CN115887001A - Preoperative planning method, storage medium, product and surgical system - Google Patents
Preoperative planning method, storage medium, product and surgical system Download PDFInfo
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- CN115887001A CN115887001A CN202211722166.5A CN202211722166A CN115887001A CN 115887001 A CN115887001 A CN 115887001A CN 202211722166 A CN202211722166 A CN 202211722166A CN 115887001 A CN115887001 A CN 115887001A
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Abstract
The present application relates to a preoperative planning method, storage medium, product and surgical system. The method comprises the following steps: determining actual anatomical models of the two lower limbs according to the actual image data of the two lower limbs; determining a target model according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the relatively normal side in the actual anatomical models of the two lower limbs; if the force line parameters of the target model are abnormal, correcting the force line parameters of the target model to be normal; carrying out mirror symmetry processing on the target model to obtain standard anatomical models of two lower limbs; determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs; and determining the corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs to obtain the target prosthesis, thereby realizing the planning before the operation, being convenient for improving the accuracy of the subsequent operation and ensuring that the operation effect is better.
Description
Technical Field
The present application relates to the field of medical aided design technologies, and in particular, to a preoperative planning method, a storage medium, a product, and a surgical system.
Background
With the development of medical technology, computer-assisted joint replacement surgery appears, which is mainly to remove the diseased tissue of a joint through the cooperation of a surgical robot system and an osteotomy guiding tool, and then implant an artificial knee joint prosthesis onto a cutting surface of the joint, thereby improving the life quality of a patient and eliminating the pain of the patient.
In the traditional technology, a doctor performs joint replacement surgery on a patient according to own experience, and the doctor needs to continuously adjust the types and sizes of a cushion block and a prosthesis in the process of performing the joint replacement surgery, so that the cushion block and the prosthesis which are most matched with bone defects can be selected. After the prosthesis and the spacer are determined, the surgeon needs to adjust the eccentricity of the prosthesis to ensure the correct position of the joint prosthesis, the correct force line of the lower limb and the intact joint function.
However, in the conventional technique, since some patients may have special problems such as congenital long and short feet or acquired disability, the operation is performed only by the personal experience of the doctor, which increases the burden of the doctor and thus the efficiency of the operation is not high, and on the other hand, the accuracy of the operation may be not accurate enough due to the excessive dependence on the experience of the doctor, and the human engineering may be not good.
Disclosure of Invention
Accordingly, there is a need to provide a preoperative planning method, a storage medium, a product and a surgical system, which can improve the precision of the surgery, determine the optimal preoperative planning scheme for the patient and enable the patient to have better surgical effect.
A method of preoperative planning, the method comprising: determining actual anatomical models of the two lower limbs according to actual image data of the two lower limbs; determining a target model according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the side which is relatively normal in the actual anatomical models of the two lower limbs; if the force line parameters of the target model are abnormal, correcting the force line parameters of the target model to be normal; carrying out mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs; determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs; determining a corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs; and obtaining the target prosthesis according to the prosthesis contour.
In one embodiment, the determining the osteotomy plane of at least one of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs comprises: determining an osteotomy parameter corresponding to at least one lower limb of the two lower limbs according to the actual anatomical model and the standard anatomical model of the two lower limbs, wherein the osteotomy parameter comprises an osteotomy distance and an osteotomy angle; and simulating osteotomy of the actual anatomical model of the osteotomy required according to the osteotomy parameters, and determining the osteotomy surface.
In one embodiment, the determining the target model based on the actual anatomical models of the two lower limbs comprises: if the first lower limb is abnormal and the second lower limb is normal, taking the actual anatomical model of the second lower limb as the target model; or if both the first lower limb and the second lower limb are abnormal, taking an actual anatomical model of a relatively normal lower limb of the first lower limb and the second lower limb as the target model.
In one embodiment, the obtaining a target prosthesis according to the prosthesis profile includes: screening the prosthesis with the matching degree reaching the standard in a prosthesis library according to the prosthesis outline as the target prosthesis; or manufacturing the target prosthesis according to the prosthesis outline.
In one embodiment, the preoperative planning method further comprises: determining characteristic parameters of the lower limb at one side to be osteotomy according to an actual anatomical model of the lower limb at one side to be osteotomy, wherein the characteristic parameters comprise a femoral head central position, a condyle line, a posterior condyle connecting line, a femoral anterior-posterior axis, a tibial knee joint central position, an ankle joint central position, a tibial anterior-posterior axis and a tibial internal-external axis; and determining the placement position and the placement angle of the target prosthesis on the actual anatomical model of the lower limb at the side of the desired osteotomy according to the characteristic parameters of the lower limb at the side of the desired osteotomy and the parameters of the target prosthesis.
A surgical system, the system comprising: the image acquisition module is used for acquiring actual image data of two lower limbs, wherein the two lower limbs comprise a first side lower limb and a second side lower limb; the prosthesis acquisition module is used for acquiring a target prosthesis; the processor is respectively connected with the image acquisition module and the prosthesis acquisition module and is used for determining actual anatomical models of the two lower limbs according to actual image data of the two lower limbs; determining a target model according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the side which is relatively normal in the actual anatomical models of the two lower limbs; if the force line parameters of the target model are abnormal, adjusting the force line parameters of the target model to be normal; carrying out mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs; determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs; determining a corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs; and obtaining the target prosthesis through the prosthesis obtaining module according to the prosthesis contour.
