CN116942312A - Joint replacement operation auxiliary positioning method and system - Google Patents
Joint replacement operation auxiliary positioning method and system Download PDFInfo
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- 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
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- 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
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The application discloses a joint replacement operation auxiliary positioning method and a system, which relate to the technical field of joint replacement operation and comprise a first detection unit, a monitoring unit, a processing unit, an execution unit and a postoperative detection unit, wherein the first detection unit is used for acquiring patient data, the monitoring unit is used for acquiring operation tool data, the processing unit is used for processing the data and outputting an operation strategy, the execution unit is used for executing the operation strategy output by the processing unit, the postoperative detection unit is used for detecting the stability of the joint of a patient after operation and outputting test data to the processing unit, the postoperative detection unit is used for assisting the processing unit in outputting the operation strategy, if the optimal scheme is feasible, the optimal scheme is formulated into the operation strategy to be output to the execution unit, and if the optimal scheme is not feasible, the scheme is formulated again. The application can effectively help doctors to recommend the most suitable operation scheme, assist doctors to execute operations, obtain the best postoperative effect and save the culture cost of experienced surgeons and operation teams.
Description
Technical Field
The application relates to the technical field of joint replacement surgery, in particular to an auxiliary positioning method and an auxiliary positioning system for joint replacement surgery.
Background
Joint replacement surgery, also known as joint replacement surgery, is a surgical procedure intended to treat conditions in which the joint is severely damaged or diseased. The procedure typically involves removing and replacing the damaged joint portion with an artificial joint prosthesis to restore joint function, reduce pain, and improve the quality of life of the patient.
Joint replacement surgery is a complex surgical procedure that requires a highly experienced surgeon and surgical team to perform. In the joint replacement operation, besides the focus of the joint is to be removed, the kinematics principle of the joint needs to be deeply understood, and the prosthesis of the artificial joint is arranged at an accurate position, so that the prosthesis can obtain good stability and normal movement of the joint can be recovered.
Doctors can formulate personalized operation schemes according to specific conditions and requirements of patients, the culture cost of experienced surgeons and operation teams is high, the culture time is very long, if the doctor who performs the operation is inexperienced, when installing the artificial joint prosthesis, the installation dislocation or other problems can be caused due to inaccurate positioning, and the operation risk is caused.
Therefore, the application provides a joint replacement operation auxiliary positioning method and a joint replacement operation auxiliary positioning system.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the application provides an auxiliary positioning method and an auxiliary positioning system for joint replacement surgery, which can effectively help doctors to recommend the most suitable surgical scheme and assist the doctors to execute the surgery so as to obtain the best postoperative effect.
(II) technical scheme
In order to achieve the above purpose, the application is realized by the following technical scheme: an auxiliary positioning system for joint replacement surgery comprises a first detection unit, a monitoring unit, a processing unit, an execution unit and a postoperative detection unit;
the first detection unit is used for acquiring patient data, the monitoring unit is used for acquiring surgical tool data, the processing unit is used for processing the data and outputting a surgical strategy, the execution unit is used for executing the surgical strategy output by the processing unit, the postoperative detection unit is used for detecting the joint stability of the patient after operation and outputting test data to the processing unit, and the postoperative detection unit is used for assisting the processing unit to output the surgical strategy; the processing unit comprises a three-dimensional model module, a visual display module, a strategy module, a simulation calculation module, a scheme library module, a second detection unit, an evaluation unit and a threshold module;
the three-dimensional model module establishes a three-dimensional model according to patient data and operation tool data, forms real-time image data and outputs the real-time image data to the visualization module, the visualization display module is used for displaying the real-time image data, the strategy module formulates an operation scheme according to the patient data, the operation tool data and the real-time image data and outputs the scheme to the simulation calculation module, the simulation calculation module performs simulation calculation according to the scheme output by the strategy module, then matches with the scheme in the scheme library module, finally outputs an optimal scheme, the second detection unit performs simulation detection according to the optimal scheme, the evaluation unit detects data according to the second detection unit to output joint stability Ev, the threshold module is preset with a threshold, the strategy module determines whether the optimal scheme is feasible according to the comparison result of the joint stability Ev and the threshold module preset with the threshold, if the optimal scheme is feasible, the optimal scheme is formulated into an operation strategy to be output to the execution unit, if the optimal scheme is not feasible, and the scheme is formulated again.
