-06-14

Abstract

The embodiment of the invention provides a method and a device for generating an operation reference scheme, which relate to the technical field of data processing, and the method comprises the following steps: obtaining a three-dimensional model of a distorted part of an object body, and obtaining osteotomy line information and a correction angle which are obtained based on the three-dimensional model and used for correcting the distorted skeleton of the distorted part; determining key points on distorted bones in the three-dimensional model; adjusting the data of the distorted skeleton in the three-dimensional model based on the osteotomy line information and the correction angle to obtain an adjusted three-dimensional model which is used as a three-dimensional model of a distorted part after the osteotomy operation is carried out on the distorted skeleton; determining the position of a steel plate installed on the distorted bone based on the target position and a preset position conversion relation; a surgical reference plan is generated with the position information of the determined position 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

At present, before a tibia high-level osteotomy is performed on a subject, a doctor obtains a three-dimensional skeleton perspective image of the subject, and then knows the lower limb bone structure of the subject according to the three-dimensional skeleton perspective image, so as to determine an operation 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:

obtaining a three-dimensional model of a distorted part of a target body, and obtaining osteotomy line information and a correction angle which are obtained based on the three-dimensional model and used for correcting a distorted bone of the distorted part, wherein the three-dimensional model is obtained by rendering three-dimensional image data of the distorted part in a three-dimensional bone perspective image of the target body;

determining keypoints on the distorted bone in the three-dimensional model;

adjusting the data of the distorted bone in the three-dimensional model based on the osteotomy line information and the correction angle to obtain an adjusted three-dimensional model which is used as the three-dimensional model of the distorted part after the osteotomy operation is carried out on the distorted bone;

determining the position for installing a steel plate on the distorted bone based on a target position and a preset position conversion relation, wherein the target position is as follows: the positions of the key points in the adjusted three-dimensional model are in a position conversion relationship: the conversion relation between the positions of the key points and the positions of the marked points in the steel plate;

a surgical reference plan is generated with the position information of the determined position as reference information.

In one embodiment of the invention, the osteotomy line information includes a position of the osteotomy line and a length of the osteotomy line;

adjusting the data of the distorted bone in the three-dimensional model based on the osteotomy line information and the correction angle to obtain an adjusted three-dimensional model, comprising:

determining an osteotomy plane where the osteotomy line is located in the three-dimensional model according to the position of the osteotomy line;

and adjusting the data of the distorted bone in the three-dimensional model based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle to obtain the adjusted three-dimensional model.

In an embodiment of the present invention, the determining a position for installing a steel plate on the distorted bone based on the target position and a preset position conversion relationship includes:

determining a corresponding point corresponding to the calibration point in the three-dimensional model based on a target position and a preset position conversion relation;

performing model registration on the three-dimensional model and the three-dimensional steel plate model of the steel plate according to the position of the corresponding point and the position of the calibration point to obtain a matching area matched with the steel plate model in the three-dimensional model;

determining a location to install the steel plate on the distorted bone based on the location of the matching region.

In an embodiment of the present invention, the performing model registration on the three-dimensional model and the three-dimensional steel plate model of the steel plate according to the position of the corresponding point and the position of the calibration point to obtain a matching region in the three-dimensional model, which is matched with the steel plate model, includes:

obtaining a plurality of first registration points in a three-dimensional steel plate model of the steel plate;

obtaining second registration points corresponding to the first registration points on the distorted bone in the three-dimensional model, wherein the second registration points are determined based on the positions of the corresponding points and a relative position relationship between the positions of the calibration points and the positions of the first registration points;

calculating adjustment information for adjusting the steel plate model according to the positions of the first registration points and the positions of the second registration points;

adjusting the steel plate model based on the obtained adjustment information;

calculating the average distance between each first registration point and the corresponding second registration point according to the position of each first registration point in the adjusted steel plate model and the position of each second registration point;

if the average distance is larger than or equal to a preset distance threshold value, correcting the position of each second registration point based on the average distance, and returning to the step of calculating the adjustment information for adjusting the steel plate model;

and if the average distance is smaller than the preset distance threshold, determining that an area, which is overlapped with the adjusted steel plate model, in the three-dimensional model is a matching area.

In one embodiment of the present invention, after determining the location for installing a steel plate on the distorted bone, the method further comprises:

determining each nail feeding point on the distorted bone based on the determined position of the steel plate and the position of the steel plate fixing hole on the steel plate;

aiming at each nail feeding point, determining the nail feeding direction on the nail feeding point, determining two intersection points of a nail placing straight line and the outer surface of the distorted bone, calculating the distance between the two intersection points, and determining the nail feeding depth for placing the nail at the nail feeding point based on the distance, wherein the nail placing straight line passes through the nail feeding point and is parallel to the nail feeding direction;

the generating of the surgery reference plan with the position information of the determined position as the reference information includes:

and generating a surgery reference scheme which takes the position information of the determined position and the nail penetration depth of each nail penetration point as reference information.

In one embodiment of the present invention, the determining the nail feeding direction at the nail feeding point includes:

calculating a curved surface normal vector of the curved surface where the nail feeding point is located;

and determining the nail feeding direction based on the direction of the normal vector of the curved surface.

In one embodiment of the present invention, the determining the nail penetration depth for nailing at the nail penetration point based on the distance comprises:

based on the distance, a screw length satisfying a preset selection condition is selected among the screw lengths obtained in advance as a screw-in depth for setting the screw at the screw-in point.

In an embodiment of the present invention, the preset selection condition is: the longest length among a plurality of screw lengths that are smaller than the calculated distance.

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

the information obtaining module is used for obtaining a three-dimensional model of a distorted part of a target body, obtaining osteotomy line information and a correction angle which are obtained based on the three-dimensional model and used for correcting a distorted bone of the distorted part, wherein the three-dimensional model is obtained by rendering three-dimensional image data of the distorted part in a three-dimensional bone perspective image of the target body;

a keypoint determination module for determining keypoints on the distorted bone in the three-dimensional model;

the data adjusting module is used for adjusting the data of the distorted skeleton in the three-dimensional model based on the osteotomy line information and the correction angle to obtain an adjusted three-dimensional model which is used as the three-dimensional model of the distorted part after the osteotomy operation is carried out on the distorted skeleton;

a position determination module, configured to determine, based on a target position and a preset position conversion relationship, a position at which a steel plate is installed on the deformed bone, where the target position is: the positions of the key points in the adjusted three-dimensional model are in a position conversion relationship: the conversion relation between the positions of the key points and the positions of the marked points in the steel plate;

and the scheme generating module is used for generating an operation reference scheme which takes the position information of the determined position as reference information.

the data adjusting module is specifically configured to:

and adjusting the data of the distorted skeleton in the three-dimensional model based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle to obtain an adjusted three-dimensional model which is used as the three-dimensional model of the distorted part after the osteotomy operation is carried out on the distorted skeleton.

