CN117814908A - Sampling point prompting device, hip joint replacement system, electronic equipment and medium - Google Patents

Abstract

The present application discloses a sampling point prompting device, a hip replacement system, an electronic device and a medium. The sampling point prompting device includes: a virtual osteotomy line determination module, which is used to determine the orientation information of the virtual osteotomy line on the three-dimensional bone model corresponding to the target bone; a virtual sampling point determination module, which is used to respond to the received orientation information of the sampling end of the sampling tool on the target bone, and determine the orientation information of the corresponding virtual sampling end on the three-dimensional bone model; a prompting module, which is used to output prompting information; a control module, which is used to calculate the positional relationship between the virtual sampling end and the virtual osteotomy line, and control the prompting module to output prompting information corresponding to the positional relationship. The sampling point prompting device can assist the physician to quickly adjust the orientation of the sampling end, so as to mark the osteotomy line corresponding to the planned virtual osteotomy line on the target bone, provide a basis for achieving precise osteotomy, and improve surgical accuracy and efficiency.

Description

Sampling point reminder device, hip replacement system, electronic device and media

Technical Field

The present application relates to the technical field of data processing, and in particular to a sampling point prompting device, a hip replacement system, an electronic device and a medium.

Background technique

Total hip replacement has now become the most effective treatment for serious hip diseases such as femoral fracture, femoral head necrosis, hip dysplasia, osteoarthritis, etc. It has been widely recognized in relieving pain, improving hip function, restoring joint stability, and reducing bedridden complications. It is one of the most common and successful surgeries performed in orthopedics.

Hip replacement surgery mainly involves acetabular preparation and femoral neck osteotomy. The results of the two bone preparations have an important impact on the physiological function recovery of the patient's lower limbs after hip replacement. Many surgical systems focus on the accuracy of acetabular preparation, but pay less attention to the precise osteotomy of the femoral neck.

Lower limb length inequality is a common complication after hip replacement surgery. It causes uneven force on the hip joint, leading to complications such as pelvic tilt, back pain, sciatica, limp, and prosthesis loosening, which seriously affects the patient's quality of life. The position of the femoral neck osteotomy during surgery has a certain impact on the length of the lower limbs after surgery. Controlling the reasonableness and accuracy of the femoral neck osteotomy height and the prosthesis insertion position is a relatively recognized effective method in clinical practice to prevent the occurrence of lower limb length inequality.

At present, doctors mostly use visual inspection and rely on bone landmarks, preoperative imaging data, etc. to judge and determine the position of femoral neck osteotomy, and then perform osteotomy. The angle and position of femoral neck osteotomy determined in this way are inaccurate, which affects the effect of the operation.

Summary of the invention

The purpose of the embodiments of the present application is to provide a sampling point prompt device, a hip replacement system, an electronic device and a medium, which can assist the physician in quickly adjusting the orientation of the sampling end so as to mark an osteotomy line on the target bone corresponding to the planned virtual osteotomy line, thereby providing a basis for achieving precise osteotomy and improving surgical accuracy and efficiency.

The technical solution of this application is as follows:

In a first aspect, a sampling point prompting device is provided, the device comprising:

A virtual osteotomy line determination module, used to determine the orientation information of the virtual osteotomy line on a three-dimensional bone model corresponding to the target bone;

A virtual sampling point determination module, configured to determine the position information of the corresponding virtual sampling end on the three-dimensional bone model in response to the received position information of the sampling end of the sampling tool on the target bone;

A prompt module, used for outputting prompt information;

The control module is used to calculate the positional relationship between the virtual sampling end and the virtual osteotomy line, and control the prompt module to output prompt information corresponding to the positional relationship.

In some embodiments of the present application, the virtual osteotomy line determination module includes:

A virtual osteotomy plane determining unit, configured to determine a virtual osteotomy plane in response to the received normal vector axis orientation information and the position information of the osteotomy point, wherein the virtual osteotomy plane is perpendicular to the normal vector axis and covers the osteotomy point;

The first virtual osteotomy line determination unit is used to perform osteotomy on the three-dimensional bone model based on the virtual osteotomy surface and extract contour information to determine the virtual osteotomy line.

