CN116172763A - 一种端到端的髋关节置换手术规划方案智能化生成装置和方法 - Google Patents
一种端到端的髋关节置换手术规划方案智能化生成装置和方法 Download PDFInfo
- Publication number
- CN116172763A CN116172763A CN202211681903.1A CN202211681903A CN116172763A CN 116172763 A CN116172763 A CN 116172763A CN 202211681903 A CN202211681903 A CN 202211681903A CN 116172763 A CN116172763 A CN 116172763A
- Authority
- CN
- China
- Prior art keywords
- prosthesis
- hip
- planning scheme
- module
- replacement surgery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 29
- 210000004394 hip joint Anatomy 0.000 title claims abstract description 6
- 230000011218 segmentation Effects 0.000 claims abstract description 37
- 210000001624 hip Anatomy 0.000 claims abstract description 36
- 238000011540 hip replacement Methods 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 210000001981 hip bone Anatomy 0.000 claims abstract description 18
- 210000000689 upper leg Anatomy 0.000 claims abstract description 12
- 238000007781 pre-processing Methods 0.000 claims abstract description 10
- 238000000605 extraction Methods 0.000 claims description 14
- 210000000988 bone and bone Anatomy 0.000 claims description 11
- 238000011156 evaluation Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 210000000528 lesser trochanter Anatomy 0.000 claims description 3
- 210000004061 pubic symphysis Anatomy 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 208000012659 Joint disease Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003412 degenerative effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/505—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of bone
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5205—Devices using data or image processing specially adapted for radiation diagnosis involving processing of raw data to produce diagnostic data
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5217—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data extracting a diagnostic or physiological parameter from medical diagnostic data
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5223—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data generating planar views from image data, e.g. extracting a coronal view from a 3D image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4607—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of hip femoral endoprostheses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4609—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
