阅读说明：本技术 安全截骨提示信息的生成方法、装置和终端设备 (Method and device for generating safe osteotomy prompt message and terminal equipment ) 是由 孟李艾俐 赵亚兰 于 2020-05-27 设计创作，主要内容包括：本申请适用于医疗技术领域,提供了一种安全截骨提示信息的生成方法、装置和终端设备,所述方法包括：获取截骨手术信息以及与所述截骨手术信息相对应的待截骨模型；根据所述截骨手术信息,将所述待截骨模型划分为至少两个模型区域；在截骨手术过程中,确定锯片的尖端所在的模型区域；根据所述锯片的尖端所在的模型区域,生成安全截骨提示信息。上述方法,通过设置截骨面的安全边界,并采用不同颜色对模型中的各个区域进行标记,可以在截骨手术中通过不同颜色对应的指示信息为医生提供操作提示,降低截骨手术操作的复杂度,保证截骨的安全性。(The application is applicable to the technical field of medical treatment, and provides a method, a device and a terminal device for generating safe osteotomy prompt information, wherein the method comprises the following steps: acquiring osteotomy information and a to-be-osteotomy model corresponding to the osteotomy information; dividing the model to be osteotomy into at least two model areas according to the osteotomy information; determining a model area where the tip of the saw blade is located in the process of osteotomy; and generating safe osteotomy prompt information according to the model area where the tip of the saw blade is located. According to the method, the safety boundary of the osteotomy surface is set, and different colors are adopted to mark each region in the model, so that operation prompts can be provided for doctors through the indication information corresponding to different colors in the osteotomy operation, the complexity of the osteotomy operation is reduced, and the safety of osteotomy is ensured.)

1. A method for generating safe osteotomy prompt information is characterized by comprising the following steps:

acquiring osteotomy information and a to-be-osteotomy model corresponding to the osteotomy information;

dividing the model to be osteotomy into at least two model areas according to the osteotomy information;

determining a model area where the tip of the saw blade is located in the process of osteotomy;

and generating safe osteotomy prompt information according to the model area where the tip of the saw blade is located.

2. The method of claim 1, wherein the dividing the model to be osteotomy into at least two model regions according to the osteotomy procedure information comprises:

and dividing the model to be osteotomy into an osteotomy region and a reserved region according to the osteotomy information.

3. The method according to claim 2, wherein the dividing the model to be osteotomy into an osteotomy region and a reserved region according to the osteotomy procedure information comprises:

determining at least one osteotomy face in the model to be osteotomy according to the osteotomy information;

aiming at the current osteotomy surface, respectively calculating the distance between each data point in the model to be osteotomy and the current osteotomy surface;

determining a region formed by a plurality of data points of which the distance from the current osteotomy surface is greater than a preset first distance threshold value as an osteotomy region; and the number of the first and second groups,

and determining a region formed by a plurality of data points with the distance between the data points and the current osteotomy surface smaller than a preset first distance threshold as a reserved region.

4. The method of claim 2 or3, further comprising:

determining a redundant area contained in the reserved area according to the osteotomy procedure information.

5. The method of claim 4, further comprising:

labeling the osteotomy region as a first color and the redundant region and the reserved region as a second color.

6. The method of claim 5, wherein determining the modeled area in which the tip of the saw blade is located during the osteotomy procedure comprises:

tracking the real-time pose of the saw blade in the process of the osteotomy;

and determining a model area where the tip of the saw blade is located according to the real-time pose of the saw blade.

7. The method of claim 6, wherein generating a safe osteotomy prompting message based on the model area in which the tip of the saw blade is located comprises:

when the model area where the tip of the saw blade is located is an osteotomy area marked as a first color, generating first prompt information and updating the color of the saw blade to the first color to indicate that the saw blade is moved to the redundant area;

when the model area where the tip of the saw blade is located is a redundant area marked as a second color, generating second prompt information and updating the color of the saw blade to be a standard color so as to indicate that the current position is the best osteotomy position;

and when the tip of the saw blade touches the reserved area, generating third prompt information and updating the color of the reserved area and the color of the saw blade into a third color so as to indicate that the current position is the reserved area and forbid osteotomy.

