WO2022214105A1

WO2022214105A1 - Orthopedic surgery registration apparatus, terminal device, and storage medium

Info

Publication number: WO2022214105A1
Application number: PCT/CN2022/090083
Authority: WO
Inventors: 孟李艾俐; 周越
Original assignee: 骨圣元化机器人(深圳)有限公司
Priority date: 2021-04-09
Filing date: 2022-04-28
Publication date: 2022-10-13
Also published as: CN113116523A; CN113116523B

Abstract

Embodiments of the present application are applicable to the technical field of medical devices, and provide an orthopedic surgery registration apparatus, a terminal device, and a storage medium. The apparatus comprises: a coarse registration module, configured to determine a first transformation relation according to a plurality of bone surface mark points and a plurality of model mark points, and convert the plurality of the bone surface mark points by using the first transformation relation to obtain a plurality of coarse registration mark points; a center point fitting module, configured to determine a translation vector, translate the plurality of the coarse registration mark points along the translation vector to obtain a plurality of fitting mark points, and update the first transformation relation into a second transformation relation; and a fine registration module, configured to obtain a plurality of bone surface area mark points, convert the plurality of the bone surface area mark points and a bone surface center point by using the second conversion relation to obtain a first bone surface fine registration point set, determine a plurality of model area mark points, and register the plurality of the bone surface mark points and the plurality of the model mark points according to a third transformation relation. Use of the apparatus can improve precision of orthopedic surgery registration.

Description

骨科手术配准装置、终端设备和存储介质Orthopedic surgery registration device, terminal equipment and storage medium

本申请要求于2021年4月9日在中国专利局提交的、申请号为202110380859.X的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese Patent Application No. 202110380859.X, filed with the Chinese Patent Office on April 9, 2021, the entire contents of which are incorporated herein by reference.

技术领域technical field

本申请实施例属于医疗器械技术领域，特别是涉及一种骨科手术配准装置、终端设备和存储介质。The embodiments of the present application belong to the technical field of medical devices, and in particular, relate to an orthopedic surgery registration device, a terminal device, and a storage medium.

背景技术Background technique

随着人均寿命的增长，人口老龄化进程的加快，骨科病的发病率也在不断增长，骨科手术的需求量逐年上升。作为最常见的骨科手术术式之一，关节置换手术的复杂度高，在手术过程中，既要保证三维空间的准确截骨以及与假体的准确匹配，又要注意软组织平衡，对医生的技巧及经验都提出了极高的要求。With the increase of life expectancy and the accelerated aging of the population, the incidence of orthopedic diseases is also increasing, and the demand for orthopedic surgery is increasing year by year. As one of the most common orthopaedic surgical procedures, joint replacement surgery is highly complex. During the operation, it is necessary to ensure accurate osteotomy in three-dimensional space and accurate matching with the prosthesis, and pay attention to soft tissue balance. Skills and experience are in high demand.

骨科手术机器人是一种能够协助骨外科医生进行精准手术操作的机器人***，其优势在于手术精准度高、患者创伤小、术后恢复快，并能降低医生操作强度。通常，骨科手术机器人由机械臂***、术前规划***、术中定位跟踪导航***以及可视化***等组成。其中，术前规划***可用于在患者手术前进行的电子计算机断层扫描(Computed Tomography，CT)得出的骨头三维模型上进行手术方案设计。在手术过程中，通过术中定位跟踪导航***可确保术前规划方案得到精准的执行。为了确保上述过程顺利完成，如何将电脑中保存的骨头三维模型与手术室中的患者真实骨头进行对应，保证二者之间的配准精度就至关重要。The orthopaedic surgical robot is a robotic system that can assist orthopedic surgeons to perform precise surgical operations. Usually, an orthopedic surgical robot consists of a robotic arm system, a preoperative planning system, an intraoperative positioning tracking and navigation system, and a visualization system. Among them, the preoperative planning system can be used to design the surgical plan on the three-dimensional bone model obtained by the computer tomography (Computed Tomography, CT) performed before the patient's surgery. During the operation, the intraoperative positioning tracking and navigation system can ensure the accurate implementation of the preoperative planning. In order to ensure the smooth completion of the above process, how to correspond the three-dimensional bone model saved in the computer with the patient's real bone in the operating room and ensure the registration accuracy between the two is very important.

技术问题technical problem

有鉴于此，本申请实施例提供了一种骨科手术配准装置、终端设备和存储介质，用以提高在骨科手术过程中骨头三维模型与患者真实骨头之间的配准精度。In view of this, embodiments of the present application provide an orthopaedic surgery registration device, a terminal device, and a storage medium, so as to improve the registration accuracy between a three-dimensional bone model and a patient's real bone during orthopaedic surgery.

技术解决方案technical solutions

本申请实施例的第一方面提供了一种骨科手术配准装置，包括：A first aspect of the embodiments of the present application provides an orthopaedic surgery registration device, including:

粗配准模块，用于获取患者骨面上的多个骨面标记点的骨面坐标，以及获取三维模型上与所述多个骨面标记点一一对应的多个模型标记点的模型坐标，根据所述骨面坐标和所述模型坐标确定第一变换关系，采用所述第一变换关系对所述多个骨面标记点进行转换，得到多个粗配准标记点；其中，所述多个粗配准标记点的粗配准坐标与对应的所述多个模型标记点之间的平均欧氏距离最短；The rough registration module is used to obtain the bone surface coordinates of multiple bone surface marker points on the patient's bone surface, and obtain the model coordinates of multiple model marker points on the three-dimensional model that correspond to the multiple bone surface marker points one-to-one , determining a first transformation relationship according to the bone surface coordinates and the model coordinates, and using the first transformation relationship to transform the multiple bone surface marker points to obtain multiple rough registration marker points; wherein the The average Euclidean distance between the coarse registration coordinates of the plurality of coarse registration marks and the corresponding plurality of model marks is the shortest;

中心点拟合模块，用于确定经所述第一变换关系转换后所述三维模型上的模型中心点到所述骨面上的骨面中心点的平移向量，将所述多个粗配准标记点沿所述平移向量进行平移，得到多个拟合标记点，根据所述多个拟合标记点将所述第一变换关系更新为第二变换关系；a center point fitting module, configured to determine the translation vector from the model center point on the three-dimensional model to the bone surface center point on the bone surface after being converted by the first transformation relationship, and perform rough registration on the plurality of The marker points are translated along the translation vector to obtain a plurality of fitted marker points, and the first transformation relationship is updated to a second transformation relationship according to the plurality of fitted marker points;

精配准模块，用于获取所述患者骨面上多个预设区域的多个骨面区域标记点，采用所述第二变换关系对所述多个骨面区域标记点和所述骨面中心点进行转换，得到第一骨面精配准点集，确定所述三维模型上与所述第一骨面精配准点集中的多个骨面区域标记点一一对应的多个模型区域标记点，根据所述多个模型区域标记点和所述模型中心点确定第三变换关系，根据所述第三变换关系对所述多个骨面标记点和所述多个模型标记点进行配准。The fine registration module is used for acquiring multiple bone surface area marking points of multiple preset areas on the patient's bone surface, and using the second transformation relationship to mark the multiple bone surface area marking points and the bone surface The center point is converted to obtain a first bone surface fine registration point set, and a plurality of model area mark points corresponding to the plurality of bone surface area mark points in the first bone surface fine registration point set on the three-dimensional model are determined. , determining a third transformation relationship according to the plurality of model region marker points and the model center point, and performing registration on the plurality of bone surface marker points and the plurality of model marker points according to the third transformation relationship.

本申请实施例的第二方面提供了一种终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如下步骤：A second aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program Implement the following steps:

获取患者骨面上的多个骨面标记点的骨面坐标，以及获取三维模型上与所述多个骨面标记点一一对应的多个模型标记点的模型坐标，根据所述骨面坐标和所述模型坐标确定第一变换关系，采用所述第一变换关系对所述多个骨面标记点进行转换，得到多个粗配准标记点；其中，所述多个粗配准标记点的粗配准坐标与对应的所述多个模型标记点之间的平均欧氏距离最短；Obtain the bone surface coordinates of multiple bone surface marker points on the patient's bone surface, and obtain the model coordinates of multiple model marker points on the three-dimensional model that correspond to the multiple bone surface marker points one-to-one, according to the bone surface coordinates Determine a first transformation relationship with the model coordinates, and use the first transformation relationship to transform the multiple bone surface marker points to obtain multiple rough registration marker points; wherein, the multiple rough registration marker points The average Euclidean distance between the rough registration coordinates and the corresponding multiple model marker points is the shortest;

确定经所述第一变换关系转换后所述三维模型上的模型中心点到所述骨面上的骨面中心点的平移向量，将所述多个粗配准标记点沿所述平移向量进行平移，得到多个拟合标记点，根据所述多个拟合标记点将所述第一变换关系更新为第二变换关系；determining a translation vector from the model center point on the three-dimensional model to the bone surface center point on the bone surface after being transformed by the first transformation relationship, and performing the multiple rough registration mark points along the translation vector panning to obtain a plurality of fitting markers, and updating the first transformation relationship to a second transformation relationship according to the multiple fitting markers;

获取所述患者骨面上多个预设区域的多个骨面区域标记点，采用所述第二变换关系对所述多个骨面区域标记点和所述骨面中心点进行转换，得到第一骨面精配准点集，确定所述三维模型上与所述第一骨面精配准点集中的多个骨面区域标记点一一对应的多个模型区域标记点，根据所述多个模型区域标记点和所述模型中心点确定第三变换关系，根据所述第三变换关系对所述多个骨面标记点和所述多个模型标记点进行配准。Obtain multiple bone surface area marker points of multiple preset areas on the patient's bone surface, and use the second transformation relationship to convert the multiple bone surface area marker points and the bone surface center point to obtain the first a set of bone surface fine registration points, determine multiple model area marker points on the three-dimensional model that correspond to multiple bone surface area marker points in the first bone surface fine registration point set, and according to the multiple models The region marker point and the model center point determine a third transformation relationship, and the plurality of bone surface marker points and the multiple model marker points are registered according to the third transformation relationship.

本申请实施例的第三方面提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如下步骤：A third aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

本申请实施例的第四方面提供了一种计算机程序产品，当所述计算机程序产品在终端设备上运行时，使得所述终端设备执行如下步骤：A fourth aspect of the embodiments of the present application provides a computer program product that, when the computer program product runs on a terminal device, causes the terminal device to perform the following steps:

与现有技术相比，本申请实施例包括以下优点：Compared with the prior art, the embodiments of the present application include the following advantages:

本申请实施例提供的骨科手术配准装置在进行股骨或胫骨配准时，依次通过粗配准、中心点拟合和精配准等步骤，并将股骨头中心点和踝关节中心点纳入配准全流程，在注册配准过程中对股骨机械轴和胫骨机械轴进行了约束，有效地提高了注册配准的精度，降低了假体在矢状面发生倾斜的概率。When performing femur or tibia registration, the orthopaedic surgery registration device provided in the embodiment of the present application sequentially goes through the steps of rough registration, center point fitting, and fine registration, and incorporates the center point of the femoral head and the center point of the ankle joint into the registration. In the whole process, the mechanical axis of the femur and the mechanical axis of the tibia are constrained during the registration process, which effectively improves the registration accuracy and reduces the probability of the prosthesis tilting in the sagittal plane.

附图说明Description of drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单的介绍。显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

图1是本申请一个实施例的一种骨科手术配准装置的示意图；1 is a schematic diagram of an orthopaedic surgery registration device according to an embodiment of the present application;

图2是本申请一个实施例的一种股骨配准的步骤示意图；2 is a schematic diagram of a step of femur registration according to an embodiment of the present application;

图3是本申请一个实施例的一种胫骨配准的步骤示意图。FIG. 3 is a schematic diagram of a step of tibia registration according to an embodiment of the present application.

图4是本申请一个实施例的一种终端设备的示意图。FIG. 4 is a schematic diagram of a terminal device according to an embodiment of the present application.