- G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
- G06V10/443—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components by matching or filtering
- G06V10/449—Biologically inspired filters, e.g. difference of Gaussians [DoG] or Gabor filters
- G06V10/451—Biologically inspired filters, e.g. difference of Gaussians [DoG] or Gabor filters with interaction between the filter responses, e.g. cortical complex cells
- G06V10/454—Integrating the filters into a hierarchical structure, e.g. convolutional neural networks [CNN]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
- A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
- A61F2002/4633—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery for selection of endoprosthetic joints or for pre-operative planning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30008—Bone
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Radiology & Medical Imaging (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Optics & Photonics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- High Energy & Nuclear Physics (AREA)
- General Physics & Mathematics (AREA)
- Transplantation (AREA)
- Multimedia (AREA)
- Evolutionary Computation (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Artificial Intelligence (AREA)
- Vascular Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
- Quality & Reliability (AREA)
- Primary Health Care (AREA)
- Epidemiology (AREA)
- Urology & Nephrology (AREA)
- Robotics (AREA)
- Pulmonology (AREA)
- Software Systems (AREA)
- Databases & Information Systems (AREA)
- Computing Systems (AREA)
Abstract
本发明提供了一种端到端的髋关节置换手术规划方案智能化生成装置及方法,所述装置包括CT影像预处理模块,用于将输入的高分辨率CT影像进行降采样;关键点位置检测模块,用于检测并输出髋骨假体规划必要的关键点;假体推荐模块,用于智能化输出合适的髋骨假体和股骨假体的位姿参数以及推荐的假体型号;高精度分割模块,用于输出左右髋骨和左右股骨的高精度分割结果。本发明输入CT影像后,通过各个模块能够智能化输出髋关节置换手术规划方案必要的信息,从而辅助医生在术前检查规划方案的有效性,这样可以节省手动操作的时间,且避免了人为引入的误差,非常具有工程意义。
Description
技术领域
本发明涉及医疗器械技术领域,具体涉及一种端到端的髋关节置换手术规划方案智能化生成装置和方法。
背景技术
髋关节置换手术是治疗退行性髋关节疾病,提高患者生活质量最有效的方法之一,随着中国人口老龄化问题凸显,髋关节置换手术的现实意义更加显著。成功的髋关节置换手术依赖于准确、完备、详尽的手术规划方案,通常需要包含以下内容:1.髋骨股骨的分割结果,目的是骨骼可视化和用于术中配准;2.骨骼关键点的定位,目的是通过关键点构建的空间关系规划假体位姿,并计算一些参考指标辅助医生评估术后效果;3.假体的品牌型号等属性。
