CN117618168A

CN117618168A - Method and device for determining implantation angle of acetabular cup prosthesis and storage medium

Info

Publication number: CN117618168A
Application number: CN202410105292.9A
Authority: CN
Inventors: 赵杨东
Original assignee: Beijing Yidian Lingdong Technology Co ltd
Current assignee: Beijing Yidian Lingdong Technology Co ltd
Priority date: 2024-01-25
Filing date: 2024-01-25
Publication date: 2024-03-01

Abstract

The application discloses a method and a device for determining an implantation angle of an acetabular cup prosthesis and a storage medium. Relates to the field of medical detection, the method comprises the following steps: performing three-dimensional reconstruction according to first image data of pelvis of a target object to obtain a first three-dimensional model; determining a target pelvic tilt angle of the target subject based on the second image data of the pelvis of the target subject; a target implantation angle of the acetabular cup prosthesis is determined based on the first three-dimensional model and the target pelvic-tilt angle. According to the method and the device, the problem that in the related art, due to the fact that the planning of the implantation of the acetabular cup prosthesis is carried out according to the image data of the prone position, the accuracy of the planning of the implantation of the acetabular cup prosthesis is low is solved.

Description

Method and device for determining implantation angle of acetabular cup prosthesis and storage medium

Technical Field

The application relates to the field of medical detection, in particular to a method and a device for determining an implantation angle of an acetabular cup prosthesis and a storage medium.

Background

With the continued development of medical technology, hip arthroplasty has made great progress in many respects, and preoperative customized surgical planning based on patient bone conditions is an important direction of investigation. Because of different skeletal development conditions among patients, the stability of the hip joint after operation cannot be properly ensured by using a universal cup placement angle, so that risks such as dislocation of the prosthesis and postoperative complications are generated.

In the existing total hip arthroplasty, a doctor can only determine the implantation angle of an acetabular cup according to the safe area range of the abduction angle and the anteversion angle in the static state of the pelvis and combined with own experience, but because the patient walks or sits, the pelvis and the spine can generate relative motion, the relative motion can be different from person to person, and the dislocation risk can exist after the implantation only by referring to the safe area range in the static state of the pelvis of the patient.

Aiming at the problem that the accuracy of the acetabular cup prosthesis implantation planning is lower due to the fact that the acetabular cup prosthesis implantation planning is carried out according to the prone position image data in the related art, no effective solution is proposed at present.

Disclosure of Invention

The main objective of the present application is to provide a method and apparatus for determining an implantation angle of an acetabular cup prosthesis and a storage medium, so as to solve the problem in the related art that the accuracy of the planning of the implantation of the acetabular cup prosthesis is relatively low due to the planning of the implantation of the acetabular cup prosthesis by relying on the image data of prone position.

To achieve the above object, according to one aspect of the present application, there is provided a method of determining an acetabular cup prosthesis implantation angle. The method comprises the following steps: performing three-dimensional reconstruction according to first image data of pelvis of a target object to obtain a first three-dimensional model, wherein the first image data are image data of the target object in prone position, and the first three-dimensional model is used for determining a preset implantation angle of an acetabular cup prosthesis; determining a target pelvic tilt angle of the target object according to second image data of the pelvis of the target object, wherein the image type of the second image data is different from that of the first image data, and the second image data is the image data of the target object in the pose other than the prone pose; determining a target implantation angle of the acetabular cup prosthesis based on the first three-dimensional model and the target pelvic-tilt angle.

Further, determining a target pelvic-tilt angle of the target subject from the second image data of the pelvis of the target subject comprises: determining a first pelvic tilt angle in the standing position according to the image data of the standing position in the second image data; determining a second pelvic tilt angle in the sitting position according to the sitting position image data in the second image data; a target pelvic-tilt angle of the target subject is determined as a function of the first pelvic-tilt angle and the second pelvic-tilt angle.

Further, determining the first pelvic-tilt angle in the standing position according to the image data of the standing position in the second image data includes: determining a pelvic incident angle and a sacral tilt angle according to the image data of the standing position; and calculating according to the pelvis incidence angle and the sacrum inclination angle to obtain a first pelvis inclination angle of the target object in the standing posture.

Further, determining a target implantation angle of the acetabular cup prosthesis from the first three-dimensional model and the target pelvic-tilt angle comprises: acquiring an acetabular cup model of the acetabular cup prosthesis; fitting the acetabular cup model into the first three-dimensional model according to the preset implantation angle to obtain a second three-dimensional model; determining a target implantation angle of the acetabular cup prosthesis based on the second three-dimensional model and the target pelvic-tilt angle.

Further, determining a target implantation angle of the acetabular cup prosthesis from the second three-dimensional model and the target pelvic-tilt angle comprises: rotating the second three-dimensional model according to a first pelvis inclination angle in the target pelvis inclination angles to obtain a third three-dimensional model; rotating the second three-dimensional model according to a second pelvis inclination angle in the target pelvis inclination angles to obtain a fourth three-dimensional model; and determining a target implantation angle of the acetabular cup prosthesis according to the third three-dimensional model and the fourth three-dimensional model.

Further, determining a target implantation angle of the acetabular cup prosthesis from the third three-dimensional model and the fourth three-dimensional model includes: determining a first axis of the acetabular cup model in a standing position according to the third three-dimensional model, wherein the first axis is determined according to a plurality of reference points in the acetabular cup model in the third three-dimensional model; determining a second axis of the acetabular cup model in a seated position according to the fourth three-dimensional model; a target implantation angle of the acetabular cup prosthesis is determined from the first axis and the second axis.

Further, determining a target implantation angle of the acetabular cup prosthesis from the first axis and the second axis comprises: determining a first included angle value under standing posture in the third three-dimensional model according to a first projection curve of the first axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model, wherein the first included angle value at least comprises: the anteversion angle of the acetabular cup model and the abduction angle of the acetabular cup model; determining a second included angle value in the standing posture of the fourth three-dimensional model according to a second projection curve of the second axis on the coronal plane in the first three-dimensional model and a normal vector of the cross section in the first three-dimensional model; and determining a target implantation angle of the acetabular cup prosthesis according to the first included angle value and the second included angle value.