Preferably, the first detection unit includes a patient anatomy detection module, a patient articulation range detection module, and a patient anatomy reference point detection module, the patient anatomy detection module is used for acquiring patient anatomy data, the patient articulation range detection module is used for acquiring patient articulation range data, and the patient anatomy reference point detection module is used for acquiring patient anatomy reference point data;
the patient data includes patient anatomy data, patient range of articulation data, and patient anatomical reference point data.
Preferably, the monitoring unit comprises a surgical tool position monitoring module and a surgical tool direction monitoring module, the surgical tool position monitoring module is used for acquiring surgical tool position data, and the surgical tool direction monitoring module is used for acquiring surgical tool direction data;
the surgical tool data includes surgical tool position data and surgical tool orientation data.
Preferably, the second detection module comprises a ligament status detection module, a joint clearance and alignment detection module and a joint slip and rotation detection module;
the ligament state detection module is used for acquiring a ligament state data set, the joint clearance and alignment detection module is used for acquiring a first state coefficient Jcad of the joint, and the joint sliding and rotation detection module is used for acquiring a second state coefficient Jsrd of the joint;
the ligament state detection module comprises a ligament integrity detection module, a ligament tension value detection module and a ligament strain value detection module, wherein the ligament integrity detection module is used for acquiring ligament integrity Lid, the ligament tension value detection module is used for acquiring a ligament tension value Ltd, and the ligament strain value detection module is used for acquiring a ligament stress value Lsd;
the ligament status data set includes ligament integrity Lid, ligament tension value Ltd, and ligament stress value Lsd;
the joint clearance and alignment detection module comprises a joint clearance detection module and a joint alignment detection module, wherein the joint clearance detection module is used for acquiring a joint clearance ratio, the joint clearance ratio is obtained by comparing a detected joint state coefficient with an optimal joint clearance ratio, the joint alignment detection module is used for acquiring a joint alignment, and the joint first state coefficient Jcad is obtained by integrating the joint clearance ratio and the joint alignment in a ratio of 1 to 1;
the joint sliding and rotating detection module comprises a joint sliding degree detection module and a joint rotating degree detection module, wherein the joint sliding degree detection module is used for acquiring joint sliding degree, the joint rotating degree detection module is used for acquiring joint rotating degree, and the joint second state coefficient Jsrd is obtained by integrating the joint sliding degree and the joint rotating degree according to the proportion of 1 to 1.
Preferably, the evaluation unit comprises a ligament status evaluation module, a joint clearance and alignment evaluation module and a joint slip and rotation evaluation module;
the ligament evaluation module acquires ligament state evaluation values Ev1 according to the ligament state data set, the joint clearance and alignment evaluation module acquires joint clearance and alignment evaluation values Ev2 according to the joint first state coefficient Jcad, and the joint slip and rotation evaluation module acquires joint slip and rotation evaluation values Ev3 according to the joint second state coefficient Jsrd;
the joint stability Ev is based on ligament status evaluation value Ev1, joint clearance and alignment evaluation value Ev2, and joint slip and rotation evaluation value Ev3, and the respective evaluation values are correlated in the following manner:
；
the weight meaning is as follows: θ is the ligament status assessment value weight,μ is joint clearance and alignment assessment weight, +.>，/>Assessment of value weights for joint slip and rotation, +.>D is a constant correction coefficient.
Preferably, the ligament state evaluation value Ev1 performs dimensionless processing according to the ligament integrity limit, the ligament tension value Ltd and the ligament stress value Lsd, and correlates the data, wherein the correlation formula is as follows:
；
the weight meaning is as follows: alpha is the ligament integrity weight and,beta is the weight of the ligament tension value,，/>weight for ligament strain value, +.>C is a constant correction coefficient;
the joint gap and alignment evaluation value Ev2 is obtained by multiplying the first state coefficient Jcad of the joint by the scale factor Q1, wherein,；
the joint slip and rotation evaluation value Ev3 is obtained by multiplying the joint second state coefficient Jsrd by the scale factor Q2, wherein,。
preferably, a first threshold value and a second threshold value are preset in the threshold module, the first threshold value is smaller than the second threshold value, the joint stability Ev is compared with the threshold value preset in the threshold module to generate two comparison results, when the joint stability Ev is larger than or equal to the first threshold value and smaller than or equal to the second threshold value, the strategy module judges that the joint stability Ev is in a stable state, when the joint stability Ev is smaller than the first threshold value, the strategy module judges that the joint stability Ev is in an abnormal state, and when the joint stability Ev is larger than the second threshold value, the strategy module judges that the joint stability Ev is in an abnormal state;
when the joint stability Ev is in a stable state, the optimal scheme is feasible; when the joint stability Ev is in an abnormal state, the optimal solution is not feasible.