8. The method of claim 1, 2, 3, 5, 6, or 7, further comprising:

determining a contour point set of a current osteotomy face in the model to be osteotomy;

and determining the safety boundary of the current osteotomy surface according to the contour point set and a preset second distance threshold.

9. The method of claim 8, further comprising:

detecting whether the tip of the saw blade touches a safety boundary of the current osteotomy face;

if the tip of the saw blade touches the safety boundary of the current osteotomy surface, prompting to forbid osteotomy;

and if the tip of the saw blade does not touch the safety boundary of the current osteotomy surface, executing a step of generating safety osteotomy prompt information according to the model area where the tip of the saw blade is located.

10. The method of claim 8, further comprising:

and updating the safety boundary of the current osteotomy face in the process of osteotomy operation.

11. The method of claim 10, wherein updating the safety boundary of the current osteotomy face during the osteotomy procedure comprises:

adjusting the second distance threshold during an osteotomy procedure to synchronously update a safety boundary of the current osteotomy face; alternatively, the first and second electrodes may be,

and adjusting the positions of all data points forming the safety boundary of the current osteotomy surface, and updating the safety boundary according to the adjusted positions of all the data points.

12. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for generating the safe osteotomy prompt message of any one of claims 1 to 11 when executing the computer program.

13. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the method for generating a safe osteotomy prompt message according to any one of claims 1 to 11.

Technical Field

The application belongs to the technical field of medical treatment, and particularly relates to a method and a device for generating safe osteotomy prompt information and terminal equipment.

Background

The traditional bone surgery adopts four-in-one osteotomy plate corresponding to each prosthesis to cut bones, and the current osteotomy state is fed back through swinging saw and vibrating hand feel during osteotomy. Meanwhile, the osteotomy safety protection mechanism avoids the current peripheral ligament of the osteotomy surface from being touched by mistake in the form of an assistant drag hook, and reserves partial osteotomy amount to ensure that the saw blade does not touch important parts such as arterial blood vessels on the rear side of the tibia. The mechanical positioning mode in the traditional operation process is complex to operate, the positioning precision is not high, and the safety protection measures for ligaments and arterial blood vessels are poor.

In recent years, with the rapid development of medical imaging and artificial intelligence technologies, medical robots have become important solutions for improving the accuracy of osteotomy. The conventional solution of existing robot-assisted surgery is to navigate to a planned surgical site and then assist the surgeon with the surgical robot to complete the surgical procedure. Although the complexity of the osteotomy procedure is reduced by means of the medical robot, there are still deficiencies in the model tracking status and safety protection of the surgical procedure.

Disclosure of Invention

In view of this, the embodiment of the present application provides a method, an apparatus and a terminal device for generating safe osteotomy prompt information, so as to provide operation prompt information for a doctor in an osteotomy, reduce complexity of an operation, and improve a success rate of the operation.

A first aspect of the embodiments of the present application provides a method for generating safe osteotomy prompt information, including:

acquiring osteotomy information and a to-be-osteotomy model corresponding to the osteotomy information;

dividing the model to be osteotomy into at least two model areas according to the osteotomy information;

determining a model area where the tip of the saw blade is located in the process of osteotomy;

and generating safe osteotomy prompt information according to the model area where the tip of the saw blade is located.

A second aspect of the embodiments of the present application provides an apparatus for generating safe osteotomy prompt information, including:

the acquiring module is used for acquiring osteotomy information and a to-be-osteotomy model corresponding to the osteotomy information;

the dividing module is used for dividing the model to be osteotomy into at least two model areas according to the osteotomy information;

the determination module is used for determining a model area where the tip of the saw blade is located in the process of osteotomy;

and the generating module is used for generating safe osteotomy prompt information according to the model area where the tip of the saw blade is located.

A third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method for generating the safe osteotomy prompt message according to the first aspect when executing the computer program.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where a computer program is stored, and the computer program is configured to, when executed by a processor, implement the method for generating the safe osteotomy prompt message according to the first aspect.

