WO2025123708A1 - Acetabular cup angle calculation method and apparatus, electronic device, and storage medium - Google Patents

Abstract

An acetabular cup angle calculation method and apparatus, an electronic device, and a storage medium. The method comprises: on the basis of a pre-acquired acetabular cup parameter, prosthesis parameter and initial planning position, calculating, by means of a preset non-collision algorithm, acetabular cup angles corresponding to acetabular cup non-collision, so as to obtain a first acetabular cup angle set (S21); on the basis of the pre-acquired acetabular cup parameter, prosthesis parameter and initial planning position, calculating, by means of motion simulation, acetabular cup angles corresponding to human skeleton non-collision, so as to obtain a second acetabular cup angle set (S22); on the basis of the pre-acquired acetabular cup parameter, prosthesis parameter and initial planning position, calculating, by means of a preset non-dislocation algorithm, acetabular cup angles corresponding to acetabular cup non-dislocation, so as to obtain a third acetabular cup angle set (S23); calculating corresponding acetabular cup angles by means of a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set (S24); and calculating an intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth acetabular cup angle set to obtain a target acetabular cup angle set (S25).

Description

A method, device, electronic device and storage medium for calculating acetabular cup angle Technical Field

The present invention relates to the field of medical technology, and in particular to an acetabular cup angle calculation method, device, electronic equipment and storage medium.

Background Art

At present, with the continuous development of medical technology, medical staff can provide more cure options for patients. For example, hip replacement can be used to treat ball head necrosis, femoral neck fracture, hip arthritis caused by various reasons, malignant tumors, etc. By replacing the diseased hip joint with an artificial prosthesis, the lesion can be removed, the pain can be relieved, and the normal function of the patient's hip joint can be restored.

Referring to Figure 1, the current artificial hip joint mainly includes four components: acetabulum, liner, ball head, and femoral stem. The acetabulum is installed on the pelvis, and the ball head is installed on the leg bone. When performing hip replacement surgery, the installation position of the acetabulum needs to be determined first. If the installation position of the acetabulum is incorrect, the edge of the acetabulum and the femoral neck will collide after the operation, resulting in dislocation. However, the current determination of the acetabulum angle often relies on the doctor's experience, resulting in low accuracy in determining the acetabulum angle.

Summary of the invention

The purpose of the embodiments of the present invention is to provide a method, device, electronic device and storage medium for calculating the angle of an acetabular cup, so as to improve the accuracy of determining the angle of the acetabular cup. The specific technical solution is as follows:

A first aspect of an embodiment of the present application provides a method for calculating an acetabular cup angle, comprising:

According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the acetabular cup non-collision is calculated by a preset non-collision algorithm to obtain a first acetabular cup angle set;

According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the human skeleton not colliding is calculated through motion simulation to obtain a second acetabular cup angle set;

According to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, the acetabular cup angle corresponding to the acetabular cup non-dislocation is calculated by a preset non-dislocation algorithm to obtain a third acetabular cup angle set;

Calculate the corresponding acetabular cup angle by using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set;

Calculate the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the The intersection of the fourth angle set obtains the target acetabular cup angle set.

In a possible implementation, the method of calculating the acetabular cup angle corresponding to the acetabular cup non-collision by a preset non-collision algorithm based on the pre-acquired acetabular cup parameters, prosthesis parameters and initial planned position to obtain the first acetabular cup angle set includes:

According to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planning position, a geometric model corresponding to the acetabular cup, ball head and femoral neck is created for a plurality of preset acetabular cup angles;

For a plurality of preset acetabular cup angles, it is determined whether the ball head collides within a preset range of motion according to the geometric model, and one or more acetabular cup angles corresponding to no collision are determined to obtain the first acetabular cup angle set.

In a possible implementation, the acetabular cup angle corresponding to non-collision of human bones is calculated by motion simulation according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position to obtain a second acetabular cup angle set, including:

Creating a human skeleton model for a variety of preset acetabular cup angles according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planning position;

Receiving one or more human behavior cycles selected by a user, wherein the one or more human behavior cycles include one or more of a posture from standing to sitting, a walking posture, a bending posture, a posture from squatting to standing, a leaning posture, a turning posture, a posture of going up and down stairs, and a posture of crossing legs;

The one or more human behavior cycles are simulated according to the human femur model, and it is determined whether a collision occurs, and one or more acetabular cup angles corresponding to no collision are determined to obtain the second acetabular cup angle set.