Further, before determining the first angle value in the standing position in the third three-dimensional model according to the first projection curve of the first axis on the coronal plane in the first three-dimensional model and the normal vector of the cross section in the first three-dimensional model, the method further comprises: acquiring anatomical feature points of the pelvis according to the first three-dimensional model or the first image data, wherein the anatomical feature points at least comprise anterior superior iliac spine points on the left side and the right side of the pelvis of the target object; and determining the coronal plane and the sagittal plane according to the anatomical feature points.

To achieve the above object, according to another aspect of the present application, there is provided a device for determining an implantation angle of an acetabular cup prosthesis. The device comprises: the reconstruction unit is used for carrying out three-dimensional reconstruction according to first image data of pelvis of a target object to obtain a first three-dimensional model, wherein the first image data are image data of the target object in prone position, and the first three-dimensional model is used for determining a preset implantation angle of the acetabular cup prosthesis; a first determining unit, configured to determine a target pelvic-tilt angle of the target object according to second image data of a pelvis of the target object, where an image type of the second image data is different from an image type of the first image data, and the second image data is image data of the target object in a pose other than a prone pose; a second determining unit for determining a target implantation angle of the acetabular cup prosthesis based on the first three-dimensional model and the target pelvic-tilt angle.

Further, the first determination unit includes: a first determining subunit, configured to determine a first pelvic tilt angle in the standing posture according to the image data of the standing posture in the second image data; a second determining subunit, configured to determine a second pelvic tilt angle in the sitting posture position according to the image data of the sitting posture position in the second image data; a third determination subunit for determining a target pelvic-tilt angle of the target subject as a function of the first and second pelvic-tilt angles.

Further, the first determining subunit includes: a first determining module for determining a pelvic incident angle and a sacral tilt angle according to the image data of the standing position; and the calculation module is used for calculating according to the pelvis incidence angle and the sacrum inclination angle to obtain a first pelvis inclination angle of the target object in the standing posture.

Further, the second determination unit includes: an acquisition subunit for acquiring an acetabular cup model of the acetabular cup prosthesis; a fitting subunit, configured to fit the acetabular cup model to the first three-dimensional model according to the preset implantation angle, to obtain a second three-dimensional model; a fourth determination subunit for determining a target implantation angle of the acetabular cup prosthesis based on the second three-dimensional model and the target pelvic-tilt angle.

Further, the fourth determination subunit includes: the first rotation module is used for rotating the second three-dimensional model according to a first pelvis inclination angle in the target pelvis inclination angles to obtain a third three-dimensional model; the second rotation module is used for rotating the second three-dimensional model according to a second pelvis inclination angle in the target pelvis inclination angles to obtain a fourth three-dimensional model; and a second determining module for determining a target implantation angle of the acetabular cup prosthesis according to the third three-dimensional model and the fourth three-dimensional model.

Further, the second determining module includes: a first determination submodule for determining a first axis of the acetabular cup model in a standing position according to the third three-dimensional model, wherein the first axis is determined according to a plurality of reference points in the acetabular cup model in the third three-dimensional model; a second determination sub-module for determining a second axis of the acetabular cup model in a seated position according to the fourth three-dimensional model; a third determination sub-module for determining a target implantation angle of the acetabular cup prosthesis based on the first axis and the second axis.

Further, the third determination submodule includes: a first determining sub-module, configured to determine a first included angle value in the standing posture in the third three-dimensional model according to a first projection curve of the first axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model, where the first included angle value at least includes: the anteversion angle of the acetabular cup model and the abduction angle of the acetabular cup model; a second determining sub-module, configured to determine a second angle value in the fourth three-dimensional model under standing posture according to a second projection curve of the second axis on the coronal plane in the first three-dimensional model and a normal vector of the cross section in the first three-dimensional model; and a third determining sub-module for determining a target implantation angle of the acetabular cup prosthesis according to the first included angle value and the second included angle value.

Further, the apparatus further comprises: an acquisition unit, configured to acquire anatomical feature points of the pelvis according to the first three-dimensional model or the first image data before determining a first angle value in a standing posture in the third three-dimensional model according to a first projection curve of the first axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model, where the anatomical feature points include at least anterior superior iliac spine points on left and right sides of the pelvis of the target object; a third determining unit for determining the coronal plane and the sagittal plane based on the anatomical feature points.

To achieve the above object, according to an aspect of the present application, there is provided a computer-readable storage medium storing a program, wherein the program, when run, controls a device in which the storage medium is located to perform the method for determining an acetabular cup prosthesis implantation angle according to any of the above.

To achieve the above object, according to another aspect of the present application, there is also provided an electronic device including one or more processors and a memory for storing a method for determining an implantation angle of an acetabular cup prosthesis according to any of the above.

Through the application, the following steps are adopted: performing three-dimensional reconstruction according to first image data of pelvis of a target object to obtain a first three-dimensional model, wherein the first image data are image data of the target object in prone position, and the first three-dimensional model is used for determining a preset implantation angle of an acetabular cup prosthesis; determining a target pelvic tilt angle of the target object according to second image data of the pelvis of the target object, wherein the image type of the second image data is different from that of the first image data, and the second image data is the image data of the target object in the pose other than the prone pose; according to the first three-dimensional model and the target pelvic-tilt angle, the target implantation angle of the acetabular cup prosthesis is determined, and the problem that in the related art, due to the fact that the acetabular cup prosthesis implantation is planned according to the prone position image data, the accuracy of the acetabular cup prosthesis implantation planning is low is solved. According to the method, the first three-dimensional model is obtained by carrying out three-dimensional reconstruction on the first image data of the target object in the prone position, the target pelvic tilt angle is determined according to the second image data of the target object in the positions except the prone position, the target implantation angle of the acetabular cup prosthesis is finally determined according to the first three-dimensional model and the target pelvic tilt angle, the states of pelvis of the target object in different positions are simulated, the risk of dislocation after the acetabular cup prosthesis is implanted is avoided, and the effect of improving the planning accuracy of the acetabular cup prosthesis implantation is achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:

FIG. 1 is a flow chart of a method of determining an acetabular cup prosthesis implantation angle provided according to an embodiment of the application;

FIG. 2 is a schematic illustration of a method of determining an acetabular cup prosthesis implantation angle provided according to an embodiment of the application;

FIG. 3 is a schematic illustration of a device for determining an acetabular cup prosthesis implantation angle provided according to an embodiment of the application;

fig. 4 is a schematic diagram of an electronic device provided according to an embodiment of the present application.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that, related information (including, but not limited to, user equipment information, user personal information, etc.) and data (including, but not limited to, data for presentation, analyzed data, etc.) related to the present disclosure are information and data authorized by a user or sufficiently authorized by each party. For example, an interface is provided between the system and the relevant user or institution, before acquiring the relevant information, the system needs to send an acquisition request to the user or institution through the interface, and acquire the relevant information after receiving the consent information fed back by the user or institution.

The invention will now be described with reference to preferred embodiments, and FIG. 1 is a flowchart of a method for determining an acetabular cup prosthesis implantation angle, according to an embodiment of the application, as shown in FIG. 1, the method comprising the steps of:

step S101, performing three-dimensional reconstruction according to first image data of pelvis of a target object to obtain a first three-dimensional model, wherein the first image data is image data of prone position of the target object, and the first three-dimensional model is used for determining a preset implantation angle of the acetabular cup prosthesis.

Optionally, selecting first image data with resolution less than 1.5 mm and number of 500-1000, importing the first image data into a modeling system, according to 226-3071 Henry units suggested by a bone density threshold, automatically generating skeleton reverse fault data of a target object by the system, and performing manual denoising and sharpening treatment on the skeleton reverse fault data of the target object. And carrying out three-dimensional reconstruction on the reverse fault data of the bones subjected to denoising and sharpening treatment to obtain a first three-dimensional model.

It should be noted that the first image data at least includes image data from 2 cm above the sacrum to 15 cm below the lesser trochanter of the femur of the target subject.

Step S102, determining a target pelvic-tilt angle of the target object according to second image data of the pelvis of the target object, wherein the image type of the second image data is different from that of the first image data, and the second image data is the image data of the target object in the pose other than the prone pose.

Optionally, a spine-pelvis parameter of the target object in a pose other than the prone pose is determined according to the second image data of the target object, and a pelvis inclination angle of the target object in different poses is determined according to the pelvis parameter in the spine-pelvis parameters.

The spine-pelvis parameters include a spine sagittal parameter and a pelvis sagittal parameter, which can be used to evaluate whether the spine and pelvis of the target subject are balanced.

Step S103, determining a target implantation angle of the acetabular cup prosthesis according to the first three-dimensional model and the target pelvic-tilt angle.

Optionally, determining an implantation angle of the acetabular cup prosthesis of the target object in the prone position through the first three-dimensional model, simulating the states of the pelvis of the target object in different positions according to the target pelvic tilt angles of the target object in different positions, adjusting the implantation position and the implantation angle of the acetabular cup prosthesis in the first three-dimensional model, and finally determining the target implantation angle of the acetabular cup prosthesis according to the adjustment.

In summary, in the scheme, the first three-dimensional model is obtained by carrying out three-dimensional reconstruction on the first image data of the target object in the prone position, the target pelvic tilt angle is determined according to the second image data of the target object in the positions except the prone position, and the target implantation angle of the acetabular cup prosthesis is finally determined according to the first three-dimensional model and the target pelvic tilt angle, so that the state of the pelvis of the target object in different positions is simulated, the risk of dislocation after the acetabular cup prosthesis is implanted is avoided, and the effect of improving the planning accuracy of the acetabular cup prosthesis implantation is achieved.

Optionally, in the method for determining an implantation angle of an acetabular cup prosthesis provided in the embodiment of the application, determining, according to second image data of a pelvis of a target object, a target pelvic-tilt angle of the target object includes: determining a first pelvic tilt angle in the standing position according to the image data of the standing position in the second image data; determining a second pelvic tilt angle in the sitting position according to the sitting position image data in the second image data; a target pelvic-tilt angle of the target subject is determined based on the first pelvic-tilt angle and the second pelvic-tilt angle.

In an alternative embodiment, the pelvis characteristic point of the target object in the standing position is determined through the second image data of the target object in the standing position, and the first pelvis inclination angle of the target object in the standing position is determined through the characteristic point; likewise, a second pelvic tilt angle of the target subject in the standing position may be determined from the second image data of the target subject in the sitting position.

The pelvic feature points include at least a sacral middle plate, a middle point of the sacral middle plate, and an acetabular center of the pelvis of the target subject.

Through the second image data of the target object, the pelvis characteristic points of the target object under different postures can be accurately found, and the target pelvis inclination angle of the target object is determined.

Optionally, in the method for determining an implantation angle of an acetabular cup prosthesis provided in the embodiment of the application, determining, according to image data of a standing position in the second image data, a first pelvic-tilt angle under the standing position includes: determining a pelvic incident angle and a sacral tilt angle according to the image data of the standing posture; a first pelvic tilt angle is calculated from the pelvic angle of incidence and the sacral tilt angle, resulting in a target subject standing position.