现有的规划流程主要分为传统的手动制定流程和自动检测关键点辅助生成假体规划方案的流程,两者都是利用骨骼特征点确定骨骼的位姿以及假体型号和位姿等。传统流程中,需要医生手动选择关键点,这不仅依赖于医生的经验和对相关软件的熟悉程度,操作比较耗时,而且很容易引入人为误差。为了缓解传统流程的不足,专利号为CN2020111412405的专利提供了一种自动检测关键点辅助制定手术规划方案的方法,流程包括骨骼定位、骨骼分割、特征点检测以及假体放置位姿规划等步骤。但这种自动化流程只能根据关键点和默认的角度(如前倾角40度,外展角20度等)将假体进行粗略位姿的初始摆位,个性化的规划方案还是需要医生根据经验做进一步的调整。
综上所述,现有技术方案具有以下缺点:
1. 无法结合医生的经验生成个性化的规划方案;
2. 没有实质解决工程中大尺度高分辨率影像输入的问题;
3. 难以实现高分辨率高精度的分割结果;
4. 特征点检测任务难以一次性将所需关键点完全检出。
发明内容
本发明的目的在于解决上述背景技术中描述的现有技术方案的缺点,提供一种端到端的髋关节置换手术规划方案智能化生成装置及方法,所述装置和方法能够智能化输出足够的髋关节置换手术规划方案的信息,从而辅助医生在术前检查规划方案的有效性,节省了手动操作的时间。
本发明通过以下技术方案予以实现:第一方面,本发明提供一种端到端的髋关节置换手术规划方案智能化生成装置,包括:
CT影像预处理模块,用于将输入的高分辨率CT影像进行降采样;
关键点位置检测模块,用于检测并输出髋骨假体规划必要的关键点;
假体推荐模块,用于智能化输出合适的髋骨假体和股骨假体的位姿参数以及推荐的参数化的假体型号;
高精度分割模块,用于输出左右髋骨和左右股骨的高精度分割结果。
进一步地,所述关键点位置检测模块包括:
将预处理后的CT影像通过特征提取主干网络得到骨骼的高层语义信息特征图;
将所述骨骼的高层语义信息特征图输入到关键点检测子网络得到髋骨假体规划必要的关键点信息。
进一步地,所述特征提取主干网络采用卷积网络结构。
进一步地,所述关键点检测子网络结构为:所述关键点检测子网络结构为:第一层采用Conv+BN+Relu的卷积模型结构,其中卷积核大小为3,步长为1,后接3个全连接层的网络结构。
进一步地,所述假体推荐模块包括:
将经过特征提取主干网络得到的骨骼的高层语义信息特征图通过假体参数推荐子网络;
分别输出合适的髋骨假体和股骨假体的位姿参数以及推荐的参数化的假体型号。
进一步地,所述假体参数推荐子网络结构为:第一层采用Conv+BN+Relu的卷积模型结构,其中卷积核大小为3,步长为1,后接3个全连接层的网络结构。
进一步地,所述高精度分割模块包括:
将经过特征提取主干网络得到的骨骼的高层语义信息特征图直接线性上采样到与原始CT影像分辨率一致,得到粗糙轮廓的分割结果;
将粗糙轮廓的分割结果与经过平滑后的CT影像特征图组合到一起,后接4个卷积模块作为高分辨率的分割结果输出。
第二方面,本发明还提供一种端到端的髋关节置换手术规划方案智能化生成方法,包括以下步骤:
输入高分辨率CT影像;
通过CT影像预处理模块实现高分辨率CT影像的降采样;
通过关键点位置检测模块输出髋骨假体规划必要的关键点信息;
通过假体推荐模块输出合适的髋骨假体和股骨假体的位姿参数以及推荐的假体型号;
通过高精度分割模块,输出左右髋骨和左右股骨的高精度分割结果;
根据髋骨假体规划必要的关键点以及假体位姿综合计算得出髋关节置换手术规划方案中假体的必要指标;
医生根据必要性指标和自身经验对假体确认规划方案,最终得到术前规划方案。
进一步地,述髋骨假体规划必要的关键点包括:与髋骨坐标系相关的左右髂前上棘和左右耻骨联合中心;与股骨坐标系相关的左右侧股骨头中心、内上髁、外上髁;与假体评估相关的小转子、髋臼中心。
进一步地,所述髋关节置换手术规划方案中假体的必要性指标包括:髋骨假体的位置和姿态、股骨假体的位置和姿态以及假体置换后的效果评估。
与现有技术方案相比,本发明提供的端到端的髋关节置换手术规划方案智能化生成装置及方法具有以下优点:
1.能够智能化输出髋关节置换手术规划方案必要的信息,辅助医生可以在术前检查规划方案的有效性;
2.通过CT影像预处理模块,将输入的高分辨率CT影像进行降采样,解决了现有网络结构处理高分辨率CT影像时耗费计算资源,内存占用较大的问题;
3. 通过关键点位置检测模块,可以检测并输出髋骨假体规划必要的关键点,解决了传统方案流程中医生手动选择关键点时操作耗时,且容易引入人为误差的问题;
4. 通过假体推荐模块,可以智能化输出合适的髋骨假体和股骨假体的位姿参数以及推荐的假体型号,节省了术前规划制定的时间;
5. 高精度分割模块结合了CNN强大的特征提取能力与原始数据中更丰富的信息两者, CT影像提供的有效信息,可以输出左右髋骨和左右股骨的高精度分割结果。
附图说明
下面将参考附图来描述本发明示例性实施例的特征、优点和技术效果。
图1是本发明实施例提供的端到端的髋关节置换手术规划方案智能化生成装置结构示意图;
图2是本发明实施例提供的特征提取主干网络结构示意图;
图3是本发明实施例提供的关键点检测子网络结构示意图;
图4是本发明实施例提供的4个卷积模块示意图;
图5是本发明实施例提供的端到端的髋关节置换手术规划方案智能化生成方法流程示意图;
