CN114587583B - Method and system for recommending prosthesis in knee joint operation navigation system operation - Google Patents
Method and system for recommending prosthesis in knee joint operation navigation system operation Download PDFInfo
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- CN114587583B CN114587583B CN202210212798.0A CN202210212798A CN114587583B CN 114587583 B CN114587583 B CN 114587583B CN 202210212798 A CN202210212798 A CN 202210212798A CN 114587583 B CN114587583 B CN 114587583B
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- 238000000034 method Methods 0.000 title claims abstract description 63
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 56
- 210000000689 upper leg Anatomy 0.000 claims abstract description 84
- 210000002303 tibia Anatomy 0.000 claims abstract description 45
- 239000000523 sample Substances 0.000 claims abstract description 40
- 241001227561 Valgus Species 0.000 claims abstract description 29
- 241000469816 Varus Species 0.000 claims abstract description 24
- 238000001356 surgical procedure Methods 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 13
- 238000004364 calculation method Methods 0.000 claims abstract description 12
- 210000000988 bone and bone Anatomy 0.000 claims description 29
- 230000001054 cortical effect Effects 0.000 claims description 26
- 238000004804 winding Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
- 210000003127 knee Anatomy 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 6
- 238000004590 computer program Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000011156 evaluation Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000002513 implantation Methods 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 238000010187 selection method Methods 0.000 description 2
- 208000006820 Arthralgia Diseases 0.000 description 1
- 206010051077 Post procedural haemorrhage Diseases 0.000 description 1
- 208000037099 Prosthesis Failure Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000008407 joint function Effects 0.000 description 1
- 208000024765 knee pain Diseases 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
- A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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Abstract
The embodiment of the disclosure provides a method and a system for recommending an intraoperative prosthesis of a knee joint surgery navigation system, which belong to the technical field of surgery navigation, and the method comprises the following steps: reconstructing a three-dimensional model of the knee joint in software by using a navigation system through three-dimensional CT in the operation process; acquiring registration positioning points in the femur and tibia of the knee joint through probes; the data calculation is carried out on the positioning point parameter combination to obtain a femoral prosthesis model number parameter, a femoral prosthesis varus and valgus angle, a femoral prosthesis internal and external rotation angle, a femoral prosthesis positioning parameter and a tibial prosthesis model number parameter which are related to the prosthesis; based on the femoral prosthesis model number parameter, the femoral prosthesis varus and valgus angle, the femoral prosthesis internal and external rotation angle, the femoral prosthesis positioning parameter and the tibial prosthesis model number parameter, the specific model and the installation position of the prosthesis to be recommended are determined. Through the processing scheme disclosed by the invention, subjective factors during selecting the femoral prosthesis and the tibial prosthesis are avoided, and the operation is easy.
Description
Technical Field
The disclosure relates to the technical field of surgical navigation, in particular to a method and a system for recommending an intraoperative prosthesis of a knee joint surgical navigation system.
Background
At present, many planning systems support planning according to CT images before operation, but in actual clinic, it is inconvenient to accurately perform operation according to the preoperative planning, firstly, many situations are unexpected in operation, and secondly, the preoperative images are static, so that the movement performance of joints is difficult to evaluate. Thus, the clinician uses only the preoperative planning as a reference, and selects the prosthesis model and position empirically during the operation, but this loses the accuracy of the navigation system. However, accurate prosthesis matching can reduce complications such as postoperative knee pain, prosthesis loosening, prosthesis abrasion, postoperative bleeding and the like, so that good joint functions are guaranteed, postoperative satisfaction is improved, and therefore model selection and installation positions of the prosthesis are vital to the operation effect.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a method and a system for recommending an intraoperative prosthesis of a knee joint surgery navigation system, so as to at least partially solve the problems in the prior art.
In a first aspect, an embodiment of the present disclosure provides a method for intra-operative prosthesis recommendation in a knee joint surgery navigation system, including:
Reconstructing a three-dimensional model of the knee joint in software through three-dimensional CT by using a navigation system in the operation process, and placing the virtual three-dimensional model and the real knee joint bone in the same coordinate system through the navigation system after registering the three-dimensional model;
Registration positioning points are obtained from the femur and the tibia of the knee joint through probes, wherein the positioning points comprise a femur inner condyle point, a femur outer condyle point and a femur anterior cortex bone so as to obtain a positioning point parameter combination;
The data calculation is carried out on the positioning point parameter combination to obtain a femoral prosthesis model number parameter, a femoral prosthesis varus and valgus angle, a femoral prosthesis internal and external rotation angle, a femoral prosthesis positioning parameter and a tibial prosthesis model number parameter which are related to the prosthesis;
based on the femoral prosthesis model number parameter, the femoral prosthesis varus and valgus angle, the femoral prosthesis internal and external rotation angle, the femoral prosthesis positioning parameter and the tibial prosthesis model number parameter, the specific model and the installation position of the prosthesis to be recommended are determined.