In some embodiments of the present application, the virtual osteotomy surface determination unit is further used to determine the virtual osteotomy surface based on the orientation information of the three-dimensional bone model, wherein the orientation information of the three-dimensional bone model includes the orientation information of the femoral neck centerline, the normal vector axis is the femoral neck centerline, and the osteotomy point is the midpoint of the femoral neck centerline.

In some embodiments of the present application, the virtual osteotomy line determination module includes:

A target installation posture determination unit, used to implant a prosthesis model in a three-dimensional skeleton model corresponding to a target skeleton, and determine a target installation posture of the prosthesis model relative to the three-dimensional skeleton model in response to received posture information of the prosthesis model;

The second virtual osteotomy line determination unit is used to determine the virtual osteotomy line on the three-dimensional bone model based on the target installation posture.

In some embodiments of the present application, the prosthesis model includes a femoral stem part and a femoral neck part, and the second virtual osteotomy line determination unit is further used to determine the axial orientation information of the femoral neck part and the orientation information of the reference surface of the femoral stem part based on the target installation posture; based on the axial orientation information of the femoral neck part and the orientation information of the reference surface of the femoral stem part, the virtual osteotomy line is determined on the three-dimensional bone model.

In some embodiments of the present application, the prompt module is also used to display a three-dimensional bone model and a virtual osteotomy line.

In some embodiments of the present application, the control module is further used to control the prompt module to output prompt information that the sampling end is located on the target osteotomy line when the virtual sampling end is located on the virtual osteotomy line, wherein the target osteotomy line is a line on the target bone corresponding to the virtual osteotomy line.

In some embodiments of the present application, the prompt information that the sampling end is located on the target osteotomy line includes a change in the display state of the virtual osteotomy line and/or the virtual sampling end.

In some embodiments of the present application, the display state includes at least one of color, brightness, and shape.

In some embodiments of the present application, the prompt information that the sampling end is located on the target osteotomy line includes a change in the display state of the virtual sampling point, and the change in the display state of the virtual sampling point includes a change from non-display to display.

In some embodiments of the present application, the output method includes voice output.

In some embodiments of the present application, the virtual sampling point determination module includes:

A registration unit, used to register the target bone with the three-dimensional bone model and determine the corresponding relationship between the target bone and the three-dimensional bone model;

The virtual sampling point determination unit is used to respond to the received position information of the sampling end of the sampling tool on the target bone, and determine the position information of the corresponding virtual sampling end on the three-dimensional bone model based on the position information and the corresponding relationship.

In a second aspect, a hip replacement system is provided, comprising:

A sampling tool, comprising a sampling end, the sampling end being used to contact a target bone to determine a sampling point, wherein the target bone comprises a femoral neck;

An optical navigation device for providing position information of a sampling end of the sampling tool;

A sampling point prompting device, the sampling point prompting device comprising the sampling point prompting device as claimed in any one of claims 1 to 12, used for outputting prompt information corresponding to the sampling point.

In a third aspect, an electronic device is provided, the electronic device comprising one or more processors and a memory, the memory being used to store instructions, and the processor being used to execute the instructions to implement the following steps:

Determining the orientation information of the virtual osteotomy line on the three-dimensional bone model corresponding to the target bone;

In response to the received position information of the sampling end of the sampling tool on the target bone, determining the position information of the corresponding virtual sampling end on the three-dimensional bone model;

Calculate the positional relationship between the virtual sampling end and the virtual osteotomy line;

Control the output of prompt information corresponding to the position relationship.

In a fourth aspect, a storage medium comprising computer executable instructions is provided, wherein the computer executable instructions are used to perform the following steps when executed by a computer processor:

Determining the orientation information of the virtual osteotomy line on the three-dimensional bone model corresponding to the target bone;

In response to the received position information of the sampling end of the sampling tool on the target bone, determining the position information of the corresponding virtual sampling end on the three-dimensional bone model;

Calculate the positional relationship between the virtual sampling end and the virtual osteotomy line;

Control the output of prompt information corresponding to the position relationship.

The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

In an embodiment of the present application, a sampling point prompt device is provided. A virtual osteotomy line determination module in the device determines the orientation information of the virtual osteotomy line on the three-dimensional bone model corresponding to the target bone. The virtual sampling point determination module responds to the received orientation information of the sampling end of the sampling tool on the target bone to determine the orientation information of the corresponding virtual sampling end on the three-dimensional bone model. Then, the control module calculates the positional relationship between the virtual sampling end and the virtual osteotomy line, and controls the prompt module to output prompt information corresponding to the positional relationship. In this way, the virtual osteotomy line is determined in advance in the three-dimensional bone model, and then the virtual sampling end corresponding to the sampling end of the sampling tool is determined. Then, according to the orientation information of the virtual sampling end on the three-dimensional bone model, the positional relationship between the virtual sampling end and the virtual osteotomy line is calculated, and prompt information corresponding to the positional relationship is made to assist the physician in adjusting the orientation of the sampling end of the sampling tool, and the osteotomy line corresponding to the planned virtual osteotomy line is marked on the target bone, providing a basis for accurate osteotomy, thereby improving the physician's surgical accuracy and efficiency and reducing the incidence of unequal length of the patient's lower limbs.

It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute improper limitations on the present application.

FIG1 is a schematic structural diagram of a sampling point prompting device provided by an embodiment of the first aspect of the present application;

FIG2 is a schematic diagram of the centerline of the femoral neck according to the first aspect of the present application;

FIG3 is a schematic diagram of a prosthesis model according to an embodiment of the first aspect of the present application;

FIG4 is a schematic diagram of an osteotomy surface according to an embodiment of the first aspect of the present application;

FIG5 is a schematic diagram of a virtual osteotomy line according to an embodiment of the first aspect of the present application;

6 is a schematic diagram of the positional relationship between the virtual sampling end and the virtual osteotomy line involved in the embodiment of the first aspect of the present application;

7 is a schematic structural diagram of a hip replacement system provided by an embodiment of the second aspect of the present application;

FIG8 is a schematic diagram of an electronic device structure provided by an embodiment of the third aspect of the present application;

FIG. 9 is a flow chart of the hip replacement method according to the third and fourth embodiments of the present application.

Detailed ways

In order to make those of ordinary skill in the art better understand the technical solution of the present application, the technical solution in the embodiment of the present application will be clearly and completely described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples consistent with some aspects of the present application as detailed in the attached claims.

As described in the background technology section, the prior art has the problem of inaccurate angle and position positioning of femoral neck osteotomy. In order to solve the above problem, the embodiment of the present application provides a sampling point prompting device, based on the virtual osteotomy line determination module in the device, the orientation information of the virtual osteotomy line is determined on the three-dimensional bone model corresponding to the target bone, based on the virtual sampling point determination module in response to the received orientation information of the sampling end of the sampling tool on the target bone, the orientation information of the corresponding virtual sampling end on the three-dimensional bone model is determined, and then the position relationship between the virtual sampling end and the virtual osteotomy line is calculated based on the control module, and the prompting module is controlled to output prompting information corresponding to the position relationship. In this way, the virtual osteotomy line is determined in advance in the three-dimensional bone model, and then the virtual sampling end corresponding to the sampling end of the sampling tool is determined, and then the position relationship between the virtual sampling end and the virtual osteotomy line is calculated according to the orientation information of the virtual sampling end on the three-dimensional bone model, and prompting information corresponding to the position relationship is made to assist the physician to adjust the orientation of the sampling end of the sampling tool, and the osteotomy line corresponding to the planned virtual osteotomy line is marked on the target bone, providing a basis for accurate osteotomy, thereby improving the accuracy and efficiency of the physician's surgery and reducing the incidence of unequal length of the patient's lower limbs.

The sampling point prompting device provided in the embodiment of the present application is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

FIG. 1 is a schematic diagram of the structure of a sampling point prompting device provided in an embodiment of the present application.

As shown in FIG1 , the sampling point prompting device 100 provided in the embodiment of the present application may include:

A virtual osteotomy line determination module 110, for determining the orientation information of the virtual osteotomy line on a three-dimensional bone model corresponding to the target bone;

The virtual sampling point determination module 120 is used to determine the position information of the corresponding virtual sampling end on the three-dimensional skeleton model in response to the received position information of the sampling end of the sampling tool on the target skeleton;

The prompt module 130 is used to output prompt information;

The control module 140 is used to calculate the positional relationship between the virtual sampling end and the virtual osteotomy line, and control the prompt module to output prompt information corresponding to the positional relationship.

The target bone may be a bone for total hip replacement, such as a femur and/or hip bone.

The virtual osteotomy line may be an osteotomy line determined in a three-dimensional bone model corresponding to the target bone.

In some embodiments of the present application, the position information of the virtual osteotomy line can be determined before surgery, or can be obtained during surgery and determined before surgery or during surgery, which is not limited here. It can be understood that the position information of the virtual osteotomy line is the position information in three-dimensional space, and the virtual osteotomy line is on the three-dimensional bone model.

The sampling tool may be a hip tip probe.

The sampling end of the sampling tool can be an end of the sampling tool used for sampling, for example, it can be the tip of a needle in a hip tip probe. It can also be understood that the orientation information of the sampling end of the sampling tool on the target bone is the orientation information in the real space, and the sampling end is located on the target bone; the orientation information of the virtual sampling end is the orientation information in the three-dimensional space, and the virtual sampling end is on the three-dimensional bone model.

The prompt information may be used to indicate the positional relationship between the virtual sampling end and the virtual osteotomy line.

In some embodiments of the present application, the prompt module may be a module for outputting prompt information. The prompt module may be determined according to the type of prompt information. For example, when the prompt information is text or graphic (image) information, the prompt module may be a display. When the prompt information is voice information, the prompt module may be a speaker.

In some embodiments of the present application, in order to further improve the surgical accuracy and efficiency of doctors, the virtual osteotomy line determination module 110 may specifically include:

A virtual osteotomy surface determination unit is used to determine a virtual osteotomy surface in response to the received normal vector axis orientation information and the position information of the osteotomy point,

The first virtual osteotomy line determination unit is used to perform osteotomy on the three-dimensional bone model based on the virtual osteotomy surface and extract contour information to determine the virtual osteotomy line.

The normal vector axis orientation information may be the position information of the femoral neck centerline in the virtual three-dimensional bone model.

The location information of the osteotomy point may be the location where the physician plans to perform the osteotomy on the three-dimensional bone model corresponding to the target bone or the location through which the osteotomy will be performed.

The virtual osteotomy surface can be an osteotomy surface determined based on the normal vector axis orientation information and the position information of the osteotomy point. It can be understood that the plane can be determined by a known normal vector and a point on the plane. Then, in response to the received normal vector axis orientation information and the position information of the osteotomy point, the virtual osteotomy surface can be determined.

Performing osteotomy on the three-dimensional bone model based on the virtual osteotomy surface and extracting contour information to determine the virtual osteotomy line can include using the virtual osteotomy surface as a cutting surface to cut the three-dimensional bone model and extracting contour information, wherein the extracted contour information is information corresponding to the virtual osteotomy line.

In some embodiments of the present application, the virtual osteotomy surface may be perpendicular to the normal vector axis, and the virtual osteotomy surface covers the osteotomy point.

In an embodiment of the present application, a virtual osteotomy surface determination unit responds to the received normal vector axis orientation information and the position information of the osteotomy point to determine the virtual osteotomy surface, and then a first determination unit based on the virtual osteotomy line performs osteotomy on the three-dimensional bone model based on the virtual osteotomy surface, extracts contour information to determine the virtual osteotomy line, and determines the virtual osteotomy surface by acquiring the normal vector axis orientation and the osteotomy point position in the three-dimensional space, and further determines the virtual osteotomy line, so that the physician can adjust the virtual osteotomy surface based on the axis and point to meet different adjustment requirements, thereby improving the physician's surgical accuracy and efficiency, while also improving the user experience.

In some embodiments of the present application, the virtual osteotomy surface determination unit may be further configured to determine the virtual osteotomy surface based on the orientation information of the three-dimensional bone model.

The orientation information of the three-dimensional bone model may include the orientation information of the center line of the femoral neck.

The normal vector axis may be the femoral neck centerline.

The osteotomy point can be the midpoint of the femoral neck centerline.

In one example, referring to FIG. 2 , the bone in FIG. 2 is a three-dimensional bone model corresponding to the target bone, and the line segment AB is the center line of the femoral neck.