In a possible implementation, creating a human skeleton model for a plurality of preset acetabular cup angles according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position includes:

The human skeleton model is created based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning position and multiple preset acetabular cup angles, and the pre-created human body model.

In a possible implementation, the acetabular cup angle corresponding to the acetabular cup non-dislocation is calculated by a preset non-dislocation algorithm according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position to obtain a third acetabular cup angle set, including:

Calculating characteristic values corresponding to the standing posture and the sitting posture corresponding to a plurality of preset acetabular angles respectively according to the acetabular cup parameters, the prosthesis parameters and the initial planned position acquired in advance;

According to the characteristic value corresponding to each acetabular cup angle and the preset range, one or more acetabular cup angles meeting the preset requirements are determined to obtain the third acetabular cup angle set.

In a possible implementation, the initial planned position includes an initial acetabular cup angle;

The method comprises: according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, After the dislocation algorithm calculates the acetabular cup angle corresponding to the acetabular cup not being dislocated and obtains the third acetabular cup angle set, the method further includes:

It is determined whether the first acetabular cup angle set, the second acetabular cup angle set and the third acetabular cup angle set have an intersection, and if so, it is determined that the initial acetabular cup angle is a set in the target acetabular cup angle set.

A second aspect of an embodiment of the present application provides a device for calculating an acetabular cup angle, comprising:

A first set calculation module is used to calculate the acetabular cup angle corresponding to the acetabular cup non-collision according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position by using a preset non-collision algorithm to obtain a first acetabular cup angle set;

A second set calculation module is used to calculate the acetabular angle corresponding to the human skeleton without collision through motion simulation according to the acetabular cup parameters, prosthesis parameters and initial planning position obtained in advance, so as to obtain a second acetabular cup angle set;

A third set calculation module is used to calculate the acetabular cup angle corresponding to the acetabular cup non-dislocation according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position by using a preset non-dislocation algorithm to obtain a third acetabular cup angle set;

A fourth set calculation module, used to calculate the corresponding acetabular cup angles by using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set;

The target angle calculation module is used to calculate the intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth angle set to obtain a target acetabular cup angle set.

In a possible embodiment, the first set calculation module is specifically used to create geometric models corresponding to the acetabular cup, ball head and femoral neck for multiple preset acetabular cup angles based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position; for multiple preset acetabular cup angles, determine whether the ball head collides within the preset range of motion based on the geometric model, determine one or more acetabular cup angles corresponding to no collision, and obtain the first acetabular cup angle set.

In a possible embodiment, the second set calculation module is specifically used to create a human skeletal model for a variety of preset acetabular cup angles based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position; receive one or more human behavior cycles selected by the user, wherein the one or more human behavior cycles include one or more of standing to sitting posture, walking posture, bending posture, squatting to standing posture, leaning over posture, turning posture, going up and down stairs posture, and crossing legs posture; simulate the one or more human behavior cycles according to the human femur model, and determine whether a collision occurs, determine one or more acetabular cup angles corresponding to no collision, and obtain the second acetabular cup angle set.

In a possible embodiment, the second set calculation module is specifically used to create the human skeleton model based on the pre-acquired acetabular parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planned position and multiple preset acetabular angles, and a pre-created human body model.

In a possible embodiment, the third set calculation module is specifically used to calculate the characteristic values corresponding to the standing posture and the sitting posture corresponding to multiple preset acetabular angles according to the pre-acquired acetabular parameters, the prosthesis parameters and the initial planned position; according to the characteristic values corresponding to each acetabular angle and the preset range, one or more acetabular angles that meet the preset requirements are determined to obtain the third acetabular angle set.

In a possible implementation, the initial planned position includes an initial acetabular cup angle;

The device further comprises: an initial angle determination module, which is used to determine whether there is an intersection among the first acetabular cup angle set, the second acetabular cup angle set and the third acetabular cup angle set, and if so, to determine that the initial acetabular cup angle is a group in the target acetabular cup angle set.

An embodiment of the present invention further provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

Memory, used to store computer programs;

The processor is used to implement any of the above-mentioned methods for calculating the acetabular cup angle when executing the program stored in the memory.