In an embodiment of the present invention, the position determining module includes:

the corresponding point determining submodule is used for determining corresponding points corresponding to the calibration points in the three-dimensional model based on a target position and a preset position conversion relation;

the model registration submodule is used for carrying out model registration on the three-dimensional model and the three-dimensional steel plate model of the steel plate according to the position of the corresponding point and the position of the calibration point to obtain a matching area matched with the steel plate model in the three-dimensional model;

a position determination submodule for determining a position at which the steel plate is mounted on the distorted bone based on the position of the matching region.

In an embodiment of the present invention, the model registration sub-module is specifically configured to:

adjusting the steel plate model based on the obtained adjustment information;

and if the average distance is smaller than the preset distance threshold, determining that an area in the three-dimensional model, which is overlapped with the adjusted steel plate model, is a matching area.

In one embodiment of the invention, the apparatus further comprises:

the nail feeding point determining module is used for determining each nail feeding point on the distorted bone based on the determined position of the steel plate and the position of the steel plate fixing hole on the steel plate after determining the position of installing the steel plate on the distorted bone;

the depth determination module is used for determining a nail feeding direction on each nail feeding point, determining two intersection points of a nail placing straight line and the outer surface of the distorted bone, calculating the distance between the two intersection points, and determining the nail feeding depth for placing the nail at the nail feeding point based on the distance, wherein the nail placing straight line passes through the nail feeding point and is parallel to the nail feeding direction;

the scheme generation module is specifically configured to:

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

calculating a curved surface normal vector of a curved surface where the nail feeding point is located aiming at each nail feeding point, determining the nail feeding direction based on the direction of the curved surface normal vector, determining two intersection points of a nail placing straight line and the outer surface of the distorted bone, calculating the distance between the two intersection points, and determining the nail feeding depth for placing the nail at the nail feeding point based on the distance

and aiming at each nail feeding point, determining the nail feeding direction on the nail feeding point, determining two intersection points of a nail placing straight line and the outer surface of the distorted bone, calculating the distance between the two intersection points, and selecting the screw length meeting preset selection conditions from the pre-obtained screw lengths based on the distance to serve as the nail feeding depth for placing the nail at the nail feeding point.

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.

The embodiment of the invention has the following beneficial effects:

as can be seen from the above, when the surgical reference plan is generated by applying the plan provided by the embodiment of the present invention, after the three-dimensional model, the information of the osteotomy line and the correction angle are obtained, the key point on the distorted portion in the three-dimensional model is first determined, then the data of the distorted bone in the three-dimensional model is adjusted to obtain the adjusted three-dimensional model, and then the position of the steel plate mounted on the distorted bone is determined based on the target position and the position conversion relationship. Since the position conversion relationship is a conversion relationship between the position of the key point and the position of the index point in the steel plate, and the position of the index point on the steel plate is generally known, after the adjusted three-dimensional model is obtained, the position of the steel plate mounted on the distorted bone can be determined according to the position of the key point in the adjusted three-dimensional model and the position conversion relationship, so as to generate an operation reference plan using the determined position as reference information, and a doctor can refer to the reference information included in the operation reference plan, so as to determine the operation plan. Therefore, the operation reference scheme generation scheme provided by the embodiment of the invention can provide reference information for doctors.

In addition, when the data of the distorted bone in the three-dimensional model is adjusted, the adjustment is performed based on the osteotomy line information and the correction angle, so that the process of adjusting the data in the three-dimensional model can be regarded as a process of performing an osteotomy operation on the distorted bone in a simulated operation process, and the adjusted three-dimensional model can be regarded as a three-dimensional model of a distorted part after the osteotomy operation is performed on the distorted bone. Because the steel plate needs to be installed on the distorted bone after the osteotomy operation, when the installation position of the steel plate is determined, the position of the key point on the adjusted three-dimensional model and the position conversion relation are determined, the accuracy of the determined position can be improved, and accurate reference information is provided for doctors.

Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.

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 flowchart of a first surgical reference plan generating method according to an embodiment of the present invention;

FIG. 1b is a schematic structural diagram of a three-dimensional model of a first distortion site according to an embodiment of the present invention;

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

FIG. 2b is a schematic structural diagram of a three-dimensional model of a second distortion site according to an embodiment of the present invention;

FIG. 3a is a schematic flow chart of a third surgical reference plan generating method according to an embodiment of the present invention;

FIG. 3b is a schematic structural diagram of a three-dimensional model of a third distortion location provided by an embodiment of the present invention;

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

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

FIG. 5b is a schematic structural diagram of a three-dimensional model of a fourth distortion site provided by an embodiment of the present invention;

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

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

fig. 8 is a schematic structural diagram of a first surgical reference plan generating apparatus 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, fig. 1a is a first surgical reference plan generating method provided by an embodiment of the present invention, where the method includes the following steps S101 to S105:

step S101: a three-dimensional model of a distorted part of a subject is obtained, and osteotomy line information and a correction angle for correcting a distorted bone of the distorted part are obtained based on the three-dimensional model.

The three-dimensional model is obtained by rendering three-dimensional image data of a distorted part in a three-dimensional skeleton perspective image of the object body.

The object may be a human or animal body.

The three-dimensional bone fluoroscopic image may be a CT image, and the bone of the object shown in the three-dimensional bone fluoroscopic image may be a lower limb bone of the object in order to allow a doctor to better observe the bone structure of the object before the tibia high osteotomy is performed on the object, and therefore, the three-dimensional bone fluoroscopic image may be a lower limb force line full length CT image in a case where the object is in a weight bearing position.

The distorted portion is a portion where a distorted bone exists in the lower limb bones of the subject, and may be, for example, a femoral bone portion or a tibial bone portion.

When a doctor performs a high tibial osteotomy operation on a subject, the doctor usually needs to cut and saw the bone of the deformed 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 correct the deformed portion. The angle of the bone gap is a correction angle, the depth of the bone gap, namely the depth of the cutting saw is the length of the osteotomy line, and the position of the bone gap of the cutting saw is the position of the osteotomy line. The information of the osteotomy line may include information of a position, a length, etc. of the osteotomy line.

The above three-dimensional model of the object body distortion portion can be obtained by either of the following two implementation methods.

In a first implementation manner, a three-dimensional skeleton perspective image of an object may be obtained first, a region where a distorted portion is located is determined in the obtained three-dimensional skeleton perspective image, and then three-dimensional image data rendering may be performed on data of the distorted portion in the three-dimensional skeleton perspective image, so as to obtain a three-dimensional model of the distorted portion.

The specific implementation manner of determining the region where the distortion part is located in the three-dimensional bone perspective image can be seen in the following embodiments, which will not be detailed here.

And rendering the three-dimensional image data of the distorted part in the three-dimensional skeleton perspective image to obtain a three-dimensional model of the distorted part, wherein the three-dimensional model can be realized by applying the prior art, and the details are not described here.

In the second implementation manner, a three-dimensional model obtained by rendering three-dimensional image data of a distorted portion in a three-dimensional skeleton fluoroscopic image of a target body by another device may also be directly obtained as the three-dimensional model of the distorted portion of the target body.