图6是本发明实施例提供的假体推荐模块输出的假体信息;
图7是本发明实施例提供的高精度分割模块输出的分割结果。
具体实施方式
下面将详细描述本公开的各个方面的特征和示例性实施例,为了使本公开 的目的、技术方案及优点更加清楚明白,以下结合附图及具体实施例,对本公开进行进一步详细描述。应理解,此处所描述的具体实施例仅意在解释本公开, 而不是限定本公开。对于本领域技术人员来说,本公开可以在不需要这些具体 细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本 公开的示例来提供对本公开更好的理解。
需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将 一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些 实体或操作之间存在任何这种实际的关系或者顺序。而且,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括……”限定的要素,并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
为了更好地理解本发明,下面结合附图对本发明实施例进行详细描述。
图1是本发明实施例提供的端到端的髋关节置换手术规划方案智能化生成装置结构示意图。
如图1所示,本发明提供一种端到端的髋关节置换手术规划方案智能化生成装置,包括:
CT影像预处理模块,用于将输入的高分辨率CT影像进行降采样;
关键点位置检测模块,用于检测并输出髋骨假体规划必要的关键点;
假体推荐模块,用于智能化输出合适的髋骨假体和股骨假体的位姿参数以及推荐的假体型号;
高精度分割模块,用于输出左右髋骨和左右股骨的高精度分割结果。
作为一种可选的实施例,所述关键点位置检测模块包括:
将预处理后的CT影像通过特征提取主干网络得到骨骼的高层语义信息特征图;
将所述骨骼的高层语义信息特征图输入到关键点检测子网络得到髋骨假体规划必要的关键点信息。
作为一种可选的实施例,所述特征提取主干网络采用卷积网络结构。
如图3所示,所述关键点检测子网络结构为:第一层采用Conv+BN+Relu的卷积模型结构,其中卷积核大小为3,步长为1,后接3个全连接层的网络结构。
作为一种可选的实施例,所述假体推荐模块包括:
将经过特征提取主干网络得到的骨骼轮廓特征图通过假体参数推荐子网络;
分别输出合适的髋骨假体和股骨假体的位姿参数以及推荐的假体型号。
作为一种可选的实施例,所述假体参数推荐子网络结构为:第一层采用Conv+BN+Relu的卷积模型结构,其中卷积核大小为3,步长为1,后接3个全连接层的网络结构。
作为一种可选的实施例,所述高精度分割模块包括:
将经过特征提取主干网络得到的骨骼轮廓特征图直接线性采样到与原始CT影像分辨率一致,得到粗糙轮廓的分割结果;
将粗糙轮廓的分割结果与经过平滑后的CT影像特征图组合到一起,后接4个卷积模块作为高分辨率的分割结果输出。
如图4所示,所述4个卷积模块分别为:Conv+BN+ReLu的卷积层,其中卷积核大小为3,步长为1;Conv+BN+ReLu的卷积层,其中卷积核大小为3,步长为1;Conv+BN+ReLu的卷积层,其中卷积核大小为3,步长为1;Conv+BN+ReLu的卷积层,其中卷积核大小为1,步长为1。
图5是本发明实施例提供的端到端的髋关节置换手术规划方案智能化生成方法流程示意图。
如图5所示,本发明还提供一种端到端的髋关节置换手术规划方案智能化生成方法,包括以下步骤:
S501,输入高分辨率CT影像;
S502,通过CT影像预处理模块实现高分辨率CT影像的降采样;
S503,通过关键点位置检测模块输出髋骨假体规划必要的关键点信息;
S504,通过假体推荐模块输出合适的髋骨假体和股骨假体的位姿参数以及推荐的假体型号;
S505,通过高精度分割模块,输出左右髋骨和左右股骨的高精度分割结果;
S506,根据髋骨假体规划必要的关键点以及假体位姿综合计算得出髋关节置换手术规划方案中假体的必要性指标;
S507,医生根据必要性指标和自身经验对假体进行微调,最终得到术前规划方案。
作为一种可选的实施例,S506中所述髋骨假体规划必要的关键点包括:与髋骨坐标系相关的左右ASIS和左右耻骨联合中心;与股骨坐标系相关的左右侧股骨头中心、内上髁、外上髁;与假体评估相关的小转子、髋臼窝中心。
作为一种可选的实施例,S506中所述髋关节置换手术规划方案中假体的必要性指标如下表所示:
表1. 髋关节置换手术规划方案中假体的必要性指标
作为一种可选的实施例,通过假体推荐模块输出的结果如图6所示,通过高精度分割模块输出的分割结果如图7所示。
与现有技术方案相比,本发明提供的端到端的髋关节置换手术规划方案智能化生成装置及方法具有以下优点:
1.能够智能化输出髋关节置换手术规划方案必要的信息,辅助医生可以在术前检查规划方案的有效性;
2.通过CT影像预处理模块,将输入的高分辨率CT影像进行降采样,解决了现有网络结构处理高分辨率CT影像时耗费计算资源,内存占用较大的问题;
3. 通过关键点位置检测模块,可以检测并输出髋骨假体规划必要的关键点,解决了传统方案流程中医生手动选择关键点时操作耗时,且容易引入人为误差的问题;
4. 通过假体推荐模块,可以智能化输出合适的髋骨假体和股骨假体的位姿参数以及推荐的假体型号,节省了手术操作的时间;