In one embodiment, the processor is further configured to: planning the osteotomy surface of one lower limb of the two lower limbs according to the corresponding osteotomy parameter of one lower limb of the two lower limbs; and cutting the lower limb at one side of the two lower limbs by adopting a bone cutting guide tool according to the bone cutting surface of the lower limb at one side of the two lower limbs.
In one embodiment, the image acquisition module is further configured to acquire actual image data of the two lower limbs after the osteotomy; the processor is further used for determining whether the osteotomy of one lower limb of the two lower limbs reaches the standard according to the actual image data of the two lower limbs after the osteotomy.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of: determining actual anatomical models of the two lower limbs according to actual image data of the two lower limbs; determining a target model according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the side which is relatively normal in the actual anatomical models of the two lower limbs; if the force line parameters of the target model are abnormal, correcting the force line parameters of the target model to be normal; carrying out mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs; determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs; determining a corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs; and obtaining the target prosthesis according to the prosthesis contour.
A computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of: determining actual anatomical models of the two lower limbs according to actual image data of the two lower limbs; determining a target model according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the side which is relatively normal in the actual anatomical models of the two lower limbs; if the force line parameters of the target model are abnormal, correcting the force line parameters of the target model to be normal; carrying out mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs; determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs; determining a corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs; and obtaining the target prosthesis according to the prosthesis contour.
According to the preoperative planning method, the storage medium, the product and the surgical system, the actual anatomical models of the two lower limbs can be determined by obtaining the actual image data of the two lower limbs, and then the target model is determined according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the relatively normal side in the actual anatomical models of the two lower limbs, so that the model of the lower limb on the relatively healthy side in the lower limbs on the two sides of the patient is obtained, the model for determining the health of the lower limbs on the two sides of the patient based on the model is convenient to follow-up, if the force line parameter of the target model is abnormal, the force line parameter of the target model is corrected to be normal, and therefore the target model is guaranteed to be in accordance with the normal human body structure. And then carrying out mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs, wherein the standard anatomical models of the two lower limbs are mirror symmetric to obtain a standard model which can make the lower limbs on the two sides of the patient mirror symmetric, so that preoperative planning can be conveniently carried out according to the determined standard anatomical models of the two lower limbs, the consistency of the two legs of the patient is higher, and the subsequent operation effect is conveniently improved. Then determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs; and determining the corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs, thereby facilitating subsequent operation and completing preoperative planning. In summary, the method of the application determines the leg models of the patient which can improve the consistency of the legs of the patient before the operation, and can determine the parameters of the prosthesis according to the models and prepare the target prosthesis, thereby realizing the planning before the operation, being convenient for improving the accuracy of the subsequent operation and leading the effect of the operation to be better.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the description of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the description below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a preoperative planning method in one embodiment;
FIG. 2 is a flow chart of a method of determining a contour of a prosthesis in one embodiment;
FIG. 3 is a schematic representation of the profile of a prosthesis in one embodiment;
FIG. 4 is a flow chart of a method of preoperative planning in another embodiment;
FIG. 5 is an illustration of a three-dimensional model of a lower limb in one embodiment;
FIG. 6 is a schematic illustration of a process for determining an image of a lower extremity in one embodiment;
FIG. 7 is a schematic view of an abnormal lower limb according to one embodiment;
FIG. 8 is a schematic view of an abnormal lower limb of another embodiment;
FIG. 9 is a schematic view of a normal lower limb according to one embodiment;
FIG. 10 is a flow diagram of a method of determining pose of a prosthesis in one embodiment;
FIG. 11 is a block diagram of a surgical system in one embodiment;
FIG. 12 is a block diagram of a surgical system in accordance with another embodiment;
FIG. 13 is a schematic illustration of the target prosthesis mounted on one leg in one embodiment;
FIG. 14 is a schematic illustration of the installation process of the target prosthesis in one embodiment;
FIG. 15 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
In one embodiment, as shown in fig. 1, there is provided a pre-operative planning method, the method comprising:
step S100, determining actual anatomical models of the two lower limbs according to the actual image data of the two lower limbs.
Wherein, two low limbs include first side low limbs and second side low limbs, two low limbs mirror symmetry promptly first side low limbs and second side low limbs mirror symmetry.
The actual image data of the two lower limbs may be image data of the two lower limbs obtained by Computed Tomography (CT) or Magnetic resonance imaging (MR).
Specifically, the image can be segmented according to the actual image data of the two lower limbs, so as to find the characteristic parts in the image, such as the femur, the tibia and the like in the coronal plane, the sagittal plane, and the transverse plane, and then a three-dimensional digital model is created based on the parameters in the image, so as to realize the three-dimensional reconstruction of the two lower limbs, and obtain the actual anatomical model of the two lower limbs.
And step S110, determining a target model according to the actual anatomical models of the two lower limbs.
The target model is the actual anatomical model of the lower limb on the relatively normal side in the actual anatomical models of the two lower limbs.
Illustratively, the image segmentation may be performed on the scanned image by a segmentation algorithm, and may be performed as needed to segment regions of different granularity, such as a femoral region and a tibial region, or may also be performed as needed to segment the femoral region, the tibial region, the fibula region, and the patellar region. And then, performing three-dimensional reconstruction on each segmented region image to obtain a three-dimensional model of the double lower limbs. Therefore, the actual anatomical models of the two lower limbs can be constructed according to the actual image data of the two lower limbs.