The other devices can also obtain a three-dimensional skeleton perspective image of the object, determine the area where the distortion part is located, and render the three-dimensional image data of the distortion part in the obtained three-dimensional skeleton perspective image to obtain a rendered three-dimensional model.

Similarly to the three-dimensional model, obtaining the osteotomy line information and the correction angle can be achieved in either of the following two ways.

In the first implementation, after obtaining the three-dimensional model of the distorted portion of the subject, the osteotomy line information and the correction angle may be calculated based on the obtained three-dimensional model.

The following embodiments may be referred to for a detailed description of the present implementation, and will not be described in detail here.

In the second implementation, the osteotomy line information and the correction angle obtained by the other device based on the three-dimensional model of the object body distortion part can also be directly obtained.

Step S102: keypoints on the distorted bone in the three-dimensional model are determined.

The key points may be preset points on the bone. For example, the key points may be characteristic points that are characteristic of the distorted bone, such as end points, inflection points, etc. on the distorted bone; the key points may be other bone points determined according to the positions of the feature points.

For example, if the distorted bone is a tibia, the key point may be a bone end point in the tibia and located on the knee joint side, and the key point may also be another bone point determined according to the position of the bone end point, such as a bone point located at a predetermined length right below the bone end point.

In addition, for different deformed bones, the number of key points corresponding to the deformed bones may be set in advance, and may be one or more.

In one embodiment of the present invention, determining the keypoints may be achieved by either of two implementations.

In the first implementation manner, since bones contained in different body parts tend to be different, shapes of different bones tend to be different, and the deformed bones are known, key points on the deformed bones in the three-dimensional model can be identified based on the shape characteristics of the deformed bones.

In a second implementation manner, a three-dimensional skeleton perspective image of the object may be obtained first, candidate key points on the distorted skeleton are identified in the obtained three-dimensional skeleton perspective image, and then, according to a mapping relationship between the three-dimensional skeleton perspective image and a three-dimensional model of the distorted part, points corresponding to the candidate key points in the three-dimensional model are determined as key points on the distorted skeleton.

When candidate key points in the three-dimensional bone perspective image are identified, the candidate key points can be identified based on the shape characteristics of the distorted bone; and the feature extraction can be carried out on the three-dimensional skeleton perspective image to determine candidate key points on the distorted skeleton in the three-dimensional skeleton perspective image.

The feature extraction of the three-dimensional bone perspective image can be realized based on a trained deep neural network which is used for identifying key points on distorted bones in the three-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.

Step S103: and adjusting the data of the distorted skeleton in the three-dimensional model based on the osteotomy line information and the correction angle to obtain the adjusted three-dimensional model which is used as the three-dimensional model of the distorted part after the osteotomy operation is carried out on the distorted skeleton.

The osteotomy line information and the correction angle are used for correcting the distorted bone of the distorted part, and a doctor needs to perform an osteotomy operation on the distorted bone according to the osteotomy line information and the correction angle in the operation process, so that the data of the distorted bone in the three-dimensional model is adjusted based on the osteotomy line information and the correction angle, the data can be regarded as simulating the osteotomy operation on the distorted bone, and the obtained adjusted three-dimensional model can be regarded as a three-dimensional model of the distorted part after the osteotomy operation on the distorted bone.

As shown in fig. 1b, fig. 1b is a schematic structural diagram of a three-dimensional model of a first distorted part, the three-dimensional model shown in fig. 1b is a three-dimensional model of the distorted part after data adjustment, and as can be seen from fig. 1b, a gap is cut out from the distorted bone in the three-dimensional model, the depth of the gap is the length of a osteotomy line, and the angle of the gap is a correction angle.

The data of the distorted bone in the three-dimensional model can be adjusted based on the information of the osteotomy line and the correction angle by applying the prior art, and the details are not described here.

For example, the data of the deformed bone in the three-dimensional model may be adjusted using prior art simulation software for simulating surgical procedures.

Step S104: and determining the position of the steel plate on the distorted bone based on the target position and a preset position conversion relation.

Wherein, the target position is: the location of the keypoint in the adjusted three-dimensional model.

The steel plate may be a T-shaped steel plate, or may be another type of steel plate, which is not limited in the embodiments of the present invention.

The position conversion relationship is as follows: and the position of the key point is in conversion relation with the position of the mark point in the steel plate.

The index points may be screw fixation points, end points, etc. in the steel plate.

The number of the index points in the steel plate may be one or more. In the case where a plurality of index points are included in the steel sheet, the position conversion relationship may include a conversion relationship between the position of the key point and the position of each index point, or the position conversion relationship may include a conversion relationship between the position of the key point and one of the plurality of index points, and a conversion relationship between the positions of the index points.

The specific implementation manner of determining the position of the steel plate mounted on the distorted bone based on the target position and the preset position conversion relationship can be seen in the following embodiments, and will not be detailed here.

Step S105: a surgical reference plan is generated with the position information of the determined position as reference information.

The surgery reference plan comprises reference information, the reference information is position information of the determined position, and a doctor can obtain the position information when reading the surgery reference plan.

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, thereby determining the surgical plan.

In addition, when the surgical reference plan is generated, the osteotomy line information and the correction information obtained in step S101 may be used as reference information, in addition to the position information of the specified position. In addition, the three-dimensional bone perspective image of the object body can be subjected to three-dimensional image data rendering to obtain an object model of the object body, the distortion type of the object body is determined based on the object model, and the distortion type is also used as reference information.

As can be seen from the above, when the surgical reference plan is generated by applying the plan provided by the embodiment of the present invention, after the three-dimensional model, the information of the osteotomy line and the correction angle are obtained, the key point on the distorted portion in the three-dimensional model is first determined, then the data of the distorted bone in the three-dimensional model is adjusted to obtain the adjusted three-dimensional model, and then the position of the steel plate mounted on the distorted bone is determined based on the target position and the position conversion relationship. Since the position conversion relationship is a conversion relationship between the position of the key point and the position of the index point in the steel plate, and the position of the index point on the steel plate is generally known, after the adjusted three-dimensional model is obtained, the position of the steel plate mounted on the distorted bone can be determined according to the position of the key point in the adjusted three-dimensional model and the position conversion relationship, so as to generate an operation reference scheme using the determined position as reference information, and a doctor can refer to the reference information included in the operation reference scheme, so as to determine the operation scheme. Therefore, the operation reference scheme generation scheme provided by the embodiment of the invention can provide reference information for doctors.

The following describes an implementation of determining a region in which a distorted portion is located in a three-dimensional bone fluoroscopic image.

In an embodiment of the present invention, after obtaining a three-dimensional bone perspective image of an object, a part key point of a preset joint part may be identified in the three-dimensional bone perspective image, three-dimensional image data rendering may be performed on data of the obtained three-dimensional bone perspective image to obtain an object model of the object, a mapping point corresponding to the part key point in the object model is determined according to a mapping relationship between the three-dimensional bone perspective image and the object model, and then a distortion part of the object is determined based on position information of the mapping point, so as to determine a region where the distortion part is located in the three-dimensional bone perspective image.

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

The manner of identifying the region key points in the three-dimensional bone perspective image is similar to the manner of identifying the candidate key points mentioned in step S102, and is not repeated here.