Preferably, the postoperative detection unit comprises a joint stability test module and a dynamic motion analysis module;
the joint stability test module is used for acquiring joint stability test data, and the dynamic motion analysis module is used for acquiring dynamic motion analysis data; the joint stability test data and the dynamic motion analysis data can be compared with the joint stability Ev of the surgical execution scheme, find deviations for optimizing the scheme, and store the optimized scheme in the scheme library module.
An auxiliary positioning method for joint replacement surgery comprises the following steps:
step 1, acquiring patient data, including patient anatomy data, patient joint movement range data and patient anatomy reference point data;
step 2, attaching a sensor to the surgical tool or the patient's body for acquiring surgical tool data including surgical tool position data and surgical tool orientation data;
step 3, forming a real-time three-dimensional model and an image, generating real-time image data and outputting the real-time image data to a visualization module;
step 4, visual display can be performed by using a display screen, projection display and handheld equipment, so that the display is convenient for doctors to use;
step 5, planning a surgical path and a surgical target, comprising the following steps:
step 501, a strategy module plans a surgical path and a surgical target according to patient data, surgical tool data and real-time image data, a surgical scheme is made, the scheme is output to a simulation calculation module, and the planned surgical path and the surgical target are according to the following principles:
1. determining the correct joint position and orientation, including determining the exact position, size, and orientation of the joint replacement to restore normal biomechanical function of the joint;
2. taking into account the anatomical features of the patient, which may vary from patient to patient, the procedure needs to be adjusted to the individual differences of the patient, which may include taking into account the patient's bone condition, the presence of bone spurs or bone defects, and the anatomy of the joint;
3. healthy tissue is preserved, and one of the surgical goals is to preserve healthy bone and soft tissue structures to the maximum extent, and an excellent surgical path can help doctors avoid unnecessary tissue cutting and damage to minimize surgical trauma and post-operative recovery time;
4. balancing joint stability, which is critical to the success of surgery and functional recovery of the patient;
step 502, after the simulation calculation module carries out simulation calculation according to the scheme output by the strategy module, matching with the scheme in the scheme library module, and finally outputting an optimal scheme;
step 503, the second detection unit performs simulation detection according to the optimal scheme, the evaluation unit outputs the joint stability Ev according to the detection data of the second detection unit, the threshold module is preset with a threshold, and the policy module judges whether the optimal scheme is feasible according to the comparison result of the joint stability Ev and the threshold module preset with the threshold;
step 504, if the optimal solution is feasible, formulating the optimal solution into a surgical strategy to be output to the execution unit, and if the optimal solution is not feasible, reformulating the solution;
step 505, the reformulated scheme is verified through step 503 until a feasible optimal scheme is formulated;
step 506, integrating the scheme data by a feasible optimal scheme, and providing an alignment guide and a reference line through a visual display module to help doctors to perform alignment adjustment in joint replacement operation;
step 6, performing an operation;
step 7, post-operation detection, including joint stability test and dynamic motion analysis, including the following steps:
step 701, acquiring joint stability test data and dynamic motion analysis data;
step 702, synthesizing joint stability test data and dynamic motion analysis data, comparing the joint stability test data with the joint stability Ev of an operation execution scheme, determining deviation, searching for a deviation reason, and providing an improvement and optimization scheme;
step 703, storing the optimization scheme in a scheme library module.