In an alternative embodiment, determining the sacral middle plate, the midpoint of the sacral middle plate and the center of acetabulum of the pelvis of the target object in the standing position according to the second image data of the standing position of the target object, and drawing the extension line of the sacral middle plate of the pelvis of the target object, which is marked as L1; the connecting line between the middle point of the sacrum middle plate and the center of the acetabulum is marked as L2; establishing a perpendicular line L1 by taking the middle point of the middle plate of the pelvis of the target object as a starting point, and marking the perpendicular line as L3; and a horizontal line is extended from the center of the middle plate of the pelvis of the target object, and is marked as L4, the included angle between L1 and L4 is a sacrum inclined angle, the included angle between L2 and L3 is a pelvis incident angle according to a definition method of a combined loss index (CSI) functional safety zone, and a first pelvis inclined angle of the standing posture of the target object is calculated according to a formula of the pelvis incident angle-the sacrum inclined angle = the pelvis inclined angle.

Similarly, the second image data of the target object in the sitting position is used to determine the sacral middle plate, the middle point of the sacral middle plate and the center of the acetabulum of the pelvis of the target object in the sitting position, the connecting lines between the characteristic points are drawn according to the above-mentioned pelvis characteristic points and marked as L1', L2', L3', L4', and the second pelvis inclination angle of the target object in the sitting position is calculated by the formula of pelvis incidence angle-sacral inclination angle=pelvis inclination angle.

If the pelvis of the target subject has a tendency to recline, the angle value of the pelvic incident angle is larger than the angle value of the sacral tilt angle, and the pelvic tilt angle is a positive value; if the pelvis of the target subject is in an anteversion trend, the angle value of the pelvic incident angle is less than the angle value of the sacral tilt angle, which is negative.

By connecting the characteristic points of the target object in different positions, the pelvic incidence angle and the sacrum inclination angle of the target object in different positions can be accurately and rapidly calculated, and the target pelvic inclination angle can be obtained.

Optionally, in the method for determining an acetabular cup prosthesis implantation angle provided in the embodiment of the application, determining the target implantation angle of the acetabular cup prosthesis according to the first three-dimensional model and the target pelvic-tilt angle includes: obtaining an acetabular cup model of an acetabular cup prosthesis; fitting the acetabular cup model into the first three-dimensional model according to a preset implantation angle to obtain a second three-dimensional model; a target implantation angle of the acetabular cup prosthesis is determined based on the second three-dimensional model and the target pelvic-tilt angle.

In an alternative embodiment, according to a preset implantation angle of the acetabular cup prosthesis, fitting an acetabular cup model into the first three-dimensional model to obtain a second three-dimensional model, simulating a pelvis state of a target object after the acetabular cup prosthesis is implanted in a prone position state by using the second three-dimensional model, adjusting implantation positions and implantation angles of the acetabular cup prosthesis in the second three-dimensional model according to target pelvis inclination angles of the target object in different positions, and finally determining a target implantation angle of the acetabular cup prosthesis.

The implantation angle of the preset acetabular cup prosthesis is generally 40+ -10 degrees of abduction angle and 15+ -10 degrees of anteversion angle.

The target implantation angle of the acetabular cup prosthesis of the target object can be accurately obtained through the second three-dimensional model of the target object and the target pelvic-tilt angle.

Optionally, in the method for determining an acetabular cup prosthesis implantation angle provided in the embodiment of the application, determining the target implantation angle of the acetabular cup prosthesis according to the second three-dimensional model and the target pelvic-tilt angle includes: rotating the second three-dimensional model according to the first pelvis inclination angle in the target pelvis inclination angles to obtain a third three-dimensional model; rotating the second three-dimensional model according to a second pelvis inclination angle in the target pelvis inclination angles to obtain a fourth three-dimensional model; and determining a target implantation angle of the acetabular cup prosthesis according to the third three-dimensional model and the fourth three-dimensional model.

In an alternative embodiment, according to the first image data of the target object, the anterior superior iliac spines on the left and right sides of the pelvis of the target object are selected, a connecting line is established by using the anterior superior iliac spines on the left and right sides of the pelvis, the connecting line is marked as S1, the second three-dimensional model is rotated by taking the S1 as an axis, the first pelvic tilt angle is obtained, the third three-dimensional model under the standing posture of the target object is obtained, the second three-dimensional model is rotated by taking the S1 as an axis, the second pelvic tilt angle is also rotated, the fourth three-dimensional model under the sitting posture of the target object is obtained, the states of the pelvis of the target object under different postures are simulated according to the three-dimensional models, and the target implantation angle of the acetabular cup prosthesis is determined accordingly.

If the pelvis of the target object has a backward tilting trend, the second three-dimensional model is rotated counterclockwise by taking the S1 as an axis to obtain a third three-dimensional model and a fourth three-dimensional model of the target object; if the pelvis of the target object is in a forward tilting trend, the second three-dimensional model is rotated clockwise by taking S1 as an axis to obtain a third three-dimensional model and a fourth three-dimensional model of the target object.

By rotating the second three-dimensional model of the target object with the target pelvic tilt angle, the pelvic three-dimensional model of the target object under different postures can be rapidly and accurately obtained, and then the target implantation angle of the acetabular cup prosthesis is determined.

Optionally, in the method for determining an acetabular cup prosthesis implantation angle provided in the embodiment of the application, determining, according to the third three-dimensional model and the fourth three-dimensional model, a target implantation angle of the acetabular cup prosthesis includes: determining a first axis of the acetabular cup model in a standing position according to the third three-dimensional model, wherein the first axis is determined according to a plurality of reference points in the acetabular cup model in the third three-dimensional model; determining a second axis of the acetabular cup model in the seated position according to the fourth three-dimensional model; a target implantation angle of the acetabular cup prosthesis is determined based on the first axis and the second axis.

In an alternative embodiment, in a third three-dimensional model of the target object, three points on the cup rim surface of the acetabular cup model are selected, thereby establishing an acetabular cup opening surface, denoted by C1, and a normal vector perpendicular to the plane is established on the plane, denoted by d1, the normal vector d1 being the first axis of the acetabular cup model in the standing position of the target object, and likewise, in a fourth three-dimensional model of the target object, three points on the cup rim surface of the acetabular cup model are selected, thereby establishing an acetabular cup opening surface, denoted by C2, and a normal vector perpendicular to the plane is established on the plane, denoted by d2, the normal vector d2 being the second axis of the acetabular cup model in the sitting position of the target object, and the target implantation angle of the acetabular cup prosthesis is determined based on the first axis and the second axis.