A fifth aspect of the embodiments of the present application provides a computer program product, which when running on a terminal device, causes the terminal device to execute the method for generating the safe osteotomy prompt message according to the first aspect.

Compared with the prior art, the embodiment of the application has the following advantages:

this application embodiment, through acquireing osteotomy operation information and the osteotomy model of treating that corresponds with osteotomy operation information to can confirm the safety boundary of current osteotomy face according to osteotomy operation information, and with the aforesaid treat that the osteotomy model divides into two at least model regions, different model regions can adopt different colours to mark, thereby can be at the osteotomy operation in-process, through the model region at the most advanced place of confirming the saw bit, generate safe osteotomy suggestion information. According to the embodiment, the safe boundary is set and different regions are marked by adopting different colors, the current bone cutting state can be safely and effectively updated in real time according to the tracking data in the operation process and is fed back to a doctor, the optimal bone cutting position of the saw blade of the swing saw is dynamically guided, the doctor is safely and accurately assisted to complete the bone cutting operation, and the operation efficiency and accuracy of the doctor are improved. Secondly, the safety boundary in the embodiment can be dynamically adjusted according to the real-time requirement in the operation process, so that each osteotomy operation is ensured to be completed in the safety boundary, and the safety of osteotomy is further ensured.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a flowchart illustrating steps of a method for generating a safe osteotomy prompt according to an embodiment of the present application;

FIG. 2 is a flowchart illustrating steps of another method for generating a safe osteotomy prompt according to an embodiment of the present application;

FIG. 3 is a schematic view of a security boundary of an embodiment of the present application;

FIG. 4 is a schematic diagram illustrating a process for generating a safe osteotomy prompt according to an embodiment of the present application;

FIG. 5 is a flow chart of a model hierarchical initialization algorithm according to one embodiment of the present application;

FIG. 6 is a flow diagram of a security boundary initialization algorithm according to one embodiment of the present application;

FIG. 7 is a flow diagram of a security boundary update algorithm according to one embodiment of the present application;

FIG. 8 is a flow chart of a model hierarchy update algorithm during an osteotomy procedure in accordance with one embodiment of the present application;

FIG. 9 is a flow chart of a security boundary real-time detection algorithm according to an embodiment of the present application;

FIG. 10 is a flow chart of a safe osteotomy prompting algorithm in accordance with one embodiment of the present application;

FIG. 11 is a schematic diagram of an apparatus for generating a safe osteotomy prompting message according to an embodiment of the present application;

fig. 12 is a schematic diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

The technical solution of the present application will be described below by way of specific examples.

Referring to fig. 1, a schematic flow chart illustrating steps of a method for generating an osteotomy prompt message according to an embodiment of the present application is shown, which may specifically include the following steps:

s101, obtaining osteotomy information and a to-be-osteotomy model corresponding to the osteotomy information;

it should be noted that the method may be applied to a terminal device, where the terminal device may be a medical instrument or the like for providing auxiliary support for an osteotomy, and the specific type of the terminal device is not limited in this embodiment.

In the embodiment of the present application, the osteotomy information may refer to a surgical planning plan designed by a doctor for a patient to be osteotomy or the like. Through the scheme, the corresponding operation of a doctor can be guided.

Generally, in order to improve the success rate of the osteotomy and reduce the operation difficulty during the operation of the doctor, the doctor can be assisted in the osteotomy by generating a 3D model which is the same as or similar to the position of the patient to be osteotomy before the formal operation.

Therefore, the model to be osteotomy corresponding to the above information of the osteotomy procedure may be a 3D model constructed by scanning the patient's place to be osteotomy. By mapping the oscillating saw blade for osteotomy in the model, doctors can conveniently know whether the osteotomy process is operated properly in real time by observing the relative position relationship between the saw blade and the position to be osteotomy in the osteotomy operation process.