Since the site key points of the preset joint region of the object may be points in the skeleton included in the preset joint region, the skeleton of the object may be represented by the site key points in the skeleton, the shape feature of the skeleton of the object may be represented by the relative positional relationship between a plurality of site key points in the skeleton, and the mapping points may be in one-to-one correspondence with the site key points, the skeleton of the object may be represented by the mapping points in the skeleton, and the shape feature of the skeleton of the object may be represented by the relative positional relationship between a plurality of mapping points in the skeleton in the object model. Therefore, the distortion position of the object can be determined by determining the relative position between different mapping points and obtaining a specific parameter based on the relative position between the different mapping points, for example, the specific parameter may be the distance between the different mapping points or the angle obtained by the different mapping points, and determining whether the parameter value of the specific parameter is within a preset parameter value range, so as to determine whether the bone corresponding to the mapping point is distorted. And if the parameter value of the specific parameter is not in the preset parameter value range, determining that the bone corresponding to the mapping point is distorted.

The distorted portion of the subject may be a tibia or a femur. Therefore, whether the distortion part of the object is the tibia can be determined by the relative positional relationship between the mapping points of the tibia in the object model, and whether the distortion part of the object is the femur can also be determined by the relative positional relationship between the mapping points of the femur.

After the distortion portion of the object is specified, a region corresponding to the specified distortion portion can be specified as a region where the distortion portion is located in the three-dimensional bone fluoroscopic image.

The following describes an implementation of obtaining osteotomy line information and correcting an angle by calculation based on a three-dimensional model of a distorted portion.

In an embodiment of the present invention, the mapping points on the distorted bone in the three-dimensional model of the distorted portion may be determined in the manner mentioned in the above embodiments, the positions of the mapping points on the distorted bone in the three-dimensional model after the operation may be preset, and the osteotomy line information and the correction angle may be determined according to the position information of the mapping points before the operation and the position information of the mapping points after the operation.

In another embodiment of the present invention, if the deformed portion is a femur based on the object model, the osteotomy line information and the correction angle may be determined by the following steps one to five.

The method comprises the following steps: in the object model, a first mapping point corresponding to the center of the femoral head of the object, a second mapping point corresponding to the middle point of the lower limb of the object, a third mapping point corresponding to the center of the ankle joint of the object, a fourth mapping point corresponding to the hinge position of the object, and a fifth mapping point corresponding to a first preset position in the femoral head of the object are obtained.

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

Step two: and determining a first straight line in which the second mapping point and the third mapping point are positioned, and determining a first line segment in which the first mapping point and the fourth mapping point are end points.

Step three: 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 fourth mapping point, the other end point is positioned on the first straight line, and the second line segment is closer to the inner thigh of the object than the first line segment.

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

Step five: determining the position of a straight line where the fourth mapping point and the fifth mapping point are located as the position of an osteotomy line, and determining the length of the osteotomy line for correcting the distorted bone according to the distance between the fourth mapping point and the fifth mapping point and a preset proportion, wherein the preset proportion is marked as follows: the ratio between the unit length in the three-dimensional model and the unit length in the actual scene.

When the deformed portion is a tibia, the osteotomy line information and the correction angle can be determined through the following six to ten steps.

Step six: the first mapping point, a sixth mapping point corresponding to a knee joint center of the subject, the third mapping point, a seventh mapping point corresponding to a second predetermined position in the tibia of the subject, and an eighth mapping point corresponding to a third predetermined position in the tibia of the subject are obtained in the subject model.

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.

Step seven: and determining a second straight line where the first mapping point and the sixth mapping point are located, and determining a third line segment with the third mapping point and the seventh mapping point as end points.

Step eight: and determining a fourth line segment with the same length as the third line segment, wherein one end point of the fourth line segment is a seventh mapping point, the other end point is positioned on the second straight line, and the fourth line segment is closer to the outer side of the shank of the object than the third line segment.

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

Step ten: and determining the position of a straight line where the seventh mapping point and the eighth mapping point are located as the position of an osteotomy line, and determining the length of the osteotomy line for correcting the distorted bone according to the distance between the seventh mapping point and the eighth mapping point and the preset proportion.

When the data of the deformed bone in the three-dimensional model is adjusted to obtain the adjusted three-dimensional model, the data of the deformed bone in the three-dimensional model can be adjusted through the following steps S103A-S103B in the embodiment shown in fig. 2a, in addition to the manner provided in step S103 in the embodiment shown in fig. 1 a.

In an embodiment of the present invention, referring to fig. 2a, a flowchart of a second surgical reference plan generating method is provided, in this embodiment, the osteotomy line information includes a position of the osteotomy line and a length of the osteotomy line, and the step S103 may be implemented by the following steps S103A-S103B.

Step S103A: and determining an osteotomy plane in the three-dimensional model according to the position of the osteotomy line.

Specifically, since the doctor usually performs the osteotomy operation by cutting from the side of the distorted bone, the doctor can determine another osteotomy line, which may be a line intersecting the osteotomy line and parallel to the body orientation of the subject, based on the position of the osteotomy line after obtaining the position of the osteotomy line. And after the osteotomy straight line is determined, determining the osteotomy line and the plane where the osteotomy straight line is located as the osteotomy plane.

Step S103B: and adjusting the data of the distorted skeleton in the three-dimensional model based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle to obtain the adjusted three-dimensional model.

Referring to fig. 2b, fig. 2b is a schematic structural diagram of a three-dimensional model of a second distortion part, and in fig. 2b, a plane in which a diamond-shaped area is located is an osteotomy plane. The osteotomy plane divides the distorted skeleton in the three-dimensional model into an upper region and a lower region, and the data for adjusting the distorted skeleton in the three-dimensional model has the following three conditions.

In the first case, only the data of the bone region below the osteotomy plane in the three-dimensional model may be adjusted based on the position of the osteotomy plane, the length of the osteotomy line, and the correction angle.

In the second case, only the data of the bone region above the osteotomy plane in the three-dimensional model may be adjusted based on the position of the osteotomy plane, the length of the osteotomy line, and the correction angle.

In the third case, the data of the two bone regions above and below the osteotomy plane in the three-dimensional model can be adjusted based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle.

Adjusting the data in the three-dimensional model can be achieved based on prior art and is not described in detail here.

As can be seen from the above, when the surgical reference plan is generated by applying the plan provided by the embodiment of the present invention, when data of a distorted bone in a three-dimensional model is adjusted, an osteotomy plane is determined in the three-dimensional model based on the position of an osteotomy line, and then the data of the distorted bone is adjusted based on the position of the osteotomy line, the length of the osteotomy line, and a correction angle.

Next, an implementation of determining the position of the steel plate to be attached to the deformed bone based on the target position and the preset position conversion relationship in step S104 will be described.

In an embodiment of the present invention, referring to fig. 3a, a flowchart of a third surgical reference plan generating method is provided, and in this embodiment, the step S104 may be implemented by the following steps S104A-S104C.