本发明的实施方式Embodiments of the present invention

以下描述中，为了说明而不是为了限定，提出了诸如特定***结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域技术人员应当清楚，在没有这些具体细节的其他实施例中也可以实现本申请。在其他情况中，省略对众所周知的***、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

在使用骨科手术机器人辅助进行手术的过程中，完成患处显露后，通常需要进行一个叫做“注册配准”的步骤，其目的就是尽可能精确地拟合患者真实骨头与骨头三维模型，以确保医生可以按照手术规划方案完成手术，保证假体安装的准确性与有效性。In the process of using orthopaedic surgery robot-assisted surgery, after the affected area is exposed, a step called "registration registration" is usually required. The operation can be completed according to the surgical planning scheme to ensure the accuracy and effectiveness of the prosthesis installation.

通常，在骨科手术过程中，业界公认的评价假体安装准确性与有效性的指标包括：Generally, during orthopaedic surgery, the industry-recognized indicators for evaluating the accuracy and effectiveness of prosthesis installation include:

1)冠状面胫骨组件角(frontal tibial component，FTC)：在立位负重下肢全长X线片上以胫骨内、外侧平台切线为胫骨侧横轴，测量该轴与胫骨机械轴的夹角即冠状面胫骨组件角，理想值为90°。1) Frontal tibial component angle (FTC): on the full-length X-ray film of the lower extremity under weight-bearing in standing position, the tangent of the medial and lateral platforms of the tibia is taken as the transverse axis of the tibia, and the angle between the axis and the mechanical axis of the tibia is measured, that is, the coronal axis. Facial tibial component angle, ideally 90°.

2)冠状面股骨组件角(frontal femoral component，FFC)：在立位负重下肢全长X线片上以股骨内、外髁的切线为膝关节股骨侧横轴，测量该轴与股骨机械轴的夹角即冠状面股骨组件角，理想值为90°。2) Frontal femoral component (FFC): on the full-length X-ray film of the standing weight-bearing lower extremity, the tangent of the medial and lateral condyles of the femur is the transverse axis of the femoral side of the knee joint, and the clamp between this axis and the mechanical axis of the femur is measured. The angle is the coronal femoral component angle, ideally 90°.

3)矢状面股骨组件角(lateral femoral component，LFC)：在膝关节侧位X线片上测量股骨侧假体的轴线与股骨机械轴的夹角，即矢状面股骨组件角，理想值为0°。3) Sagittal femoral component angle (lateral femoral component, LFC): measure the angle between the axis of the femoral prosthesis and the femoral mechanical axis on the lateral X-ray of the knee joint, that is, the sagittal femoral component angle, the ideal value is 0°.

4)矢状面胫骨组件角(lateral tibial component，LTC)：胫骨侧假体横轴与胫骨机械轴线的夹角，即矢状面胫骨组件角，理想值根据所使用假体的设计不同而有所差别。4) Sagittal tibial component angle (lateral tibial component, LTC): the angle between the transverse axis of the tibial prosthesis and the mechanical axis of the tibia, that is, the sagittal tibial component angle. The ideal value depends on the design of the prosthesis used. the difference.

以上四个评价指标中，股骨、胫骨机械轴都是核心参考轴，因此如何在机器人辅助手术中准确地评估股骨与胫骨的机械轴至关重要。根据定义，股骨机械轴为股骨头中心点到股骨远端中心点的连线，胫骨机械轴为踝关节中心点到胫骨平台中心点的连线。因此，股骨头中心点和踝关节中心点的定位准确性也就直接决定了整个假体安装的准确性。Among the above four evaluation indicators, the mechanical axes of femur and tibia are the core reference axes, so how to accurately evaluate the mechanical axes of femur and tibia in robot-assisted surgery is very important. By definition, the mechanical axis of the femur is the line connecting the center point of the femoral head to the center point of the distal femur, and the mechanical axis of the tibia is the line connecting the center point of the ankle joint to the center point of the tibial plateau. Therefore, the positioning accuracy of the center point of the femoral head and the center point of the ankle joint directly determines the accuracy of the entire prosthesis installation.

目前，注册配准的方法主要包括两种。一种是在手术过程中对手术区域进行CT扫描，获得术中实时的骨头三维模型，并在此基础上进行手术方案的规划与实施。该方法需要配合使用手术室中的术中CT设备，其造价极其昂贵，并且会大幅增加手术时间和复杂度。另一种方法则是在患处显露后，由医生利用装有红外反射球的探针在股骨和胫骨暴露骨面的特定区域采集生物特征点，然后利用奇异值分解-迭代最近点(Singular Value Decomposition-Iterative Closest Point，SVD-ICP)算法进行拟合，最终完成注册配准。At present, there are mainly two methods for registration registration. One is to perform CT scanning on the surgical area during the operation to obtain a real-time intraoperative three-dimensional model of the bone, and on this basis, plan and implement the surgical plan. This method requires the use of intraoperative CT equipment in the operating room, which is extremely expensive and greatly increases the operation time and complexity. Another method is that after the affected area is exposed, the doctor uses a probe equipped with an infrared reflection ball to collect biometric points in a specific area of the exposed bone surface of the femur and tibia, and then uses the singular value decomposition-iterative closest point (Singular Value Decomposition). -Iterative Closest Point, SVD-ICP) algorithm to fit, and finally complete the registration registration.

在实际应用中，由于患者骨面存在软骨、骨赘等干扰，上述传统的SVD-ICP配准算法得出的拟合结果总是存在误差的。尤其是股骨机械轴、胫骨机械轴的误差，在传统SVD-ICP算法中并未对其进行完整的约束，经常导致假体在矢状面的安装位置不理想，也就是俗称的假体抬头/低头。本申请实施例为了解决这一问题，提供了一种骨科手术配准装置、终端设备和存储介质，在传统SVD-ICP算法的基础上，提出了一种将股骨头中心点和踝关节中心点纳入配准全流程的算法，在注册配准过程中对股骨机械轴和胫骨机械轴进行了约束，有效地提高了注册配准的精度，降低了假体在矢状面发生倾斜的概率。In practical applications, due to the interference of cartilage and osteophytes on the patient's bone surface, the fitting results obtained by the above-mentioned traditional SVD-ICP registration algorithm always have errors. In particular, the errors of the femoral mechanical axis and the tibial mechanical axis are not completely constrained in the traditional SVD-ICP algorithm, which often leads to the unsatisfactory installation position of the prosthesis in the sagittal plane, which is commonly known as the prosthesis head-up/ Head down. In order to solve this problem, the embodiments of the present application provide an orthopaedic surgery registration device, a terminal device and a storage medium. The algorithm incorporated into the whole process of registration restricts the mechanical axis of the femur and the mechanical axis of the tibia during the registration process, which effectively improves the registration accuracy and reduces the probability of the prosthesis tilting in the sagittal plane.

下面通过具体实施例来说明本申请的技术方案。The technical solutions of the present application are described below through specific embodiments.

参照图1，示出了本申请一个实施例的一种骨科手术配准装置的示意图，该装置具体可以包括粗配准模块101、中心点拟合模块102和精配准模块103。其中：Referring to FIG. 1 , a schematic diagram of an orthopaedic surgery registration device according to an embodiment of the present application is shown, and the device may specifically include a coarse registration module 101 , a center point fitting module 102 and a fine registration module 103 . in:

粗配准模块，用于获取患者骨面上的多个骨面标记点的骨面坐标，以及获取三维模型上与上述多个骨面标记点一一对应的多个模型标记点的模型坐标，根据骨面坐标和模型坐标确定第一变换关系，采用第一变换关系对多个骨面标记点进行转换，得到多个粗配准标记点；其中，多个粗配准标记点的粗配准坐标与对应的多个模型标记点之间的平均欧氏距离最短。The rough registration module is used to obtain the bone surface coordinates of multiple bone surface marker points on the patient's bone surface, and obtain the model coordinates of multiple model marker points on the three-dimensional model that correspond one-to-one with the above-mentioned multiple bone surface marker points, The first transformation relationship is determined according to the bone surface coordinates and the model coordinates, and the first transformation relationship is used to transform the multiple bone surface marker points to obtain multiple rough registration marker points; wherein, the rough registration of the multiple rough registration marker points The average Euclidean distance between the coordinates and the corresponding multiple model markers is the shortest.

中心点拟合模块，用于确定经第一变换关系转换后三维模型上的模型中心点到骨面上的骨面中心点的平移向量，将多个粗配准标记点沿该平移向量进行平移，得到多个拟合标记点，根据多个拟合标记点将第一变换关系更新为第二变换关系。The center point fitting module is used to determine the translation vector from the model center point on the three-dimensional model converted by the first transformation relationship to the bone surface center point on the bone surface, and translate the plurality of rough registration mark points along the translation vector , obtain multiple fitting markers, and update the first transformation relation to the second transformation relation according to the multiple fitting markers.

精配准模块，用于获取患者骨面上多个预设区域的多个骨面区域标记点，采用第二变换关系对多个骨面区域标记点和骨面中心点进行转换，得到第一骨面精配准点集，确定三维模型上与第一骨面精配准点集中的多个骨面区域标记点一一对应的多个模型区域标记点，根据多个模型区域标记点和模型中心点确定第三变换关系，根据第三变换关系对多个骨面标记点和多个模型标记点进行配准。The fine registration module is used to obtain multiple bone surface area marker points of multiple preset areas on the patient's bone surface, and use the second transformation relationship to convert the multiple bone surface area marker points and the bone surface center point to obtain the first Bone surface fine registration point set, to determine multiple model area marker points on the 3D model that correspond one-to-one with multiple bone surface area marker points in the first bone surface fine registration point set, and according to the multiple model area marker points and the model center point A third transformation relationship is determined, and the multiple bone surface marker points and the multiple model marker points are registered according to the third transformation relationship.

因此，使用上述骨科手术配准装置在骨科手术过程中进行配准主要包括三个步骤，即：粗配准步骤、股骨头中心点/踝关节中心点拟合步骤和精配准步骤。Therefore, using the above-mentioned orthopaedic surgery registration device to perform registration during orthopaedic surgery mainly includes three steps, namely: a rough registration step, a femoral head center point/ankle joint center point fitting step, and a fine registration step.

在本申请实施例中，三维模型可以是在手术前，通过对患者患处进行CT扫描，并根据CT扫描结果进行图像分割，所获得的患者股骨和胫骨的三维模型。In the embodiment of the present application, the three-dimensional model may be a three-dimensional model of the patient's femur and tibia obtained by performing a CT scan on the affected part of the patient and performing image segmentation according to the CT scan result before surgery.

粗配准模块可以从上述股骨和胫骨的三维模型中，获取到多个模型标记点。上述多个模型标记点又可以划分为股骨标记点和胫骨标记点。The coarse registration module can obtain multiple model marker points from the above-mentioned three-dimensional models of the femur and tibia. The above-mentioned multiple model marking points can be further divided into femoral marking points and tibia marking points.

示例性地，如下表一所示，是本申请实施例的多个标记点的示例。Exemplarily, as shown in Table 1 below, it is an example of multiple marking points in the embodiment of the present application.

表一，标记点示例。Table 1. Examples of marked points.

需要说明的是，上述多个标记点都是在骨科医学相关学术领域有获得业界公认及共识的，因此在实际应用中具有较强的可操作性。It should be noted that the above-mentioned multiple markers have been recognized and agreed by the industry in the related academic fields of orthopedic medicine, so they have strong operability in practical applications.

另一方面，由于在骨科手术过程中，注册配准是指将三维模型中的多个模型标记点与患者骨面上的多个骨面标记点一一对应起来。其中，骨面标记点与上述模型标记点具有一一对应的关系。即，骨面标记点也可以包括上述表一中示出的多个标记点。On the other hand, in the process of orthopedic surgery, registration refers to one-to-one correspondence between multiple model marker points in the three-dimensional model and multiple bone surface marker points on the patient's bone surface. Wherein, the bone surface marking points and the above-mentioned model marking points have a one-to-one correspondence. That is, the bone surface marking points may also include a plurality of marking points shown in Table 1 above.