S102, dividing the model to be osteotomy into at least two model areas according to the osteotomy information;

in the embodiment of the application, in order to facilitate an osteotomy doctor to intuitively know the specific operation accuracy of the osteotomy through the model to be osteotomy, the model can be divided into different regions according to specific surgical information.

For example, the model to be osteotomy may be divided into an osteotomy region and a reserved region, etc., according to the surgical information, thereby facilitating the doctor to determine whether the portion needs to be osteotomy according to the region where the tip of the saw blade is located.

S103, determining a model area where the tip of the saw blade is located in the process of the osteotomy;

in the embodiment of the application, when the osteotomy is performed formally, the saw blade for the osteotomy is tracked, and can be mapped to the model to be osteotomy so as to determine the specific position of the current osteotomy.

For example, by tracking the blade, it can be determined whether the tip of the blade is currently in the osteotomy region or the reserved region.

And S104, generating safe osteotomy prompt information according to the model area where the tip of the saw blade is located.

Since the model to be osteotomy has been divided into different regions according to the surgical planning plan, it is possible to determine whether the current osteotomy operation is appropriate by determining the model region in which the tip of the saw blade is located.

For example, if the position of the tip of the saw blade in the model is a reserved area, which indicates that the area is a bone part needing to be reserved, a corresponding warning message can be generated to prompt the doctor that the current position prohibits osteotomy. If the position of the tip of the saw blade in the model is an osteotomy area, the area is a bone part needing to be cut, and then the doctor can be prompted to cut the bone in the area.

In the embodiment of the application, the information of the osteotomy operation and the to-be-osteotomy model corresponding to the information of the osteotomy operation are acquired, so that the to-be-osteotomy model can be divided into at least two model areas according to the information of the osteotomy operation, and in the process of the osteotomy operation, the safe osteotomy prompt information can be generated by determining the model area where the tip of the saw blade is located. According to the embodiment, the current osteotomy state can be safely and effectively updated in real time according to the data tracked in the operation process and is fed back to a doctor, the optimal osteotomy position of the saw blade of the swing saw is dynamically guided, the doctor is safely and accurately assisted to complete the osteotomy operation, and the operation efficiency and accuracy of the doctor are improved.

Referring to fig. 2, a schematic flow chart illustrating steps of another method for generating safe osteotomy prompt information according to an embodiment of the present application is shown, which may specifically include the following steps:

s201, obtaining osteotomy information and a to-be-osteotomy model corresponding to the osteotomy information;

it should be noted that the method can be applied to medical equipment for providing auxiliary support for osteotomy. The execution main body of the embodiment is medical equipment, and the medical equipment tracks data including real-time poses of saw blades of the swing saw and the like in the osteotomy operation, so that an osteotomy state schematic diagram can be presented in a corresponding model to be osteotomy, the osteotomy operation of a doctor is prompted, the osteotomy efficiency and accuracy of the doctor are improved, and the osteotomy safety is ensured.

In the embodiment of the present application, the osteotomy information may be a surgical planning plan or information for a patient to be osteotomy; the model to be osteotomy may be a 3D model that is the same as or similar to the patient's bone to be osteotomy generated from the above-described osteotomy information.

In the embodiment, the oscillating saw blade for osteotomy in the operation process is mapped in the model, so that a doctor can conveniently know the current osteotomy state in real time by observing the relative position relationship between the saw blade and the position to be osteotomy.

S202, dividing the model to be osteotomy into an osteotomy region, a redundant region and a reserved region according to the osteotomy operation information;

in the embodiment of the present application, the model to be osteotomy may be divided into a plurality of different regions according to specific surgical information. Such as an osteotomy region, a reserved or redundant region, or the like.

In a specific implementation, at least one osteotomy face in the model to be osteotomy can be determined according to the information of the osteotomy operation; then, aiming at the current osteotomy surface, the model can be divided into an osteotomy area and a reserved area by respectively calculating the distance between each data point in the model to be subjected to osteotomy and the current osteotomy surface.