An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements any of the above-mentioned methods for calculating the acetabular cup angle.

The embodiment of the present invention further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-mentioned methods for calculating the acetabular cup angle.

Beneficial effects of the embodiments of the present invention:

The embodiment of the present invention provides a cup angle calculation method, device, electronic device and storage medium. According to the pre-acquired cup parameters, prosthesis parameters and initial planning position, the cup angle corresponding to the cup non-collision is calculated by a preset non-collision algorithm to obtain a first cup angle set; according to the pre-acquired cup parameters, prosthesis parameters and initial planning position, the cup angle corresponding to the human skeleton non-collision is calculated by motion simulation to obtain a second cup angle set; according to the pre-acquired cup parameters, prosthesis parameters and initial planning position, the cup angle corresponding to the cup non-dislocation is calculated by a preset non-dislocation algorithm to obtain a third cup angle set; the corresponding cup angle is calculated by a preset empirical formula and a preset redundancy value to obtain a fourth cup angle set; the intersection of the first cup angle set, the second cup angle set, the third cup angle set and the fourth angle set is calculated to obtain a target cup angle set. It can be seen that through the method of the embodiment of the present application, not only can the cup angle be calculated by multiple preset algorithms, but also the corresponding intersection can be calculated to obtain a target cup angle set, thereby improving the calculation accuracy of the cup angle.

Of course, it is not necessary to achieve all of the advantages described above at the same time to implement any product or method of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

FIG1 is a schematic structural diagram of a hip joint in the prior art;

FIG2 is a schematic diagram of a flow chart of a method for calculating an acetabular cup angle provided in an embodiment of the present application;

FIG3 is a schematic structural diagram of a hip joint provided in an embodiment of the present application;

FIG4 is a schematic diagram of the structure of a skeleton model provided in an embodiment of the present application;

FIG5 is a schematic diagram of a flow chart of calculating a first acetabular cup angle set according to an embodiment of the present application;

FIG6 is a schematic diagram of a flow chart of calculating a second acetabular cup angle set according to an embodiment of the present application;

FIG7 is a schematic diagram of a flow chart of calculating a third acetabular cup angle set according to an embodiment of the present application;

FIG8 is a schematic structural diagram of a device for calculating an acetabular cup angle provided in an embodiment of the present application;

FIG. 9 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the present invention.

In order to solve the problem of low accuracy of determining the acetabular cup angle only through experience in the prior art, a first aspect of an embodiment of the present application provides a method for calculating the acetabular cup angle, as shown in FIG2 , comprising:

Step S21, according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the acetabular cup non-collision is calculated by a preset non-collision algorithm to obtain a first acetabular cup angle set;

Step S22, according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, calculating the acetabular cup angle corresponding to the human skeleton not colliding through motion simulation to obtain a second acetabular cup angle set;

Step S23, calculating the acetabular cup angle corresponding to the acetabular cup non-dislocation by a preset non-dislocation algorithm according to the acetabular cup parameters, the prosthesis parameters and the initial planned position acquired in advance, to obtain a third acetabular cup angle set;

Step S24, calculating the corresponding acetabular cup angle by using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set;

Step S25, calculating the first acetabular cup angle set, the second acetabular cup angle set, and the third acetabular cup angle set The target acetabular cup angle set is obtained by combining the intersection of the fourth angle set and the target acetabular cup angle set.

It can be seen that through the method of the embodiment of the present application, not only can the acetabular cup angle corresponding to no collision between the acetabular cup, liner and femoral stem be satisfied through the preset algorithm, but also the acetabular cup angle corresponding to no collision with the human skeleton, the acetabular cup angle corresponding to no dislocation of the acetabular cup, and the acetabular cup angle determined according to the empirical formula can be determined, so as to calculate the corresponding intersection to obtain the target acetabular cup angle set, thereby improving the calculation accuracy of the acetabular cup angle.

Corresponding to the above step S21, according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the acetabular cup non-collision is calculated by a preset non-collision algorithm, and the prosthesis parameters and initial planning position such as the acetabular cup, liner, ball head, femoral stem, etc., such as the length of the femoral head, the neck-shaft angle of the femoral stem, etc., can be obtained, and the calculation can meet the acetabular cup, liner and femoral stem The corresponding acetabular cup angle without collision. Referring to Figure 3, the ball head, that is, the femoral head is installed inside the acetabular 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 acetabular cup, the femoral neck may collide with the acetabular cup or the liner. The acetabular cup angle corresponding to the acetabular cup without collision can be met by the preset non-collision algorithm. Wherein, the acetabular cup angle in this application can include an abduction angle and an anteversion angle.

Corresponding to the above-mentioned step S22, according to the acetabular cup parameters, prosthesis parameters and initial planning position obtained in advance, the acetabular cup angle corresponding to the human skeleton is calculated by motion simulation, and a variety of behavior cycles can be simulated, for example, from standing to sitting, walking, bending over to tie shoelaces, from squatting to standing, leaning over, turning around, going up and down stairs, crossing legs (crossing legs) and other postures. Referring to Fig. 4, a skeleton model of the human body can be created according to the prosthesis parameters and initial planning position such as the acetabular cup, liner, ball head, femoral stem, and then the relative position between the bones corresponding to different behavior cycles is simulated by the human skeleton model, so as to detect whether a collision occurs. Specifically, the human skeleton not colliding can include whether a collision occurs between the femur, acetabulum, etc.

Corresponding to the above step S23, according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planning position, the acetabular cup angle corresponding to the acetabular cup non-dislocation is calculated by a preset non-dislocation algorithm, and the acetabular cup angle corresponding to the acetabular cup non-dislocation can be calculated by one or more preset non-dislocation algorithms in the prior art. The calculation of the acetabular cup angle by the non-dislocation method can ensure that the acetabular cup obtained meets the requirement of non-dislocation.

Corresponding to the above step S24, the corresponding acetabular cup angle is calculated by a preset empirical formula and a preset redundancy value. It can be calculated by an empirical formula in the prior art. For example, when calculating the abduction angle and anteversion angle of the acetabular cup, the abduction angle is 40±10° and the anteversion angle is 15±10° calculated by the empirical formula.

Corresponding to the above-mentioned step S25, wherein the intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth angle set is calculated, so that the target acetabular cup angle finally calculated can meet the requirements of different algorithms, thereby improving the safety and reliability of the acetabular cup angle finally calculated.

In a possible implementation, the above step S21 is based on the pre-acquired acetabular cup parameters, prosthesis parameters and initial specifications. The acetabular cup angle corresponding to the acetabular cup non-collision is calculated by a preset non-collision algorithm to obtain a first acetabular cup angle set, as shown in FIG5, including:

Step S211, creating geometric models corresponding to the acetabular cup, the ball head and the femoral neck for a plurality of preset acetabular cup angles according to the pre-acquired acetabular cup parameters, the liner parameters, the ball head parameters, the femoral stem parameters and the initial planning position;

Step S212: for a plurality of preset acetabular cup angles, judging whether the ball head collides within a preset range of motion according to the geometric model, determining one or more acetabular cup angles corresponding to no collision, and obtaining the first acetabular cup angle set.

Specifically, the geometric models corresponding to the acetabular cup, the ball head and the femoral neck are created based on the pre-acquired prosthetic parameters of the acetabular cup, the liner, the ball head, the femoral stem and the initial planning position, such as the length of the femoral head, the neck-shaft angle of the femoral stem and other parameters. When determining multiple preset acetabular cup angles, a possible value range of the acetabular cup angle can be pre-set, so as to create the geometric models corresponding to the acetabular cup, the ball head and the femoral neck for each possible value within the range.

In an example, referring to Figure 3, part A represents the ball head, part B represents the acetabular cup or liner, part C is the femoral neck, R1 is the ball head radius, and R2 is the femoral neck radius. The following steps can be used to calculate whether the acetabular cup and the femoral neck collide:

Calculate the prosthesis rom (Range of motion).

In an example, it can be calculated by the following formula:

Among them, θ represents the angular range of motion of the femoral stem; A represents the cross-section of the ball head; r _head represents the radius of the ball head; and r _neck represents the radius of the femoral neck.

The human body motion is converted into the rotation of the femoral neck in the acetabular cup coordinate system.

In an example, the human body motion can be converted into the rotation of the femoral neck in the acetabular cup coordinate system by the following formula.

R _neck2femur ＝R _Z (-φ _stemFlex ))·R _Y (-φ _antetorsion )·R _X (-(180°-φ _CCD -φ _stemAdd ))

Among them, R _{femur2pelvis,n} represents the rotation coefficient from the femur coordinate system to the pelvic coordinate system; R _pelvis2body represents the rotation coefficient from the pelvic coordinate system to the body coordinate system; R _leg2body,n represents the rotation coefficient from the leg coordinate system to the body coordinate system; R _femur2leg represents the rotation coefficient from the femur coordinate system to the body coordinate system; R _X represents the preset rotation matrix along the x-axis; R _Y represents the preset rotation matrix along the y-axis; R _Z represents the preset rotation matrix along the z-axis; R _{neck2cup,n,φincl,φant} represents the rotation coefficient from the femoral neck coordinate system to the acetabular cup coordinate system; R _{cup2pelvis,φincl,φant} represents the rotation coefficient from the acetabular cup coordinate system to the pelvic coordinate system; R _neck2femur represents the rotation coefficient from the femoral neck coordinate system to the femur coordinate system; φ _tilt represents the preset rotation angle; φ _incl represents the anteversion angle; φ _ant represents the abduction angle; φ _stemFlex represents the neck flexion angle; φ _antetorsion represents the twisting angle; φ _CCD represents the preset angle; φ _stemAdd represents the neck addition angle.

Calculate the angle between the current femoral neck and the center axis of the acetabular cup.

Among them, ρ _{n, φincl, φant} represent the characteristic angles, and R ₁₁ , R ₁₂ , R ₁₃ , R ₂₁ , R ₂₂ , R ₂₃ , R ₃₁ , R ₃₂ , and R ₃₃ are elements of the matrix.

Determine whether the current angle exceeds ROM. If it exceeds, it means a collision occurs.

Wherein, d _min (φ _incl ,φ _ant ) represents the minimum value of the anteversion angle and the abduction angle calculated by the min dn function.

In a possible implementation, the above step S22 calculates the acetabular angle corresponding to the non-collision of the human skeleton through motion simulation according to the pre-acquired acetabular parameters, prosthesis parameters and initial planning position, and obtains a second acetabular angle set, see FIG6 , including:

Step S221, creating a human skeleton model for a plurality of preset acetabular angles according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planning position;

Step S222, receiving one or more human behavior cycles selected by the user, wherein the one or more human behavior cycles include one or more of standing to sitting posture, walking posture, bending posture, squatting to standing posture, leaning posture, turning posture, going up and down stairs posture, and crossing legs posture;

Step S223, simulating the one or more human behavior cycles according to the human femur model, and determining whether a collision occurs, determining one or more acetabular cup angles corresponding to no collision, and obtaining the second acetabular cup angle set.

In a possible embodiment, the human skeleton model is created for a plurality of preset acetabular cup angles according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position, including: creating the human skeleton model according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planned position and a plurality of preset acetabular cup angles, and a pre-created human body model.

Wherein, according to the acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning position and multiple preset acetabular cup angles obtained in advance, and the pre-created human body model, the human skeleton model is created, and the multiple preset acetabular cup angles are substituted into the human body model according to the pre-acquired prosthesis parameters and initial planning position such as the acetabular cup, liner, ball head, femoral stem, etc., that is, the prosthesis model is placed on the human body model, that is, the surgical planning, can refer to Figure 4. In the present application, the human skeleton model is generated by 3D reconstruction of CT data, which is personalized and embodies the bone structure characteristics of each patient. Receive one or more behavior cycles selected by the user, which can include postures such as from standing to sitting, walking, bending over to tie shoelaces, from squatting to standing, leaning over, turning around, going up and down stairs, crossing legs (crossing legs), and can also perform motion evaluation at the same time, and perform evaluation of daily behavior and personalized behavior, and perform personalized settings of straightening and bending, external rotation and internal rotation, and abduction and restraint. In actual use, for each posture, it can be determined whether the preset multiple acetabular angles collide. In one example, multiple acetabular angles can be preset, and then for each acetabular angle, it can be determined whether a collision occurs in one or more corresponding postures. If a collision occurs, it is discarded; if not, it is retained, thereby obtaining multiple acetabular angles, i.e., a second acetabular angle set.