在本申请实施例中，大部分骨面标记点可以是在手术过程中，由医生使用探针在患者骨面进行点选的方式获得的。例如，对于表一中的序号为1-7以及11-15的标记点，可以由医生使用探针在患者骨面进行点选确定。In the embodiment of the present application, most of the bone surface marking points may be obtained by a doctor using a probe to select the bone surface of the patient during the operation. For example, the marked points with serial numbers 1-7 and 11-15 in Table 1 can be determined by the doctor using a probe to click on the patient's bone surface.

需要说明的是，在表一中的股骨标记点1-7均分布在股骨远心端一侧，标记点8则位于近心端。以膝关节置换手术为例，由于手术过程中，手术入路只在膝关节上，暴露的骨面也只在股骨远心端与胫骨近心端，因此标记点8无法直接通过探针点选骨面的方式获得。针对此问题，业界认可的方式是在股骨上刚性固定反光球支架后，通过反复摇晃大腿使膝关节做画圆的动作，并在这一过程中用红外线导航仪记录股骨的三维运动轨迹，并由此计算出股骨头中心。类似的，胫骨的标记点9-10位于胫骨远心端，标记点11-15分布在胫骨近心端。在手术过程中，标记点9-10也无法直接通过探针点选骨面的方式获得。上述确定的骨面标记点的信息可以由粗配准模块做进一步处理。It should be noted that the femoral marker points 1-7 in Table 1 are all distributed on the side of the distal end of the femur, and the marker point 8 is located at the proximal end. Taking knee replacement surgery as an example, since the surgical approach is only on the knee joint, and the exposed bone surface is only on the distal end of the femur and the proximal end of the tibia, the marker point 8 cannot be directly selected by the probe. obtained by way of bone surface. In response to this problem, the industry-recognized method is to rigidly fix the reflective ball bracket on the femur, shake the thigh repeatedly to make the knee joint perform a circular motion, and use an infrared navigator to record the three-dimensional motion trajectory of the femur during this process. From this the center of the femoral head is calculated. Similarly, the markers 9-10 of the tibia are located at the distal end of the tibia, and the markers 11-15 are distributed at the proximal end of the tibia. During the operation, the marker points 9-10 cannot be obtained directly by the probe to select the bone surface. The information of the bone surface marker points determined above can be further processed by the coarse registration module.

在进行粗配准步骤时，粗配准模块具体用于：针对三维模型构建第一坐标系，获取三维模型上的多个模型标记点在第一坐标系中的模型坐标，即a＝{a ₁、a ₂、……、a _n}；针对患者骨面构建第二坐标系，获取多个骨面标记点在第二坐标系中的骨面坐标，即b＝{b ₁、b ₂、……、b _n}。 When performing the rough registration step, the rough registration module is specifically used to: construct a first coordinate system for the three-dimensional model, and obtain the model coordinates of multiple model marker points on the three-dimensional model in the first coordinate system, that is, a={a ₁ , a ₂ , ..., an }; construct a second coordinate system for the patient's bone surface, and obtain the bone surface coordinates of multiple bone surface marker points in the second coordinate system, that is, b= _{ b ₁ , b ₂ , ..., b _n }.

粗配准的目的是寻找第一变换关系(R ₀,t ₀)，使b中的各个骨面标记点在经过(R ₀,t ₀)的转换后，与a中对应的各个模型标记点的平均欧氏距离最短。 The purpose of rough registration is to find the first transformation relationship (R ₀ , t ₀ ), so that each bone surface marker point in b is transformed by (R ₀ , t ₀ ) and corresponds to each model marker point in a The average Euclidean distance is the shortest.

在具体实现中，粗配准模块可以采用如下公式确定第一变换关系：In a specific implementation, the rough registration module can use the following formula to determine the first transformation relationship:

其中，(R ₀,t ₀)为第一变换关系，w _i为各个骨面标记点的权重值，n为多个骨面标记点的数量，多个骨面标记点包括股骨标记点或胫骨标记点。 Among them, (R ₀ , t ₀ ) is the first transformation relationship, w _i is the weight value of each bone surface marker point, n is the number of multiple bone surface marker points, and the multiple bone surface marker points include femur marker points or tibia markers Mark the point.

在本申请实施例中，上述各个骨面标记点的权重值w _i均相等。 In the embodiment of the present application, the weight values _wi of the above-mentioned respective bone surface marking points are all equal.

在本申请实施例中，当上述粗配准模块用于股骨配准时，股骨标记点包括外上髁标记点、内上髁标记点、股骨远端外侧标记点、股骨远端内侧标记点、股骨后髁外侧标记点、股骨后髁内侧标记点、股骨远端中心标记点和骨面中心点，该骨面中心点为股骨头中心点。即，股骨标记点包括表一中序号1-8的各个标记点。In the embodiment of the present application, when the above-mentioned coarse registration module is used for femur registration, the femoral markers include lateral epicondyle markers, medial epicondyle markers, distal femoral lateral markers, distal femoral medial markers, and femoral markers. The lateral marking point of the posterior condyle, the medial marking point of the posterior femoral condyle, the marking point of the distal end of the femur and the center point of the bone surface, the center point of the bone surface is the center point of the femoral head. That is, the femoral marking points include the marking points No. 1-8 in Table 1.

当上述粗配准模块用于胫骨配准时，胫骨标记点包括胫骨平台中心标记点、胫骨结节标记点、后交叉韧带止点中心标记点、胫骨平台外侧标记点、胫骨平台内侧标记点和骨面中心点，该骨面中心点为根据外踝标记点和内踝标记点确定的胫骨踝关节中心点。其中，胫骨踝关节中心点的位置为位于外踝标记点和内踝标记点连线上且距离内踝侧预设比例长度处的位置。即，胫骨标记点包括表一中序号11-15的各个标记点，以及基于表一中序号9-10的标记点所得到的标记点(胫骨踝关节中心点)。为了便于说明，本申请实施例以序号16指代上述胫骨踝关节中心点。When the above rough registration module is used for tibial registration, the tibial markers include the tibial plateau center marker, the tibial tubercle marker, the posterior cruciate ligament insertion center marker, the tibial plateau lateral marker, the tibial plateau medial marker, and the tibial plateau marker. The center point of the surface, the center point of the bone surface is the center point of the tibial ankle joint determined according to the marking point of the lateral malleolus and the marking point of the medial malleolus. Wherein, the position of the center point of the tibial ankle joint is a position on the line connecting the lateral malleolus mark point and the medial malleolus mark point and a predetermined proportional length away from the medial malleolus. That is, the tibial marking points include the marking points of Nos. 11-15 in Table 1, and the marking points obtained based on the marking points of No. 9-10 in Table 1 (the center point of the tibial ankle joint). For the convenience of description, in this embodiment of the present application, serial number 16 refers to the above-mentioned center point of the tibial ankle joint.

在本申请实施例的一种可能的实现方式中，上述预设比例可以大于40％且小于50％。例如，该预设比例可以是46％，即胫骨踝关节中心点的位置为位于外踝标记点和内踝标记点连线上且距离内踝侧46％长度处的位置。In a possible implementation manner of the embodiment of the present application, the above-mentioned preset ratio may be greater than 40% and less than 50%. For example, the preset ratio may be 46%, that is, the position of the center point of the tibial ankle joint is the position on the line connecting the lateral malleolus mark point and the medial malleolus mark point and 46% of the length away from the medial malleolus.

采用第一变换关系对多个骨面标记点进行转换后，可以得到多个粗配准标记点。After the multiple bone surface marker points are transformed by using the first transformation relationship, multiple rough registration marker points can be obtained.

在完成上述粗配准步骤后，可以采用中心点拟合模块进行第二步，即股骨头中心点/踝关节中心点拟合步骤。After the above rough registration step is completed, the center point fitting module can be used to perform the second step, that is, the fitting step of the center point of the femoral head/ankle joint.

在本申请实施例中，中心点拟合模块可以首先确定平移向量，该平移向量可以是指在经过第一变换关系的转换后，模型中心点到骨面中心点的平移向量。In this embodiment of the present application, the center point fitting module may first determine a translation vector, which may refer to a translation vector from the center point of the model to the center point of the bone surface after being transformed by the first transformation relationship.

具体地，中心点拟合模块可以采用如下公式确定平移向量：Specifically, the center point fitting module can use the following formula to determine the translation vector:

t _0′＝(R ₀b _m+t ₀)-a _m t _0′ =(R ₀ b _m +t ₀ ) _-am

其中，a _m为模型中心点的模型坐标、b _m为骨面中心点的骨面坐标。 Among them, a _m is the model coordinate of the model center point, and b _m is the bone surface coordinate of the bone surface center point.

然后，中心点拟合模块可以将多个粗配准标记点沿上述平移向量t _0′进行平移，得到多个拟合标记点，拟合标记点可以即为c＝{c ₁、c ₂、……、c _n}。 Then, the center point fitting module can translate a plurality of rough registration mark points along the above-mentioned translation vector t _{0 ′} to obtain a plurality of fitted mark points, and the fitted mark points can be c={c ₁ , c ₂ , ..., c _n }.

其中，c满足：c _i＝R ₀b _i+t ₀+t _0′，i＝1、2、……、n； Wherein, c satisfies: c _i =R ₀ b _i +t ₀ +t _0′ , i=1, 2, ..., n;

因此，中心点拟合模块可以将第一变换关系(R ₀,t ₀)更新为第二变换关系(R ₀,T ₀)，其中，T ₀＝t ₀+t _0′。 Therefore, the center point fitting module can update the first transformation relationship (R ₀ , t ₀ ) to the second transformation relationship (R ₀ , T ₀ ), where T ₀ =t ₀ +t _0′ .

在完成中心点拟合步骤后，可以采用精配准模块进行精配准步骤。本申请实施例中的精配准步骤是在传统的SVD-ICP算法基础上进行的改进，使其更加适合机器人辅助骨科手术。After the center point fitting step is completed, the fine registration module can be used to perform the fine registration step. The fine registration step in the embodiment of the present application is an improvement based on the traditional SVD-ICP algorithm, which makes it more suitable for robot-assisted orthopaedic surgery.

在本申请实施例中，精配准模块可以首先获取患者骨面上多个预设区域的多个骨面区域标记点，采用第二变换关系对多个骨面区域标记点和骨面中心点进行转换，得到第一骨面精配准点集。In the embodiment of the present application, the fine registration module may first obtain multiple bone surface area marking points of multiple preset areas on the patient's bone surface, and use the second transformation relationship to identify the multiple bone surface area marking points and the bone surface center point. Perform the transformation to obtain the first set of fine registration points on the bone surface.

需要说明的是，当精配准模块用于股骨配准时，多个预设区域可以包括股骨前髁区域、股骨前斜面区域、股骨远端区域和股骨后斜面区域；当精配准模块用于胫骨配准时，多个预设区域可以包括胫骨平台外侧区域、胫骨平台内侧区域、前内侧区域和前外侧区域。It should be noted that when the fine registration module is used for femoral registration, the multiple preset regions may include the anterior femoral condyle region, the anterior femoral bevel region, the distal femoral region and the femoral posterior bevel region; when the fine registration module is used for During tibial registration, the plurality of preset regions may include a lateral tibial plateau region, a medial tibial plateau region, an anteromedial region, and an anterolateral region.

因此，在进行股骨配准时，精配准模块可以执行步骤S1，从股骨前髁区域、股骨前斜面区域、股骨远端区域和股骨后斜面区域中采集k个标记点，然后将上述股骨头中心点作为第k+1个点纳入点集。上述k+1个点经过第二变换关系转换后，得到第一骨面精配准点集，记为d ¹＝{d ¹ ₁…d ¹ _k+1}。 Therefore, when performing femoral registration, the fine registration module can perform step S1 to collect k marked points from the femoral anterior condyle area, the femoral anterior oblique area, the femoral distal area and the femoral posterior oblique area, and then the above femoral head center The point is included in the point set as the k+1th point. After the above k+1 points are transformed by the second transformation relationship, a first set of precise registration points on the bone surface is obtained, which is denoted as d ¹ ={d ¹ ₁ …d ¹ _k+1 }.

然后，精配准模块可以执行步骤S2，采用计算点到面的最短距离方法确定三维模型上与第一骨面精配准点集中的多个骨面区域标记点一一对应的多个模型区域标记点，通过令骨面中心点在三维模型中的对应点与该三维模型中的模型中心点重合，从而可以根据多个模型区域标记点和模型中心点得到第一模型精配准点集。Then, the fine registration module may execute step S2, and use the method of calculating the shortest distance from the point to the surface to determine multiple model area markers on the three-dimensional model that correspond one-to-one with multiple bone surface area marker points in the first bone surface fine registration point set By making the corresponding point of the bone surface center point in the three-dimensional model coincide with the model center point in the three-dimensional model, the first model precise registration point set can be obtained according to the multiple model area mark points and the model center point.

具体地，对于上述第一骨面精配准点集d ¹中的前k个点，精配准模块可以采用计算点到面(经CT扫描得到的三维模型的表面为多个三角形组成的无线mesh网格)最短距离的方法求得d ¹ _i在三维模型上的对应点e ¹ _i。然后，令d ¹ _k+1在三维模型上的对应点e ¹ _k+1与三维模型中的股骨头中心点重合，得到第一模型精配准点集，记为e ¹＝{e ¹ ₁…e ¹ _k+1}。 Specifically, for the first k points in the above-mentioned ^first bone surface fine-registration point set d1, the fine-registration module can use the calculation point-to-surface (the surface of the three-dimensional model obtained by CT scanning is a wireless mesh composed of multiple triangles) The method of the shortest distance of grid) obtains the corresponding point e ¹ _i of d ¹ _i on the three-dimensional model. Then, let the corresponding point e ¹ _k+1 of d ¹ _k+1 on the three-dimensional model coincide with the center point of the femoral head in the three-dimensional model, and obtain the first model precise registration point set, which is denoted as e ¹ ={e ¹ ₁ … e ¹ _k+1 }.

接下来，精配准模块执行步骤S3，根据第一骨面精配准点集和第一模型精配准点集，确定第三变换关系(R ₁,t ₁)。其中，上述第一骨面精配准点集中各个标记点的坐标在经第三变换关系转换后，与对应的第一模型精配准点集中各个标记点的坐标之间的平均欧氏距离最短。即： Next, the fine registration module executes step S3, and determines a third transformation relationship (R ₁ , t ₁ ) according to the first bone surface fine registration point set and the first model fine registration point set. The average Euclidean distance between the coordinates of each marker point in the first bone surface fine registration point set is transformed by the third transformation relationship and the corresponding coordinates of each marker point in the first model fine registration point set is the shortest. which is:

精配准模块可以重复执行上述步骤S2和S3，直到在经过p次变换后，平均欧氏距离小于预设阈值r：The fine registration module can repeat the above steps S2 and S3 until the average Euclidean distance is less than the preset threshold r after p times of transformation:

至此，精配准步骤结束。At this point, the fine registration step ends.

当然，在进行胫骨配准时，精配准模块则可以从胫骨平台外侧区域、胫骨平台内侧区域、前内侧区域和前外侧区域中采集k个标记点，然后将上述胫骨踝关节中心点作为第k+1个点纳入点集。上述k+1个点经过第二变换关系转换后，得到第一骨面精配准点集，记为d ¹＝{d ¹ ₁…d ¹ _k+1}。然后，经过上述与股骨配准类似的精配准步骤，完成胫骨配准。 Of course, when performing tibial registration, the fine registration module can collect k markers from the lateral area of the tibial plateau, the medial area of the tibial plateau, the anteromedial area, and the anterolateral area, and then use the above-mentioned tibial ankle joint center point as the kth +1 point for inclusion in the point set. After the above k+1 points are transformed by the second transformation relationship, a first set of precise registration points on the bone surface is obtained, which is denoted as d ¹ ={d ¹ ₁ …d ¹ _k+1 }. Then, after the above-mentioned fine registration steps similar to the femoral registration, the tibial registration is completed.

采用本申请实施例提供的骨科手术配准装置进行股骨/胫骨配准，所得到的配准结果在循环中的每一步均受股骨头中心点/踝关节中心点位置的约束，获得的配准结果确保了更加准确的股骨机械轴/胫骨机械轴，进而确保了更加精确的冠状面/矢状面股骨/胫骨组件角，有效地提高了注册配准的精度，降低了假体在矢状面发生倾斜的概率。Using the orthopaedic surgery registration device provided in the embodiment of the present application to perform femur/tibia registration, the obtained registration result is constrained by the position of the center point of the femoral head/ankle joint at each step in the cycle, and the obtained registration The result ensures a more accurate femoral mechanical axis/tibial mechanical axis, which in turn ensures a more accurate coronal/sagittal femoral/tibial component angle, which effectively improves the registration accuracy and reduces the prosthesis in the sagittal plane. Probability of tilting.

为了便于理解，下面结合具体的流程，对采用本申请实施例提供的骨科手术配准装置进行股骨配准和胫骨配准的全过程作一介绍。For ease of understanding, the following describes the entire process of performing femoral registration and tibial registration using the orthopaedic surgery registration device provided in the embodiments of the present application with reference to specific procedures.

参照图2，示出了本申请一个实施例的一种股骨配准的步骤示意图，具体可以包括如下步骤：Referring to FIG. 2, a schematic diagram of steps of femur registration according to an embodiment of the present application is shown, which may specifically include the following steps:

S201、手术前，对患者患处进行CT扫描并重建股骨三维模型。S201. Before the operation, CT scan is performed on the affected part of the patient and a three-dimensional model of the femur is reconstructed.

S202、在股骨三维模型中点选生物标记点。S202 , selecting a biomarker point in the three-dimensional model of the femur.

上述生物标记点可以是指表一中序号为1-8的标记点。S202中点选获得的生物标记点为前述实施例中的模型标记点。The above-mentioned biomarkers may refer to the markers with serial numbers 1-8 in Table 1. The biomarker point obtained by clicking in S202 is the model marker point in the foregoing embodiment.

S203、手术中，医生通过摇晃患者大腿与探针点选的方式获取对应生物标记点。S203. During the operation, the doctor obtains the corresponding biomarker points by shaking the patient's thigh and clicking on the probe.

其中，直接通过探针点选的方式可获得表一中序号为1-7的标记点，在股骨上刚性固定反光球支架后，通过反复摇晃患者大腿使膝关节做画圆的动作，并在这一过程中用红外线导航仪记录股骨的三维运动轨迹，可由此计算出表一中序号为8的股骨头中心点。S203中获得的对应生物标记点为前述实施例中的骨面标记点。Among them, the marked points numbered 1-7 in Table 1 can be obtained directly by the probe point selection. After rigidly fixing the reflective ball bracket on the femur, the knee joint is made to draw a circle by shaking the patient's thigh repeatedly, and then In this process, the infrared navigator is used to record the three-dimensional motion trajectory of the femur, and the center point of the femoral head with the serial number 8 in Table 1 can be calculated from this. The corresponding biomarker points obtained in S203 are the bone surface marker points in the foregoing embodiment.

S204、确定股骨坐标系到模型坐标系之间的第一变换关系。S204: Determine the first transformation relationship between the femur coordinate system and the model coordinate system.

其中，上述模型坐标系为前述实施例中的第一坐标系，股骨坐标系为前述实施例中的第二坐标系。The above-mentioned model coordinate system is the first coordinate system in the foregoing embodiment, and the femur coordinate system is the second coordinate system in the foregoing embodiment.

假设股骨三维模型所在的模型坐标系为C _mf，患者真实股骨所在的股骨坐标系为C _f。令a＝{a ₁、a ₂、…、a ₈}为股骨模型上的模型标记点的模型坐标，b＝{b ₁、b ₂、…、b ₈}为患者骨面上的多个骨面标记点的骨面坐标，则粗配准的目的是寻找变换关系(R _f0,t _f0)，使b中的标记点经过(R _f0,t _f0)转换后和a中的标记点的欧氏距离最短。即： It is assumed that the model coordinate system where the three-dimensional femur is located is C _mf , and the femoral coordinate system where the patient's real femur is located is C _f . _Let a ₌ _{ _a ₁ , a ₂ , . The purpose of rough registration is to find the transformation relationship (R _f0 , t _f0 ), so that the marked point in b is transformed by (R _f0 , t _f0 ) and the Euclidean of the marked point in a The shortest distance. which is:

其中，w _i为各个标记点的权重值。在本申请实施例中，所有标记点的权重值均相等。 Among them, _wi is the weight value of each marker point. In this embodiment of the present application, the weight values of all marked points are equal.

上述S201-S204可由前述实施例中的粗配准模块实现。The above S201-S204 can be implemented by the coarse registration module in the foregoing embodiment.

S205、拟合变换后两个坐标系下的股骨中心点，并以此平移向量为基准对股骨坐标系进行整体变换。S205. Fit the center point of the femur under the two coordinate systems after the transformation, and perform an overall transformation on the femoral coordinate system based on the translation vector.

本步骤即是对股骨头中心点进行拟合。This step is to fit the center point of the femoral head.

令t _0′为经过(R _f0,t _f0)转换后，a ₈到b ₈的平移向量。即： Let t _0' be the translation vector from a ₈ to b ₈ after (R _f0 , t _f0 ) transformation. which is:

t _f0′＝(R _f0b ₈+t _f0)-a ₈ t _f0′ =(R _f0 b ₈ +t _f0 )-a ₈

为了拟合股骨头中心点，可以将粗配准结果中的所有标记点全部沿t _f0′进行平移。此步骤所得到的点集可以记为c＝{c ₁、c ₂、…、c ₈}，c满足： In order to fit the center point of the femoral head, all the marked points in the coarse registration result can be translated along t _f0' . The point set obtained in this step can be denoted as c={c ₁ , c ₂ , ..., c ₈ }, and c satisfies:

c _i＝R _f0b _i+t _f0+t _f0′ c _i =R _f0 b _i +t _f0 +t _f0′

则截止目前，第一变换关系(R _f0,t _f0)可以更新为第二变换关系(R _f0,T _f0)，其中，T _f0＝t _f0+t _f0′。 So far, the first transformation relationship (R _f0 , t _f0 ) can be updated to the second transformation relationship (R _f0 , T _f0 ), where T _f0 =t _f0 +t _f0′ .

上述S205可由前述实施例中的中心点拟合模块实现。The above S205 may be implemented by the center point fitting module in the foregoing embodiment.

S206、获取股骨骨面的注册点，并和股骨中心点一起组成精配准原始点集合。S206: Acquire the registration points of the femur bone surface, and form a fine registration original point set together with the femur center point.

上述股骨骨面的注册点可由医生使用探针在在患者股骨表面上按照股骨前髁、股骨前斜面、股骨远端、股骨后斜面等多个区域采集k个标记点，然后将上述股骨头中心点b8作为第k+1个点纳入点集，组成精配准原始点集合。上述精配准原始点集合即前述实施例中的第一骨面精配准点集。The registration points of the above-mentioned femoral surface can be collected by the doctor using a probe on the patient's femoral surface according to multiple areas such as the anterior condyle of the femur, the anterior oblique surface of the femur, the distal end of the femur, and the posterior oblique surface of the femur. Point b8 is included in the point set as the k+1th point to form the original point set for fine registration. The above-mentioned fine-registration original point set is the first bone-surface fine-registration point set in the foregoing embodiment.

S207、在三维模型中获取所有精配准原始点的对应点，并和三维模型中的股骨中心点一起组成对应点集合。S207: Acquire the corresponding points of all the original points of fine registration in the three-dimensional model, and form a corresponding point set together with the center point of the femur in the three-dimensional model.

在本步骤中，可对精配准原始点集合中前k个点(骨面上的标记点)计算点到面(三维模型表面是由许多三角形组成的mesh网格)最短距离的方法求得d ¹ _i在三维模型上的对应点e ¹ _i。然后，令d ¹ _k+1在三维模型上的对应点e ¹ _k+1与三维模型中的股骨头中心点a ₈重合，一起组成对应点集合。上述对应点集合即是前述实施例中的第一模型精配准点集，记为e ¹＝{e ¹ ₁…e ¹ _k+1}。 In this step, the shortest distance from the point to the surface (the surface of the 3D model is a mesh mesh composed of many triangles) can be calculated for the first k points (marked points on the bone surface) in the original point set of fine registration. The corresponding point e ¹ _i of d ¹ _i on the three-dimensional model. Then, let the corresponding point e ¹ _k+1 of d ¹ _k+1 on the three-dimensional model coincide with the center point a ₈ of the femoral head in the three-dimensional model to form a set of corresponding points together. The above-mentioned corresponding point set is the first model fine-registration point set in the foregoing embodiment, and is denoted as e ¹ ={e ¹ ₁ ···e ¹ _k+1 }.

S208、计算精配准原始点到对应点的变换关系。S208: Calculate the transformation relationship from the original point of the precise registration to the corresponding point.

上述变换关系即前述实施例中的第三变换关系，该第三变换关系可使精配准原始点经过变换后和对应点之间的平均欧氏距离最短。The above transformation relationship is the third transformation relationship in the foregoing embodiment, and the third transformation relationship can make the average Euclidean distance between the original point of the fine registration after transformation and the corresponding point the shortest.

在本步骤中，即是寻找第三变换关系(R _f1,t _f1)，使d ¹中的标记点经过该变换后，与e ¹中的标记点的欧氏距离最短。即： In this step, the third transformation relationship (R _f1 , t _f1 ) is searched, so that after the mark point in d ¹ is transformed, the Euclidean distance between the mark point in e ¹ and the mark point in e 1 is the shortest. which is:

S209、将经过最优变换后的点集作为新的原始点集合，并重复上述变换获取步骤S207和S208，直到欧氏距离小于预先设定的阈值，完成股骨配准。S209 , taking the optimally transformed point set as a new original point set, and repeating the above transformation and acquisition steps S207 and S208 until the Euclidean distance is less than a preset threshold, and the femur registration is completed.

在本步骤中，将对d ¹经过(R _f1,t _f1)变换后得到的d ²，再次重复上述步骤，即找到e ²和与之对应的(R _f2,t _f2)，然后循环此步骤，直到经过p次变换后，得到的d ^p和e ^p之间的欧氏距离小于预先设定的阈值r，即： In this step, for the d ² obtained by transforming d ¹ through (R _f1 , t _f1 ), repeat the above steps again, that is, find e ² and its corresponding (R _f2 , t _f2 ), and then repeat this step , until after p times of transformation, the obtained Euclidean distance between d ^p and ^ep is less than the preset threshold r, that is:

至此，股骨精配准步骤结束。At this point, the femur fine registration step ends.

上述S206-S209可由前述实施例中的精配准模块实现。The above S206-S209 can be implemented by the fine registration module in the foregoing embodiment.

在本申请实施例中，精配准过程中所得到的配准结果在循环中的每一步均受股骨头中心点位置的约束，获得的配准结果确保了更加准确的股骨机械轴，进而确保了更加精确的冠状面/矢状面股骨组件角，有助于提高注册配准的精度，降低假体在矢状面发生倾斜的概率。In the embodiment of the present application, the registration result obtained during the fine registration process is constrained by the position of the center point of the femoral head at each step in the cycle, and the obtained registration result ensures a more accurate femoral mechanical axis, thereby ensuring A more accurate coronal/sagittal femoral component angle helps to improve the accuracy of registration and reduce the probability of prosthesis tilting in the sagittal plane.

参照图3，示出了本申请一个实施例的一种胫骨配准的步骤示意图，具体可以包括如下步骤：Referring to FIG. 3 , a schematic diagram of steps of tibia registration according to an embodiment of the present application is shown, which may specifically include the following steps:

S301、手术前，对患者患处进行CT扫描并重建胫骨三维模型。S301. Before the operation, CT scan is performed on the affected part of the patient and a three-dimensional model of the tibia is reconstructed.

S302、在胫骨三维模型中点选生物标记点。S302 , selecting a biomarker point in the three-dimensional model of the tibia.

上述生物标记点可以是指表一中序号为9-15的标记点。S302中点选获得的生物标记点为前述实施例中的模型标记点。The above-mentioned biomarkers may refer to the markers with serial numbers 9-15 in Table 1. The biomarker point obtained by clicking in S302 is the model marker point in the foregoing embodiment.

S303、手术中，医生通过探针点选的方式获取对应生物标记点，并采用预先定义的踝关节中心点替代内外踝标记点。S303. During the operation, the doctor obtains the corresponding biomarker points by means of probe selection, and uses the pre-defined ankle joint center point to replace the inner and outer ankle marker points.

在本步骤中，可获得表一中序号为9-15的标记点。定义踝关节中心点为内外踝连线上距离内踝侧46％连线长度的位置。In this step, the marked points with serial numbers 9-15 in Table 1 can be obtained. The center point of the ankle joint is defined as the position on the connecting line between the inner and outer ankles that is 46% of the length of the line from the medial malleolus.

S304、确定胫骨坐标系到模型坐标系之间的第一变换关系。S304. Determine the first transformation relationship between the tibia coordinate system and the model coordinate system.

其中，上述模型坐标系为前述实施例中的第一坐标系，胫骨坐标系为前述实施例中的第二坐标系。Wherein, the model coordinate system is the first coordinate system in the foregoing embodiment, and the tibia coordinate system is the second coordinate system in the foregoing embodiment.

假设胫骨三维模型所在的模型坐标系为C _mt，患者真实股骨所在的胫骨坐标系为C _t。令a＝{a ₉、a ₁₀、…、a ₁₅}为胫骨模型上的模型标记点的模型坐标，b＝{b ₉、b ₁₀、…、b ₁₅}为患者骨面上的多个骨面标记点的骨面坐标。根据预先定义的踝关节中心点，将三维模型中的踝关节中心点即为a ₁₆，将真实胫骨上的踝关节中心点记为b ₁₆，更新点集a与b分别为a＝{a ₁₁、a ₁₂、…、a ₁₆}、b＝{b ₁₁、b ₁₂、…、b ₁₆}。 It is assumed that the model coordinate system where the three-dimensional model of the tibia is located is C _mt , and the tibial coordinate system where the patient's real femur is located is C _t . _Let a ₌ _{ a ₉ , a ₁₀ , _. Bone surface coordinates of the face marker point. According to the pre-defined ankle joint center point, the ankle joint center point in the three-dimensional model is a ₁₆ , the ankle joint center point on the real tibia is marked as b ₁₆ , and the updated point sets a and b are respectively a={a ₁₁ , a ₁₂ , ..., a ₁₆ }, b={b ₁₁ , b ₁₂ , ..., b ₁₆ }.

粗配准的目的是寻找变换关系(R _t0,t _t0)，使b中的标记点经过(R _t0,t _t0)转换后和a中的标记点的欧氏距离最短。即： The purpose of rough registration is to find the transformation relationship (R _t0 , t _t0 ), so that the Euclidean distance between the marked points in b and the marked points in a is the shortest after (R _t0 , t _t0 ) transformation. which is:

上述S301-S304可由前述实施例中的粗配准模块实现。The above S301-S304 can be implemented by the coarse registration module in the foregoing embodiment.

S305、拟合变换后两个坐标系下的踝关节中心点，并以此平移向量为基准对胫骨坐标系进行整体变换。S305. Fit the center point of the ankle joint in the two coordinate systems after the transformation, and perform an overall transformation on the tibia coordinate system based on the translation vector.

本步骤即是对踝关节中心点进行拟合。This step is to fit the center point of the ankle joint.

令t _0′为经过(R _t0,t _t0)转换后，a ₁₆到b ₁₆的平移向量。即： Let t _0' be the translation vector of a ₁₆ to b ₁₆ after (R _t0 , t _t0 ) transformation. which is:

t _t0′＝(R _t0b ₁₆+t _t0)-a ₁₆ t _t0′ =(R _t0 b ₁₆ +t _t0 )-a ₁₆

为了拟合踝关节中心点，可以将粗配准结果中的所有标记点全部沿t _t0′进行平移。此步骤所得到的点集可以记为c＝{c ₁₁、c ₁₂、…、c ₁₆}，c满足： In order to fit the center point of the ankle joint, all the marked points in the coarse registration result can be translated along t _t0' . The point set obtained in this step can be denoted as c={c ₁₁ , c ₁₂ , ..., c ₁₆ }, and c satisfies:

c _i＝R _t0b _i+t _t0+t _f0′ c _i =R _t0 b _i +t _t0 +t _f0′

则截止目前，第一变换关系(R _t0,t _t0)可以更新为第二变换关系(R _t0,T _t0)，其中，T _t0＝t _t0+t _t0′。 So far, the first transformation relationship (R _t0 , t _t0 ) can be updated to the second transformation relationship (R _t0 , T _t0 ), where T _t0 =t _t0 +t _t0′ .

上述S305可由前述实施例中的中心点拟合模块实现。The above S305 can be implemented by the center point fitting module in the foregoing embodiment.

S306、获取胫骨骨面的注册点，并和踝关节中心点一起组成精配准原始点集合。S306: Acquire the registration point of the tibial bone surface, and form a fine registration original point set together with the center point of the ankle joint.

上述胫骨骨面的注册点可由医生使用探针在在患者胫骨表面上按照胫骨平台外侧、胫骨平台内侧、前内侧、前外侧等多个区域采集k个标记点，然后将上述踝关节中心点b16作为第k+1个点纳入点集，组成精配准原始点集合。上述精配准原始点集合即前述实施例中的第一骨面精配准点集。The registration point of the above-mentioned tibial bone surface can be collected by a doctor using a probe on the patient's tibia surface according to multiple regions such as the outer side of the tibial plateau, the inner side of the tibial plateau, the anteromedial side, and the anterolateral side. As the k+1th point, it is included in the point set to form the original point set for fine registration. The above-mentioned fine-registration original point set is the first bone-surface fine-registration point set in the foregoing embodiment.

S307、在三维模型中获取所有精配准原始点的对应点，并和三维模型中的踝关节中心点一起组成对应点集合。S307: Acquire the corresponding points of all the original points of fine registration in the three-dimensional model, and form a set of corresponding points together with the center point of the ankle joint in the three-dimensional model.

在本步骤中，可对精配准原始点集合中前k个点(骨面上的标记点)计算点到面(三维模型表面是由许多三角形组成的mesh网格)最短距离的方法求得d ¹ _i在三维模型上的对应点e ¹ _i。然后，令d ¹ _k+1在三维模型上的对应点e ¹ _k+1与三维模型中的踝关节中心点a ₁₆重合，一起组成对应点集合。上述对应点集合即是前述实施例中的第一模型精配准点集，记为e ¹＝{e ¹ ₁…e ¹ _k+1}。 In this step, the shortest distance from the point to the surface (the surface of the 3D model is a mesh mesh composed of many triangles) can be calculated for the first k points (marked points on the bone surface) in the original point set of fine registration. The corresponding point e ¹ _i of d ¹ _i on the three-dimensional model. Then, let the corresponding point e ¹ _k+1 of d ¹ _k+1 on the three-dimensional model coincide with the center point a ₁₆ of the ankle joint in the three-dimensional model to form a set of corresponding points together. The above-mentioned corresponding point set is the first model fine-registration point set in the foregoing embodiment, and is denoted as e ¹ ={e ¹ ₁ ···e ¹ _k+1 }.

S308、计算精配准原始点到对应点的变换关系。S308. Calculate the transformation relationship from the original point of the precise registration to the corresponding point.

在本步骤中，即是寻找第三变换关系(R _t1,t _t1)，使d ¹中的标记点经过该变换后，与e ¹中的标记点的欧氏距离最短。即： In this step, the third transformation relation (R _t1 , t _t1 ) is searched, so that after the mark point in d ¹ is transformed, the Euclidean distance between the mark point in e ¹ and the mark point in e 1 is the shortest. which is:

S309、将经过最优变换后的点集作为新的原始点集合，并重复上述变换获取步骤S307和S308，直到欧氏距离小于预先设定的阈值，完成胫骨配准。S309 , take the optimally transformed point set as a new original point set, and repeat the above transformation and acquisition steps S307 and S308 until the Euclidean distance is less than a preset threshold, and the tibia registration is completed.

在本步骤中，将对d ¹经过(R _t1,t _t1)变换后得到的d ²，再次重复上述步骤，即找到e ²和与之对应的(R _t2,t _t2)，然后循环此步骤，直到经过p次变换后，得到的d ^p和e ^p之间的欧氏距离小于预先设定的阈值q，即： In this step, for the d ² obtained by transforming d ¹ through (R _t1 , t _t1 ), repeat the above steps again, that is, find e ² and its corresponding (R _t2 , t _t2 ), and then repeat this step , until after p times of transformation, the obtained Euclidean distance between d ^p and ^ep is less than the preset threshold q, namely:

至此，胫骨精配准步骤结束。At this point, the tibia fine registration step is over.

上述S306-S309可由前述实施例中的精配准模块实现。The above S306-S309 can be implemented by the fine registration module in the foregoing embodiment.

在本申请实施例中，精配准过程中所得到的配准结果在循环中的每一步均受踝关节中心点位置的约束，获得的配准结果确保了更加准确的胫骨机械轴，进而确保了更加精确的冠状面/矢状面胫骨组件角，有助于提高注册配准的精度，降低假体在矢状面发生倾斜的概率。In the embodiment of the present application, the registration result obtained during the fine registration process is constrained by the position of the center point of the ankle joint at each step in the cycle, and the obtained registration result ensures a more accurate tibial mechanical axis, thereby ensuring A more accurate coronal/sagittal tibial component angle helps to improve the accuracy of registration and reduce the probability of prosthesis tilting in the sagittal plane.

参照图4，示出了本申请一个实施例的一种终端设备的示意图。如图4所示，本实施例的终端设备400包括：处理器410、存储器420以及存储在所述存储器420中并可在所述处理器410上运行的计算机程序421。所述处理器410执行所述计算机程序421时实现上述各个实施例中的股骨配准步骤或胫骨配准步骤，例如图2所示的步骤S201至S209，或图3所示的步骤S301至S309。或者，所述处理器410执行所述计算机程序421时实现上述各装置实施例中各模块/单元的功能，例如图1所示模块101至103的功能。Referring to FIG. 4 , a schematic diagram of a terminal device according to an embodiment of the present application is shown. As shown in FIG. 4 , the terminal device 400 in this embodiment includes: a processor 410 , a memory 420 , and a computer program 421 stored in the memory 420 and running on the processor 410 . When the processor 410 executes the computer program 421, the femoral registration step or the tibial registration step in the above-mentioned embodiments is implemented, for example, steps S201 to S209 shown in FIG. 2 , or steps S301 to S309 shown in FIG. 3 . . Alternatively, when the processor 410 executes the computer program 421, the functions of the modules/units in each of the foregoing apparatus embodiments, such as the functions of the modules 101 to 103 shown in FIG. 1 , are implemented.

示例性的，所述计算机程序421可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器420中，并由所述处理器410执行，以完成本申请。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段可以用于描述所述计算机程序421在所述终端设备400中的执行过程。例如，所述计算机程序421可以被分割成粗配准模块、中心点拟合模块、精配准模块，各模块具体功能如下：Exemplarily, the computer program 421 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 420 and executed by the processor 410 to complete the this application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments may be used to describe the execution process of the computer program 421 in the terminal device 400 . For example, the computer program 421 can be divided into a rough registration module, a center point fitting module, and a fine registration module, and the specific functions of each module are as follows:

所述终端设备400可包括，但不仅限于，处理器410、存储器420。本领域技术人员可以理解，图4仅仅是终端设备400的一种示例，并不构成对终端设备400的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述终端设备400还可以包括输入输出设备、网络接入设备、总线等。The terminal device 400 may include, but is not limited to, a processor 410 and a memory 420 . Those skilled in the art can understand that FIG. 4 is only an example of the terminal device 400, and does not constitute a limitation on the terminal device 400. It may include more or less components than the one shown, or combine some components, or different components, for example, the terminal device 400 may also include input and output devices, network access devices, buses, and the like.

所述处理器410可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。The processor 410 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

所述存储器420可以是所述终端设备400的内部存储单元，例如终端设备400的硬盘或内存。所述存储器420也可以是所述终端设备400的外部存储设备，例如所述终端设备400上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等等。进一步地，所述存储器420还可以既包括所述终端设备400的内部存储单元也包括外部存储设备。所述存储器420用于存储所述计算机程序421以及所述终端设备400所需的其他程序和数据。所述存储器420还可以用于暂时地存储已经输出或者将要输出的数据。The memory 420 may be an internal storage unit of the terminal device 400 , such as a hard disk or a memory of the terminal device 400 . The memory 420 may also be an external storage device of the terminal device 400, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the terminal device 400 Card, Flash Card, etc. Further, the memory 420 may also include both an internal storage unit of the terminal device 400 and an external storage device. The memory 420 is used to store the computer program 421 and other programs and data required by the terminal device 400 . The memory 420 may also be used to temporarily store data that has been output or will be output.

本申请实施例还公开了一种终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如下步骤：An embodiment of the present application further discloses a terminal device, including a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor implements the following steps when executing the computer program :

在本申请实施例的一种可能的实现方式中，所述处理器执行所述计算机程序时实现如下步骤：In a possible implementation manner of the embodiment of the present application, the processor implements the following steps when executing the computer program:

针对所述三维模型构建第一坐标系，获取所述三维模型上的多个模型标记点在所述第一坐标系中的模型坐标{a ₁、a ₂、……、a _n}；针对所述患者骨面构建第二坐标系，获取所述多个骨面标记点在所述第二坐标系中的骨面坐标{b ₁、b ₂、……、b _n}，采用如下公式确定所述第一变换关系： A first coordinate system is constructed for the three-dimensional model, and model coordinates {a ₁ , a ₂ , ..., a _n } of multiple model marker points on the three-dimensional model are obtained in the first coordinate system; The patient's bone surface constructs a second coordinate system, obtains the bone surface coordinates {b ₁ , b ₂ , ..., _bn } of the plurality of bone surface marker points in the second coordinate system, and uses the following formula to determine the Describe the first transformation relationship:

其中，(R ₀,t ₀)为所述第一变换关系，w _i为各个骨面标记点的权重值，n为所述多个骨面标记点的数量，所述多个骨面标记点包括股骨标记点或胫骨标记点。 Wherein, (R ₀ , t ₀ ) is the first transformation relationship, _wi is the weight value of each bone surface marker point, n is the number of the multiple bone surface marker points, and the multiple bone surface marker points Include femoral markers or tibial markers.

在本申请实施例中，当所述处理器执行所述计算机程序用于股骨配准时，所述股骨标记点包括外上髁标记点、内上髁标记点、股骨远端外侧标记点、股骨远端内侧标记点、股骨后髁外侧标记点、股骨后髁内侧标记点、股骨远端中心标记点和所述骨面中心点，所述骨面中心点为股骨头中心点。In the embodiment of the present application, when the processor executes the computer program for femoral registration, the femoral marker points include a lateral epicondyle marker, a medial epicondyle marker, a distal femoral lateral marker, a distal femoral marker The medial end marking point, the lateral marking point of the posterior femoral condyle, the medial marking point of the posterior femoral condyle, the center marking point of the distal end of the femur and the center point of the bone surface, the center point of the bone surface being the center point of the femoral head.

在本申请实施例中，当所述处理器执行所述计算机程序用于胫骨配准时，所述胫骨标记点包括胫骨平台中心标记点、胫骨结节标记点、后交叉韧带止点中心标记点、胫骨平台外侧标记点、胫骨平台内侧标记点和所述骨面中心点，所述骨面中心点为根据外踝标记点和内踝标记点确定的胫骨踝关节中心点。In the embodiment of the present application, when the processor executes the computer program for tibial registration, the tibial marker includes a tibial plateau center marker, a tibial tubercle marker, a posterior cruciate ligament insertion center marker, The outer marking point of the tibial plateau, the inner marking point of the tibial plateau, and the center point of the bone surface, the center point of the bone surface being the center point of the tibial ankle joint determined according to the marking point of the lateral malleolus and the marking point of the medial malleolus.

在本申请实施例中，所述胫骨踝关节中心点的位置为位于所述外踝标记点和所述内踝标记点连线上且距离内踝侧预设比例长度处的位置。In the embodiment of the present application, the position of the center point of the tibial ankle joint is a position on the line connecting the lateral malleolus mark point and the medial malleolus mark point and a predetermined proportional length away from the medial malleolus.

采用如下公式确定所述平移向量：t _0′＝(R ₀b _m+t ₀)-a _m，其中，am为所述模型中心点的模型坐标、bm为所述骨面中心点的骨面坐标； The translation vector is determined by the following formula: t _0′ =(R ₀ b _m +t ₀ ) _-am , where am is the model coordinate of the model center point, and bm is the bone surface of the bone surface center point coordinate;

将所述多个粗配准标记点沿所述平移向量t _0′进行平移，得到多个拟合标记点{c ₁、c ₂、……、c _n}，其中，c _i＝R ₀b _i+t ₀+t _0′，i＝1、2、……、n， Translate the plurality of rough registration marks along the translation vector t _{0 ′} to obtain a plurality of fitting marks {c ₁ , c ₂ , ..., cn }, where c _i ₌ R ₀ b _i +t ₀ +t _0′ , i=1, 2, ..., n,

将所述第一变换关系(R ₀,t ₀)更新为第二变换关系(R ₀,T ₀)，其中，T ₀＝t ₀+t _0′。 The first transformation relationship (R ₀ , t ₀ ) is updated to a second transformation relationship (R ₀ , T ₀ ), where T ₀ =t ₀ +t _0′ .

S1、获取所述获取患者骨面上多个预设区域的多个骨面区域标记点，采用所述第二变换关系对所述多个骨面区域标记点和所述骨面中心点进行转换，得到第一骨面精配准点集；S1. Acquire multiple bone surface area marker points of the acquired multiple preset areas on the patient's bone surface, and use the second transformation relationship to convert the multiple bone surface area marker points and the bone surface center point , to obtain the first set of precise registration points on the bone surface;

S2、采用计算点到面的最短距离方法确定所述三维模型上与所述第一骨面精配准点集中的多个骨面区域标记点一一对应的多个模型区域标记点，令所述骨面中心点在所述三维模型中的对应点与所述三维模型中的模型中心点重合，根据所述多个模型区域标记点和所述模型中心点得到第一模型精配准点集；S2. Use the method of calculating the shortest distance from the point to the surface to determine multiple model area marker points on the three-dimensional model that correspond one-to-one with multiple bone surface area marker points in the first bone surface fine registration point set, so that the The corresponding point of the center point of the bone surface in the three-dimensional model coincides with the center point of the model in the three-dimensional model, and a first model precise registration point set is obtained according to the plurality of model area mark points and the model center point;

S3、根据所述第一骨面精配准点集和所述第一模型精配准点集，确定第三变换关系，其中，所述第一骨面精配准点集中各个标记点的坐标在经所述第三变换关系转换后，与对应的所述第一模型精配准点集中各个标记点的坐标之间的平均欧氏距离最短；S3. Determine a third transformation relationship according to the first bone surface fine registration point set and the first model fine registration point set, wherein the coordinates of each marked point in the first bone surface fine registration point set are in the After the third transformation relationship is converted, the average Euclidean distance between the coordinates of each marker point in the corresponding first model fine-registration point set is the shortest;

S4、重复执行上述S2和S3步骤，直到所述平均欧氏距离小于预设阈值。S4. Repeat steps S2 and S3 until the average Euclidean distance is smaller than a preset threshold.

在本申请实施例中，当所述处理器执行所述计算机程序用于股骨配准时，所述多个预设区域包括股骨前髁区域、股骨前斜面区域、股骨远端区域和股骨后斜面区域；当所述处理器执行所述计算机程序用于胫骨配准时，所述多个预设区域包括胫骨平台外侧区域、胫骨平台内侧区域、前内侧区域和前外侧区域。In an embodiment of the present application, when the processor executes the computer program for femoral registration, the plurality of preset regions include an anterior femoral condyle region, an anterior femoral oblique region, a distal femoral region, and a femoral posterior oblique region ; When the processor executes the computer program for tibial registration, the plurality of preset regions include a lateral tibial plateau region, a medial region of the tibial plateau, an anteromedial region and an anterolateral region.

本申请实施例还公开了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如下步骤：The embodiment of the present application further discloses a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

在本申请实施例的一种可能的实现方式中，所述计算机程序被处理器执行时实现如下步骤：In a possible implementation manner of the embodiment of the present application, when the computer program is executed by the processor, the following steps are implemented:

在本申请实施例中，当所述计算机程序被处理器执行用于股骨配准时，所述股骨标记点包括外上髁标记点、内上髁标记点、股骨远端外侧标记点、股骨远端内侧标记点、股骨后髁外侧标记点、股骨后髁内侧标记点、股骨远端中心标记点和所述骨面中心点，所述骨面中心点为股骨头中心点。In the embodiments of the present application, when the computer program is executed by the processor for femoral registration, the femoral markers include lateral epicondyle markers, medial epicondyle markers, distal femoral lateral markers, and distal femoral markers. The medial marking point, the lateral marking point of the posterior femoral condyle, the medial marking point of the posterior femoral condyle, the center marking point of the distal end of the femur and the center point of the bone surface, the center point of the bone surface being the center point of the femoral head.

在本申请实施例中，当所述计算机程序被处理器执行用于胫骨配准时，所述胫骨标记点包括胫骨平台中心标记点、胫骨结节标记点、后交叉韧带止点中心标记点、胫骨平台外侧标记点、胫骨平台内侧标记点和所述骨面中心点，所述骨面中心点为根据外踝标记点和内踝标记点确定的胫骨踝关节中心点。In the embodiment of the present application, when the computer program is executed by the processor for tibial registration, the tibial landmarks include the tibial plateau center landmark, the tibial tuberosity landmark, the posterior cruciate ligament insertion centre landmark, the tibial plateau landmark The outer marking point of the platform, the inner marking point of the tibial plateau, and the center point of the bone surface, the center point of the bone surface being the center point of the tibial ankle joint determined according to the marking point of the lateral malleolus and the marking point of the medial malleolus.

采用如下公式确定所述平移向量：t _0′＝(R ₀b _m+t ₀)-a _m，其中，a _m为所述模型中心点的模型坐标、b _m为所述骨面中心点的骨面坐标； The translation vector is determined by the following formula: t _0′ =(R ₀ b _m +t ₀ ) _{-am , wherein a m is the model coordinate of the center point of the model, and b m} _is _the center point of the bone surface Bone surface coordinates;

将所述多个粗配准标记点沿所述平移向量t _0′进行平移，得到多个拟合标记点{c ₁、c ₂、……、c _n}，其中，c _i＝R ₀b _i+t ₀+t _0′，i＝1、2、……、n； Translate the plurality of rough registration marks along the translation vector t _{0 ′} to obtain a plurality of fitting marks {c ₁ , c ₂ , ..., cn }, where c _i ₌ R ₀ b _i +t ₀ +t _0′ , i=1, 2, ..., n;

在本申请实施例中，当所述计算机程序被处理器执行用于股骨配准时，所述多个预设区域包括股骨前髁区域、股骨前斜面区域、股骨远端区域和股骨后斜面区域；当所述计算机程序被处理器执行用于胫骨配准时，所述多个预设区域包括胫骨平台外侧区域、胫骨平台内侧区域、前内侧区域和前外侧区域。In the embodiment of the present application, when the computer program is executed by the processor for femoral registration, the plurality of preset regions include an anterior femoral condyle region, an anterior femoral bevel region, a distal femoral region and a posterior femoral bevel region; When the computer program is executed by the processor for tibial registration, the plurality of preset regions include a lateral tibial plateau region, a medial tibial plateau region, an anteromedial region, and an anterolateral region.

本申请实施例还公开了一种计算机程序产品，当所述计算机程序产品在终端设备上运行时，使得所述终端设备执行如下步骤：The embodiment of the present application further discloses a computer program product, when the computer program product runs on a terminal device, the terminal device is made to perform the following steps:

在本申请实施例的一种可能的实现方式中，当所述计算机程序产品在终端设备上运行时，使得所述终端设备执行如下步骤：In a possible implementation manner of the embodiment of the present application, when the computer program product runs on a terminal device, the terminal device is caused to perform the following steps:

在本申请实施例中，当所述计算机程序产品在终端设备上运行，使得所述终端设备执行股骨配准时，所述股骨标记点包括外上髁标记点、内上髁标记点、股骨远端外侧标记点、股骨远端内侧标记点、股骨后髁外侧标记点、股骨后髁内侧标记点、股骨远端中心标记点和所述骨面中心点，所述骨面中心点为股骨头中心点。In the embodiment of the present application, when the computer program product runs on a terminal device, so that the terminal device performs femoral registration, the femoral marker points include a lateral epicondyle marker point, a medial epicondyle marker point, a distal femur marker lateral marking point, medial marking point of distal end of femur, lateral marking point of posterior femoral condyle, medial marking point of posterior femoral condyle, center marking point of distal femur and said bone surface center point, said bone surface center point being the center point of femoral head .

在本申请实施例中，当所述计算机程序产品在终端设备上运行，使得所述终端设备执行胫骨配准时，所述胫骨标记点包括胫骨平台中心标记点、胫骨结节标记点、后交叉韧带止点中心标记点、胫骨平台外侧标记点、胫骨平台内侧标记点和所述骨面中心点，所述骨面中心点为根据外踝标记点和内踝标记点确定的胫骨踝关节中心点。In the embodiment of the present application, when the computer program product is run on a terminal device, so that the terminal device performs tibial registration, the tibial marker points include a tibial plateau center marker point, a tibial tubercle marker point, a posterior cruciate ligament marker The center point of the insertion point, the outside marker point of the tibial plateau, the inside marker point of the tibial plateau, and the center point of the bone surface, the center point of the bone surface being the center point of the tibial ankle joint determined according to the marker point of the lateral malleolus and the marking point of the medial malleolus.

在本申请实施例中，当所述计算机程序产品在终端设备上运行，使得所述终端设备执行股骨配准时，所述多个预设区域包括股骨前髁区域、股骨前斜面区域、股骨远端区域和股骨后斜面区域；当所述计算机程序产品在终端设备上运行，使得所述终端设备执行胫骨配准时，所述多个预设区域包括胫骨平台外侧区域、胫骨平台内侧区域、前内侧区域和前外侧区域。In the embodiment of the present application, when the computer program product is run on a terminal device, so that the terminal device performs femoral registration, the plurality of preset regions include an anterior femoral condyle region, an anterior femoral oblique region, and a distal femur region. area and the femoral posterior slope area; when the computer program product is run on the terminal device so that the terminal device performs tibial registration, the plurality of preset areas include the lateral tibial plateau area, the medial tibial plateau area, and the anteromedial area. and the anterolateral region.

以上所述实施例仅用以说明本申请的技术方案，而非对其限制。尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these Modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included within the protection scope of the present application.

Claims

一种骨科手术配准装置，其特征在于，包括：An orthopedic surgery registration device, characterized in that it includes:

粗配准模块，用于获取患者骨面上的多个骨面标记点的骨面坐标，以及获取三维模型上与所述多个骨面标记点一一对应的多个模型标记点的模型坐标，根据所述骨面坐标和所述模型坐标确定第一变换关系，采用所述第一变换关系对所述多个骨面标记点进行转换，得到多个粗配准标记点；其中，所述多个粗配准标记点的粗配准坐标与对应的所述多个模型标记点之间的平均欧氏距离最短；The rough registration module is used to obtain the bone surface coordinates of multiple bone surface marker points on the patient's bone surface, and obtain the model coordinates of multiple model marker points on the three-dimensional model that correspond to the multiple bone surface marker points one-to-one , determining a first transformation relationship according to the bone surface coordinates and the model coordinates, and using the first transformation relationship to transform the multiple bone surface marker points to obtain multiple rough registration marker points; wherein the The average Euclidean distance between the coarse registration coordinates of the plurality of coarse registration marks and the corresponding plurality of model marks is the shortest;

中心点拟合模块，用于确定经所述第一变换关系转换后所述三维模型上的模型中心点到所述骨面上的骨面中心点的平移向量，将所述多个粗配准标记点沿所述平移向量进行平移，得到多个拟合标记点，根据所述多个拟合标记点将所述第一变换关系更新为第二变换关系；a center point fitting module, configured to determine the translation vector from the model center point on the three-dimensional model to the bone surface center point on the bone surface after being converted by the first transformation relationship, and perform rough registration on the plurality of The marker points are translated along the translation vector to obtain a plurality of fitted marker points, and the first transformation relationship is updated to a second transformation relationship according to the plurality of fitted marker points;

精配准模块，用于获取所述患者骨面上多个预设区域的多个骨面区域标记点，采用所述第二变换关系对所述多个骨面区域标记点和所述骨面中心点进行转换，得到第一骨面精配准点集，确定所述三维模型上与所述第一骨面精配准点集中的多个骨面区域标记点一一对应的多个模型区域标记点，根据所述多个模型区域标记点和所述模型中心点确定第三变换关系，根据所述第三变换关系对所述多个骨面标记点和所述多个模型标记点进行配准。The fine registration module is used for acquiring multiple bone surface area marking points of multiple preset areas on the patient's bone surface, and using the second transformation relationship to mark the multiple bone surface area marking points and the bone surface The center point is converted to obtain a first bone surface fine registration point set, and a plurality of model area mark points corresponding to the plurality of bone surface area mark points in the first bone surface fine registration point set on the three-dimensional model are determined. , determining a third transformation relationship according to the plurality of model region marker points and the model center point, and performing registration on the plurality of bone surface marker points and the plurality of model marker points according to the third transformation relationship.
根据权利要求1所述的骨科手术配准装置，其特征在于，所述粗配准模块具体用于：针对所述三维模型构建第一坐标系，获取所述三维模型上的多个模型标记点在所述第一坐标系中的模型坐标{a ₁、a ₂、……、a _n}；针对所述患者骨面构建第二坐标系，获取所述多个骨面标记点在所述第二坐标系中的骨面坐标{b ₁、b ₂、……、b _n}，采用如下公式确定所述第一变换关系： The orthopaedic surgery registration device according to claim 1, wherein the coarse registration module is specifically configured to: construct a first coordinate system for the three-dimensional model, and obtain a plurality of model mark points on the three-dimensional model Model coordinates {a ₁ , a ₂ , ..., a _n } in the first coordinate system; construct a second coordinate system for the patient's bone surface, obtain the plurality of bone surface marker points at the first For the bone surface coordinates {b ₁ , b ₂ , ..., _bn } in the two coordinate system, the following formula is used to determine the first transformation relationship:

其中，(R ₀,t ₀)为所述第一变换关系，w _i为各个骨面标记点的权重值，n为所述多个骨面标记点的数量，所述多个骨面标记点包括股骨标记点或胫骨标记点。 Wherein, (R ₀ , t ₀ ) is the first transformation relationship, _wi is the weight value of each bone surface marker point, n is the number of the multiple bone surface marker points, and the multiple bone surface marker points Include femoral markers or tibial markers.
根据权利要求2所述的骨科手术配准装置，其特征在于，当所述粗配准模块用于股骨配准时，所述股骨标记点包括外上髁标记点、内上髁标记点、股骨远端外侧标记点、股骨远端内侧标记点、股骨后髁外侧标记点、股骨后髁内侧标记点、股骨远端中心标记点和所述骨面中心点，所述骨面中心点为股骨头中心点。The orthopedic surgery registration device according to claim 2, wherein when the coarse registration module is used for femur registration, the femoral marker points include a lateral epicondyle marker point, a medial epicondyle marker point, a distal femur marker end lateral marking point, distal medial marking point of femur, lateral marking point of posterior femoral condyle, medial marking point of posterior femoral condyle, center marking point of distal femur and said bone surface center point, said bone surface center point being the center of femoral head point.
根据权利要求2所述的骨科手术配准装置，其特征在于，当所述粗配准模块用于胫骨配准时，所述胫骨标记点包括胫骨平台中心标记点、胫骨结节标记点、后交叉韧带止点中心标记点、胫骨平台外侧标记点、胫骨平台内侧标记点和所述骨面中心点，所述骨面中心点为根据外踝标记点和内踝标记点确定的胫骨踝关节中心点。The orthopaedic surgery registration device according to claim 2, wherein when the coarse registration module is used for tibial registration, the tibial marking points include a tibial plateau center marking point, a tibial tuberosity marking point, a posterior cross The ligament insertion point center mark point, the lateral mark point of the tibial plateau, the inner mark point of the tibial plateau and the bone surface center point, the bone surface center point is the tibial ankle joint center point determined according to the lateral malleolus mark point and the medial malleolus mark point.
根据权利要求4所述的骨科手术配准装置，其特征在于，所述胫骨踝关节中心点的位置为位于所述外踝标记点和所述内踝标记点连线上且距离内踝侧预设比例长度处的位置。The orthopaedic surgery registration device according to claim 4, wherein the position of the center point of the tibial ankle joint is located on the line connecting the lateral malleolus mark point and the medial malleolus mark point and is a preset proportional length away from the medial malleolus. location.
根据权利要求2-5任一项所述的骨科手术配准装置，其特征在于，所述中心点拟合模块具体用于：The orthopaedic surgery registration device according to any one of claims 2-5, wherein the center point fitting module is specifically used for:

采用如下公式确定所述平移向量：t _0′＝(R ₀b _m+t ₀)-a _m，其中，a _m为所述模型中心点的模型坐标、b _m为所述骨面中心点的骨面坐标； The translation vector is determined by the following formula: t _0′ =(R ₀ b _m +t ₀ ) _{-am , wherein a m is the model coordinate of the center point of the model, and b m} _is _the center point of the bone surface Bone surface coordinates;

将所述多个粗配准标记点沿所述平移向量t _0′进行平移，得到多个拟合标记点{c ₁、c ₂、……、c _n}，其中，c _i＝R ₀b _i+t ₀+t _0′，i＝1、2、……、n； Translate the plurality of rough registration marks along the translation vector t _{0 ′} to obtain a plurality of fitting marks {c ₁ , c ₂ , ..., cn }, where c _i ₌ R ₀ b _i +t ₀ +t _0′ , i=1, 2, ..., n;

将所述第一变换关系(R ₀,t ₀)更新为第二变换关系(R ₀,T ₀)，其中，T ₀＝t ₀+t _0′。 The first transformation relationship (R ₀ , t ₀ ) is updated to a second transformation relationship (R ₀ , T ₀ ), where T ₀ =t ₀ +t _0′ .
根据权利要求1所述的骨科手术配准装置，其特征在于，所述三维模型的表面为多个三角形组成的mesh网格，所述精配准模块具体用于执行如下步骤：The orthopaedic surgery registration device according to claim 1, wherein the surface of the three-dimensional model is a mesh grid composed of a plurality of triangles, and the fine registration module is specifically configured to perform the following steps:

S1、获取所述获取患者骨面上多个预设区域的多个骨面区域标记点，采用所述第二变换关系对所述多个骨面区域标记点和所述骨面中心点进行转换，得到第一骨面精配准点集；S1. Acquire multiple bone surface area marker points of the acquired multiple preset areas on the patient's bone surface, and use the second transformation relationship to convert the multiple bone surface area marker points and the bone surface center point , to obtain the first set of precise registration points on the bone surface;

S2、采用计算点到面的最短距离方法确定所述三维模型上与所述第一骨面精配准点集中的多个骨面区域标记点一一对应的多个模型区域标记点，令所述骨面中心点在所述三维模型中的对应点与所述三维模型中的模型中心点重合，根据所述多个模型区域标记点和所述模型中心点得到第一模型精配准点集；S2. Use the method of calculating the shortest distance from the point to the surface to determine multiple model area marker points on the three-dimensional model that correspond one-to-one with multiple bone surface area marker points in the first bone surface fine registration point set, so that the The corresponding point of the center point of the bone surface in the three-dimensional model coincides with the center point of the model in the three-dimensional model, and a first model precise registration point set is obtained according to the plurality of model area mark points and the model center point;

S3、根据所述第一骨面精配准点集和所述第一模型精配准点集，确定第三变换关系，其中，所述第一骨面精配准点集中各个标记点的坐标在经所述第三变换关系转换后，与对应的所述第一模型精配准点集中各个标记点的坐标之间的平均欧氏距离最短；S3. Determine a third transformation relationship according to the first bone surface fine registration point set and the first model fine registration point set, wherein the coordinates of each marked point in the first bone surface fine registration point set are in the After the third transformation relationship is converted, the average Euclidean distance between the coordinates of each marker point in the corresponding first model fine-registration point set is the shortest;

S4、重复执行上述S2和S3步骤，直到所述平均欧氏距离小于预设阈值。S4. Repeat steps S2 and S3 until the average Euclidean distance is smaller than a preset threshold.
根据权利要求1-5或7任一项所述的骨科手术配准装置，其特征在于，当所述精配准模块用于股骨配准时，所述多个预设区域包括股骨前髁区域、股骨前斜面区域、股骨远端区域和股骨后斜面区域；当所述精配准模块用于胫骨配准时，所述多个预设区域包括胫骨平台外侧区域、胫骨平台内侧区域、前内侧区域和前外侧区域。The orthopedic surgery registration device according to any one of claims 1-5 or 7, wherein when the fine registration module is used for femoral registration, the plurality of preset regions include an anterior femoral condyle region, anterior femoral bevel area, distal femoral bevel area, and posterior femoral bevel area; when the fine registration module is used for tibial registration, the plurality of preset areas include a lateral tibial plateau area, a medial tibial plateau area, an anteromedial area, and anterolateral area.
一种终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如下步骤：A terminal device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the following steps when executing the computer program:

获取患者骨面上的多个骨面标记点的骨面坐标，以及获取三维模型上与所述多个骨面标记点一一对应的多个模型标记点的模型坐标，根据所述骨面坐标和所述模型坐标确定第一变换关系，采用所述第一变换关系对所述多个骨面标记点进行转换，得到多个粗配准标记点；其中，所述多个粗配准标记点的粗配准坐标与对应的所述多个模型标记点之间的平均欧氏距离最短；Obtain the bone surface coordinates of multiple bone surface marker points on the patient's bone surface, and obtain the model coordinates of multiple model marker points on the three-dimensional model that correspond to the multiple bone surface marker points one-to-one, according to the bone surface coordinates Determine a first transformation relationship with the model coordinates, and use the first transformation relationship to transform the multiple bone surface marker points to obtain multiple rough registration marker points; wherein, the multiple rough registration marker points The average Euclidean distance between the rough registration coordinates and the corresponding multiple model marker points is the shortest;

确定经所述第一变换关系转换后所述三维模型上的模型中心点到所述骨面上的骨面中心点的平移向量，将所述多个粗配准标记点沿所述平移向量进行平移，得到多个拟合标记点，根据所述多个拟合标记点将所述第一变换关系更新为第二变换关系；determining a translation vector from the model center point on the three-dimensional model to the bone surface center point on the bone surface after being transformed by the first transformation relationship, and performing the multiple rough registration mark points along the translation vector panning to obtain a plurality of fitting markers, and updating the first transformation relationship to a second transformation relationship according to the multiple fitting markers;

获取所述患者骨面上多个预设区域的多个骨面区域标记点，采用所述第二变换关系对所述多个骨面区域标记点和所述骨面中心点进行转换，得到第一骨面精配准点集，确定所述三维模型上与所述第一骨面精配准点集中的多个骨面区域标记点一一对应的多个模型区域标记点，根据所述多个模型区域标记点和所述模型中心点确定第三变换关系，根据所述第三变换关系对所述多个骨面标记点和所述多个模型标记点进行配准。Obtain multiple bone surface area marker points of multiple preset areas on the patient's bone surface, and use the second transformation relationship to convert the multiple bone surface area marker points and the bone surface center point to obtain the first a set of bone surface fine registration points, determine multiple model area marker points on the three-dimensional model that correspond to multiple bone surface area marker points in the first bone surface fine registration point set, and according to the multiple models The region marker point and the model center point determine a third transformation relationship, and the plurality of bone surface marker points and the multiple model marker points are registered according to the third transformation relationship.
一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如下步骤：A computer-readable storage medium, the computer-readable storage medium is stored with a computer program, and it is characterized in that, when the computer program is executed by a processor, the following steps are implemented:

获取患者骨面上的多个骨面标记点的骨面坐标，以及获取三维模型上与所述多个骨面标记点一一对应的多个模型标记点的模型坐标，根据所述骨面坐标和所述模型坐标确定第一变换关系，采用所述第一变换关系对所述多个骨面标记点进行转换，得到多个粗配准标记点；其中，所述多个粗配准标记点的粗配准坐标与对应的所述多个模型标记点之间的平均欧氏距离最短；Obtain the bone surface coordinates of multiple bone surface marker points on the patient's bone surface, and obtain the model coordinates of multiple model marker points on the three-dimensional model that correspond to the multiple bone surface marker points one-to-one, according to the bone surface coordinates Determine a first transformation relationship with the model coordinates, and use the first transformation relationship to transform the multiple bone surface marker points to obtain multiple rough registration marker points; wherein, the multiple rough registration marker points The average Euclidean distance between the rough registration coordinates and the corresponding multiple model marker points is the shortest;

确定经所述第一变换关系转换后所述三维模型上的模型中心点到所述骨面上的骨面中心点的平移向量，将所述多个粗配准标记点沿所述平移向量进行平移，得到多个拟合标记点，根据所述多个拟合标记点将所述第一变换关系更新为第二变换关系；determining a translation vector from the model center point on the three-dimensional model to the bone surface center point on the bone surface after being transformed by the first transformation relationship, and performing the multiple rough registration mark points along the translation vector panning to obtain a plurality of fitting markers, and updating the first transformation relationship to a second transformation relationship according to the multiple fitting markers;

获取所述患者骨面上多个预设区域的多个骨面区域标记点，采用所述第二变换关系对所述多个骨面区域标记点和所述骨面中心点进行转换，得到第一骨面精配准点集，确定所述三维模型上与所述第一骨面精配准点集中的多个骨面区域标记点一一对应的多个模型区域标记点，根据所述多个模型区域标记点和所述模型中心点确定第三变换关系，根据所述第三变换关系对所述多个骨面标记点和所述多个模型标记点进行配准。Obtain multiple bone surface area marker points of multiple preset areas on the patient's bone surface, and use the second transformation relationship to convert the multiple bone surface area marker points and the bone surface center point to obtain the first a set of bone surface fine registration points, determine multiple model area marker points on the three-dimensional model that correspond to multiple bone surface area marker points in the first bone surface fine registration point set, and according to the multiple models The region marker point and the model center point determine a third transformation relationship, and the plurality of bone surface marker points and the multiple model marker points are registered according to the third transformation relationship.