For example, a region composed of a plurality of data points having a distance from the current osteotomy face greater than a preset first distance threshold may be determined as the osteotomy region; and determining a region formed by a plurality of data points with the distance from the current osteotomy surface smaller than a preset first distance threshold as a reserved region. The osteotomy region is the portion of bone that needs to be resected, and the remaining area is the portion of bone that needs to be retained. For the reserved area, osteotomy should be prohibited in this area.

In the embodiment of the application, a redundant area can be arranged between the osteotomy area and the reserved area. In order to improve the accuracy of the osteotomy, the surgeon may perform the osteotomy in the middle portion of the redundant region so as to completely resect the bone portion to be resected without excessively resecting the bone portion to be preserved.

S203, marking the osteotomy region as a first color, and marking the redundant region and the reserved region as a second color;

in the embodiment of the present application, in order to facilitate guidance of the osteotomy operation of the surgeon, different regions of the model to be osteotomy may be marked with different colors based on the corresponding surgical plan. The osteotomy region may correspond to a first color, the redundant region may correspond to a second color, and the reserved region may correspond to a third color.

In the embodiment of the present application, a redundant area may be further provided for the current osteotomy face, and the redundant area may be a part of a reserved area provided according to the osteotomy information. By setting the osteotomy redundancy with a certain layer thickness, a doctor can be instructed to perform osteotomy from the middle part of the redundant area as far as possible when performing osteotomy, thereby ensuring that the bone part needing to be resected can be completely resected and the bone part needing to be reserved can not be mistakenly touched or mistakenly resected.

In a specific implementation, the redundant area may be marked in the same color as the reserved area in an initial state, and when the osteotomy saw blade touches the reserved area, the reserved area may be displayed in real time and marked in a different color from the osteotomy area or the redundant area. For example, at initialization, the osteotomy region in the entire model to be osteotomy may be displayed in a first color, while the redundant region and the reserved region may be displayed in a second color at this time.

As an example of the embodiment, three colors, such as green, white and red, may be set, and in an initial state, a bone portion to be cut in the model to be cut is marked as a first color, i.e., green; the bone portions that need to be preserved and the redundant areas in the preserved areas are marked as a second color, i.e., white. By displaying different regions in different colors, the osteotomy state of the doctor can be displayed intuitively through the colors.

Then, when the bone is cut, if the model area where the tip of the saw blade of the swing saw used by the doctor for cutting the bone is the bone cutting area marked as the first color, the color of the saw blade can be updated to green, so that the doctor is prompted to have less bone cutting amount at the current position of the swing saw, and the position of the swing saw needs to be adjusted to the redundant area to ensure accurate bone cutting. If the model area where the tip of the oscillating saw blade used for bone cutting by the doctor is the redundant area marked as the second color, the color of the saw blade is updated to the standard color, the doctor is prompted to have the best current oscillating saw position, and the bone cutting can be carried out at the position. If the oscillating saw blade used by the doctor for osteotomy breaks through the redundant area and touches the reserved area, the device can send an alarm for forbidding osteotomy, and meanwhile, the reserved area and the blade color in the model to be osteotomy can also be synchronously updated to be the third color (red) for prompting the doctor that the current oscillating saw position is the area for forbidding osteotomy so as to ensure the safety of osteotomy.

S204, determining a contour point set of the current osteotomy surface in the model to be osteotomy; determining a safety boundary of the current osteotomy face according to the contour point set and a preset second distance threshold;

in the embodiment of the application, in order to further improve the safety of osteotomy, a corresponding safety boundary can be set for each osteotomy surface. The safety margin may be a margin surrounding and at a distance from the set of contour points of the osteotomy face.

In specific implementation, a contour point set in a to-be-osteotomy model where an osteotomy surface is located may be fitted to the osteotomy surface in the osteotomy operation planning scheme, and then a safety boundary corresponding to the osteotomy surface is generated according to the contour point set of the osteotomy surface and a preset distance threshold.