According to a specific implementation manner of the embodiment of the present disclosure, the acquiring registration positioning points in the femur and tibia of the knee joint through the probe includes:
Aiming at the medial condyle point, a mode of winding the medial condyle of the femur by one circle is adopted, and a probe is used for picking up the precise registration point of the medial condyle of the femur.
According to a specific implementation manner of the embodiment of the present disclosure, the acquiring registration positioning points in the femur and tibia of the knee joint through the probe includes:
for the lateral condyle point, a probe is used for picking up the precise matching point of the lateral condyle of the femur in a way of winding the lateral condyle of the femur for one circle.
According to a specific implementation manner of the embodiment of the present disclosure, the acquiring registration positioning points in the femur and tibia of the knee joint through the probe includes:
aiming at the anterior cortical bone, a method that the anterior cortical bone of the femur is along a straight line is adopted, and a probe is used for picking up the accurate point of the anterior cortical bone of the femur.
According to a specific implementation manner of the embodiment of the present disclosure, the acquiring registration positioning points in the femur and tibia of the knee joint through the probe includes:
Aiming at the tibia side, a manner of winding the tibia platform by one circle is adopted, and a probe is used for picking up the tibia accurate matching point.
According to a specific implementation manner of the embodiment of the present disclosure, the calculating the data of the positioning point parameter combination to obtain a femoral prosthesis model number parameter, a femoral prosthesis varus angle, a femoral prosthesis valgus angle, a femoral prosthesis positioning parameter and a tibial prosthesis model number parameter related to a prosthesis includes:
Placing the three-dimensional model of the prosthesis on a horizontal plane, and measuring the distance from the leftmost point at the upper end of the model of the prosthesis to the tangent plane of the posterior condyle of the prosthesis to be L1;
After the registration of the femur precision is completed, calculating the distance from the point on the anterior cortical bone of the femur to the tangent surface of the posterior condyle of the femur to be L2 by using a navigation system;
Taking the distance L2 from the point of the anterior cortical bone of the femur to the tangent plane of the posterior condyle as a reference, comparing L2 with L1, selecting the prosthesis model closest to L2, and selecting the minimum prosthesis model when L2 is smaller than the minimum prosthesis model.
According to a specific implementation manner of the embodiment of the present disclosure, the calculating the data of the positioning point parameter combination to obtain a femoral prosthesis model number parameter, a femoral prosthesis varus angle, a femoral prosthesis valgus angle, a femoral prosthesis positioning parameter and a tibial prosthesis model number parameter related to a prosthesis includes:
determining the everting angle of the prosthesis according to the connecting line of the lowest point of the distal femur; and determining the internal and external rotation angles of the prosthesis according to the lowest point connecting line of the femoral posterior condyles as a reference.
According to a specific implementation manner of the embodiment of the present disclosure, the determining a specific model and an installation position of the prosthesis to be recommended includes:
utilizing the anterior-posterior points of the left pole and the right pole of the tibial prosthesis as tibial prosthesis parameters:
the front and rear points of the left pole and the right pole of the tibial plateau are used as tibial measurement parameters;
and determining the model of the tibial prosthesis according to the left and right anterior-posterior points of the tibial plateau.
According to a specific implementation manner of the embodiment of the present disclosure, the determining a specific model and an installation position of the prosthesis to be recommended includes:
And determining the position of the tibial prosthesis according to the varus angle, the valgus angle and the valgus angle which are manually designated by the tibia.