Step S104A: and determining corresponding points corresponding to the calibration points in the three-dimensional model based on the target positions and a preset position conversion relation.

Since the steel plate is attached to the deformed bone, and therefore, the deformed bone has a corresponding point to which the index point is attached. After the data of the distorted bone in the three-dimensional model is adjusted, the position of a key point on the distorted bone in the adjusted three-dimensional model can be obtained, and the position of the corresponding point is determined based on the obtained position of the key point and the position conversion relation, wherein the position of the corresponding point is the installation position of the time scale fixed point for installing the steel plate.

Referring to fig. 3b, fig. 3b is a schematic structural diagram of a three-dimensional model of a third distorted portion, and it can be seen from fig. 3b that when the steel plate is mounted on the distorted bone, the steel plate is attached to the distorted bone, and the calibration point on the steel plate is attached to the corresponding point on the distorted bone at the same position.

For example, the position in the three-dimensional model may be expressed in the form of three-dimensional coordinates, the position conversion relationship may be expressed in the form of three-dimensional coordinates, and the relationship may also be expressed in the form of three-dimensional coordinates, and when the coordinates of the key point are (x1, y1, z1) and the position conversion relationship is (x2, y2, z2), the mounting coordinates of the index point may be calculated as (x1-x2, y1-y2, z1-z2), that is, the coordinates of the corresponding point may be (x1-x2, y1-y2, z1-z2), based on the coordinates of the key point and the position conversion relationship.

Step S104B: and carrying out model registration on the three-dimensional model and the three-dimensional steel plate model of the steel plate according to the position of the corresponding point and the position of the calibration point to obtain a matching area matched with the steel plate model in the three-dimensional model.

Specifically, a three-dimensional steel plate model of the steel plate can be obtained in advance, the positions of the calibration points in the steel plate model are obtained, and the three-dimensional model and the steel plate model are subjected to model registration according to the positions of the corresponding points in the three-dimensional model and the positions of the calibration points in the steel plate model, so that a matching region in the three-dimensional model is obtained.

In an embodiment of the present invention, model registration of the three-dimensional model and the steel plate model may be implemented by any one of the following three implementation manners.

In the first implementation, position conversion information for converting the position of the calibration point in the steel plate model to the position of the corresponding point in the three-dimensional model may be calculated, the steel plate model may be adjusted based on the position conversion information, a region where the adjusted steel plate model and the three-dimensional model overlap may be obtained, and the region may be used as the matching region.

In the second implementation manner, the model registration can also be implemented by applying the subsequent steps S104B1-S104B8 in the embodiment shown in fig. 4, which is not detailed here for the moment.

In a third implementation manner, the existing model registration technology can also be applied to perform model registration on the three-dimensional model and the steel plate model, and details are not described here.

Step S104C: based on the location of the matching region, the location of the steel plate to be installed on the distorted bone is determined.

After the position of the matching region is obtained, the relative positional relationship between the matching region and the deformed bone in the three-dimensional model can be determined, and the position where the steel plate is mounted on the deformed bone can be determined based on the relative positional relationship.

Therefore, when the scheme provided by the embodiment of the invention is applied to generate the operation reference scheme, the corresponding point corresponding to the calibration point is determined in the three-dimensional model, and the position of the corresponding point in the three-dimensional model can be understood as the installation position of the time scale fixed point for installing the steel plate. Therefore, the scheme provided by the embodiment of the invention can improve the accuracy of generating the surgical reference scheme.

After the corresponding points are determined, the matching area can be obtained in the following manner, besides the matching area can be obtained by means of model registration.

In an embodiment of the present invention, the relative position relationship between the calibration point and the steel plate may be regarded as a point-boundary position relationship between the calibration point and the steel plate boundary, so that a curve corresponding to the steel plate boundary may be determined in the three-dimensional model based on the position of the matching point and the point-boundary position relationship, and since the steel plate boundary is closed, the curve is also a closed curve, so that an area surrounded by the closed curve may be determined as an installation area of the steel plate.

When model registration is performed on the three-dimensional model and the steel plate model, the above step S104B may be implemented by applying the following steps S104B1-S104B8 in the embodiment shown in fig. 4, in addition to the manner provided in the above embodiment.

In an embodiment of the present invention, referring to fig. 4, a flowchart of a fourth surgical reference plan generating method is provided, and in this embodiment, the step S104B may be implemented by the following steps S104B1-S104B 8.

Step S104B 1: a plurality of first registration points in the steel plate model are obtained.

In a first implementation manner, the first registration point may be selected in the steel plate model according to a preset selection manner.

For example, the selection may be to select a point in the model as the first registration point at intervals of a certain length.

In a second implementation manner, the first registration point may be further selected according to the position of the calibration point in the steel plate model.

For example, a plurality of points distant from the index point by a predetermined length may be selected as the first registration point.

In a third implementation, a plurality of points may be arbitrarily selected as the first registration points in the steel plate model.

In addition, the first registration point may or may not include the calibration point.

Step S104B 2: second registration points corresponding to the respective first registration points on the distorted bone in the three-dimensional model are obtained.

Each second registration point is determined based on the position of the corresponding point and a relative position relationship, wherein the relative position relationship is a position relationship between the position of the calibration point and the position of each first registration point.

Specifically, the steel plate model comprises calibration points and first registration points, and a relative position relationship exists between the positions of the calibration points and the first registration points. The three-dimensional model comprises corresponding points corresponding to the calibration points, and second registration points corresponding to the first registration points can be determined based on the positions of the corresponding points and the relative position relation.

For example, the positions in the three-dimensional model and the steel plate model may be expressed in the form of three-dimensional coordinates, and if there are a calibration point a, a first registration point a, and a first registration point b in the steel plate model, the coordinates of the calibration point a being (1,2,3), the coordinates of the first registration point a being (1,2,4), and the coordinates of the first registration point b being (2,2,3), a relative positional relationship a between the calibration point a and the first registration point a, and a relative positional relationship b between the calibration point a and the first registration point b may be obtained, and at this time, if the coordinates of the corresponding point in the three-dimensional model is (2,3,4), the coordinates of the first second registration point may be determined in the three-dimensional model as (2,3,5) based on the coordinates of the corresponding point and the relative positional relationship a, the second registration point corresponding to the first registration point a; based on the coordinates of the corresponding point and the relative positional relationship b, the coordinates of a second registration point corresponding to the first registration point b may be determined to be (3,3, 4).

In addition, when the second registration point is obtained, a point specified by the user according to the position of the corresponding point may be used as the second registration point.

Step S104B 3: and calculating the adjustment information for adjusting the steel plate model according to the position of each first registration point and the position of each second registration point.

Calculating the above-mentioned adjustment information according to the position of each first registration point and the position of each second registration point can be implemented by using the prior art, and will not be described in detail herein.

For example, the adjustment information may be calculated by using an existing ICP (Iterative Closest Point) algorithm, and in this case, the calculated adjustment information includes two matrices, i.e., a rotation matrix and a translation matrix.

Step S104B 4: and adjusting the steel plate model based on the obtained adjustment information.