In a possible implementation, the above step S23 calculates the acetabular cup angle corresponding to the acetabular cup non-dislocation by a preset non-dislocation algorithm according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, and obtains a third acetabular cup angle set, see FIG7 , including:

Step S231, calculating characteristic values corresponding to a standing posture and a sitting posture corresponding to a plurality of preset acetabular angles respectively according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position;

Step S232: determining one or more acetabular cup angles that meet the preset requirements according to the characteristic value corresponding to each acetabular cup angle and the preset range, and obtaining the third acetabular cup angle set.

According to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planning position, the The characteristic values corresponding to the standing posture and sitting posture corresponding to various acetabular cup angles can be used to calculate the AI angles of the standing and sitting positions corresponding to each acetabular cup angle. For example, when the AI angle of the standing position is in the range of 25-45 and the AI angle of the sitting position is in the range of 41-63, there is no dislocation.

Specifically, the calculation formula of AI angle is as follows:

V ₁ = (0, 0, -1) ^T ;

V _p =(0,1,1) ^T ;

Among them, V1 and Vp represent different initial values, M1, M2, and M3 represent different matrices, PT represents the pelvic tilt angle, RA and RI represent the RA angle and RI angle, d is the preset distance, and dot() and acos() represent different preset functions.

In a possible embodiment, the initial planned position includes an initial acetabular cup angle; after the acetabular cup angle corresponding to non-dislocation of the acetabular cup is calculated by a preset non-dislocation algorithm based on the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, and a third acetabular cup angle set is obtained, the method further includes: determining whether there is an intersection among the first acetabular cup angle set, the second acetabular cup angle set and the third acetabular cup angle set, and if so, determining that the initial acetabular cup angle is a group in the target acetabular cup angle set.

In order to illustrate the method of the embodiment of the present application, the following is described in conjunction with specific embodiments. The solution of the present application may include There are two types:

Method 1 is: 1. Select the prosthesis brand, model and specification to generate the non-collision ROM 1 of the prosthesis (this is a three-dimensional area relative to the acetabular cup coordinate system in the prosthesis); 2. After setting the center position of the acetabular cup, setting a certain anteversion angle and abduction angle, combine the prosthesis and the person, and convert the prosthesis coordinate system to the human body coordinate system. Obtain the non-collision range ROM2 of the human skeleton (the three-dimensional area obtained with the collision point as the boundary); 3. The extreme value ROM 3 of the eight little people (extract the limit value from the previous Excel) 4. Find the intersection of the three three-dimensional area ROMs, and then obtain the acetabular cup angle combination in this intersection area.

Method 2: 1. Plan a set of acetabular angle combinations, and substitute different ranges of motion in turn. If the intersection of the above three ROMs appears under the current acetabular angle, the current angle combination is an angle combination in the safe zone. If not, the angle combination is discarded. 2. Traverse all acetabular angle combinations (anteversion 0-30°, abduction 0-60°) in turn, and judge which combinations are ideal in this way. In this way, the acetabular angle combination that satisfies the "no collision" between prostheses and bones is obtained.

A second aspect of an embodiment of the present application provides a device for calculating an acetabular cup angle, referring to FIG8 , comprising:

A first set calculation module 801 is used to calculate the acetabular cup angle corresponding to the acetabular cup non-collision according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position by using a preset non-collision algorithm to obtain a first acetabular cup angle set;

A second set calculation module 802 is used to calculate the acetabular angle corresponding to the human skeleton without collision through motion simulation according to the acetabular cup parameters, prosthesis parameters and initial planning position obtained in advance, so as to obtain a second acetabular cup angle set;

A third set calculation module 803 is used to calculate the acetabular cup angle corresponding to the acetabular cup non-dislocation according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position by using a preset non-dislocation algorithm to obtain a third acetabular cup angle set;

A fourth set calculation module 804 is used to calculate the corresponding acetabular cup angles by using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set;

The target angle calculation module 805 is used to calculate the intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth angle set to obtain a target acetabular cup angle set.

In a possible embodiment, the first set calculation module is specifically used to create geometric models corresponding to the acetabular cup, ball head and femoral neck for multiple preset acetabular cup angles based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planned position; for multiple preset acetabular cup angles, determine whether the ball head collides within the preset range of motion based on the geometric model, determine one or more acetabular cup angles corresponding to no collision, and obtain the first acetabular cup angle set.