Specifically, the doctor can judge the relatively normal lower limb according to actual conditions. The parameters of the lower limbs on both sides, such as the position information of characteristic points of the hip joint center, the knee joint center, the ankle joint center and the like, and the parameters of the included angle between the connecting line of the hip joint center and the knee joint center and the connecting line of the ankle joint center and the like, can be compared with the biological characteristics of a normal human body, one lower limb closer to the biological characteristics of the normal human body is selected as a lower limb on one side which is relatively normal, and the actual anatomical model of the lower limb on the one side is taken as a target model.
And step S120, if the force line parameters of the target model are abnormal, correcting the force line parameters of the target model to be normal.
Specifically, the target model is adjusted according to the biological characteristics of a normal human body, and the connecting line of the hip joint center, the knee joint center and the ankle joint center is adjusted to be a straight line, so that the normal target model is obtained, and the target model is obtained according to the biological characteristics of the normal human body and is in accordance with the normal human body structure.
And step S130, carrying out mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs.
And step S140, determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs.
Specifically, the actual anatomic model and the standard anatomic model are simulated and superposed, namely the actual anatomic model and the standard anatomic model are compared, two lower limbs corresponding to the actual anatomic model are determined, the osteotomy is the model of the two lower limbs in the standard anatomic model, and the osteotomy amount and the osteotomy angle are planned. Thereby determining the osteotomy parameters of the lower limb on one side.
For example, after the characteristic parameters of the bones of the two lower limbs are determined, the osteotomy thickness, the osteotomy distance, the osteotomy angle and the like of each part can be calculated according to the osteotomy parameters, and then a plurality of osteotomy surfaces can be determined, so that the lower limb on one side can be osteotomy according to the plurality of osteotomy surfaces.
And S150, determining the corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs.
Specifically, after the actual anatomic model and the standard anatomic model of the two lower limbs are determined, the actual anatomic model and the standard anatomic model are simulated and superposed to perform the action of simulating osteotomy, and after the actual anatomic model is subjected to osteotomy according to the standard anatomic model, the external contour of the actual anatomic model subjected to osteotomy can be used as the inner contour of the prosthesis. Because the prosthesis is intended to be mounted on the outside of the lower limbs, the inner side of the prosthesis is intended to engage the outer side of the lower limbs after the osteotomy has been completed. The inner contour of the prosthesis can be determined according to the outer contours of the two lower limbs. While the outer contour of the prosthesis can be directly accessed from the lower leg. The combination of the inner profile of the prosthesis and the outer profile of the prosthesis results in a profile of the prosthesis.
And step S160, obtaining the target prosthesis according to the prosthesis contour.
Specifically, after the inner contour of the prosthesis and the outer contour of the prosthesis are determined, the target prosthesis can be obtained according to the obtained contours, the outer contour of the target prosthesis is consistent with the determined outer contour of the prosthesis, and the inner contour of the target prosthesis is consistent with the determined inner contour of the prosthesis. Or not completely matched, and there may be slight variations, as long as the requirement of the matching degree can be satisfied.
Illustratively, a prosthesis may be selected from a library of prostheses that resembles a medial profile of the prosthesis and a lateral profile of the prosthesis. There are multiple types of prostheses in the prosthesis library, and there are multiple models for each type of three-dimensional bone prosthesis model. For example, the types of three-dimensional femoral prosthesis models are ATTUNE-PS, ATTUNE-CR, SIGMA-PS150, etc., and the types of ATTUNE-PS are 1, 2, 3N, 4N, 5N, 6N.
Specifically, after the target prosthesis is obtained, the pose of the target prosthesis mounted on the lower limb on one side needs to be determined. At the moment, how the target prosthesis is installed needs to be determined according to anatomical parameters after the target model is mirrored, namely the pose of the target prosthesis is determined.
Illustratively, the more important bone dimensions of the two lower limbs can comprise a femur left-right diameter, a femur front-rear diameter, a tibia left-right diameter and a tibia front-rear diameter, wherein the femur left-right diameter is determined according to a femur inner-outer edge connecting line, the femur front-rear diameter is determined according to a femur anterior cortex tangent and a femur posterior condyle tangent, the tibia left-right diameter is determined according to a tibia inner-outer edge connecting line, the tibia front-rear diameter is determined according to a tibia front-rear edge connecting line and the like, the important dimensions are determined through a target model and model data after mirroring of the target model, and then a key angle of a bone is determined according to the dimensions, so that the installation pose of the target prosthesis can be determined based on the dimensions and the key angle of the bone.
In this embodiment, the actual anatomical models of the two lower limbs can be determined by obtaining the actual image data of the two lower limbs, and then the target model is determined according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the relatively normal side in the actual anatomical models of the two lower limbs, so that the model of the lower limb on the relatively healthy side in the lower limbs on the two sides of the patient is obtained, which is convenient for determining the healthy model of the lower limbs on the two sides of the patient based on the model in the following process, and if the force line parameter of the target model is abnormal, the force line parameter of the target model is corrected to be normal, so that the target model is guaranteed to be in accordance with the normal human body structure. And then carrying out mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs, wherein the standard anatomical models of the two lower limbs are mirror-symmetrical to obtain the standard models which can enable the lower limbs on the two sides of the patient to be mirror-symmetrical, so that preoperative planning can be conveniently carried out according to the determined standard anatomical models of the two lower limbs, the consistency of the two legs of the patient can be higher, and the subsequent operation effect can be conveniently improved. Then determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs; and determining the corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs, thereby facilitating subsequent operation and finishing preoperative planning. In summary, the method of the application determines the leg models of the patient which can improve the consistency of the legs of the patient before the operation, and can determine the parameters of the prosthesis according to the models and prepare the target prosthesis, thereby realizing the planning before the operation, being convenient for improving the accuracy of the subsequent operation and leading the effect of the operation to be better.