Through the third three-dimensional model and the fourth three-dimensional model of the target object, the axes of the acetabular cup model of the target object under different positions can be rapidly and accurately obtained, and then the target implantation angle of the acetabular cup prosthesis is determined.

Optionally, in the method for determining an acetabular cup prosthesis implantation angle provided in the embodiments of the application, determining a target implantation angle of the acetabular cup prosthesis according to the first axis and the second axis includes: determining a first included angle value under standing posture in a third three-dimensional model according to a first projection curve of a first axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model, wherein the first included angle value at least comprises: the anteversion angle of the acetabular cup model and the abduction angle of the acetabular cup model; determining a second included angle value in a standing posture in a fourth three-dimensional model according to a second projection curve of a second axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model; and determining a target implantation angle of the acetabular cup prosthesis according to the first included angle value and the second included angle value.

In an alternative embodiment, a projection of the axis onto the coronal plane is established according to a first axis (d 1), a first projection curve is obtained, marked as S2, a cup model anteversion angle in the standing position of the target object is determined according to an included angle between the first axis (d 1) and the first projection curve (S2), an cup model abduction angle in the standing position of the target object is determined according to an included angle between the first projection curve (S2) and a normal vector of the cross section, a projection of the axis onto the coronal plane is also established according to a second axis (d 2), a second projection curve is obtained, marked as S2', a cup model anteversion angle in the sitting position of the target object is determined according to an included angle between the second axis (d 2) and the normal vector of the cross section, a cup model abduction angle in the sitting position of the target object is determined according to an included angle between the cup model anteversion angle in the standing position of the target object and the normal vector of the cross section, and a cup abduction angle in the sitting position of the target object is finally, a cup model abduction angle in the standing position of the target object is adjusted.

The method comprises the steps of calculating the anteversion angle and the abduction angle of the acetabular cup model of a target object under different postures, adjusting the anteversion angle and the abduction angle of the acetabular cup model of the target object under the prone posture, further determining the target implantation angle of the acetabular cup prosthesis, and effectively avoiding collision and dislocation risks of the target object when the acetabular cup prosthesis moves after implantation.

Optionally, in the method for determining an implantation angle of an acetabular cup prosthesis provided in the embodiment of the application, before determining the first angle value in the standing posture in the third three-dimensional model according to the first projection curve of the first axis on the coronal plane in the first three-dimensional model and the normal vector of the cross section in the first three-dimensional model, the method further includes: acquiring anatomical feature points of the pelvis according to the first three-dimensional model or the first image data, wherein the anatomical feature points at least comprise anterior superior iliac spine points on the left side and the right side of the pelvis of the target object; from the anatomical feature points, coronal, sagittal and transverse planes are determined.

In an alternative embodiment, the anterior superior iliac spine points on the left side and the right side of the pelvis of the target object are obtained according to a first three-dimensional model or first image data of the target object, the midpoint of a connecting line (S1) of the two points is taken as an origin of a space three-dimensional coordinate system, a direction vector of the connecting line S1 is taken as a vertical vector of a sagittal plane in the space three-dimensional coordinate system, and the sagittal plane in the space three-dimensional coordinate system is determined according to the vertical vector; selecting a point at the position of pelvic pubis of a target object as a pubis joint point, establishing a plane by the pubis joint point and two anterior superior iliac spines, and determining the plane as a coronal plane in a space three-dimensional coordinate system; in the coronal plane, a straight line perpendicular to the connecting line S1 is established through the origin of the space coordinate system, the straight line S3 is marked as S3, the straight line S3 is taken as a vertical vector of the cross section in the space three-dimensional coordinate system, and the cross section in the space three-dimensional coordinate system is determined according to the vertical vector.

When the anterior-superior-iliac spines on the left and right sides of the pelvis of the target subject are found, the anterior-superior-iliac spines of the pelvis of the target subject can be identified according to the pelvic state of the pelvis of the target subject in the first three-dimensional model, and the two most convex points on the anterior-superior-iliac spines are used as the anterior-superior-iliac spines on the left and right sides of the pelvis, or the points closest to the anterior of the pelvis on the left and right sides of the anterior-iliac spines are found according to the first image data of the target subject, and the points are used as the anterior-superior-iliac spines on the left and right sides of the pelvis.

The coronal plane, sagittal plane and transverse plane in the space three-dimensional coordinate system can be rapidly and accurately determined through the anatomical feature points of the target object.

It should be noted that fig. 2 is a schematic diagram of a method for determining an implantation angle of an acetabular cup prosthesis according to an embodiment of the application. As shown in fig. 2, a first three-dimensional model is obtained by performing three-dimensional reconstruction on first image data of a pelvis of a target object, an acetabular cup prosthesis model is fitted into the first three-dimensional model to obtain a second three-dimensional model of the target object in a prone position, a target pelvic tilt angle of the target object in a standing position and a sitting position is determined according to the second image data of the pelvis of the target object, the second three-dimensional model is rotated at the target tilt angle to obtain a third three-dimensional model and a fourth three-dimensional model of the target object in the standing position and the sitting position, a pre-tilt angle and an abduction angle of the acetabular cup model of the target object in the standing position and the sitting position are calculated according to the third three-dimensional model and the fourth three-dimensional model, and a target implantation angle of the acetabular cup prosthesis of the target object is finally obtained according to the pre-tilt angle and the abduction angle of the acetabular cup model of the target object in the standing position and the sitting position.

According to the method for determining the implantation angle of the acetabular cup prosthesis, three-dimensional reconstruction is carried out according to the first image data of the pelvis of the target object to obtain a first three-dimensional model, wherein the first image data are image data of the target object in the prone position, and the first three-dimensional model is used for determining the preset implantation angle of the acetabular cup prosthesis; determining a target pelvic tilt angle of the target object according to second image data of the pelvis of the target object, wherein the image type of the second image data is different from that of the first image data, and the second image data is the image data of the target object in the pose other than the prone position; according to the first three-dimensional model and the target pelvic-tilt angle, the target implantation angle of the acetabular cup prosthesis is determined, and the problem that in the related art, due to the fact that the acetabular cup prosthesis implantation is planned according to the prone position image data, the accuracy of the acetabular cup prosthesis implantation planning is low is solved. According to the method, the first three-dimensional model is obtained by carrying out three-dimensional reconstruction on the first image data of the target object in the prone position, the target pelvic tilt angle is determined according to the second image data of the target object in the positions except the prone position, the target implantation angle of the acetabular cup prosthesis is finally determined according to the first three-dimensional model and the target pelvic tilt angle, the states of pelvis of the target object in different positions are simulated, the risk of dislocation after the acetabular cup prosthesis is implanted is avoided, and the effect of improving the planning accuracy of the acetabular cup prosthesis implantation is achieved.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.

The embodiment of the application also provides a device for determining the implantation angle of the acetabular cup prosthesis, and the device for determining the implantation angle of the acetabular cup prosthesis can be used for executing the method for determining the implantation angle of the acetabular cup prosthesis. The following describes a device for determining an implantation angle of an acetabular cup prosthesis according to an embodiment of the application.

Fig. 3 is a schematic view of a device for determining an acetabular cup prosthesis implantation angle according to an embodiment of the application. As shown in fig. 3, the apparatus includes: a reconstruction unit 301, a first determination unit 302, a second determination unit 303.

The reconstructing unit 301 is configured to perform three-dimensional reconstruction according to first image data of a pelvis of a target object, so as to obtain a first three-dimensional model, where the first image data is image data of the target object in a prone position, and the first three-dimensional model is used for determining a preset implantation angle of the acetabular cup prosthesis.

The first determining unit 302 is configured to determine a target pelvic-tilt angle of the target object according to second image data of the pelvis of the target object, where an image type of the second image data is different from an image type of the first image data, and the second image data is image data of the target object in a pose other than the prone pose.

A second determining unit 303 for determining a target implantation angle of the acetabular cup prosthesis based on the first three-dimensional model and the target pelvic-tilt angle.

According to the device for determining the implantation angle of the acetabular cup prosthesis, three-dimensional reconstruction is carried out according to the first image data of the pelvis of the target object to obtain a first three-dimensional model, wherein the first image data are image data of the target object in the prone position, and the first three-dimensional model is used for determining the preset implantation angle of the acetabular cup prosthesis; determining a target pelvic tilt angle of the target object according to second image data of the pelvis of the target object, wherein the image type of the second image data is different from that of the first image data, and the second image data is the image data of the target object in the pose other than the prone position; according to the first three-dimensional model and the target pelvic-tilt angle, the target implantation angle of the acetabular cup prosthesis is determined, and the problem that in the related art, due to the fact that the acetabular cup prosthesis implantation is planned according to the prone position image data, the accuracy of the acetabular cup prosthesis implantation planning is low is solved. According to the method, the first three-dimensional model is obtained by carrying out three-dimensional reconstruction on the first image data of the target object in the prone position, the target pelvic tilt angle is determined according to the second image data of the target object in the positions except the prone position, the target implantation angle of the acetabular cup prosthesis is finally determined according to the first three-dimensional model and the target pelvic tilt angle, the states of pelvis of the target object in different positions are simulated, the risk of dislocation after the acetabular cup prosthesis is implanted is avoided, and the effect of improving the planning accuracy of the acetabular cup prosthesis implantation is achieved.

Optionally, in the device for determining an acetabular cup prosthesis implantation angle provided in the embodiment of the application, the first determining unit includes: a first determining subunit configured to determine a first pelvic tilt angle in the standing posture according to the image data of the standing posture in the second image data; a second determining subunit configured to determine a second pelvic tilt angle in the sitting position according to the image data of the sitting position in the second image data; a third determination subunit for determining a target pelvic-tilt angle of the target subject based on the first pelvic-tilt angle and the second pelvic-tilt angle.

Optionally, in the device for determining an acetabular cup prosthesis implantation angle provided in the embodiment of the application, the first determining subunit includes: the first determining module is used for determining a pelvis incidence angle and a sacrum inclination angle according to the image data of the standing posture; and the calculation module is used for calculating according to the pelvis incidence angle and the sacrum inclination angle to obtain a first pelvis inclination angle of the target object in the standing posture.

Optionally, in the device for determining an acetabular cup prosthesis implantation angle provided in the embodiment of the application, the second determining unit includes: an acquisition subunit for acquiring an acetabular cup model of an acetabular cup prosthesis; the fitting subunit is used for fitting the acetabular cup model into the first three-dimensional model according to a preset implantation angle to obtain a second three-dimensional model; a fourth determination subunit for determining a target implantation angle of the acetabular cup prosthesis based on the second three-dimensional model and the target pelvic-tilt angle.

Optionally, in the device for determining an acetabular cup prosthesis implantation angle provided in the embodiment of the application, the fourth determining subunit includes: the first rotation module is used for rotating the second three-dimensional model according to the first pelvis inclination angle in the target pelvis inclination angles to obtain a third three-dimensional model; the second rotation module is used for rotating the second three-dimensional model according to a second pelvis inclination angle in the target pelvis inclination angles to obtain a fourth three-dimensional model; and the second determining module is used for determining the target implantation angle of the acetabular cup prosthesis according to the third three-dimensional model and the fourth three-dimensional model.