(III) beneficial effects
The application provides an auxiliary positioning method and an auxiliary positioning system for joint replacement operation. The beneficial effects are as follows:
1. the application utilizes the personalized operation scheme formulated according to the patient data, the operation tool data and the real-time image data, the scheme is a personalized operation scheme formulated according to the specific condition of the patient, the second detection unit carries out simulation detection according to the optimal scheme, the evaluation unit outputs the joint stability Ev according to the detection data of the second detection unit, the threshold module is preset with a threshold, the strategy module judges whether the optimal scheme is feasible according to the comparison result of the joint stability Ev and the threshold module preset with the threshold, if the optimal scheme is feasible, the optimal scheme is formulated into an operation strategy and is output to the execution unit, if the optimal scheme is not feasible, the scheme is formulated again, and the re-formulated scheme can be verified again until the feasible optimal scheme is formulated, which is equivalent to a plurality of experiential demonstration schemes with abundant experience, so that the scheme formulation links of each operation are fast and effective;
2. according to the application, the feasible optimal scheme integrates scheme data, and the visual display module provides alignment guidance and reference lines to help doctors to perform alignment adjustment in joint replacement surgery, so that the surgery is equivalent to guiding surgery by experienced doctors in the surgery process;
3. compared with the joint stability Ev of the operation execution scheme, the post-operation detection data are compared, deviation is determined, deviation reasons are found, an improvement and optimization scheme is provided, and the scheme is stored in a scheme library module, so that the operation scheme can be accumulated and optimized after continuous operation, and the more the end use, the better the operation effect;
4. the application can be used for preparing preoperative operation scheme, guiding operation in operation, detecting and optimizing operation scheme after operation, replacing experienced surgeons and operation teams, and continuously learning and iterating, thereby saving the culture cost and time of experienced surgeons and operation teams.
Drawings
FIG. 1 is a flow chart of the operation of an assisted positioning system for joint replacement surgery according to the present application;
FIG. 2 is a block diagram of a second detection unit and evaluation unit of the joint replacement surgery assistance localization system according to the present application;
fig. 3 is a flowchart of a joint replacement surgery assisted positioning method according to the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1 to 3, the present application provides an auxiliary positioning system for joint replacement surgery, comprising: the device comprises a first detection unit, a monitoring unit, a processing unit, an execution unit and a postoperative detection unit;
the first detection unit is used for acquiring patient data, the monitoring unit is used for acquiring surgical tool data, the processing unit is used for processing the data and outputting a surgical strategy, the execution unit is used for executing the surgical strategy output by the processing unit, the postoperative detection unit is used for detecting the joint stability of the patient after operation and outputting test data to the processing unit, and the postoperative detection unit is used for assisting the processing unit to output the surgical strategy; wherein,,
the processing unit comprises a three-dimensional model module, a visual display module, a strategy module, a simulation calculation module, a scheme library module, a second detection unit, an evaluation unit and a threshold module;
the three-dimensional model module establishes a three-dimensional model according to patient data and operation tool data, forms real-time image data and outputs the real-time image data to the visualization module, the visualization display module is used for displaying the real-time image data, the strategy module formulates an operation scheme according to the patient data, the operation tool data and the real-time image data and outputs the scheme to the simulation calculation module, the simulation calculation module performs simulation calculation according to the scheme output by the strategy module, then matches with the scheme in the scheme library module, finally outputs an optimal scheme, the second detection unit performs simulation detection according to the optimal scheme, the evaluation unit detects data according to the second detection unit to output joint stability Ev, the threshold module is preset with a threshold, the strategy module determines whether the optimal scheme is feasible according to the comparison result of the joint stability Ev and the threshold module preset with the threshold, if the optimal scheme is feasible, the optimal scheme is formulated into an operation strategy to be output to the execution unit, if the optimal scheme is not feasible, and the scheme is formulated again.
The first detection unit comprises a patient anatomy detection module, a patient joint movement range detection module and a patient anatomy reference point detection module, wherein the patient anatomy detection module is used for acquiring patient anatomy data, the patient joint movement range detection module is used for acquiring patient joint movement range data, and the patient anatomy reference point detection module is used for acquiring patient anatomy reference point data;
the patient data includes patient anatomy data, patient range of articulation data, and patient anatomical reference point data.
The monitoring unit comprises a surgical tool position monitoring module and a surgical tool direction monitoring module, wherein the surgical tool position monitoring module is used for acquiring surgical tool position data, and the surgical tool direction monitoring module is used for acquiring surgical tool direction data;
the surgical tool data includes surgical tool position data and surgical tool orientation data.
