CN117562719A - Mortar cup angle calculation method and device, electronic equipment and storage medium - Google Patents
Mortar cup angle calculation method and device, electronic equipment and storage medium Download PDFInfo
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- 210000000988 bone and bone Anatomy 0.000 claims abstract description 17
- 238000004088 simulation Methods 0.000 claims abstract description 13
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- 230000006399 behavior Effects 0.000 claims description 19
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- 238000004891 communication Methods 0.000 claims description 17
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- 210000000689 upper leg Anatomy 0.000 claims description 8
- 230000009194 climbing Effects 0.000 claims description 5
- 210000004394 hip joint Anatomy 0.000 description 6
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- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 210000001981 hip bone Anatomy 0.000 description 1
- 238000011540 hip replacement Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools for implanting artificial joints
- A61F2/4603—Special tools for implanting artificial joints for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4609—Special tools for implanting artificial joints for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools for implanting artificial joints
- A61F2/4603—Special tools for implanting artificial joints for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4607—Special tools for implanting artificial joints for insertion or extraction of endoprosthetic joints or of accessories thereof of hip femoral endoprostheses
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools for implanting artificial joints
- A61F2/4657—Measuring instruments used for implanting artificial joints
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- A—HUMAN NECESSITIES
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- A61B2034/101—Computer-aided simulation of surgical operations
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- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools for implanting artificial joints
- A61F2002/4632—Special tools for implanting artificial joints using computer-controlled surgery, e.g. robotic surgery
- A61F2002/4633—Special tools for implanting artificial joints using computer-controlled surgery, e.g. robotic surgery for selection of endoprosthetic joints or for pre-operative planning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools for implanting artificial joints
- A61F2/4657—Measuring instruments used for implanting artificial joints
- A61F2002/4668—Measuring instruments used for implanting artificial joints for measuring angles
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Abstract
According to the method, the device, the electronic equipment and the storage medium for calculating the angles of the cups, the angles of the cups which are not collided and correspond to each other can be calculated through a preset non-collision algorithm according to the parameters of the cups, the parameters of the prosthesis and the initial planning position which are obtained in advance, and a first cup angle set is obtained; according to the pre-acquired cup parameters, prosthesis parameters and initial planning positions, calculating corresponding cup angles of human bones, which are not collided, through motion simulation, and obtaining a second cup angle set; according to the pre-acquired cup parameters, prosthesis parameters and initial planning positions, calculating cup angles corresponding to the cup without dislocation through a preset non-dislocation algorithm, and obtaining a third cup angle set; calculating a corresponding cup angle through a preset empirical formula and a preset redundancy value to obtain a fourth cup angle set; and calculating the intersection to obtain a target cup angle set. Therefore, the calculation accuracy of the cup angle can be improved through the method of the embodiment of the application.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a cup angle calculating method, a cup angle calculating device, electronic equipment and a storage medium.
Background
Currently, with the continued development of medical technology, healthcare workers can provide patients with more cure protocols. For example, the artificial prosthesis can be used for treating the ball head necrosis, the femur neck fracture, the hipbone arthritis caused by various reasons, malignant tumors and the like through the hip joint replacement, and the purposes of cutting off the focus, relieving pain and recovering the normal functions of the hip joint of a patient are achieved through replacing the diseased hip joint with the artificial prosthesis.
Referring to fig. 1, the current artificial hip joint mainly comprises four components of an acetabulum (cup), a liner (liner), a femoral head (ball head) and a femoral stem, wherein the cup is mounted on a pelvic bone and the ball head is mounted on a leg bone. When performing hip replacement surgery, the installation position of the cup needs to be determined, if the installation position of the cup is wrong, the edge of the cup and the femoral neck collide after the surgery, so that dislocation is caused. However, current determination of the cup angle is often based on the experience of the surgeon, resulting in less accurate determination of the cup angle.
Disclosure of Invention
The embodiment of the invention aims to provide a method and a device for calculating a cup angle, electronic equipment and a storage medium, so as to improve the determination accuracy of the cup angle. The specific technical scheme is as follows:
in a first aspect of an embodiment of the present application, a method for calculating an angle of a cup is provided, including:
according to the pre-acquired cup parameters, prosthesis parameters and initial planning positions, calculating cup angles corresponding to the cups which are not collided by the cups through a preset non-collision algorithm, and obtaining a first cup angle set;
according to the pre-acquired cup parameters, prosthesis parameters and initial planning positions, calculating corresponding cup angles of human bones, which are not collided, through motion simulation, and obtaining a second cup angle set;
according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, calculating cup angles corresponding to the cup without dislocation through a preset non-dislocation algorithm, and obtaining a third cup angle set;
calculating a corresponding cup angle through a preset empirical formula and a preset redundancy value to obtain a fourth cup angle set;
and calculating an intersection of the first cup angle set, the second cup angle set, the third cup angle set and the fourth cup angle set to obtain a target cup angle set.
In one possible implementation manner, the calculating, according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, the cup non-collision corresponding cup angles through a preset non-collision algorithm, to obtain a first cup angle set includes:
establishing geometric models corresponding to the cup, the ball head and the femoral neck according to a plurality of preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning positions which are acquired in advance;
and aiming at a plurality of preset cup angles, judging whether the ball head collides in a preset movable range according to the geometric model, and determining one or more cup angles corresponding to the collision-free cup angles to obtain the first cup angle set.
In one possible implementation manner, the calculating, through motion simulation, a cup angle corresponding to a bone of a human body without collision according to the cup parameter, the prosthesis parameter and the initial planning position obtained in advance, to obtain a second cup angle set includes:
creating a human skeleton model aiming at a plurality of preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning positions which are acquired in advance;
receiving one or more human body behavior periods selected by a user, wherein the one or more human body behavior periods comprise one or more of a standing-to-sitting posture, a walking posture, a bending posture, a squatting-to-standing posture, a bending posture, a turning posture, a stair climbing posture and a crossing leg posture;
and simulating the one or more human behavior periods according to the human femur model, judging whether collision occurs, determining one or more corresponding cup angles which do not collide, and obtaining the second cup angle set.
In one possible embodiment, the creating a human bone model for a plurality of preset cup angles according to the pre-acquired cup parameters, liner parameters, ball head parameters, femoral stem parameters, and the initial planning position includes:
and creating the human skeleton model according to the pre-acquired cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning positions, a plurality of preset cup angles and a pre-created human model.
In one possible implementation manner, the calculating, according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, a cup angle corresponding to the cup non-dislocation through a preset non-dislocation algorithm, to obtain a third cup angle set includes:
according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, respectively calculating characteristic values corresponding to standing postures and sitting postures corresponding to a plurality of preset cup angles;
and determining one or more cup angles meeting preset requirements according to the corresponding characteristic value and the preset range of each cup angle to obtain the third cup angle set.
In one possible embodiment, the initial planned position comprises an initial cup angle;
the method further comprises the steps of after calculating a cup angle corresponding to the cup without dislocation through a preset dislocation-free algorithm according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, obtaining a third cup angle set:
judging and calculating whether the first cup angle set, the second cup angle set and the third cup angle set are intersected or not, and judging that the initial cup angle is one group of the target cup angle set if the intersection exists.
In a second aspect of embodiments of the present application, there is provided a device for calculating an angle of a cup, comprising:
the first set calculation module is used for calculating a cup angle corresponding to the cup without collision through a preset non-collision algorithm according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, so as to obtain a first cup angle set;
the second set calculation module is used for calculating a corresponding cup angle which is not impacted by human bones through motion simulation according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, so as to obtain a second cup angle set;
the third set calculation module is used for calculating a cup angle corresponding to the cup without dislocation through a preset non-dislocation algorithm according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, so as to obtain a third cup angle set;
the fourth set calculation module is used for calculating the corresponding cup angles through a preset empirical formula and a preset redundancy value to obtain a fourth cup angle set;
the target angle calculation module is used for calculating the intersection of the first cup angle set, the second cup angle set, the third cup angle set and the fourth cup angle set to obtain a target cup angle set.
In one possible implementation manner, the first set computing module is specifically configured to create geometric models corresponding to a cup, a ball head and a femoral neck for a plurality of preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning position that are acquired in advance; and aiming at a plurality of preset cup angles, judging whether the ball head collides in a preset movable range according to the geometric model, and determining one or more cup angles corresponding to the collision-free cup angles to obtain the first cup angle set.
In one possible implementation manner, the second set computing module is specifically configured to create a human skeleton model for a plurality of preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning position that are acquired in advance; receiving one or more human body behavior periods selected by a user, wherein the one or more human body behavior periods comprise one or more of a standing-to-sitting posture, a walking posture, a bending posture, a squatting-to-standing posture, a bending posture, a turning posture, a stair climbing posture and a crossing leg posture; and simulating the one or more human behavior periods according to the human femur model, judging whether collision occurs, determining one or more corresponding cup angles which do not collide, and obtaining the second cup angle set.
In one possible implementation manner, the second set calculation module is specifically configured to create the human skeleton model according to the cup parameter, the liner parameter, the ball head parameter, the femoral stem parameter, the initial planning position, the various preset cup angles, and the pre-created human model.
In a possible implementation manner, the third set calculating module is specifically configured to calculate, according to the cup parameter, the prosthesis parameter and the initial planning position that are acquired in advance, feature values corresponding to standing postures and sitting postures corresponding to a plurality of preset cup angles respectively; and determining one or more cup angles meeting preset requirements according to the corresponding characteristic value and the preset range of each cup angle to obtain the third cup angle set.
In one possible embodiment, the initial planned position comprises an initial cup angle;
the apparatus further comprises: the initial angle determining module is used for judging and calculating whether the first cup angle set, the second cup angle set and the third cup angle set have an intersection or not, and if yes, the initial cup angle is judged to be one group of the target cup angle set.
The embodiment of the invention also provides electronic equipment, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface, and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing any of the above calculation methods of the cup angle when executing the program stored in the memory.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and the computer program realizes the calculation method of the cup angle when being executed by a processor.
The embodiment of the invention also provides a computer program product containing instructions, which when run on a computer, cause the computer to execute the method for calculating the cup angle.
The embodiment of the invention has the beneficial effects that:
according to the method, the device, the electronic equipment and the storage medium for calculating the angles of the cups, the angles of the cups which are not collided and correspond to each other can be calculated through a preset non-collision algorithm according to the parameters of the cups, the parameters of the prosthesis and the initial planning position which are obtained in advance, and a first cup angle set is obtained; according to the pre-acquired cup parameters, prosthesis parameters and initial planning positions, calculating corresponding cup angles of human bones, which are not collided, through motion simulation, and obtaining a second cup angle set; according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, calculating cup angles corresponding to the cup without dislocation through a preset non-dislocation algorithm, and obtaining a third cup angle set; calculating a corresponding cup angle through a preset empirical formula and a preset redundancy value to obtain a fourth cup angle set; and calculating an intersection of the first cup angle set, the second cup angle set, the third cup angle set and the fourth cup angle set to obtain a target cup angle set. Therefore, by the method, not only can the cup angle be calculated through a plurality of preset algorithms, but also the corresponding intersection can be calculated to obtain the target cup angle set, so that the calculation accuracy of the cup angle is improved.
Of course, it is not necessary for any one product or method of practicing the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and other embodiments may be obtained according to these drawings to those skilled in the art.
FIG. 1 is a schematic view of a prior art hip joint;
fig. 2 is a schematic flow chart of a method for calculating a cup angle according to an embodiment of the present application;
fig. 3 is a schematic structural view of a hip joint according to an embodiment of the present disclosure;
FIG. 4 is a schematic flow chart of calculating a first set of cup angles according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart of calculating a second set of cup angles according to an embodiment of the present disclosure;
FIG. 6 is a schematic flow chart of calculating a third set of cup angles according to an embodiment of the present disclosure;
FIG. 7 is a schematic view of a device for calculating cup angle according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, those of ordinary skill in the art will be able to devise all other embodiments that are obtained based on this application and are within the scope of the present invention.
In order to solve the problem of low accuracy of the angle of the cup determined only through experience in the prior art, in a first aspect of the embodiments of the present application, a method for calculating the angle of the cup is provided, see fig. 2, including:
step S21, calculating a cup angle corresponding to a cup which is not collided by a preset non-collision algorithm according to a cup parameter, a prosthesis parameter and an initial planning position which are acquired in advance, so as to obtain a first cup angle set;
step S22, calculating a corresponding cup angle which is not impacted by human bones through motion simulation according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, so as to obtain a second cup angle set;
step S23, calculating a cup angle corresponding to the cup without dislocation through a preset non-dislocation algorithm according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, so as to obtain a third cup angle set;
step S24, calculating a corresponding cup angle through a preset empirical formula and a preset redundancy value to obtain a fourth cup angle set;
step S25, calculating an intersection of the first cup angle set, the second cup angle set, the third cup angle set and the fourth cup angle set to obtain a target cup angle set.
Therefore, by the method, not only can the corresponding cup angles between the cup, the liner and the femoral stem not be impacted through a preset algorithm be met, but also the corresponding cup angles, which are not impacted by human bones, can be determined, the corresponding cup angles, which are not dislocated, and the cup angles, which are determined according to an empirical formula, can be determined, so that the corresponding intersection is calculated to obtain a target cup angle set, and the calculation accuracy of the cup angles is improved.
Corresponding to the step S21, according to the pre-obtained cup parameters, prosthesis parameters and initial planning positions, the cup angle corresponding to the cup not being impacted by the cup is calculated by the preset non-impact algorithm, and the prosthesis parameters such as the cup, the liner, the ball head, the femoral stem and the like and the initial planning positions, such as the length of the femoral head, the neck stem angle of the femoral stem and the like, can be obtained, and the cup angle corresponding to the cup, the liner and the femoral stem not being impacted by the cup is calculated. Referring to fig. 3, the ball head, i.e. the femoral head is installed inside the cup, and the femoral stem is located at the other end of the ball head, when the ball head drives the femoral stem to rotate around the cup, the femoral stem may collide with the cup or the liner, and through a preset non-collision algorithm, the corresponding cup angle between the cup, the liner and the femoral stem without collision can be satisfied. Among other things, cup angles in this application may include abduction angles and anteversion angles.
Corresponding to the step S22, according to the previously obtained cup parameters, prosthesis parameters and initial planning positions, the angles of the cup corresponding to the non-collision of the skeleton of the human body are calculated through motion simulation, so that various behavior periods, such as standing to sitting, walking, bending over to tie shoelaces, squatting to standing, bending over, turning over, going up and down stairs, crossing legs (raising two-leg), and the like, can be simulated. The skeleton model of the human body can be created according to the parameters of the prosthesis such as the cup, the liner, the ball head, the femoral stem and the like and the initial planning position, and then the relative positions among skeletons corresponding to different behavioral periods are simulated through the skeleton model of the human body, so that whether collision occurs or not is detected. Specifically, the lack of collision of human bones may include whether collision occurs between femur, acetabular bone, etc.
Corresponding to the step S23, according to the previously obtained cup parameters, the prosthesis parameters and the initial planning position, the cup angle corresponding to the cup non-dislocation is calculated by a preset non-dislocation algorithm, and the cup angle corresponding to the cup non-dislocation can be calculated by one or more preset non-dislocation algorithms in the prior art. The calculation of the angle of the cup is carried out by a non-dislocation method, so that the obtained cup can meet the requirement of non-dislocation.
Corresponding to the step S24, the corresponding cup angle is calculated by a preset empirical formula and a preset redundancy value, and may be calculated by an empirical formula in the prior art, for example, when the abduction angle and the anteversion angle of the cup are calculated, the abduction angle is 40±10° and the anteversion angle is 15±10° are calculated by the empirical formula.
Corresponding to the step S25, the intersection of the first cup angle set, the second cup angle set, the third cup angle set, and the fourth cup angle set is calculated, so that the target cup angle obtained by final calculation meets the requirements of different algorithms, thereby improving the safety and reliability of the finally calculated cup angle.
In a possible implementation manner, the step S21 calculates, according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, a cup angle corresponding to the cup not to collide with the cup through a preset non-collision algorithm, so as to obtain a first cup angle set, see fig. 4, including:
step S211, creating geometric models corresponding to the cup, the ball head and the femoral neck for a plurality of preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning positions which are acquired in advance;
step S212, for a plurality of preset cup angles, judging whether the ball head collides in a preset movable range according to the geometric model, and determining one or more cup angles corresponding to the collision-free cup angles to obtain the first cup angle set.
Specifically, according to the parameters of the prosthesis such as the cup, the liner, the ball head, the femoral stem and the like and the initial planning position, such as the length of the femoral head, the neck shaft angle of the femoral stem and the like, which are obtained in advance, a geometric model corresponding to the cup, the ball head and the femoral neck is created. When determining a plurality of preset cup angles, a range of possible values of the cup angles can be preset, so that a geometric model corresponding to the cup, the ball head and the femoral neck is created for each possible value in the range.
In one example, referring to FIG. 3, part A represents a ball head, part B represents a cup or liner, part C is a femoral neck, R1 is a ball head radius, and R2 is a femoral neck radius. Then it is calculated whether the cup collides with the femoral neck by:
the prosthesis rom (Range of motion), joint mobility, is calculated.
In one example, the calculation may be performed by the following formula:
wherein θ represents the angular range of motion of the femoral stem; a represents the cross section of the ball head; r is (r) head Representing the radius of the ball head; r is (r) neck Representing the femoral neck radius.
The human body motion is converted into rotation of the femoral neck under the cup coordinate system.
In one example, the human motion can be converted to rotation of the femoral neck in the cup coordinate system by the following formula.
Wherein R is femur2pelvis,n A rotation coefficient representing the femur coordinate system to the pelvic bone coordinate system; r is R pelvis2body A rotation coefficient representing a pelvic coordinate system to a body coordinate system; r is R leg2body,n A rotation coefficient representing a leg coordinate system to a body coordinate system; r is R femur2leg A rotation coefficient representing the femoral coordinate system to the body coordinate system; r is R X Representing a preset rotation matrix along the x-axis; r is R Y Representing a preset rotation matrix along the y-axis; r is R Z Representing a preset rotation matrix along the z-axis; r is R neck2cup,n,φincl,φant Representing the rotation coefficient from the femoral neck coordinate system to the cup coordinate system; r is R cup2pelvis,φincl,φant Representing the rotation coefficient from the cup coordinate system to the pelvic bone coordinate system; r is R neck2femur Representing the rotation coefficient from the femoral neck coordinate system to the femoral coordinate system; phi (phi) tilt Representing a preset rotation angle; phi (phi) incl Representing the rake angle; phi (phi) ant Represents an abduction angle; phi (phi) stemFlex Representing the neck angle of curvature; phi (phi) antetorsion Representing the twist angle; phi (phi) CCD Representing a preset angle; phi (phi) stemAdd Indicating the neck angle.
And calculating the included angle between the current femur neck and the central axis of the cup.
Wherein ρ is n,φincl,φant Representing characteristic angle, R 11 、R 12 、R 13 、R 21 、R 22 、R 23 、R 31 、R 32 、R 33 Is an element of a matrix.
Judging whether the current angle exceeds rom, and judging that collision occurs when the current angle exceeds rom.
Wherein d min (φ incl ,φ ant ) Representing the minimum of the rake and abduction angles calculated by the min dn function.
In a possible embodiment, the step S22 calculates, according to the cup parameters, the prosthesis parameters and the initial planning position obtained in advance, a cup angle corresponding to the bone of the human body that does not collide with each other through motion simulation, to obtain a second cup angle set, see fig. 5, including:
step S221, a human skeleton model is created for various preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning positions which are acquired in advance;
step S222, receiving one or more human body behavior periods selected by a user, wherein the one or more human body behavior periods comprise one or more of a standing-to-sitting posture, a walking posture, a bending posture, a squatting-to-standing posture, a bending posture, a turning posture, a stair climbing posture and a crossing leg posture;
step S223, simulating the one or more human body behavior periods according to the human body femur model, judging whether collision occurs, determining one or more cup angles corresponding to the collision, and obtaining the second cup angle set.
In one possible embodiment, the creating a human bone model for a plurality of preset cup angles according to the pre-acquired cup parameters, liner parameters, ball head parameters, femoral stem parameters, and the initial planning position includes: and creating the human skeleton model according to the pre-acquired cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning positions, a plurality of preset cup angles and a pre-created human model.
The method comprises the steps of establishing a human skeleton model according to the preset mortar cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning position, various preset mortar cup angles and a pre-established human model, and substituting various preset mortar cup angles into the human model according to the preset mortar cup parameters, liner parameters, ball head parameters, femoral stem parameters and other prosthesis parameters and the initial planning position, namely placing the prosthesis model on the human model, namely performing operation planning. In the application, the human skeleton model is generated by three-dimensional reconstruction of CT data, is personalized, and reflects skeleton knot characteristics of each patient. The method can receive one or more behavior periods selected by a user, and can comprise postures of standing to sit, walking, bending to tie shoelaces, squatting to stand, bending over, turning over, going up and down stairs, crossing legs (raising the two-leg), and the like, meanwhile, can also perform exercise evaluation, perform evaluation of daily behaviors and personalized behaviors, and perform personalized settings of straightening, bending, supination and convergence. In the actual use process, whether the preset various cup angles collide or not can be judged according to each gesture, in one example, the various cup angles can be preset, whether the corresponding one or the plurality of gestures collide or not is judged according to each cup angle, if so, the cup angles are discarded, and if not, the cup angles are reserved, so that a second cup angle set of the various cup angles is obtained.
In a possible implementation manner, the step S23 calculates, according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, a cup angle corresponding to the cup non-dislocation through a preset non-dislocation algorithm, so as to obtain a third cup angle set, see fig. 6, including:
step S231, respectively calculating characteristic values corresponding to standing postures and sitting postures of a plurality of preset cup angles according to the cup parameters, the prosthesis parameters and the initial planning positions which are acquired in advance;
step S232, determining one or more cup angles meeting preset requirements according to the corresponding characteristic values and the preset range of each cup angle, and obtaining the third cup angle set.
According to the preset parameters of the cup, the parameters of the prosthesis and the initial planning position, characteristic values corresponding to standing postures and sitting postures corresponding to various cup angles are calculated respectively, and AI angles of the standing positions and the sitting positions corresponding to the cup angles can be calculated respectively. For example, when the AI angle of the sitting position is in the range of 25 to 45, the AI angle of the sitting position is in the range of 41 to 63, and the sitting position is not dislocated.
Specifically, the calculation formula of the AI angle is as follows:
V 1 ＝(0,0,-1) T ；
V p ＝(0,1,1) T ；
wherein V1 and Vp represent different initial values, M1, M2, M3 represent different matrices PT represent the pelvic tilt angle, RA and RI represent RA and RI angles, d is a preset distance, and dot () and acos () represent different preset functions, respectively.
In one possible embodiment, the initial planned position comprises an initial cup angle; the method further comprises the steps of after calculating a cup angle corresponding to the cup without dislocation through a preset dislocation-free algorithm according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, obtaining a third cup angle set: judging and calculating whether the first cup angle set, the second cup angle set and the third cup angle set are intersected or not, and judging that the initial cup angle is one group of the target cup angle set if the intersection exists.
In a second aspect of the embodiments of the present application, there is provided a device for calculating an angle of a cup, see fig. 7, comprising:
the first set calculating module 701 is configured to calculate, according to a cup parameter, a prosthesis parameter and an initial planning position that are acquired in advance, a cup angle corresponding to a cup that is not collided by a cup through a preset non-collision algorithm, so as to obtain a first cup angle set;
the second set calculation module 702 is configured to calculate, according to the cup parameter, the prosthesis parameter and the initial planning position that are acquired in advance, a cup angle corresponding to a bone of a human body that does not collide with the cup through motion simulation, so as to obtain a second cup angle set;
a third set calculation module 703, configured to calculate a cup angle corresponding to a cup that is not dislocated according to the cup parameter, the prosthesis parameter, and the initial planning position that are acquired in advance, by using a preset non-dislocating algorithm, so as to obtain a third cup angle set;
the fourth set calculating module 704 is configured to calculate a corresponding cup angle according to a preset empirical formula and a preset redundancy value, so as to obtain a fourth cup angle set;
the target angle calculation module 705 is configured to calculate an intersection of the first cup angle set, the second cup angle set, the third cup angle set, and the fourth cup angle set, to obtain a target cup angle set.
In one possible implementation manner, the first set computing module is specifically configured to create geometric models corresponding to a cup, a ball head and a femoral neck for a plurality of preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning position that are acquired in advance; and aiming at a plurality of preset cup angles, judging whether the ball head collides in a preset movable range according to the geometric model, and determining one or more cup angles corresponding to the collision-free cup angles to obtain the first cup angle set.
In one possible implementation manner, the second set computing module is specifically configured to create a human skeleton model for a plurality of preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning position that are acquired in advance; receiving one or more human body behavior periods selected by a user, wherein the one or more human body behavior periods comprise one or more of a standing-to-sitting posture, a walking posture, a bending posture, a squatting-to-standing posture, a bending posture, a turning posture, a stair climbing posture and a crossing leg posture; and simulating the one or more human behavior periods according to the human femur model, judging whether collision occurs, determining one or more corresponding cup angles which do not collide, and obtaining the second cup angle set.
In one possible implementation manner, the second set calculation module is specifically configured to create the human skeleton model according to the cup parameter, the liner parameter, the ball head parameter, the femoral stem parameter, the initial planning position, the various preset cup angles, and the pre-created human model.
In a possible implementation manner, the third set calculating module is specifically configured to calculate, according to the cup parameter, the prosthesis parameter and the initial planning position that are acquired in advance, feature values corresponding to standing postures and sitting postures corresponding to a plurality of preset cup angles respectively; and determining one or more cup angles meeting preset requirements according to the corresponding characteristic value and the preset range of each cup angle to obtain the third cup angle set.
Therefore, through the device of the embodiment of the application, not only the cup angle corresponding to the collision of the cup and the femur can be determined through the preset algorithm, but also the cup angle corresponding to the collision of the skeleton of the human body, the cup angle corresponding to the dislocation of the cup and the cup angle determined according to the empirical formula can be determined, so that the corresponding intersection is calculated to obtain the target cup angle set, and the calculation accuracy of the cup angle is improved.
The embodiment of the present invention further provides an electronic device, as shown in fig. 8, including a processor 801, a communication interface 802, a memory 803, and a communication bus 804, where the processor 801, the communication interface 802, and the memory 803 complete communication with each other through the communication bus 804,
a memory 803 for storing a computer program;
the processor 801, when executing the program stored in the memory 803, implements the following steps:
according to the pre-acquired cup parameters, prosthesis parameters and initial planning positions, calculating cup angles corresponding to the cups which are not collided by the cups through a preset non-collision algorithm, and obtaining a first cup angle set;
according to the pre-acquired cup parameters, prosthesis parameters and initial planning positions, calculating corresponding cup angles of human bones, which are not collided, through motion simulation, and obtaining a second cup angle set;
according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, calculating cup angles corresponding to the cup without dislocation through a preset non-dislocation algorithm, and obtaining a third cup angle set;
calculating a corresponding cup angle through a preset empirical formula and a preset redundancy value to obtain a fourth cup angle set;
and calculating an intersection of the first cup angle set, the second cup angle set, the third cup angle set and the fourth cup angle set to obtain a target cup angle set.
The communication bus mentioned above for the electronic devices may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In yet another embodiment of the present invention, a computer readable storage medium is provided, in which a computer program is stored, which when executed by a processor, implements the steps of the method for calculating any of the cup angles described above.
In yet another embodiment of the present invention, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform the method of calculating the cup angle of any of the above embodiments.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, electronic devices, storage media, and computer program product embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the description of method embodiments in part.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A method of calculating a cup angle, comprising:
according to the pre-acquired cup parameters, prosthesis parameters and initial planning positions, calculating cup angles corresponding to the cups which are not collided by the cups through a preset non-collision algorithm, and obtaining a first cup angle set;
according to the pre-acquired cup parameters, prosthesis parameters and initial planning positions, calculating corresponding cup angles of human bones, which are not collided, through motion simulation, and obtaining a second cup angle set;
according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, calculating cup angles corresponding to the cup without dislocation through a preset non-dislocation algorithm, and obtaining a third cup angle set;
calculating a corresponding cup angle through a preset empirical formula and a preset redundancy value to obtain a fourth cup angle set;
and calculating an intersection of the first cup angle set, the second cup angle set, the third cup angle set and the fourth cup angle set to obtain a target cup angle set.
2. The method according to claim 1, wherein the calculating, according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, the cup non-collision corresponding cup angles by the preset non-collision algorithm, to obtain the first cup angle set includes:
establishing geometric models corresponding to the cup, the ball head and the femoral neck according to a plurality of preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning positions which are acquired in advance;
and aiming at a plurality of preset cup angles, judging whether the ball head collides in a preset movable range according to the geometric model, and determining one or more cup angles corresponding to the collision-free cup angles to obtain the first cup angle set.
3. The method according to claim 1, wherein the calculating, through motion simulation, a cup angle corresponding to a bone of the human body that does not collide with the cup according to the pre-acquired cup parameters, prosthesis parameters and initial planning position, to obtain a second cup angle set includes:
creating a human skeleton model aiming at a plurality of preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning positions which are acquired in advance;
receiving one or more human body behavior periods selected by a user, wherein the one or more human body behavior periods comprise one or more of a standing-to-sitting posture, a walking posture, a bending posture, a squatting-to-standing posture, a bending posture, a turning posture, a stair climbing posture and a crossing leg posture;
and simulating the one or more human behavior periods according to the human femur model, judging whether collision occurs, determining one or more corresponding cup angles which do not collide, and obtaining the second cup angle set.
4. A method according to claim 3, wherein said creating a human skeletal model for a plurality of preset cup angles from the pre-acquired cup parameters, liner parameters, ball head parameters, femoral stem parameters, and the initial planned position comprises:
and creating the human skeleton model according to the pre-acquired cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning positions, a plurality of preset cup angles and a pre-created human model.
5. The method according to claim 1, wherein the calculating a cup angle corresponding to a cup non-dislocation by a preset non-dislocation algorithm according to the pre-acquired cup parameter, the prosthesis parameter and the initial planning position, to obtain a third cup angle set, includes:
according to the pre-acquired cup parameters, the prosthesis parameters and the initial planning position, respectively calculating characteristic values corresponding to standing postures and sitting postures corresponding to a plurality of preset cup angles;
and determining one or more cup angles meeting preset requirements according to the corresponding characteristic value and the preset range of each cup angle to obtain the third cup angle set.
6. The method of claim 1, wherein the initial planned position comprises an initial cup angle;
the method further comprises the steps of after calculating a cup angle corresponding to the cup without dislocation through a preset dislocation-free algorithm according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, obtaining a third cup angle set:
judging and calculating whether the first cup angle set, the second cup angle set and the third cup angle set are intersected or not, and judging that the initial cup angle is one group of the target cup angle set if the intersection exists.
7. A device for calculating cup angle, comprising:
the first set calculation module is used for calculating a cup angle corresponding to the cup without collision through a preset non-collision algorithm according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, so as to obtain a first cup angle set;
the second set calculation module is used for calculating a corresponding cup angle which is not impacted by human bones through motion simulation according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, so as to obtain a second cup angle set;
the third set calculation module is used for calculating a cup angle corresponding to the cup without dislocation through a preset non-dislocation algorithm according to the cup parameters, the prosthesis parameters and the initial planning position which are acquired in advance, so as to obtain a third cup angle set;
the fourth set calculation module is used for calculating the corresponding cup angles through a preset empirical formula and a preset redundancy value to obtain a fourth cup angle set;
the target angle calculation module is used for calculating the intersection of the first cup angle set, the second cup angle set, the third cup angle set and the fourth cup angle set to obtain a target cup angle set.
8. The apparatus of claim 7, wherein the device comprises a plurality of sensors,
the first set computing module is specifically configured to create geometric models corresponding to a cup, a ball head and a femoral neck for a plurality of preset cup angles according to the cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning position which are acquired in advance; and aiming at a plurality of preset cup angles, judging whether the ball head collides in a preset movable range according to the geometric model, and determining one or more cup angles corresponding to the collision-free cup angles to obtain the first cup angle set.
9. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor for carrying out the method steps of any one of claims 1-6 when executing a program stored on a memory.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-6.
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