5. 高精度分割模块充分利用了原始分辨率CT影像提供的有效信息,可以输出左右髋骨和左右股骨的高精度分割结果。
虽然已经参考优选实施例对本发明进行了描述,但在不脱离本发明的范围的情况下,可以对其进行各种改进并且可以用等效物替换其中的部件。尤其是,只要不存在结构冲突,各个实施例中所提到的各项技术特征均可以任意方式组合起来。本发明并不局于文中公开的特定实施例,而是包括落入权利要求的范围内的所有技术方案。
Claims (10)
1.一种端到端的髋关节置换手术规划方案智能化生成装置,其特征在于,包括:
CT影像预处理模块,用于将输入的高分辨率CT影像进行降采样;
关键点位置检测模块,用于检测并输出髋骨假体规划必要的关键点;
假体推荐模块,用于智能化输出合适的髋骨假体和股骨假体的位姿参数以及推荐的参数化的假体型号;
高精度分割模块,用于输出左右髋骨和左右股骨的高精度分割结果。
2.根据权利要求1所述的一种端到端的髋关节置换手术规划方案智能化生成装置,其特征在于,所述关键点位置检测模块包括:
将预处理后的CT影像通过特征提取主干网络得到骨骼的高层语义信息特征图;
将所述骨骼的高层语义信息特征图输入到关键点检测子网络得到髋骨假体规划必要的关键点信息。
3.根据权利要求2所述的一种端到端的髋关节置换手术规划方案智能化生成装置,其特征在于,所述特征提取主干网络采用卷积网络结构。
4.根据权利要求2所述的一种端到端的髋关节置换手术规划方案智能化生成装置,其特征在于,所述关键点检测子网络结构为:第一层采用Conv+BN+Relu的卷积模型结构,其中卷积核大小为3,步长为1,后接3个全连接层的网络结构。
5.根据权利要求1所述的一种端到端的髋关节置换手术规划方案智能化生成装置,其特征在于,所述假体推荐模块包括:
将经过特征提取主干网络得到的骨骼的高层语义信息特征图通过假体参数推荐子网络;
分别输出合适的髋骨假体和股骨假体的位姿参数以及推荐的参数化的假体型号。
6.根据权利要求5所述的一种端到端的髋关节置换手术规划方案智能化生成装置,其特征在于,所述假体参数推荐子网络结构为:第一层采用Conv+BN+Relu的卷积模型结构,其中卷积核大小为3,步长为1,后接3个全连接层的网络结构。
7.根据权利要求1所述的一种端到端的髋关节置换手术规划方案智能化生成装置,其特征在于,所述高精度分割模块包括:
将经过特征提取主干网络得到的骨骼的高层语义信息特征图直接线性上采样到与原始CT影像分辨率一致,得到粗糙轮廓的分割结果;
将粗糙轮廓的分割结果与经过平滑后的CT影像特征图组合到一起,后接4个卷积模块作为高分辨率的分割结果输出。
8.一种端到端的髋关节置换手术规划方案智能化生成方法,其特征在于,包括以下步骤:
输入高分辨率CT影像;
通过CT影像预处理模块实现高分辨率CT影像的降采样;
通过关键点位置检测模块输出髋骨假体规划必要的关键点信息;
通过假体推荐模块输出合适的髋骨假体和股骨假体的位姿参数以及推荐的假体型号;
通过高精度分割模块,输出左右髋骨和左右股骨的高精度分割结果;
根据髋骨假体规划必要的关键点以及假体位姿综合计算得出髋关节置换手术规划方案中假体的必要指标;
医生根据必要性指标和自身经验对假体确认规划方案,最终得到术前规划方案。
9.根据权利要求8所述的一种端到端的髋关节置换手术规划方案智能化生成方法,其特征在于,所述髋骨假体规划必要的关键点包括:与髋骨坐标系相关的左右髂前上棘和左右耻骨联合中心;与股骨坐标系相关的左右侧股骨头中心、内上髁、外上髁;与假体评估相关的小转子、髋臼中心。
10.根据权利要求8所述的一种端到端的髋关节置换手术规划方案智能化生成方法,其特征在于,所述髋关节置换手术规划方案中假体的必要性指标包括:髋骨假体的位置和姿态、股骨假体的位置和姿态以及假体置换后的效果评估。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202211681903.1A CN116172763A (zh) | 2022-12-27 | 2022-12-27 | 一种端到端的髋关节置换手术规划方案智能化生成装置和方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202211681903.1A CN116172763A (zh) | 2022-12-27 | 2022-12-27 | 一种端到端的髋关节置换手术规划方案智能化生成装置和方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN116172763A true CN116172763A (zh) | 2023-05-30 |
Family
ID=86441328
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202211681903.1A Pending CN116172763A (zh) | 2022-12-27 | 2022-12-27 | 一种端到端的髋关节置换手术规划方案智能化生成装置和方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN116172763A (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116650110A (zh) * | 2023-06-12 | 2023-08-29 | 北京长木谷医疗科技股份有限公司 | 基于深度强化学习的膝关节假体自动放置方法及装置 |