Further, the second detection module comprises a ligament state detection module, a joint clearance and alignment detection module and a joint sliding and rotation detection module; the ligament state detection module is used for acquiring a ligament state data set, the joint clearance and alignment detection module is used for acquiring a first state coefficient Jcad of the joint, and the joint sliding and rotation detection module is used for acquiring a second state coefficient Jsrd of the joint; the ligament state detection module comprises a ligament integrity detection module, a ligament tension value detection module and a ligament strain value detection module, wherein the ligament integrity detection module is used for acquiring ligament integrity Lid, the ligament tension value detection module is used for acquiring a ligament tension value Ltd, and the ligament strain value detection module is used for acquiring a ligament stress value Lsd; the ligament status data set includes ligament integrity Lid, ligament tension value Ltd, and ligament stress value Lsd;
the joint clearance and alignment detection module comprises a joint clearance detection module and a joint alignment detection module, wherein the joint clearance detection module is used for acquiring a joint clearance ratio, the joint clearance ratio is obtained by comparing a detected joint state coefficient with an optimal joint clearance ratio, the joint alignment detection module is used for acquiring a joint alignment, and the joint first state coefficient Jcad is obtained by integrating the joint clearance ratio and the joint alignment in a ratio of 1 to 1;
the joint sliding and rotating detection module comprises a joint sliding degree detection module and a joint rotating degree detection module, wherein the joint sliding degree detection module is used for acquiring joint sliding degree, the joint rotating degree detection module is used for acquiring joint rotating degree, and the joint second state coefficient Jsrd is obtained by integrating the joint sliding degree and the joint rotating degree according to the proportion of 1 to 1.
The evaluation unit comprises a ligament state evaluation module, a joint clearance and alignment evaluation module and a joint slip and rotation evaluation module;
the ligament evaluation module acquires ligament state evaluation values Ev1 according to the ligament state data set, the joint clearance and alignment evaluation module acquires joint clearance and alignment evaluation values Ev2 according to the joint first state coefficient Jcad, and the joint slip and rotation evaluation module acquires joint slip and rotation evaluation values Ev3 according to the joint second state coefficient Jsrd;
the joint stability Ev is based on ligament status evaluation value Ev1, joint clearance and alignment evaluation value Ev2, and joint slip and rotation evaluation value Ev3, and the respective evaluation values are correlated in the following manner:
；
the weight meaning is as follows: θ is the ligament status assessment value weight,μ is joint clearance and alignment assessment weight, +.>，/>Assessment of value weights for joint slip and rotation, +.>D is a constant correction coefficient.
The ligament state evaluation value Ev1 performs dimensionless processing according to the ligament integrity limit, the ligament tension value Ltd and the ligament stress value Lsd, and correlates the data, wherein the correlation formula is as follows:
；
the weight meaning is as follows: alpha is the ligament integrity weight and,beta is the weight of the ligament tension value,，/>weight for ligament strain value, +.>C is a constant correction coefficient;
the joint gap and alignment evaluation value Ev2 is obtained by multiplying the first state coefficient Jcad of the joint by the scale factor Q1, wherein,；
the joint slip and rotation evaluation value Ev3 is obtained by multiplying the joint second state coefficient Jsrd by the scale factor Q2, wherein,。
further, a first threshold value and a second threshold value are preset in the threshold module, the first threshold value is smaller than the second threshold value, the joint stability Ev is compared with the threshold value preset in the threshold module to generate two comparison results, when the joint stability Ev is larger than or equal to the first threshold value and smaller than or equal to the second threshold value, the strategy module judges that the joint stability Ev is in a stable state, when the joint stability Ev is smaller than the first threshold value, the strategy module judges that the joint stability Ev is in an abnormal state, and when the joint stability Ev is larger than the second threshold value, the strategy module judges that the joint stability Ev is in an abnormal state;
when the joint stability Ev is in a stable state, the optimal scheme is feasible; when the joint stability Ev is in an abnormal state, the optimal solution is not feasible.
Further, the postoperative detection unit comprises a joint stability test module and a dynamic motion analysis module;
the joint stability test module is used for acquiring joint stability test data, and the dynamic motion analysis module is used for acquiring dynamic motion analysis data;
the joint stability test data and the dynamic motion analysis data can be compared with the joint stability Ev of the surgical execution scheme, find deviations for optimizing the scheme, and store the optimized scheme in the scheme library module.