In a possible implementation, the second set calculation module is specifically used to calculate the angles of the acetabular cup according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planning position. Create a human skeleton model; receive one or more human behavior cycles selected by a user, wherein the one or more human behavior cycles include one or more of standing to sitting posture, walking posture, bending posture, squatting to standing posture, leaning over posture, turning posture, going up and down stairs posture, and crossing legs posture; simulate the one or more human behavior cycles according to the human femur model, and determine whether a collision occurs, determine one or more acetabular cup angles corresponding to no collision, and obtain the second acetabular cup angle set.

In a possible embodiment, the second set calculation module is specifically used to create the human skeleton model based on the pre-acquired acetabular parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planned position and multiple preset acetabular angles, and a pre-created human body model.

In a possible embodiment, the third set calculation module is specifically used to calculate the characteristic values corresponding to the standing posture and the sitting posture corresponding to multiple preset acetabular angles according to the pre-acquired acetabular parameters, the prosthesis parameters and the initial planned position; according to the characteristic values corresponding to each acetabular angle and the preset range, one or more acetabular angles that meet the preset requirements are determined to obtain the third acetabular angle set.

It can be seen that through the device of the embodiment of the present application, not only can the acetabular cup angle corresponding to no collision between the acetabular cup and the femur be determined through the preset algorithm, but also the acetabular cup angle corresponding to no collision between the human skeleton and the acetabular cup angle corresponding to no dislocation of the acetabular cup and the acetabular cup angle determined according to the empirical formula can be determined, thereby calculating the corresponding intersection to obtain the target acetabular cup angle set, thereby improving the calculation accuracy of the acetabular cup angle.

The embodiment of the present invention further provides an electronic device, as shown in FIG9 , including a processor 901, a communication interface 902, a memory 903 and a communication bus 904, wherein the processor 901, the communication interface 902, and the memory 903 communicate with each other through the communication bus 904.

Memory 903, used for storing computer programs;

The processor 901 is used to execute the program stored in the memory 903 to implement the following steps:

According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the acetabular cup non-collision is calculated by a preset non-collision algorithm to obtain a first acetabular cup angle set;

According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the human skeleton not colliding is calculated through motion simulation to obtain a second acetabular cup angle set;

According to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, the acetabular cup angle corresponding to the acetabular cup non-dislocation is calculated by a preset non-dislocation algorithm to obtain a third acetabular cup angle set;

Calculate the corresponding acetabular cup angle by using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set;

Calculate the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the The intersection of the fourth angle set obtains the target acetabular cup angle set.

The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the above electronic device and other devices.

The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk storage. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

The above-mentioned processors can be general-purpose processors, including central processing units (CPU), network processors (NP), etc.; they can also be digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In another embodiment of the present invention, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above-mentioned methods for calculating the acetabular cup angle are implemented.

In another embodiment of the present invention, a computer program product comprising instructions is provided. When the computer program product is run on a computer, the computer executes any method for calculating the acetabular cup angle in the above embodiments.

In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can 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 the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more available media integrated. The available The medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, electronic device, storage medium and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

The above description is only a preferred embodiment of the present invention and is not intended to limit the protection 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)