-
2022
- 2022-12-27 CN CN202211681903.1A patent/CN116172763A/zh active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116650110A (zh) * | 2023-06-12 | 2023-08-29 | 北京长木谷医疗科技股份有限公司 | 基于深度强化学习的膝关节假体自动放置方法及装置 |
CN116650110B (zh) * | 2023-06-12 | 2024-05-07 | 北京长木谷医疗科技股份有限公司 | 基于深度强化学习的膝关节假体自动放置方法及装置 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9842394B2 (en) | Detection of anatomical landmarks | |
WO2022183719A1 (zh) | 基于深度学习的全髋关节置换翻修术前规划方法和设备 | |
CN113017829B (zh) | 一种基于深度学习的全膝关节置换术的术前规划方法、系统、介质和设备 | |
Gauci et al. | Patient-specific glenoid guides provide accuracy and reproducibility in total shoulder arthroplasty | |
WO2022170768A1 (zh) | 单髁关节图像的处理方法、装置、设备和存储介质 | |
Rouzrokh et al. | A deep learning tool for automated radiographic measurement of acetabular component inclination and version after total hip arthroplasty | |
WO2022142741A1 (zh) | 全膝关节置换术前规划方法和装置 | |
CN108320288B (zh) | 一种特发性脊柱侧凸影像的数据处理方法 | |
CN107358608B (zh) | 基于图像处理技术的骨组织几何形态学参数自动测量装置及方法 | |
CA2576646C (en) | System and method for assessing fetal abnormality based on landmarks | |
EP4086854A1 (en) | Surface and image integration for model evaluation and landmark determination | |
JP2009095644A (ja) | 画像認識結果判定装置、方法、およびプログラム | |
CN116172763A (zh) | 一种端到端的髋关节置换手术规划方案智能化生成装置和方法 | |
CN116072255B (zh) | 基于人工智能的颈椎退行性疾病ct检查结构化报告系统 | |
US11540794B2 (en) | Artificial intelligence intra-operative surgical guidance system and method of use | |
CN109919943B (zh) | 婴儿髋关节角度自动检测方法、系统和计算设备 | |
Berryman et al. | A semi‐automated method for measuring femoral shape to derive version and its comparison with existing methods | |
US11020189B2 (en) | System and method for component positioning by registering a 3D patient model to an intra-operative image | |
CN117274334A (zh) | 一种基于点云的实时骨骼模型重建方法及系统 | |
CN114663363B (zh) | 一种基于深度学习的髋关节医学图像处理方法和装置 | |
CN109528195A (zh) | 一种mri/ct影像中骨边界和参考骨性标志物识别的方法 | |
CN114596251A (zh) | 一种膝关节x光影像质控方法及装置 | |
Redhead et al. | An automated method for assessing routine radiographs of patients with total hip replacements | |
CN114469341B (zh) | 基于髋关节置换的髋臼注册方法 | |
CN115005857A (zh) | 髋关节假体的角度测量方法、装置和测量系统 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination |