CN116687434A

CN116687434A - Method and device for determining postoperative angle of object, storage medium and processor

Info

Publication number: CN116687434A
Application number: CN202310974723.0A
Authority: CN
Inventors: 尹政顺; 庞博; 郑贺亮; 李文彦; 张靖; 郭笑楠; 王静芝
Original assignee: Beijing Yidian Lingdong Technology Co ltd
Current assignee: Beijing Yidian Lingdong Technology Co ltd
Priority date: 2023-08-03
Filing date: 2023-08-03
Publication date: 2023-09-05
Anticipated expiration: 2043-08-03
Also published as: CN116687434B

Abstract

The invention discloses a method for determining a post-operation angle of a subject. The method comprises the following steps: acquiring postoperative medical image data of a target object; determining a target model of the target object and a target prosthesis model of the target object based on the postoperative medical image data; determining a first vertical axis of the target object based on a metal femoral condyle prosthesis three-dimensional model in the target prosthesis model, and determining a second vertical axis of the target object based on a metal tibial plateau prosthesis three-dimensional model in the target prosthesis model; the method comprises the steps of determining a first varus angle and a first valgus angle of a target object based on a first vertical axis and a femur three-dimensional model in a target model, and determining a second valgus angle and a second valgus angle of the target object based on a second vertical axis and a tibia three-dimensional model in the target model. The invention solves the technical problems that the placement accuracy of the postoperative prosthesis and the alignment angle of the postoperative prosthesis and the force line are difficult to accurately evaluate.

Description

Method and device for determining postoperative angle of object, storage medium and processor

Technical Field

The present invention relates to the medical field, and in particular, to a method, an apparatus, a storage medium, and a processor for determining a post-operative angle of a subject.

Background

Currently, in the current angle measurement system after knee joint replacement operation, two-dimensional X-ray films are generally used for measurement, anatomical feature points of femur and tibia are identified in the X-ray films, and scribing analysis is performed on the feature points to measure angles, but limitation of application of X-ray film measurement and evaluation is that whether standing legs are in normal position or not cannot be guaranteed when taking the X-ray films, and the scribing mode of measurement is subjective. Whether the operation is performed by using a traditional tool or based on the assistance of a guide plate, navigation and a robot of preoperative planning, or the operation is completed by registering in a mode of selecting points in the operation without the need of preoperative planning, the design and the operation are performed under the condition of a three-dimensional environment, so that a very large error exists in the measurement result of the two-dimensional X-ray film, and the technical problem that the placement accuracy of the postoperative prosthesis and the alignment angle of the postoperative prosthesis and the force line are difficult to evaluate accurately is caused.

Aiming at the technical problems that the placement accuracy of the postoperative prosthesis and the alignment angle of the postoperative prosthesis and the force line are difficult to accurately evaluate, no effective solution is proposed at present.

Disclosure of Invention

The embodiment of the invention provides a method, a device, a storage medium and a processor for determining a post-operation angle of a subject, which are used for at least solving the technical problems that the placement accuracy of a post-operation prosthesis and the alignment angle of the post-operation prosthesis and a force line are difficult to accurately evaluate.

According to an aspect of an embodiment of the present invention, there is provided a method for determining a post-operative angle of a subject. The method may include: acquiring postoperative medical image data of a target object, wherein the target object is a patient subjected to knee joint replacement; determining a target model of a target object and a target prosthesis model of the target object based on postoperative medical image data, wherein the target model is used for representing a three-dimensional model of a knee joint of the target object, and comprises a femur three-dimensional model and a tibia three-dimensional model, and the target prosthesis model is used for representing a three-dimensional model obtained by reversely processing a femur condyle prosthesis and a tibia platform prosthesis of the target object; determining a first vertical axis of the target object based on a metal femoral condyle prosthesis three-dimensional model in the target prosthesis model, and determining a second vertical axis of the target object based on a metal tibial plateau prosthesis three-dimensional model in the target prosthesis model; the method comprises the steps of determining a first varus angle and a first valgus angle of a target object based on a first vertical axis and a femur three-dimensional model in a target model, and determining a second valgus angle and a second valgus angle of the target object based on a second vertical axis and a tibia three-dimensional model in the target model.

Optionally, determining the first vertical axis of the target object based on the metal femoral condyle prosthesis three-dimensional model in the target prosthesis model includes: acquiring at least one target characteristic point of a three-dimensional model of the metal femoral condyle prosthesis; determining a first osteotomy plane of the target object based on the at least one target feature point; on the first osteotomy plane, a first normal vector axis to the first osteotomy plane is determined, and the first normal vector axis is determined to be the first vertical axis.

Optionally, determining the second vertical axis of the target object based on the metal tibial plateau prosthesis three-dimensional model in the target prosthesis model includes: acquiring at least one target characteristic point of a three-dimensional model of the metal tibial plateau prosthesis; determining a second osteotomy plane of the target object based on the at least one target feature point; a second normal vector axis of the second osteotomy plane is determined on the second osteotomy plane, and the second normal vector axis is determined to be a second vertical axis.

Optionally, determining the first varus angle and the first valgus angle of the target object and the first anteversion angle based on the first vertical axis and a femoral three-dimensional model in the target model includes: a first varus and valgus angle is determined based on the first vertical axis and a first coronal plane of the three-dimensional model of the femur, and a first anterior-posterior tilt angle is determined based on the first vertical axis and a first sagittal plane of the three-dimensional model of the femur.

Optionally, determining the first varus-valgus angle based on the first vertical axis and the first coronal plane of the three-dimensional model of the femur and determining the first anteroposterior tilt angle based on the first vertical axis and the first sagittal plane of the three-dimensional model of the femur comprises: determining a femoral head rotation center, a medial epicondylar point and a lateral epicondylar point of a target object based on postoperative medical image data; establishing a first coronal plane based on the femoral head rotation center, the medial epicondylar point and the lateral epicondylar point; and rotating the first coronal plane around a femoral force line of the target object to obtain a first sagittal plane, wherein the femoral force line is obtained by connecting a midpoint of a connecting line of the medial epicondylar point and the lateral epicondylar point with a rotation center of the femoral head.

Optionally, determining a second varus angle and a second valgus angle of the target object based on the second vertical axis and a tibial three-dimensional model in the target model comprises: a second varus-valgus angle is determined based on the second vertical axis and a second coronal plane of the tibial three-dimensional model, and a second anterior-posterior tilt angle is determined based on the second vertical axis and a second sagittal plane of the tibial three-dimensional model.

Optionally, determining a second varus angle based on the second vertical axis and a second coronal plane of the tibial three-dimensional model, and determining a second anterior-posterior tilt angle based on the second vertical axis and a second sagittal plane of the tibial three-dimensional model, comprising: determining a tibial tuberosity point and a posterior cruciate ligament dead point of the target object based on the postoperative medical image data; establishing a second coronal plane based on the tibial plateau and the posterior cruciate ligament stop; and rotating the second coronal plane around a tibia force line of the target object to obtain a second sagittal plane, wherein the tibia force line is obtained by connecting a midpoint of a connecting line between a tibia far-end joint surface inner point and a tibia far-end joint surface outer point of the target object and a coordinate origin of the tibia three-dimensional model.

According to an aspect of the embodiment of the present invention, the method for determining a post-operation angle of the subject may further include: acquiring preoperative planning data of a target object; determining a pre-operative prosthetic model of the target object based on the pre-operative planning data, wherein the pre-operative prosthetic model comprises a pre-operative planning femoral condyle prosthetic three-dimensional model and a pre-operative planning tibial plateau prosthetic three-dimensional model; determining a third osteotomy plane of the target object based on at least one target feature point of the pre-operative planning femoral condyle prosthesis three-dimensional model, and determining a fourth osteotomy plane of the target object based on at least one target feature point of the pre-operative planning tibial plateau prosthesis three-dimensional model; determining a third normal vector axis of the third osteotomy plane on the third osteotomy plane, and determining the third normal vector axis as a third vertical axis, and determining a fourth normal vector axis of the fourth osteotomy plane on the fourth osteotomy plane, and determining the fourth normal vector axis as a fourth vertical axis; the third inside-out corner and the third forward-backward tilt angle are determined based on the first vertical axis and the third vertical axis, and the fourth inside-out corner and the fourth forward-backward tilt angle are determined based on the second vertical axis and the fourth vertical axis.

According to an aspect of an embodiment of the present invention, there is provided a device for determining a post-operative angle of a subject, the device may include: the first acquisition unit is used for acquiring postoperative medical image data of a target object, wherein the target object is a patient subjected to knee joint replacement; a first determining unit configured to determine, based on the post-operation medical image data, a target model of a target object and a target prosthesis model of the target object, wherein the target model is configured to represent a three-dimensional model of a knee joint of the target object, including a femur three-dimensional model and a tibia three-dimensional model, and the target prosthesis model is configured to represent a three-dimensional model obtained by performing inverse processing on a femoral condyle prosthesis and a tibial plateau prosthesis of the target object; a second determining unit, configured to determine a first vertical axis of the target object based on the three-dimensional model of the metal femoral condyle prosthesis in the target prosthesis model, and determine a second vertical axis of the target object based on the three-dimensional model of the metal tibial plateau prosthesis in the target prosthesis model; and the third determining unit is used for determining a first varus angle and a first anteroposterior inclination angle of the target object based on the first vertical axis and the femur three-dimensional model in the target model, and determining a second valgus angle and a second anteroposterior inclination angle of the target object based on the second vertical axis and the tibia three-dimensional model in the target model.

According to another aspect of an embodiment of the present invention, there is also provided a computer-readable storage medium. The computer readable storage medium comprises a stored program, wherein the program is used for controlling equipment in which the computer readable storage medium is arranged to execute the method for determining the postoperative angle of the object according to the embodiment of the invention when running.

According to another aspect of an embodiment of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program is executed by the processor to execute the method for determining the postoperative angle of the object according to the embodiment of the invention.

In the embodiment of the invention, the postoperative medical image data of the patient subjected to knee joint replacement is acquired, the target model and the target prosthesis model of the patient can be determined according to the postoperative medical image data, the first osteotomy plane is established according to at least one target feature point of the metal femoral condyle prosthesis three-dimensional model in the target prosthesis model, the first vertical axis is determined on the first osteotomy plane, the second osteotomy plane is established according to at least one target feature point of the metal tibial plateau prosthesis three-dimensional model in the target prosthesis model, the second vertical axis is determined on the second osteotomy plane, the first internal and external flip angle and the first front and rear dip angle of the patient can be determined according to the first vertical axis and the femoral three-dimensional model in the target model, and the second internal and external flip angle and the second front and rear dip angle of the patient can be determined according to the second vertical axis and the tibial three-dimensional model in the target model, so that the purpose of measuring the postoperative angle of the knee joint replacement is achieved, the problems that the prosthetic placement performance after the prosthesis placement and the prosthetic alignment angle after the prosthetic alignment can be accurately evaluated and the technical evaluation can be achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1 is a flow chart of a method of determining a post-operative angle of a subject in accordance with an embodiment of the present application;

fig. 2 is a schematic view of a device for determining a post-operative angle of a subject according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, shall fall within the scope of the application.

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

Example 1

According to an embodiment of the present invention, there is provided a method of determining a post-operative angle of an object, it being noted that the steps shown in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.

Fig. 1 is a flowchart of a method for determining a post-operative angle of a subject according to an embodiment of the present invention, as shown in fig. 1, the method may include the steps of:

step S101, acquiring postoperative medical image data of a target object.

In the solution provided in the step S101 of the present invention, the target object may be a patient with a knee joint replacement, and the post-operative medical image data may be post-operative electronic computed tomography (Computed Tomography, abbreviated as CT) image examination data of the patient.

Optionally, the post-operation medical image data of the target object is acquired, for example, the post-operation knee joint of the patient is scanned by the CT device, so that the medical image data of the post-operation knee joint of the patient can be obtained.

Step S102, determining a target model of the target object and a target prosthesis model of the target object based on the postoperative medical image data.

In the solution provided in the step S102 of the present invention, the target model may be used to represent a three-dimensional model of a knee joint of a target object, the target prosthesis model may be used to represent a three-dimensional model obtained by performing inverse processing on a femoral condyle prosthesis and a tibial plateau prosthesis of the target object, and for example, the target model may include: a femoral three-dimensional model and a tibial three-dimensional model, the target prosthetic model may include: a three-dimensional model of a metal femoral condyle prosthesis and a three-dimensional model of a metal tibial plateau prosthesis.

Optionally, after acquiring the post-operation medical image data of the target object, determining a target model of the target object and a target prosthesis model of the target object based on the post-operation medical image data, for example, introducing CT image inspection data into a post-operation angle measurement system, identifying three anatomical feature points of the medial epicondyle, the lateral epicondyle and the rotation center of the femoral head, performing inverse processing on the three anatomical feature points, and obtaining a target model, that is, a three-dimensional femoral model and a three-dimensional tibial model, simultaneously introducing CT image inspection data into the post-operation angle measurement system, identifying a femoral condyle prosthesis and a tibial plateau prosthesis, performing inverse processing on the two prostheses, and obtaining a target prosthesis model, that is, obtaining a three-dimensional model of the metal femoral condyle prosthesis and a three-dimensional model of the metal tibial plateau prosthesis.

Step S103, determining a first vertical axis of the target object based on the three-dimensional model of the metal femoral condyle prosthesis in the target prosthesis model, and determining a second vertical axis of the target object based on the three-dimensional model of the metal tibial plateau prosthesis in the target prosthesis model.

In the technical solution provided in the step S103 of the present invention, the first vertical axis may be a normal vector axis of an osteotomy plane of the femoral condyle prosthesis, and the second vertical axis may be a normal vector axis of an osteotomy plane of the tibial plateau prosthesis.

Optionally, after determining the target model of the target object and the target prosthesis model of the target object based on the post-operative medical image data, determining a first vertical axis of the target object based on the metal femoral condyle prosthesis three-dimensional model in the target prosthesis model, and determining a second vertical axis of the target object based on the metal tibial plateau prosthesis three-dimensional model in the target prosthesis model, for example, selecting three points with clear visualization on an osteotomy surface of the metal femoral condyle prosthesis three-dimensional model, according to the three selected points, a femoral condyle prosthesis osteotomy plane can be established, and according to the established femoral condyle prosthesis osteotomy plane, a first vertical axis can be determined, three points with clear visualization can be selected on an osteotomy surface of the metal tibial plateau prosthesis three-dimensional model, according to the three selected points, a tibial plateau prosthesis osteotomy plane can be established, and according to the established plateau prosthesis osteotomy plane, a second vertical axis can be determined.

Step S104, determining a first varus angle and a first anteroposterior inclination angle of the target object based on the first vertical axis and the femur three-dimensional model in the target model, and determining a second valgus angle and a second anteroposterior inclination angle of the target object based on the second vertical axis and the tibia three-dimensional model in the target model.

In the technical solution provided in the step S104, the first varus angle may be used to represent a valgus angle of the post-operative implanted femoral condyle prosthesis and the femoral power line, the first valgus angle may be used to represent a valgus angle of the post-operative implanted femoral condyle prosthesis and the femoral power line, the second valgus angle may be used to represent a valgus angle of the post-operative implanted tibial plateau prosthesis and the tibial power line, and the second valgus angle may be used to represent a valgus angle of the post-operative implanted tibial plateau prosthesis and the tibial power line.

Optionally, after determining the first vertical axis of the target object based on the metal femoral condyle prosthesis three-dimensional model in the target prosthesis model and determining the second vertical axis of the target object based on the metal tibial plateau prosthesis three-dimensional model in the target prosthesis model, determining the first varus and valgus angle and the first valgus angle of the target object based on the first vertical axis and the femoral three-dimensional model in the target model, and determining the second valgus angle and the second valgus angle of the target object based on the second vertical axis and the tibial three-dimensional model in the target model, for example, according to three anatomical feature points of the femoral epicondyle, the epicondyle and the femoral head rotation center of the femoral three-dimensional model, a femoral three-dimensional coordinate system may be established in which the first valgus angle and the first valgus angle may be determined according to the normal vector axis and the femoral line of the femoral condyle prosthesis osteotomy plane, and according to anatomical feature points of the three-dimensional model, a three-dimensional coordinate system may be established in which the normal vector axis and the second valgus angle of the tibial plateau prosthesis plane may be determined according to the normal vector axis and the second valgus angle.

According to the application, the step S101 to the step S104 are carried out to obtain the postoperative medical image data of the patient subjected to knee joint replacement, the target model and the target prosthesis model of the patient can be determined according to the postoperative medical image data, the first osteotomy plane is established according to at least one target characteristic point of the three-dimensional model of the metal femoral condyle prosthesis in the target prosthesis model, the first vertical axis is determined on the first osteotomy plane, the second osteotomy plane is established according to at least one target characteristic point of the three-dimensional model of the metal tibial plateau prosthesis in the target prosthesis model, the second vertical axis is determined on the second osteotomy plane, the first internal and external angles and the first front and back inclination angles of the patient can be determined according to the first vertical axis and the three-dimensional model of the femur in the target model, and the second internal and external angles and the second front and back inclination angles of the patient can be determined according to the second vertical axis and the three-dimensional model of the metal femoral condyle prosthesis in the target prosthesis model, so that the purposes of measuring the postoperative angle of the knee joint replacement can be achieved, the problem that the postoperative prosthesis is difficult to be accurately aligned with the postoperative prosthesis and the accurate placement angle can be achieved, and the technical evaluation can be accurately carried out.

The above-described method of this embodiment is further described below.

As an alternative embodiment, step S103, determining a first vertical axis of the target object based on the three-dimensional model of the metal femoral condyle prosthesis in the target prosthesis model, includes: acquiring at least one target characteristic point of a three-dimensional model of the metal femoral condyle prosthesis; determining a first osteotomy plane of the target object based on the at least one target feature point; on the first osteotomy plane, a first normal vector axis to the first osteotomy plane is determined, and the first normal vector axis is determined to be the first vertical axis.

In this embodiment, the target feature point may be a visually distinct feature point selected on an osteotomy surface of a three-dimensional model of the metal femoral condyle prosthesis, and the first osteotomy plane may be used to represent a femoral condyle prosthesis osteotomy plane.

Optionally, after determining the target model of the target object and the target prosthesis model of the target object based on the postoperative medical image data, three feature points with clear visualization are selected on the osteotomy surface of the three-dimensional model of the metal femoral condyle prosthesis, and according to the three selected feature points, a femoral condyle prosthesis osteotomy plane can be established, and on the established femoral condyle prosthesis osteotomy plane, a normal vector axis of the femoral condyle prosthesis osteotomy plane, that is, a vertical axis of the femoral condyle prosthesis, is determined.

Alternatively, the three-dimensional model of the metal femoral condyle prosthesis may be represented by c, the femoral condyle prosthesis osteotomy plane may be represented by e, and the normal vector axis of the femoral condyle prosthesis osteotomy plane may be represented by g.

As an alternative embodiment, step S103, determining a second vertical axis of the target object based on the three-dimensional model of the metal tibial plateau prosthesis in the target prosthesis model, includes: acquiring at least one target characteristic point of a three-dimensional model of the metal tibial plateau prosthesis; determining a second osteotomy plane of the target object based on the at least one target feature point; a second normal vector axis of the second osteotomy plane is determined on the second osteotomy plane, and the second normal vector axis is determined to be a second vertical axis.

In this embodiment, the target feature point may be a feature point selected on an osteotomy surface of the three-dimensional model of the metal tibial plateau prosthesis and the second osteotomy plane may be a tibial plateau prosthesis osteotomy plane.

Optionally, after determining the target model of the target object and the target prosthesis model of the target object based on the postoperative medical image data, three feature points with clear visualization are selected on the osteotomy surface of the three-dimensional model of the metal tibial plateau prosthesis, and according to the three selected feature points, a tibial plateau prosthesis osteotomy plane can be established, and on the established tibial plateau prosthesis osteotomy plane, a normal vector axis of the tibial plateau prosthesis osteotomy plane, that is, a vertical axis of the tibial plateau prosthesis, is determined.

Alternatively, the three-dimensional model of the metal tibial plateau prosthesis may be represented by d, the tibial plateau prosthesis osteotomy plane may be represented by f, and the normal vector axis of the tibial plateau prosthesis osteotomy plane may be represented by h.

As an alternative embodiment, step S104, determining a first varus-valgus angle and a first valgus angle of the target object based on the first vertical axis and the three-dimensional model of the femur in the target model, includes: a first varus and valgus angle is determined based on the first vertical axis and a first coronal plane of the three-dimensional model of the femur, and a first anterior-posterior tilt angle is determined based on the first vertical axis and a first sagittal plane of the three-dimensional model of the femur.

In this embodiment, the first coronal plane may be a coronal plane established based on a femoral head rotation center, a medial epicondylar point, and a lateral epicondylar point, and the first sagittal plane may be obtained by rotating the first coronal plane.

Optionally, after determining the first vertical axis of the target object based on the metal femoral condyle prosthesis three-dimensional model in the target prosthesis model, a first varus angle may be determined from the normal vector axis of the femoral condyle prosthesis osteotomy plane and the first coronal plane of the femoral three-dimensional model, and a first anteversion angle may be determined from the normal vector axis of the femoral condyle prosthesis osteotomy plane and the first sagittal plane of the femoral three-dimensional model.

Alternatively, the first coronal plane may be denoted by I and the first sagittal plane may be denoted by III.

Optionally, the projection g1 of the vertical axis g of the femoral condyle prosthesis on the coronal plane I is taken, the angle between the projection g1 and the femoral power line l1 is the difference of the varus and valgus angles of the femoral condyle prosthesis implanted after operation and the femoral power line, the projection g2 of the vertical axis g of the femoral condyle prosthesis on the sagittal plane III is taken, and the angle between the projection g2 and the femoral power line l1 is the difference of the front and back inclination angles of the femoral condyle prosthesis implanted after operation and the femoral power line.

As an alternative embodiment, determining a first varus angle based on a first vertical axis and a first coronal plane of the three-dimensional model of the femur, and determining a first anteroposterior tilt angle based on the first vertical axis and a first sagittal plane of the three-dimensional model of the femur, comprises: determining a femoral head rotation center, a medial epicondylar point and a lateral epicondylar point of a target object based on postoperative medical image data; establishing a first coronal plane based on the femoral head rotation center, the medial epicondylar point and the lateral epicondylar point; and rotating the first coronal plane around the femur force line of the target object to obtain a first sagittal plane.

In this embodiment, the femoral force line may be obtained by connecting a midpoint of a line connecting the medial epicondylar point and the lateral epicondylar point with a rotation center of the femoral head, wherein the rotation center of the femoral head may be obtained by fitting a ball model to a femoral head of a three-dimensional model of the femur.

Optionally, the femoral head rotation center, the medial epicondylar point and the lateral epicondylar point of the target object are determined based on the postoperative medical image data, a first coronal plane is established based on the femoral head rotation center, the medial epicondylar point and the lateral epicondylar point, the first coronal plane is rotated around the femoral power line of the target object to obtain a first sagittal plane, for example, CT image inspection data are imported into a postoperative angle measurement system, three anatomical feature points of the medial epicondylar, the lateral epicondylar and the femoral head rotation center can be identified, the first coronal plane can be established according to the identified three anatomical feature points, the first coronal plane is taken as a reference plane, and a new plane is obtained by rotating 90 ° around the femoral power line l1 of the patient, thereby establishing the first sagittal plane.

As an alternative embodiment, step S104, determining a second varus angle and a second valgus angle of the target object based on the second vertical axis and the tibial three-dimensional model in the target model, includes: a second varus-valgus angle is determined based on the second vertical axis and a second coronal plane of the tibial three-dimensional model, and a second anterior-posterior tilt angle is determined based on the second vertical axis and a second sagittal plane of the tibial three-dimensional model.

In this embodiment, the second coronal plane may be a coronal plane established based on a tibial plateau and a posterior cruciate ligament stop of the post-operative patient, and the second sagittal plane may be obtained by rotating the second coronal plane.

Optionally, after determining the second varus and valgus angle and the second anterior-posterior tilt angle of the target object based on the second vertical axis and the tibial three-dimensional model in the target model, the second valgus angle may be determined from the normal vector axis of the tibial plateau prosthesis osteotomy plane and the second coronal plane of the tibial three-dimensional model, and the second anterior-posterior tilt angle may be determined from the normal vector axis of the tibial plateau prosthesis osteotomy plane and the second sagittal plane of the tibial three-dimensional model.

Alternatively, the second coronal plane may be denoted IV and the second sagittal plane may be denoted VI.

Optionally, the projection h1 of the vertical axis h of the tibial plateau prosthesis on the coronal plane iv is taken, the angle between the projection h1 and the tibial force line l2 is the difference of the varus angle between the post-operation implanted tibial plateau prosthesis and the tibial force line, the projection h2 of the vertical axis h of the tibial plateau prosthesis on the sagittal plane vi is taken, and the angle between the projection h2 and the tibial force line l2 is the difference of the front-back inclination angle between the post-operation implanted tibial plateau prosthesis and the tibial force line.

As an alternative embodiment, determining a second varus angle based on a second vertical axis and a second coronal plane of the tibial three-dimensional model, and determining a second anterior-posterior tilt angle based on the second vertical axis and a second sagittal plane of the tibial three-dimensional model, comprises: determining a tibial tuberosity point and a posterior cruciate ligament dead point of the target object based on the postoperative medical image data; establishing a second coronal plane based on the tibial plateau and the posterior cruciate ligament stop; and rotating the second coronal plane around the tibia power line of the target object to obtain a second sagittal plane.

In this embodiment, the tibia force line may be obtained by connecting a midpoint of a line connecting the medial point of the distal tibial articular surface and the lateral point of the distal tibial articular surface of the target object with the origin of coordinates of the three-dimensional model of tibia.

Optionally, determining tibial plateau and posterior cruciate ligament dead points of the target object based on the postoperative medical image data, establishing a second coronal plane based on the tibial plateau and posterior cruciate ligament dead points, rotating the second coronal plane around the tibial force line of the target object to obtain a second sagittal plane, for example, importing CT image inspection data into a postoperative angle measurement system, identifying the tibial plateau and posterior cruciate ligament dead points, selecting the most prominent tibial plateau from a plurality of tibial plateau, connecting the most prominent tibial plateau and posterior cruciate ligament dead points as an AP axis, taking the projection of the AP axis on the transverse plane v as a plane taking the projection as a normal vector, thereby establishing the second coronal plane, and rotating the second coronal plane as a reference plane by 90 ° with the tibial force line l2 of the patient as an axis to obtain a new plane, thereby establishing the second sagittal plane.

Optionally, selecting a tibia far-end joint surface inner point and a tibia far-end joint surface outer point in the tibia three-dimensional model b, selecting a tibia intercondylar bulge front 1/3 point as an origin of a tibia space coordinate system, then establishing a connecting line of the tibia far-end joint surface inner point and the tibia far-end joint surface outer point, determining a connecting line midpoint and connecting with the coordinate origin to obtain a tibia force line l2, and taking the tibia force line l2 as a plane of a normal vector through the origin, thereby establishing a cross section V.

As an optional embodiment, the method for determining a post-operative angle of the subject may further include: acquiring preoperative planning data of a target object; determining a pre-operative prosthetic model of the target object based on the pre-operative planning data, wherein the pre-operative prosthetic model comprises a pre-operative planning femoral condyle prosthetic three-dimensional model and a pre-operative planning tibial plateau prosthetic three-dimensional model; determining a third osteotomy plane of the target object based on at least one target feature point of the pre-operative planning femoral condyle prosthesis three-dimensional model, and determining a fourth osteotomy plane of the target object based on at least one target feature point of the pre-operative planning tibial plateau prosthesis three-dimensional model; determining a third normal vector axis of the third osteotomy plane on the third osteotomy plane, and determining the third normal vector axis as a third vertical axis, and determining a fourth normal vector axis of the fourth osteotomy plane on the fourth osteotomy plane, and determining the fourth normal vector axis as a fourth vertical axis; the third inside-out corner and the third forward-backward tilt angle are determined based on the first vertical axis and the third vertical axis, and the fourth inside-out corner and the fourth forward-backward tilt angle are determined based on the second vertical axis and the fourth vertical axis.

In this embodiment, the pre-operative planning data may be obtained from a pre-operative planning file, which may include, but is not limited to: the method comprises the steps of pre-operation reconstruction of a bone model, pre-operation planning of a prosthesis model and a definite relative position before the bone model and the pre-operation planning, wherein the third bone cutting plane can be used for representing the pre-operation planning of a femoral condyle prosthesis bone cutting plane, the fourth bone cutting plane can be used for representing the pre-operation planning of a tibial plateau prosthesis bone cutting plane, the third normal vector axis can be used for representing the normal vector axis of the pre-operation planning of a femoral condyle prosthesis bone cutting plane, the third internal and external turning angle can be used for representing the internal and external turning angles of post-operation implantation of a femoral condyle prosthesis and pre-operation planning of a femoral condyle prosthesis, the third internal and external turning angle can be used for representing the internal and external turning angles of the post-operation implantation of a femoral condyle prosthesis and pre-operation planning of a femoral condyle prosthesis, and the fourth internal and external turning angle can be used for representing the inclination angle of the post-operation implantation of the femoral condyle prosthesis and the pre-operation planning of a tibial plateau prosthesis, and the fourth internal and external turning angle can be used for representing the inclination angle of the post-operation planning of a tibial plateau prosthesis and the pre-operation planning of a tibial condyle prosthesis.

Optionally, if a pre-operative planning file exists, pre-operative planning data of the patient are acquired, according to the acquired pre-operative planning data, a pre-operative prosthetic model of the patient can be determined, that is, a pre-operative planning femoral condyle prosthetic three-dimensional model and a pre-operative planning tibial plateau prosthetic three-dimensional model can be determined, three feature points with clear visualization are selected on an osteotomy surface of the pre-operative planning femoral condyle prosthetic three-dimensional model, a pre-operative planning femoral condyle prosthetic osteotomy plane can be established according to the selected feature points, a normal vector axis of the osteotomy plane is determined on the established pre-operative planning femoral condyle prosthetic osteotomy plane, thereby obtaining a third vertical axis, three feature points with clear visualization are selected on an osteotomy surface of the pre-operative planning tibial plateau prosthetic three-dimensional model, a pre-operative planning tibial plateau prosthetic three-dimensional model can be established according to the selected feature points, a normal vector axis of the osteotomy plane is determined on the established pre-operative planning tibial plateau prosthetic three-dimensional model, thereby obtaining a fourth vertical axis, according to the first vertical axis and the third vertical axis, a third tilt angle and a fourth vertical tilt angle can be determined, and a fourth vertical tilt angle can be determined according to the fourth vertical tilt angle and the fourth tilt angle.

Optionally, the measuring system of the postoperative angle can identify significant anatomical feature points, feature lines, edges and morphological regions with significance at the same positions of the postoperative bone before and after the operation, so that the postoperative three-dimensional bone model is positioned and matched on the preoperative three-dimensional bone model until the three-dimensional bone model is completely overlapped, the postoperative prosthesis model is positioned to the correct position along with the postoperative three-dimensional bone model, and the offset angle can be measured in a coordinate system planned before the operation.

Optionally, three feature points with clear visualization are selected on the osteotomy surface of the three-dimensional model of the pre-operative planning femoral condyle prosthesis, an pre-operative planning femoral condyle prosthesis osteotomy plane is established through the three feature points, and a normal vector axis i is established on the plane, wherein the axis i is the vertical axis of the pre-operative planning femoral condyle prosthesis.

Optionally, the vertical axis of the pre-operative planning tibial plateau prosthesis is determined, wherein the determination method is to select three feature points with clear visualization on the osteotomy surface of the three-dimensional model of the pre-operative planning tibial plateau prosthesis, establish a pre-operative planning tibial plateau prosthesis osteotomy plane through the three feature points, and establish a normal vector axis j on the plane, wherein the axis j is the vertical axis of the pre-operative planning tibial plateau prosthesis.

Optionally, the projection g1 and the projection i1 of the axis g and the axis i on the preoperative planned femoral crown surface are respectively made, the angle between the projection g1 and the projection i1 is the varus angle difference between the implantation of the postoperative implanted femoral condyle prosthesis and the implantation of the preoperative planned femoral condyle prosthesis, and in addition, the projection h1 and the projection j1 of the axis h and the axis j on the preoperative planned tibial crown surface are respectively made, and the angle between the projection h1 and the projection j1 is the valgus angle difference between the implantation of the tibial plateau prosthesis and the preoperative planned tibial plateau prosthesis.

Optionally, the projection g2 and the projection i2 of the axis g and the axis i on the pre-operation planned femur sagittal plane are respectively made, the angle between the projection g2 and the projection i2 is the difference of the front-back inclination angles of the post-operation implanted femur condyle prosthesis and the pre-operation planned femur condyle prosthesis, and in addition, the projection h2 and the projection j2 of the axis h and the axis j on the pre-operation planned tibia sagittal plane are respectively made, and the angle between the projection h2 and the projection j2 is the difference of the front-back inclination angles of the post-operation implanted tibia plateau prosthesis and the pre-operation planned tibia plateau prosthesis.

In the embodiment of the invention, the postoperative medical image data of the patient with knee joint replacement is obtained, the target model and the target prosthesis model of the patient can be determined according to the postoperative medical image data, the first osteotomy plane is established according to at least one target feature point of the three-dimensional model of the metal femoral condyle prosthesis in the target prosthesis model, the first vertical axis is determined on the first osteotomy plane, the second osteotomy plane is established according to at least one target feature point of the three-dimensional model of the metal tibial plateau prosthesis in the target prosthesis model, the second vertical axis is determined on the second osteotomy plane, the first internal and external flip angle and the first front and rear dip angle of the patient can be determined according to the first vertical axis and the three-dimensional model of the femur in the target model, and the second internal and external flip angle and the second front and rear dip angle of the patient can be determined according to the second vertical axis and the three-dimensional model of the tibia in the target model, so that the technical problems that the accuracy of the placement of the prosthesis and the alignment angle of the prosthesis with the force line after the operation are difficult are solved, and the accurate placement of the prosthesis and the accurate placement effect of the prosthesis can be estimated after the exact alignment and the technical evaluation of the prosthesis.

Example 2

The technical solution of the embodiment of the present invention will be illustrated in the following with reference to a preferred embodiment.

In the current angle measurement system after knee joint replacement operation, two-dimensional X-ray films are generally used for measurement, anatomical feature points of thighbone and tibia are identified in the X-ray films, and scribing analysis is performed on the feature points to measure angles, but limitation of application of X-ray film measurement and evaluation is that whether standing legs are in proper positions or not cannot be guaranteed when the X-ray films are shot, and the scribing mode of measurement is subjective. Whether the operation is performed by using a traditional tool or based on the assistance of a guide plate, navigation and a robot of preoperative planning, or the operation is completed by registering in a mode of selecting points in the operation without the need of preoperative planning, the design and the operation are performed under the condition of a three-dimensional environment, so that a very large error exists in the measurement result of the two-dimensional X-ray film, and the technical problem that the placement accuracy of the postoperative prosthesis and the alignment angle of the postoperative prosthesis and the force line are difficult to evaluate accurately is caused.

Accordingly, in order to overcome the above-mentioned problems, in a related art, there is disclosed an artificial acetabular angle measurement system in hip surgery, the system comprising: the device comprises a crown-surface gyroscope, a mounting handle gyroscope, an angle calibration table, a bone nail, an artificial acetabulum and an artificial acetabulum mounting handle, wherein the crown-surface gyroscope is mounted on the bone nail, the mounting handle gyroscope is mounted on the artificial acetabulum mounting handle, and the angle correlation gyroscope is mounted on the angle calibration table. However, the method only measures the internal inclination angle and the external abduction angle of the acetabulum in the normal operation implementation process, and determines the position of the correct operation implementation by detecting the position and the angle of the acetabulum in the acetabular replacement operation in real time, does not consider the reverse processing of the CT data of the patient after operation to obtain femur and tibia models of the patient, and establishes a coordinate system after identifying anatomical feature points of the femur and the tibia, so that the accuracy of the placement of the prosthesis after operation and the alignment angle of the prosthesis after operation with the force line cannot be accurately estimated.

However, the embodiment of the invention provides a method for determining the postoperative angle of knee joint replacement, which is characterized in that the postoperative CT data of a patient are reversely processed under the general condition to obtain femur and tibia models of the patient, a coordinate system is established after anatomical feature points of the femur and tibia are identified, a knee joint replacement postoperative angle measuring system applying the postoperative CT of the patient and a measuring method thereof are established under the three-dimensional environment, in addition, based on the placement of a prosthesis planned before the operation, the postoperative CT data are reversely processed to obtain femur and tibia models of the patient, the postoperative bone models are matched with the preoperative bone models in the three-dimensional design environment through an algorithm, the postoperative angle measuring system applying the postoperative CT of the patient and a measuring method thereof are established in the three-dimensional environment, the purpose of measuring the postoperative angle of the knee joint replacement is achieved, the technical problems that the placement accuracy of the postoperative prosthesis and the alignment angle of the postoperative prosthesis are difficult to accurately evaluate are solved, and the technical effect of accurately evaluating the placement accuracy of the postoperative prosthesis and the alignment angle of the postoperative prosthesis is achieved.

Optionally, the method for determining the postoperative angle of the knee joint replacement operation according to the embodiment of the present invention may be applied to two application scenarios, where the first application scenario is to obtain femur and tibia models of a patient by performing inverse processing on postoperative CT data of the patient in a general case, identify anatomical feature points of the femur and tibia, establish a coordinate system, establish a system for measuring the postoperative angle of the knee joint replacement operation using postoperative CT of the patient in a three-dimensional environment, and measure the same, and the second application scenario is based on prosthesis placement planned before operation, and also obtains femur and tibia models of the patient by performing inverse processing on postoperative CT data, and match the postoperative bone models with preoperative bone models in a three-dimensional design environment by an algorithm, and establish a system for measuring the postoperative angle of the knee joint replacement operation using postoperative CT of the patient in a three-dimensional environment, and measure the same.

Optionally, the method for determining the postoperative angle of knee arthroplasty in the first application scenario may include the following parts: three-dimensional reverse reconstruction is carried out on the femur, tibia, femur condyle and tibia plateau prosthesis of a patient, a coordinate system and a reference plane are established in a three-dimensional space, and the external deviation angle between the femur condyle and tibia plateau prosthesis and a force line in the three-dimensional space is measured.

Optionally, the method comprises the step of. The method for determining the postoperative angle of knee arthroplasty in the second application scenario may include the following parts: three-dimensional reverse reconstruction is carried out on the femur, tibia, femoral condyle and tibial plateau prosthesis of a patient, a postoperative bone model is matched with a preoperative bone model which is designed in three dimensions through an algorithm in a system, and the external deviation angle between the femoral condyle and tibial plateau prosthesis and a force line in three dimensions is measured.

Optionally, the method for determining the postoperative angle of knee arthroplasty in the first application scenario may include the following steps:

step one:

s101, CT image examination data of a patient after operation are imported into a measurement system, a combination of proper data with a large number of CT slices and a thin layer thickness is needed to be selected, the CT fragment layer is prevented from being serious, femur and tibia anatomical feature points are prevented from being blurred, and reconstruction and segmentation effects are guaranteed.

S102, importing the CT data selected in the S101 into a system modeling environment, and automatically reconstructing the system to obtain a bone inverse three-dimensional model of the patient according to 226 Henry units to 3071 Henry units suggested by the threshold value of the bone density. However, as the metal femoral condyle and the tibial plateau prosthesis are implanted in the patient after operation, imaging of metal in CT can affect the bone density to be recognized by the system unstably, and the metal femoral condyle and the tibial plateau prosthesis are taken as the center to be dispersed in radial density, so that metal artifacts are formed. The threshold value of the metal density is far higher than 226 Henry units suitable for bones, at the moment, a bone model reversely reconstructed by using the 226 Henry units suggested by the threshold value as a lower limit value locally generates radial noise points and metal artifacts to influence and judge anatomical feature points of femur and tibia, the metal femoral condyle and tibial plateau prosthesis are buried by the noise points, the specific positions of the femoral condyle and tibial plateau prosthesis cannot be confirmed, and the alignment angle of the measurement prosthesis and a force line is limited.

S103, in order to solve the problem described in S102, the problem is disassembled into two parts. The first part carries out manual modification and processing on reverse fault data under 226 Henship units, and aims at regenerating three anatomical feature points which can be identified as the inner epicondyle, the outer epicondyle and the rotation center of the femoral head for the system, and a femur three-dimensional model a and a tibia three-dimensional model b are obtained after reverse processing; the second part increases the lower threshold (which is increased by 226 henk units) in order to enable the system to regenerate the three-dimensional model of the femoral condyle prosthesis and the tibial plateau prosthesis, the three-dimensional model c of the metal femoral condyle prosthesis is obtained after reverse processing, and the three-dimensional model d of the metal tibial plateau prosthesis is obtained after reverse processing.

S104, measuring the alignment angle of the implanted prosthesis and the force line, firstly determining the vertical axis of the femoral condyle prosthesis, selecting three points with clear visualization on the osteotomy surface of the three-dimensional model c of the femoral condyle prosthesis, establishing a femoral condyle prosthesis osteotomy plane e through the three points, and establishing a normal vector axis g on the plane e, wherein the axis g is the vertical axis of the femoral condyle prosthesis. The method in the system is to select three points with clear visualization on the osteotomy surface of the three-dimensional model d of the tibial plateau prosthesis, establish a tibial plateau prosthesis osteotomy plane f through the three points, and establish a normal vector axis h on the plane f, wherein the axis h is the vertical axis of the tibial plateau prosthesis.

S105, in a system working environment, establishing a femur three-dimensional coordinate system according to anatomical feature points of a femur three-dimensional model a, and establishing a coronal plane I, a cross section II and a sagittal plane III; according to the anatomical feature points of the three-dimensional tibia model b, a three-dimensional tibia coordinate system is established, and a coronal plane IV, a transverse plane V and a sagittal plane VI are established, wherein the specific modes are as follows:

s106, firstly, the model is imported into a measurement system, the medial epicondylar point and the lateral epicondylar point are selected at the point of the femur three-dimensional model a, the ball model is fitted with the femoral head of the femur three-dimensional model a, and the center of the ball is the center of the femoral head.

S107, after two points of the medial epicondyle and the lateral epicondyle are found, establishing a midpoint of a connecting line of the two points as an origin of a three-dimensional coordinate system of the femur space, connecting the midpoint of the connecting line of the two points of the medial epicondyle and the lateral epicondyle with the center of the femur to obtain a femur force line l1, and passing through the origin of the femur coordinate system to serve as a plane taking the femur force line l1 as a normal vector, thereby establishing a cross section II.

S108, establishing a plane according to the rotation center of the femoral head, the medial epicondylar point and the lateral epicondylar point, thereby establishing a coronal plane III.

S109, a new plane is obtained by rotating the coronal plane by 90 degrees by taking the femur power line l1 as an axis, thereby establishing a sagittal plane I.

S110, selecting a tibia far-end joint surface inner side point and a tibia far-end joint surface outer side point from the tibia three-dimensional model b, and selecting a tibia intercondylar eminence front 1/3 point as an origin of a tibia space coordinate system.

S111, establishing a connecting line of the medial point of the distal tibial articular surface and the lateral point of the distal tibial articular surface, determining the midpoint of the connecting line and connecting with a coordinate origin to obtain a tibial force line l2, and taking the tibial force line l2 as a plane of normal vector through the origin, thereby establishing a cross section V.

S112, clicking the most prominent point on the tibial tuberosity of the tibial model b, clicking the posterior cruciate ligament dead point on the tibial model b, connecting two points as an AP axis, performing projection of the AP axis on a cross section V, and performing plane projection by taking a normal vector through the origin of a tibial coordinate system, thereby establishing a coronal plane IV.

S113, rotating the coronal plane serving as a reference plane by 90 degrees by taking the tibia power line l2 as an axis to obtain a new plane, thereby establishing a sagittal plane VI.

Step three:

s114, measuring the angles of the implanted femoral condyle prosthesis and the implanted tibial plateau prosthesis acetabular cup, firstly determining the vertical axis of each prosthesis, then projecting the vertical axis onto a femoral and tibial three-dimensional coordinate system, and measuring the angles with the force lines. In step one, the vertical axis g of the femoral condyle prosthesis has been determined, and the vertical axis h of the tibial plateau prosthesis has been determined.

S115, taking a projection g1 of a vertical axis g of the femoral condyle prosthesis on a coronal plane I, wherein the angle between the projection g1 and a femoral force line l1 is the difference of the varus angle between the femoral condyle prosthesis implanted after operation and the femoral force line; the projection h1 of the vertical axis h of the tibial plateau prosthesis on the coronal plane IV is taken, and the angle between the projection h1 and the tibial force line l2 is the difference of the varus angle between the post-operation implanted tibial plateau prosthesis and the tibial force line.

S116, taking a projection g2 of a vertical axis g of the femoral condyle prosthesis on a sagittal plane III, wherein the angle between the projection g2 and a femoral force line l1 is the difference of the front-back inclination angle of the femoral condyle prosthesis implanted after operation and the femoral force line; the projection h2 of the vertical axis h of the tibial plateau prosthesis on the sagittal plane VI is taken, and the angle between the projection h2 and the tibial force line l2 is the difference of the front-back inclination angle between the tibial plateau prosthesis implanted after operation and the tibial force line.

step one:

S103, in order to solve the problem described in S102, the problem is disassembled into two parts. The first part carries out manual modification and processing on reverse fault data under 226 Henship units, and aims at regenerating three anatomical feature points which can identify the inner epicondyle, the outer epicondyle and the rotation center of the femoral head for the system, and a femur three-dimensional model a and a tibia three-dimensional model b are obtained after reverse processing; the second part increases the lower threshold (which is increased by 226 henk units) in order to enable the system to regenerate the three-dimensional model of the femoral condyle prosthesis and the tibial plateau prosthesis, the three-dimensional model c of the metal femoral condyle prosthesis is obtained after reverse processing, and the three-dimensional model d of the metal tibial plateau prosthesis is obtained after reverse processing.

Step two:

s117, importing a preoperative planning file into the system, wherein the preoperative planning file comprises a preoperative reconstructed bone model, a preoperative planned prosthesis model and a previously defined relative position of the preoperative planning model and the preoperative planned prosthesis model. Because the position of the CT shot before and after the operation cannot be guaranteed to be completely consistent, the work needed to be done at first is to accurately match the three-dimensional bone model after the operation reconstruction with the three-dimensional bone model planned before the operation.

S118, identifying significant anatomical feature points, feature lines, edges and significant morphological regions at the same positions of two bones through the system, positioning and matching the three-dimensional bone model after operation on the three-dimensional bone model before operation until the three-dimensional bone model is completely overlapped, positioning the prosthesis model after operation to the correct position along with the three-dimensional bone model after operation, and measuring the offset angle in a coordinate system planned before operation.

S119, selecting three points with clear visualization on the osteotomy surface of the three-dimensional model of the pre-operation planning femoral condyle prosthesis, establishing an osteotomy plane of the pre-operation planning femoral condyle prosthesis through the three points, and establishing a normal vector axis i on the plane, wherein the axis i is the vertical axis of the pre-operation planning femoral condyle prosthesis. The method in the system is to select three points with clear visualization on the osteotomy surface of the three-dimensional model of the preoperative planning tibial plateau prosthesis, establish an osteotomy plane of the preoperative planning tibial plateau prosthesis through the three points, and establish a normal vector axis j on the plane, wherein the axis j is the vertical axis of the preoperative planning tibial plateau prosthesis.

S120, respectively making a projection g1 and a projection i1 of an axis g and an axis i on a planned femoral coronal plane before operation, wherein the angle between the projection g1 and the projection i1 is the difference of the varus angle of the implanted femoral condyle prosthesis after operation and the planned femoral condyle prosthesis before operation; and respectively making a projection h1 and a projection j1 of the axis h and the axis j on the preoperative planning tibia coronal plane, wherein the angles of the projection h1 and the projection j1 are the difference of the varus angle of the postoperative implanted tibia plateau prosthesis and the preoperative planning tibia plateau prosthesis.

S121, respectively making a projection g2 and a projection i2 of an axis g and an axis i on a pre-operation planning femur sagittal plane, wherein the angle between the projection g2 and the projection i2 is the difference between the front and back inclination angles of the post-operation implanted femur condyle prosthesis and the pre-operation planning femur condyle prosthesis implantation; and respectively making projection h2 and projection j2 of the axis h and the axis j on the preoperative planning tibia sagittal plane, wherein the angles of the projection h2 and the projection j2 are the difference of the front-back inclination angles of the postoperative implanted tibia plateau prosthesis and the preoperative planning tibia plateau prosthesis.

In this embodiment, the angle between the projection of the normal vector axis of the post-operative femoral condyle prosthesis osteotomy plane on the coronal plane of the pre-operative femoral three-dimensional model and the projection of the normal vector axis of the pre-operative femoral condyle prosthesis osteotomy plane on the coronal plane of the pre-operative femoral three-dimensional model, the projection of the normal vector axis of the post-operative tibial plateau prosthesis osteotomy plane on the coronal plane of the pre-operative tibial three-dimensional model and the projection of the normal vector axis of the pre-operative tibial plateau prosthesis osteotomy plane on the coronal plane of the pre-operative tibial three-dimensional model, the projection of the normal vector axis of the post-operative femoral condyle prosthesis osteotomy plane on the sagittal plane of the pre-operative femoral three-dimensional model, and the projection of the normal vector axis of the post-operative tibial plateau prosthesis osteotomy plane on the sagittal plane of the pre-operative tibial three-dimensional model are accurately aligned with the angle of the prosthetic prosthesis, so that the accurate evaluation of the angle of the prosthesis can be achieved.

Example 3

According to the embodiment of the invention, a device for determining the postoperative angle of the object is also provided. The apparatus for determining a post-operation angle of the subject may be used to perform the method for determining a post-operation angle of the subject in embodiment 1.

Fig. 2 is a schematic view of a device for determining a post-operative angle of a subject according to an embodiment of the present invention. As shown in fig. 2, a device 200 for determining a post-operative angle of a subject may include: a first acquisition unit 201, a first determination unit 202, a second determination unit 203, and a third determination unit 204.

The first acquisition unit 201 is configured to acquire postoperative medical image data of a target object, where the target object is a patient subjected to knee joint replacement.

A first determining unit 202, configured to determine, based on the post-operation medical image data, a target model of a target object and a target prosthesis model of the target object, where the target model is used to represent a three-dimensional model of a knee joint of the target object, including a femoral three-dimensional model and a tibial three-dimensional model, and the target prosthesis model is used to represent a three-dimensional model obtained by performing inverse processing on a femoral condyle prosthesis and a tibial plateau prosthesis of the target object.

A second determining unit 203 is configured to determine a first vertical axis of the target object based on the three-dimensional model of the metal femoral condyle prosthesis in the target prosthesis model, and determine a second vertical axis of the target object based on the three-dimensional model of the metal tibial plateau prosthesis in the target prosthesis model.

The third determining unit 204 is configured to determine a first varus angle and a first valgus angle of the target object and a first anteroposterior inclination angle based on the first vertical axis and the three-dimensional femur model in the target model, and determine a second valgus angle and a second anteroposterior inclination angle of the target object based on the second vertical axis and the three-dimensional tibia model in the target model.

Alternatively, the second determining unit 203 may include: the first acquisition module is used for acquiring at least one target characteristic point of the three-dimensional model of the metal femoral condyle prosthesis; the first determining module is used for determining a first osteotomy plane of the target object based on at least one target characteristic point; a second determination module for determining a first normal vector axis of the first osteotomy plane on the first osteotomy plane, and determining the first normal vector axis as a first vertical axis.

Alternatively, the second determining unit 203 may include: the second acquisition module is used for acquiring at least one target characteristic point of the three-dimensional model of the metal tibial plateau prosthesis; a third determining module, configured to determine a second osteotomy plane of the target object based on at least one target feature point; and a fourth determination module for determining a second normal vector axis of the second osteotomy plane on the second osteotomy plane, and determining the second normal vector axis as a second vertical axis.

Alternatively, the third determining unit 204 may include: and a fifth determination module for determining a first varus angle and valgus angle based on the first vertical axis and a first coronal plane of the three-dimensional model of the femur and determining a first anteroposterior tilt angle based on the first vertical axis and a first sagittal plane of the three-dimensional model of the femur.

Optionally, the fifth determining module may include: the first determining submodule is used for determining a femoral head rotation center, a medial epicondylar point and a lateral epicondylar point of a target object based on postoperative medical image data; a first creation sub-module for creating a first coronal plane based on the femoral head rotation center, the medial epicondylar point, and the lateral epicondylar point; the first rotating sub-module is used for rotating the first coronal plane around a femoral force line of a target object to obtain a first sagittal plane, wherein the femoral force line is obtained by connecting a midpoint of a connecting line of a medial epicondylar point and a lateral epicondylar point with a rotation center of a femoral head.

Alternatively, the third determining unit 204 may include: a sixth determination module is configured to determine a second varus angle based on the second vertical axis and a second coronal plane of the tibial three-dimensional model, and to determine a second anteroposterior tilt angle based on the second vertical axis and a second sagittal plane of the tibial three-dimensional model.

Optionally, the sixth determining module may include: the second determining submodule is used for determining a tibia tuberosity point and a posterior cruciate ligament dead point of the target object based on postoperative medical image data; the second establishing submodule is used for establishing a second coronal plane based on the tibial tuberosity point and the posterior cruciate ligament dead center; and the second rotating sub-module is used for rotating the second coronal plane around the tibia force line of the target object to obtain a second sagittal plane, wherein the tibia force line is obtained by connecting the midpoint of the connecting line of the medial point of the tibia far-end joint surface of the target object and the lateral point of the tibia far-end joint surface with the coordinate origin of the tibia three-dimensional model.

Optionally, the apparatus 200 for determining a post-operative angle of a subject may include: the second acquisition unit is used for acquiring preoperative planning data of the target object; a fourth determining unit configured to determine a pre-operative prosthetic model of the target object based on the pre-operative planning data, wherein the pre-operative prosthetic model includes a pre-operative planning femoral condyle prosthetic three-dimensional model and a pre-operative planning tibial plateau prosthetic three-dimensional model; a fifth determining unit, configured to determine a third osteotomy plane of the target object based on at least one target feature point of the three-dimensional model of the pre-operative planning femoral condyle prosthesis, and determine a fourth osteotomy plane of the target object based on at least one target feature point of the three-dimensional model of the pre-operative planning tibial plateau prosthesis; a sixth determining unit configured to determine a third normal vector axis of the third osteotomy plane and determine the third normal vector axis as a third vertical axis on the third osteotomy plane and determine a fourth normal vector axis of the fourth osteotomy plane and determine the fourth normal vector axis as a fourth vertical axis on the fourth osteotomy plane; a seventh determining unit configured to determine a third inside-out angle and a third front-rear tilt angle based on the first vertical axis and the third vertical axis, and determine a fourth inside-out angle and a fourth front-rear tilt angle based on the second vertical axis and the fourth vertical axis.