Optionally, in the device for determining an acetabular cup prosthesis implantation angle provided in the embodiment of the application, the second determining module includes: a first determination sub-module for determining a first axis of the acetabular cup model in a standing position according to a third three-dimensional model, wherein the first axis is determined according to a plurality of reference points in the acetabular cup model in the third three-dimensional model; a second determination sub-module for determining a second axis of the acetabular cup model in a seated position according to the fourth three-dimensional model; a third determination sub-module for determining a target implantation angle of the acetabular cup prosthesis based on the first axis and the second axis.

Optionally, in the device for determining an acetabular cup prosthesis implantation angle provided in the embodiment of the application, the third determining submodule includes: a first determining sub-module, configured to determine a first angle value in a standing posture in a third three-dimensional model according to a first projection curve of a first axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model, where the first angle value at least includes: the anteversion angle of the acetabular cup model and the abduction angle of the acetabular cup model; a second determining sub-module, configured to determine a second angle value in a standing posture in a fourth three-dimensional model according to a second projection curve of a second axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model; and a third determining sub-module for determining a target implantation angle of the acetabular cup prosthesis according to the first angle value and the second angle value.

Optionally, in the device for determining an acetabular cup prosthesis implantation angle provided in the embodiments of the present application, the device further includes: the acquisition unit is used for acquiring anatomical feature points of pelvis according to the first three-dimensional model or the first image data before determining a first included angle value under standing posture in the third three-dimensional model according to a first projection curve of the first axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model, wherein the anatomical feature points at least comprise anterior-iliac upper spine points on the left side and the right side of the pelvis of a target object; and a third determining unit for determining the coronal, sagittal and transverse planes based on the anatomical feature points.

The device for determining the implantation angle of the acetabular cup prosthesis comprises a processor and a memory, wherein the reconstruction unit 301, the first determination unit 302, the second determination unit 303 and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the accurate determination of the implantation angle of the acetabular cup prosthesis is realized by adjusting the parameters of the inner core.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

Embodiments of the present invention provide a computer readable storage medium having stored thereon a program which, when executed by a processor, performs a method of determining an acetabular cup prosthesis implantation angle.

The embodiment of the invention provides a processor, which is used for running a program, wherein the program runs to execute a method for determining the implantation angle of an acetabular cup prosthesis.

As shown in fig. 4, an embodiment of the present invention provides an electronic device, where the device includes a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, the following steps are implemented: performing three-dimensional reconstruction according to first image data of pelvis of a target object to obtain a first three-dimensional model, wherein the first image data are image data of the target object in prone position, and the first three-dimensional model is used for determining a preset implantation angle of the acetabular cup prosthesis; determining a target pelvic tilt angle of the target object according to second image data of the pelvis of the target object, wherein the image type of the second image data is different from that of the first image data, and the second image data is the image data of the target object in the pose other than the prone position; a target implantation angle of the acetabular cup prosthesis is determined based on the first three-dimensional model and the target pelvic-tilt angle.

Optionally, determining the target pelvic-tilt angle of the target subject from the second image data of the pelvis of the target subject comprises: determining a first pelvic tilt angle in the standing position according to the image data of the standing position in the second image data; determining a second pelvic tilt angle in the sitting position according to the sitting position image data in the second image data; a target pelvic-tilt angle of the target subject is determined based on the first pelvic-tilt angle and the second pelvic-tilt angle.

Optionally, determining the first pelvic-tilt angle in the standing position according to the image data of the standing position in the second image data includes: determining a pelvic incident angle and a sacral tilt angle according to the image data of the standing posture; a first pelvic tilt angle is calculated from the pelvic angle of incidence and the sacral tilt angle, resulting in a target subject standing position.

Optionally, determining the target implantation angle of the acetabular cup prosthesis from the first three-dimensional model and the target pelvic-tilt angle comprises: obtaining an acetabular cup model of an acetabular cup prosthesis; fitting the acetabular cup model into the first three-dimensional model according to a preset implantation angle to obtain a second three-dimensional model; a target implantation angle of the acetabular cup prosthesis is determined based on the second three-dimensional model and the target pelvic-tilt angle.

Optionally, determining the target implantation angle of the acetabular cup prosthesis from the second three-dimensional model and the target pelvic-tilt angle comprises: rotating the second three-dimensional model according to the first pelvis inclination angle in the target pelvis inclination angles to obtain a third three-dimensional model; rotating the second three-dimensional model according to a second pelvis inclination angle in the target pelvis inclination angles to obtain a fourth three-dimensional model; and determining a target implantation angle of the acetabular cup prosthesis according to the third three-dimensional model and the fourth three-dimensional model.

Optionally, determining the target implantation angle of the acetabular cup prosthesis from the third three-dimensional model and the fourth three-dimensional model comprises: determining a first axis of the acetabular cup model in a standing position according to the third three-dimensional model, wherein the first axis is determined according to a plurality of reference points in the acetabular cup model in the third three-dimensional model; determining a second axis of the acetabular cup model in the seated position according to the fourth three-dimensional model; a target implantation angle of the acetabular cup prosthesis is determined based on the first axis and the second axis.

Optionally, determining the target implantation angle of the acetabular cup prosthesis from the first axis and the second axis comprises: determining a first included angle value under standing posture in a third three-dimensional model according to a first projection curve of a first axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model, wherein the first included angle value at least comprises: the anteversion angle of the acetabular cup model and the abduction angle of the acetabular cup model; determining a second included angle value in a standing posture in a fourth three-dimensional model according to a second projection curve of a second axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model; and determining a target implantation angle of the acetabular cup prosthesis according to the first included angle value and the second included angle value.

Optionally, before determining the first angle value in the standing position in the third three-dimensional model from the first projection curve of the first axis on the coronal plane in the first three-dimensional model and the normal vector of the cross section in the first three-dimensional model, the method further comprises: acquiring anatomical feature points of the pelvis according to the first three-dimensional model or the first image data, wherein the anatomical feature points at least comprise anterior superior iliac spine points on the left side and the right side of the pelvis of the target object; from the anatomical feature points, coronal, sagittal and transverse planes are determined.

The device herein may be a server, PC, PAD, cell phone, etc.

The present application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of: performing three-dimensional reconstruction according to first image data of pelvis of a target object to obtain a first three-dimensional model, wherein the first image data are image data of the target object in prone position, and the first three-dimensional model is used for determining a preset implantation angle of the acetabular cup prosthesis; determining a target pelvic tilt angle of the target object according to second image data of the pelvis of the target object, wherein the image type of the second image data is different from that of the first image data, and the second image data is the image data of the target object in the pose other than the prone position; a target implantation angle of the acetabular cup prosthesis is determined based on the first three-dimensional model and the target pelvic-tilt angle.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A method of determining an acetabular cup prosthesis implantation angle, comprising:

performing three-dimensional reconstruction according to first image data of pelvis of a target object to obtain a first three-dimensional model, wherein the first image data are image data of the target object in prone position, and the first three-dimensional model is used for determining a preset implantation angle of an acetabular cup prosthesis;

Determining a target pelvic tilt angle of the target object according to second image data of the pelvis of the target object, wherein the image type of the second image data is different from that of the first image data, and the second image data is the image data of the target object in the pose other than the prone pose;

determining a target implantation angle of the acetabular cup prosthesis based on the first three-dimensional model and the target pelvic-tilt angle.

2. The method of claim 1, wherein determining a target pelvic-tilt angle of the target subject from the second image data of the pelvis of the target subject comprises:

determining a first pelvic tilt angle in the standing position according to the image data of the standing position in the second image data;

determining a second pelvic tilt angle in the sitting position according to the sitting position image data in the second image data;

a target pelvic-tilt angle of the target subject is determined as a function of the first pelvic-tilt angle and the second pelvic-tilt angle.

3. The method of claim 2, wherein determining the first pelvic-tilt angle in the standing position from the image data of the standing position in the second image data comprises:

Determining a pelvic incident angle and a sacral tilt angle according to the image data of the standing position;

and calculating according to the pelvis incidence angle and the sacrum inclination angle to obtain a first pelvis inclination angle of the target object in the standing posture.

4. The method of claim 1, wherein determining a target implantation angle of the acetabular cup prosthesis from the first three-dimensional model and the target pelvic-tilt angle comprises:

acquiring an acetabular cup model of the acetabular cup prosthesis;

fitting the acetabular cup model into the first three-dimensional model according to the preset implantation angle to obtain a second three-dimensional model;

determining a target implantation angle of the acetabular cup prosthesis based on the second three-dimensional model and the target pelvic-tilt angle.

5. The method of claim 4, wherein determining a target implantation angle of the acetabular cup prosthesis from the second three-dimensional model and the target pelvic-tilt angle comprises:

rotating the second three-dimensional model according to a first pelvis inclination angle in the target pelvis inclination angles to obtain a third three-dimensional model;

rotating the second three-dimensional model according to a second pelvis inclination angle in the target pelvis inclination angles to obtain a fourth three-dimensional model;

And determining a target implantation angle of the acetabular cup prosthesis according to the third three-dimensional model and the fourth three-dimensional model.

6. The method of claim 5, wherein determining a target implantation angle of the acetabular cup prosthesis from the third three-dimensional model and the fourth three-dimensional model comprises:

determining a first axis of the acetabular cup model in a standing position according to the third three-dimensional model, wherein the first axis is determined according to a plurality of reference points in the acetabular cup model in the third three-dimensional model;

determining a second axis of the acetabular cup model in a seated position according to the fourth three-dimensional model;

a target implantation angle of the acetabular cup prosthesis is determined from the first axis and the second axis.

7. The method of claim 6, wherein determining a target implantation angle of the acetabular cup prosthesis from the first axis and the second axis comprises:

determining a first included angle value under standing posture in the third three-dimensional model according to a first projection curve of the first axis on a coronal plane in the first three-dimensional model and a normal vector of a cross section in the first three-dimensional model, wherein the first included angle value at least comprises: the anteversion angle of the acetabular cup model and the abduction angle of the acetabular cup model;

Determining a second included angle value in the standing posture of the fourth three-dimensional model according to a second projection curve of the second axis on the coronal plane in the first three-dimensional model and a normal vector of the cross section in the first three-dimensional model;

and determining a target implantation angle of the acetabular cup prosthesis according to the first included angle value and the second included angle value.

8. The method of claim 7, wherein prior to determining the first angle value in the standing position in the third three-dimensional model from the first projected curve of the first axis on the coronal plane in the first three-dimensional model and the normal vector of the cross-section in the first three-dimensional model, the method further comprises:

acquiring anatomical feature points of the pelvis according to the first three-dimensional model or the first image data, wherein the anatomical feature points at least comprise anterior superior iliac spine points on the left side and the right side of the pelvis of the target object;

and determining the coronal plane and the sagittal plane according to the anatomical feature points.

9. A device for determining an implantation angle of an acetabular cup prosthesis, comprising:

the reconstruction unit is used for carrying out three-dimensional reconstruction according to first image data of pelvis of a target object to obtain a first three-dimensional model, wherein the first image data are image data of the target object in prone position, and the first three-dimensional model is used for determining a preset implantation angle of the acetabular cup prosthesis;

A first determining unit, configured to determine a target pelvic-tilt angle of the target object according to second image data of a pelvis of the target object, where an image type of the second image data is different from an image type of the first image data, and the second image data is image data of the target object in a pose other than a prone pose;

a second determining unit for determining a target implantation angle of the acetabular cup prosthesis based on the first three-dimensional model and the target pelvic-tilt angle.

10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program, when run, controls the storage medium to perform the method of determining an acetabular cup prosthesis implantation angle according to any of claims 1 to 8 at a device.

11. An electronic device comprising one or more processors and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of determining an acetabular cup prosthesis implantation angle of any of claims 1-8.