A method for calculating an acetabular cup angle, characterized by comprising: According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the acetabular cup non-collision is calculated by a preset non-collision algorithm to obtain a first acetabular cup angle set; According to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position, the acetabular cup angle corresponding to the human skeleton not colliding is calculated through motion simulation to obtain a second acetabular cup angle set; According to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, the acetabular cup angle corresponding to the acetabular cup non-dislocation is calculated by a preset non-dislocation algorithm to obtain a third acetabular cup angle set; Calculate the corresponding acetabular cup angle by using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set; An intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth angle set is calculated to obtain a target acetabular cup angle set. The method according to claim 1 is characterized in that the step of calculating the acetabular cup angle corresponding to the acetabular cup non-collision by a preset non-collision algorithm based on the pre-acquired acetabular cup parameters, prosthesis parameters and initial planned position to obtain the first acetabular cup angle set comprises: According to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planning position, a geometric model corresponding to the acetabular cup, ball head and femoral neck is created for a plurality of preset acetabular cup angles; For a plurality of preset acetabular cup angles, it is determined whether the ball head collides within a preset range of motion according to the geometric model, and one or more acetabular cup angles corresponding to no collision are determined to obtain the first acetabular cup angle set. The method according to claim 1 is characterized in that the step of calculating the acetabular angle corresponding to the non-collision of the human skeleton by motion simulation based on the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position to obtain the second acetabular cup angle set comprises: Creating a human skeleton model for a variety of preset acetabular cup angles according to the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters and the initial planning position; Receiving one or more human behavior cycles selected by a user, wherein the one or more human behavior cycles include one or more of a posture from standing to sitting, a walking posture, a bending posture, a posture from squatting to standing, a leaning posture, a turning posture, a posture of going up and down stairs, and a posture of crossing legs; The one or more human behavior cycles are simulated according to the human femur model, and it is determined whether a collision occurs, and one or more acetabular cup angles corresponding to no collision are determined to obtain the second acetabular cup angle set. The method according to claim 3, characterized in that the acetabular cup parameters and the liner are obtained in advance. Parameters, ball head parameters, femoral stem parameters and the initial planning position are used to create a human skeleton model for a variety of preset acetabular cup angles, including: The human skeleton model is created based on the pre-acquired acetabular cup parameters, liner parameters, ball head parameters, femoral stem parameters, the initial planning position and multiple preset acetabular cup angles, and the pre-created human body model. The method according to claim 1, characterized in that the step of calculating the acetabular cup angle corresponding to the acetabular cup non-dislocation by a preset non-dislocation algorithm based on the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position, and obtaining the third acetabular cup angle set comprises: Calculating characteristic values corresponding to a standing posture and a sitting posture corresponding to a plurality of preset acetabular angles respectively according to the acetabular cup parameters, the prosthesis parameters and the initial planned position acquired in advance; According to the characteristic value corresponding to each acetabular cup angle and the preset range, one or more acetabular cup angles meeting the preset requirements are determined to obtain the third acetabular cup angle set. The method according to claim 1, wherein the initial planned position comprises an initial acetabular cup angle; After calculating the acetabular cup angle corresponding to the acetabular cup non-dislocation by a preset non-dislocation algorithm based on the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position to obtain a third acetabular cup angle set, the method further includes: It is determined whether the first acetabular cup angle set, the second acetabular cup angle set and the third acetabular cup angle set have an intersection, and if so, it is determined that the initial acetabular cup angle is a set in the target acetabular cup angle set. A device for calculating an acetabular cup angle, characterized by comprising: A first set calculation module is used to calculate the acetabular cup angle corresponding to the acetabular cup non-collision according to the pre-acquired acetabular cup parameters, prosthesis parameters and initial planning position by using a preset non-collision algorithm to obtain a first acetabular cup angle set; A second set calculation module is used to calculate the acetabular angle corresponding to the human skeleton without collision through motion simulation according to the acetabular cup parameters, prosthesis parameters and initial planning position obtained in advance, so as to obtain a second acetabular cup angle set; A third set calculation module is used to calculate the acetabular cup angle corresponding to the acetabular cup non-dislocation according to the pre-acquired acetabular cup parameters, the prosthesis parameters and the initial planned position by using a preset non-dislocation algorithm to obtain a third acetabular cup angle set; A fourth set calculation module, used to calculate the corresponding acetabular cup angle by using a preset empirical formula and a preset redundancy value to obtain a fourth acetabular cup angle set; The target angle calculation module is used to calculate the intersection of the first acetabular cup angle set, the second acetabular cup angle set, the third acetabular cup angle set and the fourth angle set to obtain a target acetabular cup angle set. The device according to claim 7, characterized in that The first set of calculation modules is specifically used to calculate the acetabular cup parameters, liner parameters, ball head parameters acquired in advance. number, femoral stem parameters and the initial planned position, create geometric models corresponding to the acetabular cup, ball head and femoral neck for multiple preset acetabular cup angles; for multiple preset acetabular cup angles, determine whether the ball head collides within the preset range of motion according to the geometric models, determine one or more acetabular cup angles corresponding to no collision, and obtain the first acetabular cup angle set. An electronic device, characterized in that it comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; A processor, for implementing the method steps described in any one of claims 1 to 6 when executing a program stored in a memory. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method steps described in any one of claims 1 to 6 are implemented.