In this embodiment, a first acquisition unit is configured to acquire post-operative medical image data of a target object, where the target object is a patient subjected to knee joint replacement; a first determining unit configured to determine, based on the post-operation medical image data, a target model of a target object and a target prosthesis model of the target object, wherein the target model is configured to represent a three-dimensional model of a knee joint of the target object, including a femur three-dimensional model and a tibia three-dimensional model, and the target prosthesis model is configured to represent a three-dimensional model obtained by performing inverse processing on a femoral condyle prosthesis and a tibial plateau prosthesis of the target object; a second determining unit, configured to determine a first vertical axis of the target object based on the three-dimensional model of the metal femoral condyle prosthesis in the target prosthesis model, and determine a second vertical axis of the target object based on the three-dimensional model of the metal tibial plateau prosthesis in the target prosthesis model; the third determining unit is used for determining a first internal and external turning angle and a first front and back inclination angle of the target object based on the first vertical axis and a femur three-dimensional model in the target model, and determining a second internal and external turning angle and a second front and back inclination angle of the target object based on the second vertical axis and a tibia three-dimensional model in the target model, so that the technical problem that the placement accuracy of the postoperative prosthesis and the alignment angle of the postoperative prosthesis and the force line are difficult to accurately evaluate is solved, and the technical effect that the placement accuracy of the postoperative prosthesis and the alignment angle of the postoperative prosthesis and the force line can be accurately evaluated is achieved.

Example 4

According to an embodiment of the present application, there is also provided a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein the apparatus in which the computer-readable storage medium is located is controlled to execute the method of determining the post-operative angle of the object in embodiment 1 when the program is run.

Example 5

According to an embodiment of the application, a processor is also provided. The processor is configured to run a program, wherein the program, when executed by the processor, performs the method of determining a post-operative angle of the subject in embodiment 1.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims

1. A method for determining a post-operative angle of a subject, comprising:

acquiring postoperative medical image data of a target object, wherein the target object is a patient subjected to knee joint replacement;

determining a target model of the target object and a target prosthesis model of the target object based on the postoperative medical image data, wherein the target model is used for representing a three-dimensional model of a knee joint of the target object, and comprises a femur three-dimensional model and a tibia three-dimensional model, and the target prosthesis model is used for representing a three-dimensional model obtained by reversely processing a femur condyle prosthesis and a tibia platform prosthesis of the target object;

determining a first vertical axis of the target object based on a metal femoral condyle prosthesis three-dimensional model in the target prosthesis model, and determining a second vertical axis of the target object based on a metal tibial plateau prosthesis three-dimensional model in the target prosthesis model;

A first varus angle and a first valgus angle of the target object and a first anterior-posterior angle are determined based on the first vertical axis and a femoral three-dimensional model in the target model, and a second valgus angle and a second anterior-posterior angle of the target object are determined based on the second vertical axis and a tibial three-dimensional model in the target model.

2. The method of claim 1, wherein determining the first vertical axis of the target object based on the three-dimensional model of the metal femoral condyle prosthesis in the target prosthesis model comprises:

acquiring at least one target characteristic point of the three-dimensional model of the metal femoral condyle prosthesis;

determining a first osteotomy plane of the target object based on the at least one target feature point;

a first normal vector axis of the first osteotomy plane is determined on the first osteotomy plane, and the first normal vector axis is determined as a first vertical axis.

3. The method of claim 1, wherein determining the second vertical axis of the target object based on the three-dimensional model of the metal tibial plateau prosthesis in the target prosthesis model comprises:

acquiring at least one target characteristic point of the three-dimensional model of the metal tibial plateau prosthesis;

Determining a second osteotomy plane of the target object based on the at least one target feature point;

a second normal vector axis of the second osteotomy plane is determined on the second osteotomy plane, and the second normal vector axis is determined to be a second vertical axis.

4. The method of claim 1, wherein determining a first varus angle and a first valgus angle of the target object based on the first vertical axis and a femoral three-dimensional model in the target model comprises:

the first varus-valgus angle is determined based on the first vertical axis and a first coronal plane of the femoral three-dimensional model, and the first anterior-posterior tilt angle is determined based on the first vertical axis and a first sagittal plane of the femoral three-dimensional model.

5. The method of claim 1, wherein determining the first varus angle based on the first vertical axis and a first coronal plane of the three-dimensional model of the femur, and determining the first anteversion angle based on the first vertical axis and a first sagittal plane of the three-dimensional model of the femur, comprises:

determining a femoral head rotation center, a medial epicondylar point and a lateral epicondylar point of the target object based on the postoperative medical image data;

Establishing the first coronal plane based on the femoral head center of rotation, the medial epicondylar point, and the lateral epicondylar point;

and rotating the first coronal plane around a femoral force line of the target object to obtain the first sagittal plane, wherein the femoral force line is obtained by connecting a midpoint of a connecting line of the medial epicondylar point and the lateral epicondylar point with the rotation center of the femoral head.

6. The method of claim 1, wherein determining a second varus angle and a second valgus angle of the target object based on the second vertical axis and a tibial three-dimensional model in the target model comprises:

the second varus-valgus angle is determined based on the second vertical axis and a second coronal plane of the tibial three-dimensional model, and the second anterior-posterior tilt angle is determined based on the second vertical axis and a second sagittal plane of the tibial three-dimensional model.

7. The method of claim 5, wherein determining the second varus angle based on the second vertical axis and a second coronal plane of the tibial three-dimensional model and determining the second anterior-posterior tilt angle based on the second vertical axis and a second sagittal plane of the tibial three-dimensional model comprises:

Determining a tibial tuberosity point and a posterior cruciate ligament dead point of the target object based on the post-operative medical image data;

establishing the second coronal plane based on the tibial plateau and the posterior cruciate ligament stop;

and rotating the second coronal plane around a tibia force line of the target object to obtain the second sagittal plane, wherein the tibia force line is obtained by connecting a midpoint of a connecting line between a tibia far-end joint surface medial point and a tibia far-end joint surface lateral point of the target object and a coordinate origin of the tibia three-dimensional model.

8. The method according to claim 1, wherein the method further comprises:

acquiring preoperative planning data of the target object;

determining a pre-operative prosthetic model of the target object based on the pre-operative planning data, wherein the pre-operative prosthetic model comprises a pre-operative planning femoral condyle prosthetic three-dimensional model and a pre-operative planning tibial plateau prosthetic three-dimensional model;

determining a third osteotomy plane of the target object based on at least one target feature point of the pre-operative planning femoral condyle prosthesis three-dimensional model, and determining a fourth osteotomy plane of the target object based on at least one target feature point of the pre-operative planning tibial plateau prosthesis three-dimensional model;

Determining a third normal vector axis of the third osteotomy plane on the third osteotomy plane, and determining the third normal vector axis as a third vertical axis, and determining a fourth normal vector axis of the fourth osteotomy plane on the fourth osteotomy plane, and determining the fourth normal vector axis as a fourth vertical axis;

the first inside-out corner and the first fore-aft rake angle are determined based on the first vertical axis and the third vertical axis, and the second inside-out corner and the second fore-aft rake angle are determined based on the second vertical axis and the fourth vertical axis.

9. A device for determining a post-operative angle of a subject, comprising:

the first acquisition unit is used for acquiring postoperative medical image data of a target object, wherein the target object is a patient subjected to knee joint replacement;

a first determining unit configured to determine, based on the post-operation medical image data, a target model of the target object and a target prosthesis model of the target object, wherein the target model is configured to represent a three-dimensional model of a knee joint of the target object, including a femur three-dimensional model and a tibia three-dimensional model, and the target prosthesis model is configured to represent a three-dimensional model obtained by performing inverse processing on a femoral condyle prosthesis and a tibial plateau prosthesis of the target object;

A second determining unit, configured to determine a first vertical axis of the target object based on a metal femoral condyle prosthesis three-dimensional model in the target prosthesis model, and determine a second vertical axis of the target object based on a metal tibial plateau prosthesis three-dimensional model in the target prosthesis model;

and a third determining unit, configured to determine a first varus angle and a first valgus angle of the target object based on the first vertical axis and a three-dimensional model of femur in the target model, and determine a second valgus angle and a second valgus angle of the target object based on the second vertical axis and a three-dimensional model of tibia in the target model.

10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer readable storage medium is located to perform the method of determining the postoperative angle of the object according to any one of claims 1 to 8.