In a second aspect, embodiments of the present disclosure provide an intraoperative prosthesis recommendation system for a knee joint surgery navigation system, comprising:
The reconstruction module is used for reconstructing a three-dimensional model of the knee joint in software through three-dimensional CT by using a navigation system in the operation process, and placing the virtual three-dimensional model and the real knee joint bone in the same coordinate system through the navigation system after the three-dimensional model is registered;
The acquisition module is used for acquiring registration positioning points in the femur and the tibia of the knee joint through probes, wherein the positioning points comprise a femur inner condyle point, a femur outer condyle point, a femur anterior cortical bone and a tibia platform so as to obtain positioning point parameter combinations;
The calculation module is used for obtaining the related femoral prosthesis model number parameter, the internal and external turning angle of the femoral prosthesis, the internal and external rotation angle of the femoral prosthesis, the positioning parameter of the femoral prosthesis and the tibial prosthesis model number parameter by carrying out data calculation on the positioning point parameter combination;
The determining module is used for determining the specific model and the installation position of the prosthesis to be recommended based on the femoral prosthesis model number parameter, the femoral prosthesis varus and valgus angle, the femoral prosthesis internal and valgus angle, the femoral prosthesis positioning parameter and the tibial prosthesis model number parameter.
In a third aspect, embodiments of the present disclosure further provide an electronic device, including:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of intra-operative prosthesis recommendation for a knee joint surgery navigation system in any one of the implementations of the first aspect or the first aspect.
In a fourth aspect, the presently disclosed embodiments also provide a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of intra-operative prosthesis recommendation for a knee joint surgery navigation system in any of the implementations of the foregoing first aspect or aspects.
In a fifth aspect, embodiments of the present disclosure also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of intra-operative prosthesis recommendation in a knee joint surgery navigation system of the first aspect or any implementation of the first aspect.
The prosthetic recommended scheme in the knee joint operation navigation system operation in the embodiment of the disclosure comprises the steps of reconstructing a three-dimensional model of a knee joint in software through three-dimensional CT by using a navigation system in an operation process, and placing a virtual three-dimensional model and a real knee joint bone in the same coordinate system through the navigation system after registering the three-dimensional model; acquiring registration positioning points in the femur and tibia of the knee joint through probes, wherein the positioning points comprise a femur inner condyle point, a femur outer condyle point, a femur anterior cortex bone and a tibia platform so as to obtain a positioning point parameter combination; the data calculation is carried out on the positioning point parameter combination to obtain a femoral prosthesis model number parameter, a femoral prosthesis varus and valgus angle, a femoral prosthesis internal and external rotation angle, a femoral prosthesis positioning parameter and a tibial prosthesis model number parameter which are related to the prosthesis; based on the femoral prosthesis model number parameter, the femoral prosthesis varus and valgus angle, the femoral prosthesis internal and external rotation angle, the femoral prosthesis positioning parameter and the tibial prosthesis model number parameter, the specific model and the installation position of the prosthesis to be recommended are determined. Through the processing scheme disclosed by the invention, subjective factors when selecting the femoral prosthesis and the tibial prosthesis are avoided, so that the sizes of the femoral prosthesis and the tibial prosthesis can be accurately recommended in operation. The operation navigation system is matched, the operation is easy to operate, and the effect is more accurate.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a flowchart of a method for intra-operative prosthesis recommendation for a knee joint surgery navigation system provided in an embodiment of the present disclosure;
FIGS. 2a-2c are schematic diagrams of positions selected for a femoral fine registration point provided in an embodiment of the present disclosure;
3a-3d are schematic illustrations of the positions of femoral measurement parameters and femoral prostheses provided by embodiments of the present disclosure;
FIG. 4 is a schematic illustration of automatic selection of a tibial prosthesis provided in an embodiment of the present disclosure;
fig. 5 is a schematic structural view of an intra-operative prosthesis recommendation device of a knee joint surgery navigation system according to an embodiment of the present disclosure;
Fig. 6 is a schematic diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the disclosure by way of illustration, and only the components related to the disclosure are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the disclosure provides a method for recommending an intraoperative prosthesis of a knee joint operation navigation system. The method for recommending prosthesis in knee joint surgery navigation system operation provided in this embodiment may be performed by a computing device, which may be implemented as software or as a combination of software and hardware, and the computing device may be integrally provided in a server, a client, or the like.
Referring to fig. 1, the method for recommending a prosthesis in a knee surgery navigation system according to an embodiment of the present disclosure may include the steps of:
S101, reconstructing a three-dimensional model of the knee joint in software through three-dimensional CT by using a navigation system in the operation process, and placing the virtual three-dimensional model and the real knee joint bone in the same coordinate system through the navigation system after registering the three-dimensional model.