In an embodiment of the present application, a virtual osteotomy surface is determined by a virtual osteotomy surface determination unit based on the orientation information of a three-dimensional bone model. Planning is performed by adjusting the orientation of the three-dimensional bone model in three-dimensional space, such as the orientation of the femoral model relative to the hip bone model. In addition, the center line of the femoral neck is used as the direction axis, and the midpoint of the center line of the femoral neck is used as the osteotomy point. The virtual osteotomy surface determined by this method is in line with the habits of most physicians. After obtaining the virtual osteotomy surface during surgery, the physician only needs to make slight adjustments or no adjustments to carry out subsequent work, thereby improving the physician's surgical accuracy and efficiency.

In some embodiments of the present application, the virtual osteotomy line determination module 110 may further include:

A target installation posture determination unit, used to implant a prosthesis model in a three-dimensional skeleton model corresponding to a target skeleton, and determine a target installation posture of the prosthesis model relative to the three-dimensional skeleton model in response to received posture information of the prosthesis model;

The second virtual osteotomy line determination unit is used to determine the virtual osteotomy line on the three-dimensional bone model based on the target installation posture.

The target installation posture may be the posture of the prosthesis model relative to the three-dimensional skeleton model.

In one example, referring to FIG. 3 , the healthy hip bone and femur on the other side of the patient can be referred to, and based on the principle of equal length of the lower limbs, a prosthetic model (i.e., a virtual bone) can be implanted in the three-dimensional bone model to replace the diseased and necrotic bone.

In some embodiments of the present application, the prosthesis model may include the following parts: an artificial acetabulum, an acetabulum liner and an artificial prosthesis.

In an embodiment of the present application, a prosthesis model is implanted in a three-dimensional bone model corresponding to a target bone through a target installation posture determination unit, and a target installation posture of the prosthesis model relative to the three-dimensional bone model is determined in response to the received posture information of the prosthesis model. A second determination unit based on the virtual osteotomy line determines a virtual osteotomy line on the three-dimensional bone model according to the target installation posture, and planning is performed by adjusting the orientation of the prosthesis model in three-dimensional space, such as the orientation of the prosthesis model relative to a hip model or a femur model, to meet the need to adjust the prosthesis model rather than the three-dimensional femoral model. That is, the method is performed on the basis of the orientation of the prosthesis model, and a method for determining the virtual osteotomy line is added with the help of the prosthesis model instead of the three-dimensional femoral model, which can also meet the requirements of surgical accuracy and efficiency.

In some embodiments of the present application, the prosthesis model includes a femoral stem portion and a femoral neck portion.

In one example, with continued reference to FIG. 3 , the prosthesis model in FIG. 3 includes a femoral stem portion 31 and a femoral neck portion 32 .

The second determination unit of the virtual osteotomy line can be further used to determine the axial orientation information of the femoral neck part and the orientation information of the reference surface of the femoral stem part based on the target installation posture; based on the axial orientation information of the femoral neck part and the orientation information of the reference surface of the femoral stem part, determine the virtual osteotomy line on the three-dimensional bone model.

In one example, referring to FIG. 4 , the reference surface of the femoral stem portion may be a plane on the femoral stem where the femoral neck and the femoral stem meet, as shown in the osteotomy surface 41 in FIG. 4 .

In one example, referring to FIG. 5 , line 51 may be a virtual osteotomy line.

In an embodiment of the present application, when the prosthesis model includes a femoral stem part and a femoral neck part, the second determination unit of the virtual osteotomy line can determine the axial orientation information of the femoral neck part and the orientation information of the reference surface of the femoral stem part based on the target installation posture, and then determine the virtual osteotomy line on the three-dimensional bone model based on the axial orientation information of the femoral neck part and the orientation information of the reference surface of the femoral stem part. After the target installation posture is determined, the orientation information of the reference surface of the femoral stem part can be determined, and the virtual osteotomy line is determined based on this reference surface, which makes full use of the existing conditions and can achieve the purpose of preliminarily determining the virtual osteotomy line, while also meeting the requirements for surgical accuracy and efficiency.

In some embodiments of the present application, the prompt module 130 can also be used to display the three-dimensional bone model and the virtual osteotomy line, so that the doctor can intuitively view the three-dimensional bone model and the virtual osteotomy line, and then the doctor can preliminarily determine the position of the sampling end of the sampling tool placed on the target bone according to the viewed virtual osteotomy line, thereby improving the accuracy of the doctor's surgery.

Furthermore, the prompt module 130 can also be used to display real-time virtual sampling points. It can be understood that when the physician adjusts the position of the sampling end of the sampling tool on the target bone, the control module 140 controls the prompt module 130 to output and display virtual sampling points on the three-dimensional bone model, and the virtual sampling points correspond to the sampling end of the sampling tool.

In some embodiments of the present application, the control module 140 may also be configured to control the prompt module to output prompt information that the sampling end is on the target osteotomy line when the virtual sampling end is on the virtual osteotomy line.

The target osteotomy line may be a line on the target bone corresponding to the virtual osteotomy line.

In one example, referring to FIG. 6 , the virtual sampling end 61 is located on the virtual osteotomy line 62 .

In an embodiment of the present application, when the virtual sampling end is located on the virtual osteotomy line, the control module can control the prompt module to output a prompt message that the sampling end is on the target osteotomy line, so that the doctor can promptly check that the sampling end is on the target osteotomy line, and can perform subsequent operations according to the prompt message, thereby improving the doctor's surgical efficiency.

In some embodiments of the present application, the prompt information that the sampling end is located on the target osteotomy line includes a change in the display state of the virtual osteotomy line and/or the virtual sampling end.

In some embodiments of the present application, the display state includes at least one of color, brightness, and shape.

In some embodiments of the present application, taking the display state as color as an example, the display state of the virtual osteotomy line may be changed by highlighting the virtual osteotomy line on the three-dimensional bone model, or by initially having one color and then changing to another color. The display state of the virtual sampling end may be changed by highlighting the virtual sampling end or changing its color.

In an embodiment of the present application, the prompt information that the sampling end is located on the target osteotomy line includes a change in the display status of the virtual osteotomy line and/or the virtual sampling end, so that the physician can promptly and intuitively check that the sampling end is located on the target osteotomy line, so that subsequent operations can be performed according to the prompt information, thereby improving the efficiency of the physician's surgery.

In some embodiments of the present application, the prompt information that the sampling end is located on the target osteotomy line includes a change in the display state of the virtual sampling point, and the change in the display state of the virtual sampling point may also include a change from non-display to display.

Among them, the virtual sampling point is the point in the three-dimensional space corresponding to the sampling end in the real space.

In some embodiments of the present application, the output method includes voice output.

In an embodiment of the present application, the prompt information can also be output in the form of voice output, so that the physician can know the prompt information when it is inconvenient to view the information, thereby improving the physician's user experience.

In some embodiments of the present application, the virtual sampling point determination module 120 may specifically include:

A registration unit, used to register the target bone with the three-dimensional bone model and determine the corresponding relationship between the target bone and the three-dimensional bone model;

The virtual sampling point determination unit is used to determine the position information of the corresponding virtual sampling end on the three-dimensional skeleton model based on the position information and the corresponding relationship in response to the received position information of the sampling end of the sampling tool on the target skeleton.

In an embodiment of the present application, the target bone can be aligned with the three-dimensional bone model through the alignment unit to obtain the corresponding relationship between the target bone and the three-dimensional bone model. The virtual sampling point determination unit can respond to the orientation information of the sampling end of the sampling tool on the received target bone, and based on the orientation information and the corresponding relationship, the orientation information of the corresponding virtual sampling end on the three-dimensional bone model can be determined. In this way, the orientation information of the corresponding virtual sampling end on the three-dimensional bone model can be accurately and real-time determined to ensure the accuracy and efficiency of the doctor's operation.

Based on the same inventive concept as the above-mentioned sampling point prompting device, the embodiment of the present application also provides a hip replacement system. As shown in FIG7 , the hip replacement system 700 may include:

The sampling tool 710 includes a sampling end, which is used to contact the target bone to determine the sampling point.

An optical navigation device 720, for providing position information of the sampling end of the sampling tool;

The sampling point prompting device 730 includes the sampling point prompting device provided in the above embodiment, and is used to output prompt information corresponding to the sampling point.

Among them, the target bone may include the femoral neck.

The terms and explanations of terms in the embodiments of the present application that are the same as those in the above embodiments will not be repeated here.

In an embodiment of the present application, the sampling point is determined by contacting the sampling end of the sampling tool with the target bone, the orientation information of the sampling end of the sampling tool is provided based on the optical navigation device, and the prompt information corresponding to the sampling point is output based on the sampling point prompt device. In this way, the virtual osteotomy line can be determined in advance in the three-dimensional bone model, and then the virtual sampling end corresponding to the sampling end of the sampling tool is determined. Then, according to the orientation information of the virtual sampling end on the three-dimensional bone model, the positional relationship between the virtual sampling end and the virtual osteotomy line is calculated, and prompt information corresponding to the positional relationship is made to assist the physician in adjusting the orientation of the sampling end of the sampling tool, and the osteotomy line corresponding to the planned virtual osteotomy line is marked on the target bone, thereby providing a basis for precise osteotomy, thereby improving the physician's surgical accuracy and efficiency and reducing the incidence of unequal length of the patient's lower limbs.

Based on the same inventive concept as the sampling point prompt device described above, the present application also provides an electronic device. The electronic device 800 includes one or more processors 801 and a memory 802, the memory is used to store instructions, as shown in FIG9 , the processor is used to execute the instructions to implement the following steps 910 to 940:

Step 910: Determine the orientation information of the virtual osteotomy line on the three-dimensional bone model corresponding to the target bone.

Step 920: In response to the received position information of the sampling end of the sampling tool on the target skeleton, determine the position information of the corresponding virtual sampling end on the three-dimensional skeleton model.

Step 930: Calculate the positional relationship between the virtual sampling end and the virtual osteotomy line.

Step 940: Control the output of prompt information corresponding to the position relationship.

Specifically, the processor 801 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present invention.

The memory 802 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 802 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 802 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 802 is a non-volatile solid-state memory. The memory may include a read-only memory (ROM), a random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical/tangible memory storage device. Therefore, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in the reverse control method of the player provided in the above-mentioned embodiment.

The processor 801 implements any one of the player reverse control methods in the above embodiments by reading and executing the computer program instructions stored in the memory 802 .

In one example, the electronic device may further include a communication interface 803 and a bus 810. As shown in FIG8, the processor 801, the memory 802, and the communication interface 803 are connected via the bus 810 and communicate with each other.

The communication interface 803 is mainly used to implement the communication between the modules, devices, units and/or devices in the embodiment of the present invention.

Bus 810 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 810 may include one or more buses. Although the embodiment of the present invention describes and shows a specific bus, the present invention considers any suitable bus or interconnection.

In an embodiment of the present application, a virtual osteotomy line is determined in advance in a three-dimensional bone model, and then the virtual sampling end corresponding to the sampling end of the sampling tool is determined. Then, based on the orientation information of the virtual sampling end on the three-dimensional bone model, the positional relationship between the virtual sampling end and the virtual osteotomy line is calculated, and prompt information corresponding to the positional relationship is made to assist the physician in adjusting the orientation of the sampling end of the sampling tool, and marking the osteotomy line corresponding to the planned virtual osteotomy line on the target bone, thereby providing a basis for precise osteotomy. This improves the physician's surgical accuracy and efficiency and reduces the incidence of unequal length of the patient's lower limbs.

Based on the same inventive concept as the above-mentioned sampling point prompting device, the present application also provides a storage medium containing computer executable instructions, which are used to perform the above-mentioned steps 910 to 940 when executed by a computer processor.

It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and/or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and/or the block diagram and the combination of each square box in the flow chart and/or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function/action specified in one or more square boxes of the flow chart and/or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and/or the flow chart and the combination of the square boxes in the block diagram and/or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims (15)

1. A sampling point prompting device, comprising: A virtual osteotomy line determination module, used to determine the orientation information of the virtual osteotomy line on a three-dimensional bone model corresponding to the target bone; A virtual sampling point determination module, configured to determine the position information of the corresponding virtual sampling end on the three-dimensional skeleton model in response to the received position information of the sampling end of the sampling tool on the target skeleton; A prompt module, used for outputting prompt information; The control module is used to calculate the positional relationship between the virtual sampling end and the virtual osteotomy line, and control the prompt module to output prompt information corresponding to the positional relationship. 2. The device according to claim 1, characterized in that the virtual osteotomy line determination module comprises: A virtual osteotomy plane determining unit, configured to determine a virtual osteotomy plane in response to the received normal vector axis orientation information and the position information of the osteotomy point, wherein the virtual osteotomy plane is perpendicular to the normal vector axis and covers the osteotomy point; The first virtual osteotomy line determination unit is used to perform osteotomy on the three-dimensional bone model based on the virtual osteotomy plane and extract contour information to determine the virtual osteotomy line. 3. The device according to claim 2 is characterized in that the virtual osteotomy surface determination unit is further used to determine the virtual osteotomy surface based on the orientation information of the three-dimensional bone model, wherein the orientation information of the three-dimensional bone model includes the orientation information of the femoral neck centerline, the normal vector axis is the femoral neck centerline, and the osteotomy point is the midpoint of the femoral neck centerline. 4. The device according to claim 1, characterized in that the virtual osteotomy line determination module comprises: a target installation posture determination unit, configured to implant a prosthesis model in the three-dimensional skeleton model corresponding to the target skeleton, and determine a target installation posture of the prosthesis model relative to the three-dimensional skeleton model in response to received posture information of the prosthesis model; A second virtual osteotomy line determination unit is used to determine the virtual osteotomy line on the three-dimensional bone model based on the target installation posture. 5. The device according to claim 4 is characterized in that the prosthesis model includes a femoral stem part and a femoral neck part, and the second determination unit of the virtual osteotomy line is further used to determine the axial orientation information of the femoral neck part and the orientation information of the reference surface of the femoral stem part based on the target installation posture; based on the axial orientation information of the femoral neck part and the orientation information of the reference surface of the femoral stem part, determine the virtual osteotomy line on the three-dimensional bone model. 6. The device according to claim 1 is characterized in that the prompt module is also used to display the three-dimensional bone model and the virtual osteotomy line. 7. The device according to claim 1 is characterized in that the control module is further used to control the prompt module to output prompt information that the sampling end is located on the target osteotomy line when the virtual sampling end is located on the virtual osteotomy line, wherein the target osteotomy line is a line on the target bone corresponding to the virtual osteotomy line. 8 . The device according to claim 7 , wherein the prompt information that the sampling end is located on the target osteotomy line comprises a change in the display state of the virtual osteotomy line and/or the virtual sampling end. 9 . The device according to claim 8 , wherein the display state comprises at least one of color, brightness, and shape. 10. The device according to claim 7, characterized in that the prompt information that the sampling end is located on the target osteotomy line includes a change in the display state of the virtual sampling point, and the change in the display state of the virtual sampling point includes a change from non-display to display. The device according to claim 1 , wherein the output mode comprises voice output. 12. The device according to claim 1, wherein the virtual sampling point determination module comprises: A registration unit, used for registering the target bone with the three-dimensional bone model to determine the corresponding relationship between the target bone and the three-dimensional bone model; The virtual sampling point determination unit is used to determine the position information of the corresponding virtual sampling end on the three-dimensional skeleton model based on the position information and the corresponding relationship in response to the received position information of the sampling end of the sampling tool on the target skeleton. 13. A hip replacement system, comprising: A sampling tool, comprising a sampling end, the sampling end being used to contact a target bone to determine a sampling point, wherein the target bone comprises a femoral neck; An optical navigation device, used to provide position information of the sampling end of the sampling tool; A sampling point prompting device, wherein the sampling point prompting device comprises the sampling point prompting device according to any one of claims 1 to 12, and is used to output prompt information corresponding to the sampling point. 14. An electronic device, characterized in that the electronic device comprises one or more processors and a memory, wherein the memory is used to store instructions, and the processor is used to execute the instructions to implement the following steps: Determining the orientation information of the virtual osteotomy line on the three-dimensional bone model corresponding to the target bone; In response to the received position information of the sampling end of the sampling tool on the target bone, determining the position information of the corresponding virtual sampling end on the three-dimensional bone model; Calculating the positional relationship between the virtual sampling end and the virtual osteotomy line; Control output of prompt information corresponding to the position relationship. 15. A storage medium comprising computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to perform the following steps: Determining the orientation information of the virtual osteotomy line on the three-dimensional bone model corresponding to the target bone; In response to the received position information of the sampling end of the sampling tool on the target bone, determining the position information of the corresponding virtual sampling end on the three-dimensional bone model; Calculating the positional relationship between the virtual sampling end and the virtual osteotomy line; Control output of prompt information corresponding to the position relationship.