Referring to fig. 1 to 3, the present application further provides an auxiliary positioning method for joint replacement surgery, comprising the following steps:
acquiring patient data including patient anatomy data, patient articulation range data, and patient anatomical reference point data; attaching sensors to the surgical tool and the patient's body for acquiring surgical tool data including surgical tool position data and surgical tool orientation data; combining the acquired data to form a real-time three-dimensional model and an image, generating real-time image data and visually displaying the real-time image data;
planning a surgical path and a surgical target, comprising the steps of:
the strategy module plans an operation path and an operation target according to the patient data, the operation tool data and the real-time image data, makes an operation scheme, carries out simulation analysis on the operation scheme, matches with the existing scheme in a pre-configured scheme library, and finally outputs an optimal scheme; and performing simulation analysis on the optimal scheme, outputting the joint stability Ev from a simulation analysis result, presetting a threshold value by a threshold module, and judging whether the optimal scheme is feasible or not by a strategy module according to a comparison result of the joint stability Ev and the threshold value preset by the threshold module.
If the optimal scheme is feasible, the optimal scheme is formulated into a surgical strategy and output, and if the optimal scheme is not feasible, the scheme is formulated again; gradually verifying the newly formulated scheme until a feasible optimal scheme is formulated;
integrating the scheme data by a feasible optimal scheme, and providing an alignment guide line and a reference line through visual display;
performing post-operation detection, including joint stability test and dynamic motion analysis, specifically including the following steps:
and acquiring joint stability test data and dynamic motion analysis data, combining the joint stability test data and the dynamic motion analysis data, comparing the joint stability test data and the dynamic motion analysis data with the joint stability Ev of the operation execution scheme, determining deviation, searching a deviation reason, and correcting the operation execution scheme.
The method comprises the steps of preparing a surgical scheme, outputting the scheme to a simulation calculation module, and planning a surgical path and a surgical target according to the following principle:
1. determining the correct joint position and orientation, including determining the exact position, size, and orientation of the joint replacement to restore normal biomechanical function of the joint;
2. taking into account the anatomical features of the patient, which may vary from patient to patient, the procedure needs to be adjusted to the individual differences of the patient, which may include taking into account the patient's bone condition, the presence of bone spurs or bone defects, and the anatomy of the joint;
3. healthy tissue is preserved, and one of the surgical goals is to preserve healthy bone and soft tissue structures to the maximum extent, and an excellent surgical path can help doctors avoid unnecessary tissue cutting and damage to minimize surgical trauma and post-operative recovery time;
4. balancing joint stability, which is critical to the success of surgery and functional recovery of the patient;
according to the application, the second detection unit is utilized to carry out simulation detection according to the optimal scheme, the evaluation unit outputs the joint stability Ev according to the detection data of the second detection unit, the threshold module is preset with a threshold, the strategy module judges whether the optimal scheme is feasible according to the comparison result of the joint stability Ev and the threshold module preset threshold, if the optimal scheme is feasible, the optimal scheme is formulated into an operation strategy to be output to the execution unit, if the optimal scheme is not feasible, the scheme is formulated again, the formulated scheme can be verified again until the feasible optimal scheme is formulated, which is equivalent to a plurality of times of expertise schemes, so that the scheme formulation links of each operation are quick and effective;
the feasible optimal scheme integrates scheme data, provides alignment guidance and reference lines through the visual display module, and helps doctors to perform alignment adjustment in joint replacement surgery, so that the operation process is equivalent to guiding surgery by experienced doctors;
the method comprises the steps of comparing the post-operation detection data with the joint stability Ev of an operation execution scheme, determining deviation and finding a deviation reason, providing an improvement and optimization scheme, and storing the scheme in a scheme library module, so that the method can accumulate and optimize the operation scheme after continuous operation, and the more the end use, the better the operation effect.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. An auxiliary positioning system for joint replacement surgery, which is characterized in that: the device comprises a first detection unit, a monitoring unit, a processing unit, an execution unit and a postoperative detection unit; wherein,,