Fig. 3 is a schematic diagram of a security margin of the present application. In fig. 3, each data point 301 constitutes a set of contour points of the current osteotomy surface in the 3D model, a line 302 connecting the set of points is the contour of the corresponding osteotomy surface in the model, and a line 303 having a certain distance from the contour 302 is the safety boundary of the current osteotomy surface. During the osteotomy, the oscillating saw blade should perform the osteotomy operation within the safe boundary to ensure that the blade does not touch the important parts of the arterial blood vessel at the back side of the tibia.

In the embodiment of the application, the safety boundary of the current osteotomy surface can be updated according to actual needs in the osteotomy process. Updating the security boundary may be accomplished in two ways.

For example, the second distance threshold may be adjusted during the osteotomy procedure to synchronously update the safety margin of the current osteotomy face. Since the safety margin is formed by the data points at a certain position from the contour point set, the corresponding safety margin is updated by adjusting the distance threshold.

Or, the positions of the data points forming the safety boundary of the current osteotomy face can be directly adjusted, and then the safety boundary is updated according to the adjusted positions of the data points. The embodiment does not limit how the security boundary is adjusted.

S205, tracking the real-time pose of a saw blade in the osteotomy process, and determining a model area where the tip of the saw blade is located according to the real-time pose of the saw blade;

when the navigation osteotomy is performed by a computer-aided doctor, the dynamic poses of the saw blade of the oscillating saw and the model to be osteotomy can be tracked in real time, and the model area where the tip of the saw blade is located is determined according to the relative position relation between the saw blade of the oscillating saw and the current osteotomy surface.

S206, detecting whether the tip of the saw blade touches the safety boundary of the current osteotomy surface;

in the embodiment of the application, whether the current saw blade can safely cut the bone can be judged according to the model area where the tip of the saw blade is located.

In a specific implementation, it may be first determined whether the tip of the saw blade touches a safe boundary of the current osteotomy face, and if the tip of the saw blade touches a safe boundary of the current osteotomy face, a prohibition of osteotomy is prompted, and a warning of prohibition of osteotomy may be sent to the physician. At this time, the doctor needs to adjust the position of the oscillating saw to ensure that the oscillating saw is in the safe boundary.

If the tip of the saw blade does not touch the safety boundary of the current osteotomy surface, the osteotomy prompt message can be generated according to the model area where the tip of the saw blade is located so as to instruct a doctor to perform safe osteotomy.

S207, when the model area where the tip of the saw blade is located is the osteotomy area marked as the first color, generating first prompt information and updating the color of the saw blade to the first color so as to indicate that the saw blade is moved to the redundant area;

in the embodiment of the application, a dynamic prompt view can be generated in the osteotomy process based on the osteotomy planning scheme, corresponding color bars are designed by adopting three colors corresponding to layered display, and the color bars are used for fitting the position of the current osteotomy surface corresponding to the model. And then, prompting the layered position of the bone model of the current swing saw corresponding to the current osteotomy surface through the up-down position of the pointer, and dynamically prompting whether the current swing saw position needs to be finely adjusted or not by adopting up-down, left-right arrow icons, praise gesture icons and the like.

In the embodiment of the application, on the basis of color marking of different areas of the model, the color of the saw blade can be updated according to the model area where the tip of the saw blade is located. For example, when the tip of the saw blade is in the osteotomy region corresponding to the first color, the color of the saw blade can be synchronously updated to the first color, and the doctor can be prompted to operate through the color of the model region and the color of the saw blade.

In a specific implementation, if the oscillating saw blade does not touch the safety boundary of the osteotomy surface, the oscillating saw blade is in the osteotomy operation area of the osteotomy surface to be osteotomy. At this time, if the tip of the saw blade is at the first color layering position corresponding to the current osteotomy face, the safe osteotomy prompt view can prompt the saw to need to be finely adjusted to the second color layering area by displaying the arrow icons of up, down, left and right, namely, the saw swinging position is moved upwards, downwards, leftwards or rightwards, so that the saw swinging position is in the area or layering position corresponding to the second color.