The invention is used in operation, the navigation system rebuilds a three-dimensional CT model in software through three-dimensional CT, and after registration, the system places the virtual three-dimensional model and the real bone in the same coordinate system. The system can automatically measure and recommend the most suitable model size and implantation pose of the joint prosthesis, and an operator can finely adjust the model size and implantation pose according to the needs.
S102, registration positioning points are obtained from the femur and the tibia of the knee joint through probes, wherein the positioning points comprise a femoral inner condyle point, a femoral outer condyle point, a femoral anterior cortical bone and a tibia platform, so that a positioning point parameter combination is obtained.
In actual clinic, a doctor can take a plurality of registration points of the joint by using probe points according to the actual condition of a patient, and input operation requirements, and a computer system can automatically measure and recommend the most suitable prosthesis model and the optimal placement position. The whole process of the method and the system can be automatically completed, and subjective factors when the femoral prosthesis and the tibial prosthesis are selected are avoided, so that the sizes of the femoral prosthesis and the tibial prosthesis can be accurately recommended in operation. The operation navigation system is matched, the operation is easy to operate, and the effect is more accurate.
The femur side point selection method comprises the following steps:
The femur side locating points are picked up by a probe, and the selected points are divided into three groups of femur inner condyle points, femur outer condyle points and femur anterior cortical bones.
Position of femur precision registration point selection
1) Medial condyle point: and a circle of the femoral internal condyle is wound, and a probe is used for picking up the precise registration point of the femoral internal condyle. The method of operation is shown in figure 2 a.
2) Lateral condyle point: and a circle of the femoral external condyle is wound, and a probe is used for picking up the precise registration point of the femoral external condyle. The method of operation is shown in figure 2 b.
3) Anterior cortical bone: around the anterior cortical bone of the femur, a probe is used to pick up the precise point of the anterior cortical bone of the femur. The method of operation is shown in figure 2 c.
And S103, obtaining the related femoral prosthesis model number parameter, the varus and valgus angle of the femoral prosthesis, the internal and external rotation angle of the femoral prosthesis, the positioning parameter of the femoral prosthesis and the tibial prosthesis model number parameter by carrying out data calculation on the positioning point parameter combination.
Femur measurement parameters
1) Femoral prosthesis parameters
The prosthesis model is placed on a horizontal plane and the distance L1 from the leftmost point on the upper end of the prosthesis model to the posterior condylar-prosthesis tangent plane is measured (see fig. 3 a).
2) Femur measurement parameters
① The method for selecting the femoral posterior condyle tangent surface comprises the following steps:
the plane perpendicular to the horizontal plane passing through the lowest point connecting line of the posterior condyle of the femur is a posterior condyle tangent plane.
② Measuring distance:
When the femoral fine registration is complete, the system automatically calculates the distance L2 from the point on the anterior cortical bone of the femur to the posterior condylar of the femur (see fig. 3 b).
S104, determining the specific model and the installation position of the prosthesis to be recommended based on the femoral prosthesis model number parameter, the femoral prosthesis varus and valgus angle, the femoral prosthesis internal and valgus angle, the femoral prosthesis positioning parameter and the tibial prosthesis model number parameter.
Selection rules for prosthesis model
When the model of the femoral prosthesis is selected, the distance L2 from the point of the anterior cortical bone of the femur to the tangent plane of the posterior condyle is taken as a reference, and the prosthesis model closest to the L2 is selected by comparing the L2 with the L1. When L2 is less than the minimum prosthesis model, the minimum prosthesis model is selected.
The positions of the femoral prosthesis include:
1) Inside-out angle: the lowest point line of the distal femur is referenced (see FIG. 3 c)
2) Internal and external rotation angle: the lowest point line of the posterior femoral condyle is referenced (see FIG. 3 d)
3) Buckling angle: manually specifying offset
4) Prosthesis position: determining the everting angle of the prosthesis according to the connecting line of the lowest point of the distal femur; determining the internal and external rotation angles of the prosthesis according to the lowest point connecting line of the femoral posterior condyles as a reference; the prosthesis flexion angle is manually specified as offset.
Referring to fig. 4, automatic selection of a tibial prosthesis includes:
1. tibia lateral point selection method
The positioning point at the tibia side is picked up by a probe, and the positioning point is one circle of the tibia platform.
2. Position of tibia fine registration point selection
Around the tibia plateau, pick up the accurate point of tibia with the probe.