In one embodiment, as shown in FIG. 2, step S140 determines an osteotomy plane of at least one of the two lower extremities based on the actual anatomical model and the standard anatomical model of the two lower extremities. The method comprises the following steps:
and step S200, determining the osteotomy parameter corresponding to at least one lower limb of the two lower limbs according to the actual anatomical model and the standard anatomical model of the two lower limbs.
Wherein the osteotomy parameters include an osteotomy distance and an osteotomy angle.
Specifically, the actual anatomical model and the standard anatomical model are simulated and superposed, that is, the actual anatomical model and the standard anatomical model are compared, and the positions where the osteotomy is needed, the osteotomy amount and the osteotomy angle of the two lower limbs corresponding to the actual anatomical model are determined, wherein the osteotomy is the model of the two lower limbs in the standard anatomical model. Thereby determining the osteotomy parameters of the two lower limbs.
And step S210, simulating osteotomy of the actual anatomical model needing osteotomy according to the osteotomy parameters, and determining an osteotomy surface.
Illustratively, from the actual anatomical model, characteristic parameters of the bones of the two lower limbs, such as femoral head center, condyle line, posterior condyle line, femoral anterior-posterior axis, tibial knee joint center, ankle joint center, tibial anterior-posterior axis, tibial medial-lateral axis, femoral resection point, tibial resection point, and the like, can be determined.
Illustratively, the critical angle of the bone at the critical axis of the bone may be determined by: the tibia mechanical axis is determined from the tibia knee joint center (the center of the intercondylar eminence) to the tibia ankle joint center (the midpoint of the cortical bone connecting line of the lateral medial and lateral malleolus); the tibia anatomy axis is determined by the central line of the backbone of the tibia, and the tibia mechanical axis is parallel to the tibia anatomy axis. Based on that one end point of a femur dissection axis is a femoral shaft central point located in the middle of the width of the inner side and the outer side of a femoral shaft at the far end (the uppermost point of a femoral head) and the near end (the part of the inner side condyle far end of the femur), and the other end point is located at 10 cm on a knee joint surface and divides the bone cortex of the inner side and the outer side; one of the mechanical femoral axes is disconnected at the center of the hip joint, and the other end point is located at the center point of the knee joint of the femur (the vertex of the intercondylar notch). A posterior condylar connecting line is obtained based on a connecting line between the lowest points of the inner and outer femoral condyles, and a through condylar line is obtained based on a connecting line between the concave femoral condyle and the highest point of the outer femoral condyle. Obtaining a tibia angle based on an included angle formed by the femur mechanical axis and the tibia mechanical axis; the distal femoral angle is obtained based on the angle between the femoral mechanical axis and the anatomical axis. And obtaining the femoral posterior condylar angle according to the included angle between the projection lines of the femoral condyle through line and the posterior condylar connecting line on the cross section.
Illustratively, after the characteristic parameters of the bones of the two lower limbs are determined, the osteotomy thickness, the osteotomy distance, the osteotomy angle and the like of each part can be calculated according to the osteotomy parameters, so that the osteotomy of the two lower limbs can be performed according to the osteotomy parameters to obtain a plurality of osteotomy surfaces, and the inner profile of the prosthesis can be obtained according to the combination of the plurality of osteotomy surfaces after the plurality of osteotomy surfaces of the two lower limbs are determined.
Illustratively, the osteotomy angles include a varus-valgus angle, and a sagittal inclination angle. Wherein: inside and outside turning angle: in the coronal plane, the angles are determined according to the included angles between the femur mechanical axis and the tibia mechanical axis and the distal plane of the femur prosthesis and the proximal plane of the tibia prosthesis respectively. Internal and external rotation angles: in the transverse section, the angles are determined according to the included angles of the femoral condyle through line, the tibial anteroposterior axis, the femoral prosthesis transverse axis and the tibial prosthesis transverse axis respectively. Forward and backward inclination angle: and in the sagittal plane, the included angles of the femur force line and the tibia force line with the distal plane of the femur prosthesis and the tibia platform are respectively determined.
Illustratively, the osteotomy surfaces include a distal femoral resection surface, a distal femoral posterior resection surface, a distal femoral anterior oblique surface, a proximal tibial resection surface.
Specifically, according to the standard anatomical model, the corrected outer contour of the normal bone can be determined from the standard anatomical model, and the outer contour of the normal bone can be directly used as the outer contour of the prosthesis.
Illustratively, as shown in fig. 3, the inner side of the prosthesis 20 is fitted to the outer side of the bone 10, so that the inner profile 100 of the prosthesis corresponds to the outer profile 101 of the bone, while the outer profile 200 of the prosthesis is obtained from a standard anatomical model.
In the embodiment, a plurality of osteotomy surfaces of the two lower limbs are determined according to the actual anatomical models of the two lower limbs, so that the outlines of the two lower limbs can be determined according to the plurality of osteotomy surfaces, then the inner outline of the prosthesis embedded with the lower limbs can be determined according to the outlines of the two lower limbs, and then the outer outline of the prosthesis is determined according to the outer outline of the normal bone, so that the inner outline of the prosthesis and the outer outline of the prosthesis are obtained. Because the inner contour and the outer contour of the prosthesis are obtained according to the actual anatomical models of the two lower limbs, the matching degree with the two lower limbs is extremely high, and personalized prosthesis customization is carried out according to the actual situation of a patient. The prosthesis is adapted to the patient, facilitating improved surgical results.
In one embodiment, as shown in FIG. 4, step S110 determines a target model based on actual anatomical models of both lower extremities. The method comprises the following steps:
in step S400, if the first lower limb is abnormal and the second lower limb is normal, the actual anatomical model of the second lower limb is used as the target model.
Illustratively, fig. 5 is a three-dimensional reconstruction effect diagram of a patient double lower limb model. Before operation, a patient needs to perform full-length CT thin-layer scanning on the two lower limbs, the layer thickness is less than or equal to 1mm, and the scanning range of a CT image is the full length of the two lower limbs, including the full length of a femur and the full length of a tibiofibula. After CT shooting, importing the CT image data of the patient into computer design software in a Dicom format, and reconstructing a three-dimensional model of the lower limb of the patient in the computer design software. Fig. 5- (1) is a three-dimensional model of a femur on the normal side, fig. 5- (2) is a three-dimensional model of a tibia on the normal side, fig. 5- (3) is a three-dimensional model of a fibula on the normal side, fig. 5- (4) is a three-dimensional model of a femur on the abnormal side, fig. 5- (5) is a three-dimensional model of a tibia on the abnormal side, and fig. 5- (6) is a three-dimensional model of a fibula on the abnormal side.
For example, as shown in fig. 6, when the actual anatomical model 11 of the first lower limb is abnormal and the actual anatomical model 12 of the second lower limb is normal, the standard anatomical model 13 of the first lower limb can be obtained by performing mirror symmetry processing using the actual anatomical model of the second lower limb 12 as a target model. The standard anatomical model 13 of the first lower limb and the actual anatomical model 12 of the second lower limb are then combined to obtain a standard anatomical model of both lower limbs. And then, the actual anatomic model 11 of the first lower limb is subjected to simulation superposition comparison with the standard anatomic model 13 of the first lower limb, so that the part needing bone cutting can be determined.
Specifically, whether the actual anatomical model is normal or abnormal is determined by comparing the biological parameters of the actual anatomical model with those of the normal human anatomy.
And step S410, if the first lower limb and the second lower limb are abnormal, taking the actual anatomical model of the lower limb which is relatively normal in the first lower limb and the second lower limb as a target model.
The first target lower limb is a relatively normal lower limb of the first side lower limb and the second side lower limb.
Specifically, as shown in fig. 7 and 8, when both the first lower limb and the second lower limb are abnormal, a relatively normal model of the lower limbs is selected as a target model, and a doctor determines which lower limb is relatively normal.
Specifically, according to an actual anatomical model of the first target lower limb, characteristic parameters in the first target lower limb are determined, and the characteristic parameters comprise position information of characteristic points such as hip joint center, knee joint center, ankle joint center and the like. And then measuring an included angle between a hip joint center-knee joint center connecting line and a knee joint center-ankle joint center connecting line, then adjusting an actual anatomical model of the first target lower limb according to the biological characteristics of a normal human body, and adjusting the hip joint center-knee joint center-ankle joint center connecting line to be a trend straight line, so that a standard anatomical model of the first target lower limb is obtained, wherein the standard anatomical model is obtained according to the biological characteristics of the normal human body, and therefore the standard anatomical model accords with the normal human body structure.
The second target lower limb is the other lower limb of the first lower limb and the second lower limb except the first target lower limb, and the standard anatomical model of the first target lower limb is mirror-symmetrical to the standard anatomical model of the second target lower limb.
Specifically, after the standard anatomical model of the first target lower limb is determined, the standard anatomical model of the first target lower limb is subjected to mirror symmetry processing, and the standard anatomical model of the second target lower limb can be obtained.
Specifically, a standard anatomical model of a first target lower extremity is combined with a standard anatomical model of a second target lower extremity to provide a standard anatomical model of both lower extremities. The standard anatomical models of the two lower limbs and the actual anatomical models of the two lower limbs are convenient to simulate, coincide and compare subsequently, and the part needing bone cutting can be determined.
Illustratively, a standard anatomical model of both lower limbs is shown in fig. 9.
In the embodiment, if only one lower limb of the lower limbs on two sides of the patient is abnormal, the image data of the abnormal lower limb on the side is obtained by adopting the lower limb with the normal other side based on the mirror symmetry principle, so that the mirror symmetry of the lower limbs on two sides of the patient is facilitated, the consistency of the lower limbs of the patient is ensured, the subsequent osteotomy and the manufacture of the prosthesis are carried out based on the consistency principle of the lower limbs of the patient, the effect of the operation can be improved, the standard anatomical model is determined in advance through the operation, and the accuracy of the operation is also improved. If the lower limbs on two sides of the patient are abnormal, the normal biological characteristics of the human body are adopted to adjust the image of the lower limb on one side which is relatively normal, the standard anatomical model of the lower limb on one side is obtained and is used as a target model, and the standard anatomical model of the lower limb on the other side is obtained based on the principle of mirror symmetry, so that the mirror symmetry of the lower limbs on two sides of the patient is facilitated, the consistency of the lower limbs of the patient is ensured, the subsequent bone cutting and the fabrication of the prosthesis are carried out based on the principle of the consistency of the lower limbs of the patient, the operation effect can be improved, the lower limbs on two sides of the patient are kept consistent, the patient is enabled to be more harmonious and flexible, and through the operation, the standard anatomical model is determined in advance, and the accuracy of the operation is also improved.
In one embodiment, step S160, a target prosthesis is obtained according to the prosthesis contour. The method specifically comprises the following steps: and screening the prosthesis with the matching degree reaching the standard in a prosthesis library as a target prosthesis according to the prosthesis contour. Alternatively, the target prosthesis is made according to the prosthesis profile.
Specifically, a three-dimensional model of the prosthesis can be generated according to the inner contour and the outer contour of the prosthesis, then a suitable prosthesis can be selected from a prosthesis library, the size of the prosthesis can be set, and after the selection is finished, the selected prosthesis is compared with the three-dimensional model of the prosthesis, so that the matching degree of the selected prosthesis can be determined. The prosthesis with the matching degree reaching the standard can be used as the target prosthesis, and the matching degree reaching the standard can be that the error between the selected prosthesis and the contour of the three-dimensional model of the prosthesis is within a preset range.
Illustratively, a prosthesis may be selected from a library of prostheses that resembles a medial profile of the prosthesis and a lateral profile of the prosthesis. There are multiple types of prostheses in the prosthesis library, and there are multiple models for each type of three-dimensional bone prosthesis model. For example, the types of three-dimensional femoral prosthesis models are ATTUNE-PS, ATTUNE-CR, SIGMA-PS150, etc., and the types of ATTUNE-PS are 1, 2, 3N, 4N, 5N, 6N.
Specifically, if the matching degrees of the prostheses in the prosthesis library do not meet the requirements, one prosthesis needs to be customized individually, a three-dimensional model of a target prosthesis can be generated according to the inner side contour and the outer side contour of the prosthesis, and then the target prosthesis is printed in a 3D printing mode. Before printing, parameters such as the type of prosthesis (unicondylar knee, total knee), size, material (ultra high molecular weight polyethylene, titanium alloy, etc.) and the like can be set. Thereby realizing the personalized customization of the prosthesis.
In the embodiment, the prosthesis with the matching degree up to the standard is screened from the prosthesis library to be used as the target prosthesis, so that the target prosthesis can be quickly obtained, and the preoperative planning time is saved. If no prosthesis which meets the requirements exists in the prosthesis library, the target prosthesis is directly manufactured according to the inner side contour and the outer side contour of the prosthesis, so that the personalized customization of the prosthesis is realized, and the obtained target prosthesis has the highest adaptation degree with the patient.
In one embodiment, as shown in fig. 10, the preoperative planning method further comprises:
and S1000, determining the characteristic parameters of the lower limb at the side needing osteotomy according to the actual anatomical model of the lower limb at the side needing osteotomy.
The characteristic parameters comprise femoral head central position, condyle line, posterior condyle connecting line, femoral anterior-posterior axis, tibial knee joint central position, ankle joint central position, tibial anterior-posterior axis and tibial internal-external axis.
And step S1010, determining the placement position and the placement angle of the target prosthesis on the actual anatomical model of the lower limb at the side of the desired osteotomy according to the characteristic parameters of the lower limb at the side of the desired osteotomy and the parameters of the target prosthesis.
Specifically, the three-dimensional model of the target prosthesis and the standard anatomical models of the two lower limbs are adjusted in a simulation matching mode, and the contact position and the contact angle of the three-dimensional model of the target prosthesis and the standard anatomical models are adjusted until parameters such as force lines of the two lower limbs after the target prosthesis is installed meet the normal human body structure. Thereby obtaining the arrangement position of the target prosthesis on the two lower limbs and the arrangement angle of the target prosthesis on the two lower limbs.
Illustratively, it is desirable to adjust the medial distance, lateral distance, anteroposterior inclination angle, internal and external rotation angle, etc., between the target prosthesis and the two lower limbs.
In this embodiment, the three-dimensional models of the two lower limbs can be determined according to the actual image data, then the three-dimensional model of the target prosthesis can be determined according to the parameters of the target prosthesis, and then the contact position and the contact angle between the three-dimensional model of the target prosthesis and the three-dimensional models of the two lower limbs are adjusted, so that the pose of the target prosthesis can be obtained. Therefore, preoperative planning is completed, and the target prosthesis can be conveniently installed according to the determined pose in the follow-up operation. The accuracy of the operation is improved.
It should be understood that although the steps in the flowcharts of fig. 1, 2, 4, and 10 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1, 2, 4, and 10 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 11, there is provided a surgical system comprising: an image acquisition module 30, a prosthesis acquisition module 40, a processor 50. Wherein:
the image obtaining module 30 is configured to obtain actual image data of two lower limbs including a first lower limb and a second lower limb.
Specifically, the image acquisition module 30 may be a CT apparatus or a magnetic resonance imaging apparatus. The actual image data of the two lower limbs may be image data of the two lower limbs obtained by Computed Tomography (CT) or Magnetic resonance imaging (MR).
The prosthesis retrieval module 40 is for retrieving a target prosthesis.
Illustratively, the prosthesis acquisition module 40 may be a 3D printer.
The processor 50 is connected to the image acquisition module 30 and the prosthesis acquisition module 40, respectively, and is configured to determine actual anatomical models of the two lower limbs according to actual image data of the two lower limbs; determining a target model according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the relatively normal side in the actual anatomical models of the two lower limbs; if the force line parameters of the target model are abnormal, adjusting the force line parameters of the target model to be normal; carrying out mirror symmetry processing on the target model to obtain standard anatomical models of two lower limbs; determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs; determining the corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs; and obtaining the target prosthesis through a prosthesis obtaining module according to the prosthesis outline.
In this embodiment, the actual image data of the two lower limbs are acquired by the image acquisition module, the actual anatomical models of the two lower limbs can be determined by the processor, and then the target model is determined according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the relatively normal side in the actual anatomical models of the two lower limbs, so that the model of the lower limb on the relatively healthy side in the lower limbs on the two sides of the patient is obtained, which is convenient for determining the healthy model of the lower limbs on the two sides of the patient based on the model in the following process, and if the force line parameter of the target model is abnormal, the force line parameter of the target model is corrected to be normal, so that the target model is guaranteed to be in accordance with the normal human body structure. And then carrying out mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs, wherein the standard anatomical models of the two lower limbs are mirror symmetric to obtain a standard model which can make the lower limbs on the two sides of the patient mirror symmetric, so that preoperative planning can be conveniently carried out according to the determined standard anatomical models of the two lower limbs, the consistency of the two legs of the patient is higher, and the subsequent operation effect is conveniently improved. Then determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs; and determining the corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs, thereby facilitating subsequent operation, completing preoperative planning and obtaining the target prosthesis through the image acquisition module. In summary, the method of the application determines the leg models of the patient which can improve the consistency of the legs of the patient before the operation, and can determine the parameters of the prosthesis according to the models and prepare the target prosthesis, thereby realizing the planning before the operation, being convenient for improving the accuracy of the subsequent operation and leading the effect of the operation to be better.
In one embodiment, as shown in fig. 12, the surgical system further comprises: osteotomy guide tool 61, positioning module 70. Wherein:
and a positioning module 70 for determining the position of the osteotomy guide tool 61 and the lower limb on the side of the desired osteotomy.
Illustratively, the positioning module 70 may be a laser radar, an infrared positioning device, or the like, and can directly acquire the positions of the osteotomy guiding tool 61 and the two lower limbs, so as to position the osteotomy guiding tool 61 and the two lower limbs for facilitating the subsequent osteotomy.
For example, before the operation, the doctor can mark feature points on the femur and the tibia of the patient by using the targeting pen (i.e., the doctor marks a plurality of femur anatomical feature points on the femur entity and a plurality of tibia anatomical feature points on the tibia entity of the patient), so that the specific orientation of the target osteotomy surface can be determined according to the marked feature points. The actual position of the bone can be tracked in real time according to the marked feature points, and in the operation process, the position of the marked feature points can be obtained as long as the relative positions between the marked feature points and the bone are fixed, namely the position of the target osteotomy surface can be obtained through the mapping relation, so that the operation effect cannot be influenced by the calculation of the bone movement.
The processor 50 is further connected to the osteotomy guiding tool 61 and the positioning module 70, respectively, for controlling the osteotomy guiding tool 61 to perform the osteotomy positioning on the two lower limbs according to the position of the two lower limbs and the planned osteotomy plane.
In the present embodiment, the osteotomy guide tool 61 is provided, thereby enabling osteotomy guide positioning.
In one embodiment, the processor 50 is further configured to plan an osteotomy plane of one of the lower limbs based on the corresponding osteotomy parameters of the one of the lower limbs. And (3) cutting the lower limb on one side of the two lower limbs by using the bone cutting guide tool 61 according to the bone cutting surface of the lower limb on one side of the two lower limbs.
For example, after the characteristic parameters of the bones of the two lower limbs are determined, the osteotomy thickness, the osteotomy distance, the osteotomy angle and the like of each part can be calculated according to the osteotomy parameters, and then a plurality of osteotomy surfaces can be determined, so that the lower limb on one side of the two lower limbs can be subjected to osteotomy according to the plurality of osteotomy surfaces.
In this embodiment, the processor 50 can determine the osteotomy surface of one of the two lower limbs according to the corresponding osteotomy parameter of one of the two lower limbs, so as to facilitate the subsequent osteotomy of one of the two lower limbs according to the determined osteotomy surface.
In one embodiment, the processor 50 is further configured to mount the target prosthesis on the osteotomy face after controlling the osteotomy guide tool 61 to complete the osteotomy of the lower extremity.
In one embodiment, the image acquisition module is further configured to acquire actual postoperative image data of the two lower limbs after the osteotomy. The processor is also used for determining whether the osteotomy of one lower limb of the two lower limbs meets the standard or not according to the actual image data of the two lower limbs after the osteotomy.
Specifically, the image acquisition module may be a CT apparatus or a magnetic resonance imaging apparatus, and is capable of measuring characteristic parameters such as a gap between joints of two lower limbs of the patient and a force line of the lower limbs.
Illustratively, the image acquisition module may include a Network Device Interface (NDI) image acquisition Device, acquire real-time image information of the two lower limbs through the NDI image acquisition Device, and register the real-time image information with the image data to spatially register the target osteotomy face with the three-dimensional models of the two lower limbs. The positioning accuracy is improved.
Specifically, after acquiring the actual image data, the processor 50 compares the actual image data with a preset value of a normal human body structure, and can determine whether the two lower limbs reach the standard.
Illustratively, the distal end of the femur is shown in fig. 13 after the target prosthesis is installed thereon, and fig. 13 is a schematic view of the femur after the prosthesis is installed thereon, wherein fig. 13- (1) is a femoral bone anatomy model and fig. 13- (2) is the target prosthesis.
Illustratively, as shown in FIG. 14, a schematic view of the installation process of the subject prosthesis is shown.
In the embodiment, the actual image data of the two lower limbs are acquired through the image acquisition module, and then whether the lower limb on one side needing bone cutting reaches the standard or not is judged according to the actual image data, so that a doctor can conveniently evaluate the effect of the operation.
In one embodiment, a computer device is provided, the internal structure of which may be as shown in fig. 15. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of preoperative planning.
Those skilled in the art will appreciate that the architecture shown in fig. 15 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the above-described method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In an embodiment, a computer program product is provided, comprising a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of preoperative planning, the method comprising:
determining actual anatomical models of the two lower limbs according to actual image data of the two lower limbs;
determining a target model according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the side which is relatively normal in the actual anatomical models of the two lower limbs;
if the force line parameters of the target model are abnormal, correcting the force line parameters of the target model to be normal;
carrying out mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs;
determining a osteotomy plane of at least one of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs;
determining a corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs;
and obtaining the target prosthesis according to the prosthesis outline.
2. The method of claim 1, wherein determining the osteotomy plane of at least one of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs comprises:
determining an osteotomy parameter corresponding to at least one lower limb of the two lower limbs according to the actual anatomical model and the standard anatomical model of the two lower limbs, wherein the osteotomy parameter comprises an osteotomy distance and an osteotomy angle;
and simulating osteotomy of the actual anatomical model of the osteotomy required according to the osteotomy parameters, and determining the osteotomy surface.
3. The method of claim 1, wherein determining a target model from the actual anatomical models of the two lower limbs comprises: if the first lower limb is abnormal and the second lower limb is normal, taking the actual anatomical model of the second lower limb as the target model;
or if both the first lower limb and the second lower limb are abnormal, taking an actual anatomical model of a relatively normal lower limb of the first lower limb and the second lower limb as the target model.
4. The method of claim 1, wherein said deriving a target prosthesis from said prosthesis profile comprises: screening the prosthesis with the matching degree reaching the standard in a prosthesis library as the target prosthesis according to the prosthesis outline; or manufacturing the target prosthesis according to the prosthesis contour.
5. The method of claim 1, further comprising:
determining characteristic parameters of the lower limb at one side of the osteotomy according to an actual anatomical model of the lower limb at one side of the osteotomy, wherein the characteristic parameters comprise a femoral head central position, a condyle line, a posterior condyle connecting line, a femoral anterior-posterior axis, a tibial knee joint central position, an ankle joint central position, a tibial anterior-posterior axis and a tibial internal-external axis;
and determining the placement position and the placement angle of the target prosthesis on the actual anatomical model of the lower limb at the side of the desired osteotomy according to the characteristic parameters of the lower limb at the side of the desired osteotomy and the parameters of the target prosthesis.
6. A surgical system, characterized in that the system comprises:
the image acquisition module is used for acquiring actual image data of two lower limbs, wherein the two lower limbs comprise a first side lower limb and a second side lower limb;
the prosthesis acquisition module is used for acquiring a target prosthesis;
the processor is respectively connected with the image acquisition module and the prosthesis acquisition module and is used for determining actual anatomical models of the two lower limbs according to actual image data of the two lower limbs; determining a target model according to the actual anatomical models of the two lower limbs, wherein the target model is the actual anatomical model of the lower limb on the side which is relatively normal in the actual anatomical models of the two lower limbs; if the force line parameters of the target model are abnormal, adjusting the force line parameters of the target model to be normal; carrying out mirror symmetry processing on the target model to obtain standard anatomical models of the two lower limbs; determining the osteotomy surface of at least one lower limb of the two lower limbs based on the actual anatomical model and the standard anatomical model of the two lower limbs; determining a corresponding prosthesis contour of at least one lower limb of the two lower limbs according to the osteotomy surface of at least one lower limb of the two lower limbs; and obtaining the target prosthesis through the prosthesis obtaining module according to the prosthesis contour.
7. The system of claim 6, wherein the processor is further configured to:
planning the osteotomy surface of one lower limb of the two lower limbs according to the corresponding osteotomy parameter of one lower limb of the two lower limbs;
and cutting the lower limb at one side of the two lower limbs by adopting a bone cutting guide tool according to the bone cutting surface of the lower limb at one side of the two lower limbs.
8. The system of claim 7,
the image acquisition module is also used for acquiring actual image data of the two lower limbs after the osteotomy;
the processor is further used for determining whether the osteotomy of one lower limb of the two lower limbs reaches the standard according to the actual image data of the two lower limbs after the osteotomy.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 5 when executed by a processor.
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| CN116364229B (en) * | 2023-04-20 | 2023-11-10 | 北京透彻未来科技有限公司 | Intelligent visual pathological report system for cervical cancer anterior lesion coning specimen |
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