For example, when the adjustment information includes a rotation matrix and a translation matrix, the steel plate model is adjusted based on the adjustment information, and it is understood that the steel plate model is subjected to rotation and translation transformation based on the rotation matrix and the translation matrix.

Step S104B 5: and calculating the average distance between each first registration point and the corresponding second registration point according to the position of each first registration point in the adjusted steel plate model and the position of each second registration point.

In one implementation, the first registration points and the second registration points are in one-to-one correspondence, and the distance between each first registration point and the corresponding second registration point may be calculated, and then an average value of the distances is calculated, and the average value is used as the average distance.

In another implementation, the average distance d may be calculated using the following expression:

where n denotes the number of first registration points, p_iDenotes the ith first registration point, q_iRepresenting the ith second registration point.

Step S104B 6: and judging whether the average distance is larger than or equal to a preset distance threshold value, if so, executing the step S104B7, and if not, executing the step S104B 8.

The preset distance threshold may be a manually set threshold.

Specifically, if the average distance is greater than or equal to the preset distance threshold, it indicates that the effect of performing model registration on the three-dimensional model and the steel plate model is poor, and the distorted bone in the three-dimensional model is not attached to the steel plate in the steel plate model, and then step S104B7 is executed; if the average distance is smaller than the preset distance threshold, it indicates that the effect of model registration of the three-dimensional model and the steel plate model is good, and the distorted bone in the three-dimensional model is attached to the steel plate in the steel plate model, and at this time, step S104B8 is executed.

Step S104B 7: and correcting the position of each second registration point based on the average distance, and returning to the step of calculating adjustment information for adjusting the steel plate model.

Specifically, the position of the second registration point may be regarded as the installation position of the first registration point corresponding to the second registration point in the three-dimensional model, and if the average distance is greater than or equal to the preset distance threshold, it indicates that there is a deviation between the current position of the second registration point and the installation position of the expected first registration point in the three-dimensional model, and at this time, the second registration point needs to be corrected to eliminate the deviation.

When the position of the second registration point is corrected, a correction direction may be set in advance, and then a correction amount for correcting the second registration point may be determined from the average distance, so that the position of each second registration point may be corrected based on the correction direction and the correction amount.

In addition, for each second alignment point, the correction direction of the second alignment point may be set, and the correction directions of different second alignment points may be the same or different.

For example, the correction direction may be a direction pointing from the second registration point to the corresponding point.

After the position of each second registration point is corrected, the process returns to step S104B3, and adjustment information for adjusting the steel plate model may be calculated based on the position of each first registration point and the corrected position of each second registration point.

Step S104B 8: and determining a region of the three-dimensional model, which is overlapped with the adjusted steel plate model, as a matching region.

Specifically, the region where the three-dimensional model and the steel plate model overlap may be understood as a region where the positional information is the same in both models, and therefore, the region may be determined as the matching region by comparing the three-dimensional model and the steel plate model and determining the region in the three-dimensional model which is the same as the positional information in the steel plate model.

As can be seen from the above, when the surgical reference plan is generated by applying the plan provided by the embodiment of the present invention, in the process of performing model registration on the three-dimensional model and the steel plate model, a plurality of first registration points on the steel plate model and a plurality of second registration points on the three-dimensional model are obtained, adjustment information is calculated according to the positions of the first registration points and the second registration points, the steel plate model is adjusted based on the adjustment information, the average distance is calculated according to the position of each first registration point in the adjusted steel plate model and the position of each second registration point, if the average distance is greater than or equal to the preset distance threshold, the second registration points are corrected based on the average distance, and the step of calculating the adjustment information is returned until the average distance is less than the preset distance threshold. The deformed skeleton in the three-dimensional model can be considered to be attached to the steel plate in the steel plate model when the average distance is smaller than the preset distance threshold, the deformed skeleton conforms to the actual operation process, at the moment, the region, which is overlapped with the adjusted steel plate model, in the three-dimensional model can be accurately determined to be a matching region, and then the position of installing the steel plate on the deformed skeleton can be accurately determined based on the position of the matching region. Therefore, the scheme provided by the embodiment of the invention can improve the accuracy of generating the surgical reference scheme.

In addition, the iteration ending condition in the scheme is that the average distance is smaller than a preset distance threshold, in addition, the iteration frequency of iteration in the scheme can be counted, the iteration frequency larger than the preset frequency threshold is taken as another iteration ending condition, under the condition that any one of the two iteration ending conditions is met, the iteration can be considered to be ended, and the region, which is overlapped with the adjusted steel plate model, in the three-dimensional model is determined as the matching region.

In an embodiment of the present invention, referring to fig. 5a, a flow chart of a fifth surgical reference plan generating method is provided, in this embodiment, after determining a position for installing a steel plate on an abnormal bone, the method further includes the following steps S106-S107, and the step S105 can be implemented by the following step S105A.

Step S106: and determining each nail feeding point on the distorted bone based on the determined position of the steel plate and the position of the steel plate fixing hole on the steel plate.

Specifically, the determined steel plate position may be understood as a mounting area where the steel plate is mounted, and the shape of the area is the same as the shape of the steel plate. The position of the steel plate fixing hole on the steel plate may be previously obtained, and based on the position of the steel plate fixing hole on the steel plate, a relative positional relationship between the steel plate fixing hole and the entire steel plate may be determined, and then according to the relative positional relationship, the nail feeding point may be determined in the above-described installation area.

For example, if the steel plate fixing hole is located at the geometric center position of the steel plate, the determined steel plate position is the nail feeding point at the geometric center position of the steel plate position.

In addition, the number of the steel plate fixing holes is usually multiple, for each steel plate fixing hole, based on the position of the steel plate fixing hole on the steel plate, the relative position relationship between the steel plate fixing hole and the whole steel plate can be determined, and then according to the relative position relationship, the nail feeding point corresponding to the steel plate fixing hole can be determined in the installation area.

Step S107: and determining the nail feeding direction on each nail feeding point, determining two intersection points of the nail placing straight line and the outer surface of the distorted bone, calculating the distance between the two intersection points, and determining the nail feeding depth for placing the nail at the nail feeding point based on the distance.

Wherein, the nail placing line passes through the nail feeding point and is parallel to the nail feeding direction.

The nail placing straight line is a straight line of a nail placing route for placing the nail at the nail feeding point.

Specifically, for each nail feeding point, the nail feeding direction at the nail feeding point may be determined first, a nail placing straight line passing through the nail feeding point is determined according to the determined nail feeding direction and the position of the nail feeding point, then two intersection points where the nail placing straight line intersects with the outer surface of the distorted bone are determined in the three-dimensional model, the positions of the two intersection points are obtained, the distance between the two intersection points is calculated based on the obtained positions of the two intersection points, and finally the nail feeding depth at the nail feeding point for nail placement is determined based on the calculated distance.

Referring to fig. 5b, fig. 5b is a schematic structural diagram of a three-dimensional model of a fourth distorted portion, and it can be seen from fig. 5b that a plurality of screw feeding points exist on a distorted bone, each screw feeding point is provided with a screw, a straight line where the screw is located at each screw feeding point is a screw placing straight line corresponding to the screw feeding point, different screw placing straight lines may be parallel or non-parallel, that is, the screw feeding directions at different screw feeding points may be the same or different.

In one embodiment of the present invention, the direction of staple feeding at the point of staple feeding may be determined by any one of three implementations.

In the first implementation mode, the doctor can manually determine the nail feeding direction on the nail feeding point according to the experience of the doctor.

In a second implementation manner, when the steel plate is installed on the distorted bone, each nail feeding point corresponds to one steel plate fixing hole, and therefore, the direction perpendicular to the plane of the steel plate where the steel plate fixing holes are located can be determined as the nail feeding direction of the nail feeding point corresponding to the steel plate fixing hole.

In a third implementation manner, the nail feeding direction at the nail feeding point can be determined by the step S107A in the embodiment shown in the subsequent fig. 6, which will not be described in detail here.

When determining the nail penetration depth of the nail placing at the nail penetration point based on the calculated distance, the calculated distance may be directly determined as the nail penetration depth, and the nail penetration depth may also be determined through step S107D in the embodiment shown in the subsequent fig. 7, which will not be described in detail herein.

After determining the staple depth at each of the staple points, the above-described step S105 can be implemented by the following step S105A.

Step S105A: and generating a surgery reference scheme which takes the position information of the determined position and the nail penetration depth of each nail penetration point as reference information.

The reference information comprises position information of the determined position and the nailing depth of each nailing point, so that a doctor can obtain the nailing depth of each nailing point when reading the surgical reference scheme, and the doctor can select a screw with a proper length for each nailing point in the surgical process and place the nail at the nailing point.

As can be seen from the above, when the surgical reference plan is generated by applying the plan provided by the embodiment of the present invention, the position information of the determined position is used as the reference information, and the nail feeding depth at each nail feeding point is also used as the reference information, so that the plan provided by applying the embodiment of the present invention can provide more abundant reference information for the doctor.

In determining the direction of the nail penetration at the point of penetration, it is possible to perform steps S107A-S107B as in the embodiment shown in fig. 6, in addition to the manner provided in step S107 described above.

In an embodiment of the present invention, referring to fig. 6, a flowchart of a sixth surgical reference plan generating method is provided, and in this embodiment, the step S107 can be implemented by the following steps S107A-S107B.

Step S107A: and calculating a curved surface normal vector of the curved surface where the nail feeding point is located aiming at each nail feeding point, and determining the nail feeding direction based on the direction of the curved surface normal vector.

Specifically, for each nail feeding point, the curved surface where the nail feeding point is located may be determined based on the position of the nail feeding point, and the curved surface normal vector of the curved surface where the nail feeding point is located may be calculated. Since the nail feeding direction is generally directed to the inside of the bone, after the curved surface normal vector of the curved surface where the nail feeding point is located is calculated, the direction parallel to the curved surface normal vector and directed to the inside of the bone can be determined as the nail feeding direction at the nail feeding point.

The calculation of the normal vector of the curved surface where the nail feeding point is located can be realized by the existing normal vector calculation technology, and the details are not described here.

Step S107B: and aiming at each needle feeding point, determining two intersection points of a nail placing straight line corresponding to the needle feeding point and the outer surface of the distorted bone, calculating the distance between the two intersection points, and determining the nail feeding depth for placing the nail at the nail feeding point based on the distance.

This step is similar to the manner of determining the nail penetration depth in step S107, and is not described herein again.

Therefore, when the surgical reference scheme is generated by applying the scheme provided by the embodiment of the invention, the nail feeding direction on the nail feeding point can be accurately determined based on the direction of the curved surface normal vector by calculating the curved surface normal vector of the curved surface where the nail feeding point is located, so that the nail feeding depth for setting the nail at the nail feeding point can be accurately determined based on the nail feeding direction. Therefore, the scheme provided by the embodiment of the invention can improve the accuracy of generating the surgical reference scheme.

In determining the depth of penetration at the point of penetration, this may be achieved by steps S107C-S107D in the embodiment shown in fig. 7, as follows, in addition to the manner provided in step S107 described above.

In an embodiment of the present invention, referring to fig. 7, a flowchart of a seventh surgical reference plan generating method is provided, and in this embodiment, the step S107 can be implemented by the following steps S107C-S107D.

Step S107C: and aiming at each nail feeding point, determining the nail feeding direction on the nail feeding point, determining two intersection points of the nail placing straight line and the outer surface of the distorted bone, and calculating the distance between the two intersection points.

The implementation manner of determining the nail feeding direction and the distance may refer to the description in the above embodiments, and is not described herein again.

Step S107D: and selecting the screw length meeting the preset selection condition from the pre-obtained screw lengths according to the distance corresponding to each screw feeding point as the screw feeding depth for setting the screw at the screw feeding point.

For example, if there are three screw lengths of 4cm, 6cm, and 8cm, respectively, and the distance is 7cm, the screw lengths smaller than the distance can be determined to be 4cm and 6cm, and the nailing depth to be set at the nailing point can be determined to be 6 cm.

In the scheme, the screw length with the longest length in the screw lengths which are smaller than the calculated distance is used as the screw feeding depth, so that when the screw is placed at the position of the screw feeding point on the distorted bone, the screw can be firmly and reliably placed as far as possible, and the reliability of the operation is improved.

In another embodiment of the present invention, the preset selection condition is: any of a plurality of screw lengths that are less than the calculated distance.

The preset selection condition may be: the screw length closest to the calculated distance.

In addition, the distances corresponding to different nail feeding points may be different, so that the screw lengths selected according to the preset selection condition may also be different, and for each nail feeding point, the nail feeding depth for setting the nail at the nail feeding point may be selected according to the distance corresponding to the nail feeding point and the preset selection condition.

For example, as can be seen from fig. 5b, for each nail feeding point, when the screw length is selected as the nail feeding depth at the nail feeding point based on the distance corresponding to the nail feeding point, the selected screw length may be smaller than the distance corresponding to the nail feeding point, or may be larger than the distance corresponding to the nail feeding point.

As can be seen from the above, when the surgical reference plan is generated by applying the plan provided by the embodiment of the present invention, since the screw used in the surgical procedure is usually one or more of a plurality of screws with fixed lengths, the screw length of each screw can be obtained in advance, and the screw length satisfying the preset selection condition is selected from the screw lengths as the screw feeding depth for setting the screw at the screw feeding point, so that the doctor can directly select the screw with the screw length included in the reference information as the information in the surgical plan when reviewing the generated surgical reference plan. Therefore, by applying the scheme provided by the embodiment of the invention, the efficiency of determining the operation scheme by a doctor can be improved.

Corresponding to the operation reference scheme generation method, the embodiment of the invention also provides an operation reference scheme generation device.

In one embodiment of the present invention, referring to fig. 8, there is provided a schematic structural diagram of a first surgical reference plan generating apparatus, the apparatus comprising:

an information obtaining module 801, configured to obtain a three-dimensional model of a distorted portion of a subject, and obtain osteotomy line information and a correction angle, which are obtained based on the three-dimensional model and used for correcting a distorted bone of the distorted portion, where the three-dimensional model is obtained by rendering three-dimensional image data of the distorted portion in a three-dimensional bone perspective image of the subject;

a keypoint determination module 802 for determining keypoints on the distorted bone in the three-dimensional model;

a data adjusting module 803, configured to adjust data of the distorted bone in the three-dimensional model based on the osteotomy line information and the correction angle to obtain an adjusted three-dimensional model, which is used as the three-dimensional model of the distorted part after the osteotomy operation is performed on the distorted bone;

a position determining module 804, configured to determine a position for installing a steel plate on the distorted bone based on a target position and a preset position conversion relationship, where the target position is: the positions of the key points in the adjusted three-dimensional model are in a position conversion relationship of: the conversion relation between the positions of the key points and the positions of the marked points in the steel plate;

a plan generating module 805 for generating a surgical reference plan having the position information of the determined position as reference information.

In one embodiment of the invention, the osteotomy line information includes a location of the osteotomy line and a length of the osteotomy line;

the data adjusting module 803 is specifically configured to:

and adjusting the data of the distorted bone in the three-dimensional model based on the position of the osteotomy plane, the length of the osteotomy line and the correction angle to obtain an adjusted three-dimensional model which is used as the three-dimensional model of the distorted part after the osteotomy operation is carried out on the distorted bone.

In an embodiment of the present invention, referring to fig. 9, a schematic structural diagram of a second surgical reference plan generating apparatus is provided, in this embodiment, the position determining module 804 includes:

the corresponding point determining submodule 804A is configured to determine a corresponding point corresponding to the calibration point in the three-dimensional model based on the target position and a preset position conversion relationship;

the model registration submodule 804B is configured to perform model registration on the three-dimensional model and the three-dimensional steel plate model of the steel plate according to the position of the corresponding point and the position of the calibration point, so as to obtain a matching region in the three-dimensional model, where the matching region is matched with the steel plate model;

a position determination sub-module 804C for determining a position to install the steel plate on the distorted bone based on the position of the matching region.

In an embodiment of the present invention, the model registration sub-module 804B is specifically configured to:

adjusting the steel plate model based on the obtained adjustment information;

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, in this embodiment, the apparatus further includes:

a nail feeding point determining module 806 for determining each nail feeding point on the distorted bone based on the determined position of the steel plate and the position of the steel plate fixing hole on the steel plate after determining the position of installing the steel plate on the distorted bone;

a depth determination module 807 for determining, for each nail feeding point, a nail feeding direction at the nail feeding point, determining two intersection points where a nail placing straight line and the distorted bone outer surface intersect, calculating a distance between the two intersection points, and determining a nail feeding depth for placing a nail at the nail feeding point based on the distance, wherein the nail placing straight line passes through the nail feeding point and is parallel to the nail feeding direction;

the scheme generating module 805 is specifically configured to:

Therefore, when the scheme provided by the embodiment of the invention is applied to generate the operation reference scheme, the position information of the determined position is used as the reference information, and the nail feeding depth on each nail feeding point is also used as the reference information, so that the scheme provided by the embodiment of the invention can provide richer reference information for doctors.

In an embodiment of the present invention, the depth determining module 807 is specifically configured to:

and calculating a curved surface normal vector of the curved surface where the nail feeding point is located aiming at each nail feeding point, determining the nail feeding direction based on the direction of the curved surface normal vector, determining two intersection points of the nail placing straight line and the outer surface of the distorted bone, calculating the distance between the two intersection points, and determining the nail feeding depth for placing the nail at the nail feeding point based on the distance.

Therefore, when the scheme provided by the embodiment of the invention is applied to generate the operation reference scheme, the screw length with the longest length in the screw lengths which are smaller than the calculated distance is taken as the screw feeding depth, so that when the screw is placed at the screw placing point on the distorted bone, the screw placing can be ensured to be firm and reliable as much as possible, and the operation reliability is improved.

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:

determining keypoints on the distorted bone in the three-dimensional model;

determining the position of a steel plate installed on the distorted bone based on a target position and a preset position conversion relation, wherein the target position is as follows: the positions of the key points in the adjusted three-dimensional model are in a position conversion relationship: the conversion relation between the positions of the key points and the positions of the marked points in the steel plate;

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 is not intended to represent only one bus or 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 yet another 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 reference may be made to some descriptions of the method embodiments for relevant points.

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:

determining keypoints on the distorted bone in the three-dimensional model;

determining the position for installing a steel plate on the distorted bone based on a target position and a preset position conversion relation, wherein the target position is as follows: the positions of the key points in the adjusted three-dimensional model are in a position conversion relationship of: the conversion relation between the positions of the key points and the positions of the marked points in the steel plate;

2. The method of claim 1, wherein the resection line information includes a location of a resection line and a length of the resection line;

3. The method according to claim 1 or 2, wherein the determining the position for installing the steel plate on the distorted bone based on the target position and a preset position conversion relationship comprises:

4. The method according to claim 3, wherein model registration of the three-dimensional model and the three-dimensional steel plate model of the steel plate is performed according to the positions of the corresponding points and the positions of the calibration points, and a matching region in the three-dimensional model, which is matched with the steel plate model, is obtained, and the method comprises:

adjusting the steel plate model based on the obtained adjustment information;

5. The method of claim 1 or 2, wherein after determining the location for installing a steel plate on the distorted bone, the method further comprises:

and generating an operation reference scheme which takes the position information of the determined position and the nail penetration depth of each nail penetration point as reference information.

6. The method of claim 5, wherein said determining a direction of staple advancement at the point of staple advancement comprises:

7. The method of claim 5, wherein determining a staple depth for stapling at the staple entry point based on the distance comprises:

8. The method according to claim 7, wherein the preset selection condition is: the longest length among a plurality of screw lengths that are smaller than the calculated distance.

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

a position determining module, configured to determine a position at which a steel plate is mounted on the distorted bone, based on a target position and a preset position conversion relationship, where the target position is: the positions of the key points in the adjusted three-dimensional model are in a position conversion relationship: the conversion relation between the positions of the key points and the positions of the calibration points in the steel plate;

and the scheme generating module is used for generating the surgery reference scheme which takes the position information of the determined position as the reference information.

10. The apparatus of claim 9, wherein the resection line information includes a location of a resection line and a length of the resection line;

the data adjusting module is specifically configured to:

11. The apparatus of claim 9 or 10, wherein the position determining module comprises:

12. The apparatus of claim 11, wherein the model registration sub-module is specifically configured to:

adjusting the steel plate model based on the obtained adjustment information;

13. The apparatus of claim 9 or 10, further comprising:

the scheme generation module is specifically configured to:

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

15. The apparatus of claim 13, wherein the depth determination module is specifically configured to:

16. The apparatus according to claim 15, wherein the preset selection condition is: the longest length among a plurality of screw lengths that are smaller than the calculated distance.

17. 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 8 when executing a program stored in the memory.

18. 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 the claims 1-8.