3. Tibial measurement parameters
1) Tibial prosthetic parameters: tibia prosthesis pole left pole right pole front pole back pole
2) Tibial measurement parameters: tibia plateau left-right front-rear point
3) Selection rules of prosthesis model: and determining the model of the tibial prosthesis according to the left and right anterior-posterior points of the tibial plateau.
4. Position of tibial prosthesis
1) Inside-out angle: manually specifying offset
2) Internal and external rotation angle: manually specifying offset
3) Buckling angle: manually specifying offset
4) Prosthesis position: and determining the position of the tibial prosthesis according to the varus angle, the valgus angle and the valgus angle which are manually designated by the tibia.
Through the scheme of the embodiment, the invention discloses a method for recommending automatic accurate prosthesis in knee joint operation navigation system operation. In actual clinic, a doctor only needs to take a plurality of registration points of the joint by using probe points according to the actual condition of a patient, and inputs the operation requirement, and a computer system can automatically measure and recommend the most suitable prosthesis model and the optimal placement position. The whole process of the method and the system can be automatically completed, and subjective factors when the femoral prosthesis and the tibial prosthesis are selected are avoided, so that the sizes of the femoral prosthesis and the tibial prosthesis can be accurately recommended in operation. The operation navigation system is matched, the operation is easy to operate, and the effect is more accurate.
According to a specific implementation manner of the embodiment of the present disclosure, the acquiring registration positioning points in the femur and tibia of the knee joint through the probe includes:
Aiming at the medial condyle point, a mode of winding the medial condyle of the femur by one circle is adopted, and a probe is used for picking up the precise registration point of the medial condyle of the femur.
According to a specific implementation manner of the embodiment of the present disclosure, the acquiring registration positioning points in the femur and tibia of the knee joint through the probe includes:
for the lateral condyle point, a probe is used for picking up the precise matching point of the lateral condyle of the femur in a way of winding the lateral condyle of the femur for one circle.
According to a specific implementation manner of the embodiment of the present disclosure, the acquiring registration positioning points in the femur and tibia of the knee joint through the probe includes:
aiming at the anterior cortical bone, a method that the anterior cortical bone of the femur is along a straight line is adopted, and a probe is used for picking up the accurate point of the anterior cortical bone of the femur.
According to a specific implementation manner of the embodiment of the present disclosure, the acquiring registration positioning points in the femur and tibia of the knee joint through the probe includes:
Aiming at the tibia side, a manner of winding the tibia platform by one circle is adopted, and a probe is used for picking up the tibia accurate matching point.
According to a specific implementation manner of the embodiment of the present disclosure, the calculating the data of the positioning point parameter combination to obtain a femoral prosthesis model number parameter, a femoral prosthesis varus angle, a femoral prosthesis valgus angle, a femoral prosthesis positioning parameter and a tibial prosthesis model number parameter related to a prosthesis includes:
Placing the three-dimensional model of the prosthesis on a horizontal plane, and measuring the distance from the leftmost point at the upper end of the model of the prosthesis to the tangent plane of the posterior condyle of the prosthesis to be L1;
After the registration of the femur precision is completed, calculating the distance from the point on the anterior cortical bone of the femur to the tangent surface of the posterior condyle of the femur to be L2 by using a navigation system;
Taking the distance L2 from the point of the anterior cortical bone of the femur to the tangent plane of the posterior condyle as a reference, comparing L2 with L1, selecting the prosthesis model closest to L2, and selecting the minimum prosthesis model when L2 is smaller than the minimum prosthesis model.
According to a specific implementation manner of the embodiment of the present disclosure, the calculating the data of the positioning point parameter combination to obtain a femoral prosthesis model number parameter, a femoral prosthesis varus angle, a femoral prosthesis valgus angle, a femoral prosthesis positioning parameter and a tibial prosthesis model number parameter related to a prosthesis includes:
determining the everting angle of the prosthesis according to the connecting line of the lowest point of the distal femur; and determining the internal and external rotation angles of the prosthesis according to the lowest point connecting line of the femoral posterior condyles as a reference.
According to a specific implementation manner of the embodiment of the present disclosure, the determining a specific model and an installation position of the prosthesis to be recommended includes:
utilizing the anterior-posterior points of the left pole and the right pole of the tibial prosthesis as tibial prosthesis parameters:
the front and rear points of the left pole and the right pole of the tibial plateau are used as tibial measurement parameters;
and determining the model of the tibial prosthesis according to the left and right anterior-posterior points of the tibial plateau.