the first detection unit is used for acquiring patient data, the monitoring unit is used for acquiring surgical tool data, the processing unit is used for processing the data and outputting a surgical strategy, the execution unit is used for executing the surgical strategy output by the processing unit, the postoperative detection unit is used for detecting the joint stability of the patient after operation and outputting test data to the processing unit, and the postoperative detection unit is used for assisting the processing unit to output the surgical strategy; the processing unit comprises a three-dimensional model module, a visual display module, a strategy module, a simulation calculation module, a scheme library module, a second detection unit, an evaluation unit and a threshold module; wherein,,
the three-dimensional model module establishes a three-dimensional model according to the patient data and the operation tool data, forms real-time image data and outputs the real-time image data to the visualization module, the visualization display module is used for displaying the real-time image data, the strategy module formulates an operation scheme according to the patient data, the operation tool data and the real-time image data, outputs the scheme to the simulation calculation module, and the simulation calculation module carries out simulation calculation according to the scheme output by the strategy module, then matches with the scheme in the scheme library module, and finally outputs the optimal scheme; the second detection unit carries out simulation detection according to the optimal scheme, and the evaluation unit outputs joint stability Ev according to the detection data of the second detection unit, wherein the evaluation unit comprises a ligament state evaluation module, a joint clearance and alignment evaluation module and a joint slippage and rotation evaluation module; the ligament evaluation module acquires ligament state evaluation values Ev1 according to the ligament state data set, the joint clearance and alignment evaluation module acquires joint clearance and alignment evaluation values Ev2 according to the joint first state coefficient Jcad, and the joint slip and rotation evaluation module acquires joint slip and rotation evaluation values Ev3 according to the joint second state coefficient Jsrd;
the joint stability Ev is based on ligament status evaluation value Ev1, joint clearance and alignment evaluation value Ev2, and joint slip and rotation evaluation value Ev3, and the respective evaluation values are correlated in the following manner:
；
wherein the method comprises the steps ofThe weight meaning is as follows:evaluation value weight for ligament status, +.>，/>Evaluating value weights for joint space and alignment, +.>，/>Assessment of value weights for joint slip and rotation, +.>D is a constant correction coefficient; the threshold module is preset with a threshold, the strategy module judges whether the optimal scheme is feasible or not according to the comparison result of the joint stability Ev and the threshold preset by the threshold module, if the optimal scheme is feasible, the optimal scheme is formulated into a surgical strategy to be output to the execution unit, and if the optimal scheme is not feasible, the scheme is formulated again.
2. The joint replacement surgery assistance positioning system according to claim 1, wherein:
the first detection unit comprises a patient anatomy detection module, a patient joint movement range detection module and a patient anatomy reference point detection module, wherein the patient anatomy detection module is used for acquiring patient anatomy data, the patient joint movement range detection module is used for acquiring patient joint movement range data, and the patient anatomy reference point detection module is used for acquiring patient anatomy reference point data; the patient data includes patient anatomy data, patient range of motion data, and patient anatomical reference point data; the postoperative detection unit comprises a joint stability test module and a dynamic motion analysis module, wherein the joint stability test module is used for acquiring joint stability test data, and the dynamic motion analysis module is used for acquiring dynamic motion analysis data.
3. The joint replacement surgery assistance positioning system according to claim 2, wherein:
the monitoring unit comprises a surgical tool position monitoring module and a surgical tool direction monitoring module, wherein the surgical tool position monitoring module is used for acquiring surgical tool position data, and the surgical tool direction monitoring module is used for acquiring surgical tool direction data; the surgical tool data includes surgical tool position data and surgical tool orientation data; the second detection module comprises a ligament state detection module, a joint clearance and alignment detection module and a joint sliding and rotation detection module; the ligament state detection module is used for acquiring a ligament state data set, the joint clearance and alignment detection module is used for acquiring a first state coefficient Jcad of the joint, and the joint sliding and rotation detection module is used for acquiring a second state coefficient Jsrd of the joint.
4. A joint replacement surgery assistance positioning system according to claim 3, wherein:
the ligament state detection module comprises a ligament integrity detection module, a ligament tension value detection module and a ligament strain value detection module, wherein the ligament integrity detection module is used for acquiring ligament integrity Lid, the ligament tension value detection module is used for acquiring a ligament tension value Ltd, and the ligament strain value detection module is used for acquiring a ligament stress value Lsd; the ligament status data set includes ligament integrity Lid, ligament tension value Ltd, and ligament stress value Lsd;
the joint clearance and alignment detection module comprises a joint clearance detection module and a joint alignment detection module, wherein the joint clearance detection module is used for acquiring a joint clearance ratio, and the joint clearance ratio is obtained by comparing a detection value with an optimal joint clearance ratio; the joint alignment detection module is used for obtaining joint alignment, and the joint first state coefficient Jcad is obtained by averaging 1 to 1 after dimensionless according to the joint gap ratio and the joint alignment.
5. The joint replacement surgery assistance positioning system according to claim 4, wherein:
the joint slip and rotation detection module comprises a joint slip degree detection module and a joint rotation degree detection module, wherein the joint slip degree detection module is used for acquiring joint slip degree, the joint rotation degree detection module is used for acquiring joint rotation degree, and the joint second state coefficient Jsrd is obtained by averaging the joint slip degree and the joint rotation degree according to the proportion of 1 to 1;
the ligament state evaluation value Ev1 performs dimensionless processing according to the ligament integrity limit, the ligament tension value Ltd and the ligament stress value Lsd, and correlates the data, wherein the correlation formula is as follows:
；
the weight meaning is as follows:for ligament integrity weight, +.>，/>As the weight of the ligament tension value,，/>weight for ligament strain value, +.>C is a constant correction coefficient;
the joint gap and alignment evaluation value Ev2 is obtained by multiplying the first state coefficient Jcad of the joint by the scale factor Q1, wherein,the method comprises the steps of carrying out a first treatment on the surface of the The joint slip and rotation evaluation value Ev3 is obtained by multiplying the scaling factor Q2 by the joint second state coefficient Jsrd, wherein +.>。
6. The joint replacement surgery assistance positioning system according to claim 2, wherein:
the method comprises the steps that a first threshold value and a second threshold value are preset in a threshold value module, the first threshold value is smaller than the second threshold value, the joint stability Ev is compared with the threshold value preset in the threshold value module to generate two comparison results, and when the joint stability Ev is larger than or equal to the first threshold value and smaller than or equal to the second threshold value, the strategy module judges that the joint stability Ev is in a stable state;
when the joint stability Ev is smaller than a first threshold value, the strategy module judges that the joint stability Ev is in an abnormal state, and when the joint stability Ev is larger than a second threshold value, the strategy module judges that the joint stability Ev is in an abnormal state; when the joint stability Ev is in a stable state, the optimal scheme is feasible; when the joint stability Ev is in an abnormal state, the optimal solution is not feasible.
7. A joint replacement surgery assisted positioning method applied to the system of any one of claims 1 to 6, characterized in that: the method comprises the following steps:
acquiring patient data including patient anatomy data, patient articulation range data, and patient anatomical reference point data; attaching sensors to the surgical tool and the patient's body for acquiring surgical tool data including surgical tool position data and surgical tool orientation data; combining the acquired data to form a real-time three-dimensional model and an image, generating real-time image data and visually displaying the real-time image data;
planning a surgical path and a surgical target, comprising the steps of:
the strategy module plans an operation path and an operation target according to the patient data, the operation tool data and the real-time image data, makes an operation scheme, carries out simulation analysis on the operation scheme, matches with the existing scheme in a pre-configured scheme library, and finally outputs an optimal scheme; performing simulation analysis on the optimal scheme, outputting joint stability Ev from simulation analysis results, presetting a threshold value by a threshold module, and judging whether the optimal scheme is feasible or not by a strategy module according to a comparison result of the joint stability Ev and the threshold value preset by the threshold module;
if the optimal scheme is feasible, the optimal scheme is formulated into a surgical strategy and output, and if the optimal scheme is not feasible, the scheme is formulated again; gradually verifying the newly formulated scheme until a feasible optimal scheme is formulated;
integrating the scheme data by a feasible optimal scheme, and providing an alignment guide line and a reference line through visual display; performing post-operation detection, including joint stability test and dynamic motion analysis, specifically including the following steps: and acquiring joint stability test data and dynamic motion analysis data, combining the joint stability test data and the dynamic motion analysis data, comparing the joint stability test data and the dynamic motion analysis data with the joint stability Ev of the operation execution scheme, determining deviation, searching a deviation reason, and correcting the operation execution scheme.
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