According to a specific implementation manner of the embodiment of the present disclosure, the determining a specific model and an installation position of the prosthesis to be recommended includes:
And determining the position of the tibial prosthesis according to the varus angle, the valgus angle and the valgus angle which are manually designated by the tibia.
Corresponding to the above method embodiment, referring to fig. 5, the presently disclosed embodiment also provides an intra-operative prosthesis recommendation system 50 of a knee joint surgery navigation system, comprising:
A reconstruction module 501, configured to reconstruct a three-dimensional model of a knee joint in software through three-dimensional CT using a navigation system during an operation, where the three-dimensional model is registered, and then the virtual three-dimensional model and a real knee joint bone are placed in the same coordinate system through the navigation system;
The acquisition module 502 is configured to acquire registration positioning points in the femur and tibia of the knee joint through probes, where the positioning points include a femoral medial condyle point, a femoral lateral condyle point, a femoral anterior cortical bone, and a tibial plateau, so as to obtain a positioning point parameter combination;
the calculating module 503 is configured to obtain a femoral prosthesis model number parameter, a femoral prosthesis varus and valgus angle, a femoral prosthesis internal and external rotation angle, a femoral prosthesis positioning parameter and a tibial prosthesis model number parameter related to the prosthesis by performing data calculation on the positioning point parameter combination;
the determining module 504 is configured to determine a specific model and an installation position of the prosthesis to be recommended based on the femoral prosthesis model number parameter, the femoral prosthesis varus angle, the femoral prosthesis valgus angle, the femoral prosthesis positioning parameter, and the tibial prosthesis model number parameter.
The parts of this embodiment, which are not described in detail, are referred to the content described in the above method embodiment, and are not described in detail herein.
Referring to fig. 6, an embodiment of the present disclosure also provides an electronic device 60, comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of intra-operative prosthesis recommendation for a knee joint surgery navigation system in the foregoing method embodiments.
The disclosed embodiments also provide a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of intra-operative prosthesis recommendation for a knee joint surgery navigation system in the foregoing method embodiments.
The disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of intra-operative prosthesis recommendation for a knee joint surgery navigation system in the foregoing method embodiments.
Referring now to fig. 6, a schematic diagram of an electronic device 60 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 6 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 6, the electronic device 60 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 601, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the electronic device 60 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
In general, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 60 to communicate with other devices wirelessly or by wire to exchange data. While an electronic device 60 having various means is shown, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 609, or from storage means 608, or from ROM 602. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 601.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring at least two internet protocol addresses; sending a node evaluation request comprising the at least two internet protocol addresses to node evaluation equipment, wherein the node evaluation equipment selects an internet protocol address from the at least two internet protocol addresses and returns the internet protocol address; receiving an Internet protocol address returned by the node evaluation equipment; wherein the acquired internet protocol address indicates an edge node in the content distribution network.
Or the computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving a node evaluation request comprising at least two internet protocol addresses; selecting an internet protocol address from the at least two internet protocol addresses; returning the selected internet protocol address; wherein the received internet protocol address indicates an edge node in the content distribution network.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the disclosure are intended to be covered by the protection scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A method for intra-operative prosthesis recommendation in a knee joint surgery navigation system, comprising:
Reconstructing a three-dimensional model of the knee joint in software through three-dimensional CT by using a navigation system in the operation process, and placing the virtual three-dimensional model and the real knee joint bone in the same coordinate system through the navigation system after registering the three-dimensional model;
In the operation process, registration positioning points are obtained from the femur and tibia of the knee joint through probes, wherein the positioning points comprise a femur inner condyle point, a femur outer condyle point, a femur anterior cortical bone and a tibia platform so as to obtain positioning point parameter combinations;
In the operation process, data calculation is carried out on the positioning point parameter combination to obtain a femoral prosthesis model number parameter, a femoral prosthesis varus and valgus angle, a femoral prosthesis internal and external rotation angle, a femoral prosthesis positioning parameter and a tibial prosthesis model number parameter which are related to the prosthesis;
Based on the model number parameter of the femoral prosthesis, the varus angle inside and outside of the femoral prosthesis, the internal and external rotation angle of the femoral prosthesis, the positioning parameter of the femoral prosthesis and the model number parameter of the tibial prosthesis in the operation process, the computer system automatically measures and recommends the most suitable model of the prosthesis and the optimal placement position.
2. The method of claim 1, wherein the acquiring registration setpoint in the femur and tibia of the knee joint with the probe comprises:
Aiming at the medial condyle point, a mode of winding the medial condyle of the femur by one circle is adopted, and a probe is used for picking up the precise registration point of the medial condyle of the femur.
3. The method of claim 2, wherein the acquiring registration setpoint in the femur and tibia of the knee joint with the probe comprises:
for the lateral condyle point, a probe is used for picking up the precise matching point of the lateral condyle of the femur in a way of winding the lateral condyle of the femur for one circle.
4. A method according to claim 3, wherein the acquiring registration setpoint in the femur and tibia of the knee joint by means of a probe comprises:
aiming at the anterior cortical bone, a method that the anterior cortical bone of the femur is along a straight line is adopted, and a probe is used for picking up the accurate point of the anterior cortical bone of the femur.
5. The method of claim 4, wherein the acquiring registration setpoint in the femur and tibia of the knee joint with the probe comprises:
Aiming at the tibia side, a manner of winding the tibia platform by one circle is adopted, and a probe is used for picking up the tibia accurate matching point.
6. The method of claim 4, wherein the obtaining the prosthesis related femoral prosthesis model number parameter, the femoral prosthesis varus angle, the femoral prosthesis valgus angle, the femoral prosthesis positioning parameter, and the tibial prosthesis model number parameter by performing data calculation on the combination of positioning point parameters comprises:
Placing the three-dimensional model of the prosthesis on a horizontal plane, and measuring the distance from the leftmost point at the upper end of the model of the prosthesis to the tangent plane of the posterior condyle of the prosthesis to be L1;
After the registration of the femur precision is completed, calculating the distance from the point on the anterior cortical bone of the femur to the tangent surface of the posterior condyle of the femur to be L2 by using a navigation system;
Taking the distance L2 from the point of the anterior cortical bone of the femur to the tangent plane of the posterior condyle as a reference, comparing L2 with L1, selecting the prosthesis model closest to L2, and selecting the minimum prosthesis model when L2 is smaller than the minimum prosthesis model.
7. The method of claim 6, wherein the obtaining the prosthesis related femoral prosthesis model number parameter, the femoral prosthesis varus angle, the femoral prosthesis valgus angle, the femoral prosthesis positioning parameter, and the tibial prosthesis model number parameter by performing data calculation on the combination of anchor point parameters comprises:
determining the everting angle of the prosthesis according to the connecting line of the lowest point of the distal femur; and determining the internal and external rotation angles of the prosthesis according to the lowest point connecting line of the femoral posterior condyles as a reference.
8. The method of claim 7, wherein determining the specific model and installation location of the prosthesis to be recommended comprises:
utilizing the anterior-posterior points of the left pole and the right pole of the tibial prosthesis as tibial prosthesis parameters:
the front and rear points of the left pole and the right pole of the tibial plateau are used as tibial measurement parameters;
and determining the model of the tibial prosthesis according to the left and right anterior-posterior points of the tibial plateau.
9. The method of claim 7, wherein determining the specific model and installation location of the prosthesis to be recommended comprises:
And determining the position of the tibial prosthesis according to the varus angle, the valgus angle and the valgus angle which are manually designated by the tibia.
10. An intra-operative prosthesis recommendation system for a knee surgery navigation system, comprising:
The reconstruction module is used for reconstructing a three-dimensional model of the knee joint in software through three-dimensional CT by using a navigation system in the operation process, and placing the virtual three-dimensional model and the real knee joint bone in the same coordinate system through the navigation system after the three-dimensional model is registered;
The acquisition module is used for acquiring registration positioning points in the femur and tibia of the knee joint through probes in the operation process, wherein the positioning points comprise a femur inner condyle point, a femur outer condyle point and a femur anterior cortical bone so as to obtain positioning point parameter combinations;
The calculation module is used for obtaining the related femoral prosthesis model number parameter, the internal and external turning angle of the femoral prosthesis, the internal and external rotation angle of the femoral prosthesis, the positioning parameter of the femoral prosthesis and the tibial prosthesis model number parameter by carrying out data calculation on the positioning point parameter combination in the operation process;
the determining module is used for automatically measuring and recommending the most suitable prosthesis model and the optimal placement position by the computer system in the operation process based on the femoral prosthesis model number parameter, the femoral prosthesis varus angle, the femoral prosthesis valgus angle, the femoral prosthesis internal and external rotation angle, the femoral prosthesis placement parameter and the tibial prosthesis model number parameter.
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