S208, when the model area where the tip of the saw blade is located is a redundant area marked as a second color, generating second prompt information and updating the color of the saw blade to be a standard color so as to indicate that the current position is the optimal osteotomy position;

if the saw blade of the swing saw is in the osteotomy operation area, when the tip end of the saw blade is at the second color layering position corresponding to the current osteotomy surface, the safe osteotomy prompt view can display a praise gesture icon to prompt a doctor that the current saw position is the best osteotomy position, and the osteotomy can be relieved without adjusting the saw position. At the same time, the saw blade color can also be updated to a standard color. The standard color may be determined according to actual requirements, and this embodiment is not particularly limited.

S209, when the tip of the saw blade touches the reserved area, generating a third prompt message and updating the color of the reserved area and the color of the saw blade into a third color so as to indicate that the current position is the reserved area and forbid osteotomy.

If the oscillating saw blade is within the operative area allowing osteotomy, the reserved area is displayed in the same color as the redundant area. When the tip of the saw blade touches the reserved area, the reserved area can be changed into a third color in real time, and the safe osteotomy prompt view can display a corresponding arrow icon to prompt the swing saw to move towards the direction of the second color layering area, so that the swing saw is located at the second color layering position, and safe osteotomy is ensured.

It should be noted that, in the process of osteotomy, the osteotomy layered display effect of the model can be updated in real time according to the osteotomy state, the part of the bone which is cut off by the saw blade in real time and corresponds to the 3D model of the view will disappear, and the layered effect of the part which is not cut off is updated in real time. Namely, when the model area where the tip of the oscillating saw blade is located is the osteotomy area displaying the first color, the osteotomy amount is not enough, and the osteotomy is required to be continued; when the model area where the tip of the saw blade of the oscillating saw is located is a redundant area displaying a second color, accurate osteotomy is represented; when the tip of the oscillating saw blade breaks through the boundary line between the redundant area and the reserved area and touches the reserved area, the reserved area can be updated to a third color from the second color in the initialization state, the reserved area is represented as an over-cutting state, and the system prompts that the bone cutting is forbidden.

In the embodiment of the application, the model to be osteotomy is displayed in different colors in different layers according to the osteotomy operation plan scheme, and the current osteotomy state can be displayed in real time by updating the current layer color of the model in the osteotomy process of a computer-aided doctor; secondly, the osteotomy safety boundary can be custom-designed according to the profile of the current osteotomy surface, so that tissues such as ligaments and arterial blood vessels in the surgical area of the patient can be protected from being mistakenly touched by the saw blade in the osteotomy process, and the osteotomy safety is ensured; thirdly, in the embodiment, the color layering parameters of the model to be cut can be referred to according to the real-time relative position relationship between the saw blade of the swing saw and the surface to be cut in the process of cutting, and a safe dynamic bone cutting prompt view for prompting a doctor to finely adjust the position of the swing saw in the process of cutting is designed, so that the bone cutting efficiency and accuracy of the doctor can be improved.

It should be noted that, the sequence numbers of the steps in the foregoing embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present application.

For convenience of understanding, the following describes a method for generating the safe osteotomy prompting message according to the embodiment of the present application, with reference to a specific example.

Fig. 4 is a schematic diagram illustrating a process of generating a safe osteotomy prompt message according to an embodiment of the present application. According to the process shown in fig. 4, after inputting the model parameters and the surgical planning scheme, the layered display parameters of the model and the osteotomy update layered display parameters may be designed first, and the safety boundary of the osteotomy may be determined by obtaining the contour point set of the current osteotomy surface. For the safe boundary, whether the saw blade touches the boundary or not can be judged by acquiring the real-time relative position of the tip of the saw blade of the oscillating saw and the model to be osteotomy in the osteotomy process. If a safety boundary is touched, prompting that the osteotomy is forbidden; otherwise, the cutting operation of the doctor can be prompted according to the color marked by the corresponding position of the saw blade in the model to be cut. In this embodiment, each region or layer in the model to be osteotomy may be marked with three colors. In the initial state, a first color is used to mark the bone portion to be resected, and a second color is used to mark the redundant region and the reserved region. In the operation process, the model area where the tip of the saw blade is located can be determined according to the real-time pose of the saw blade. If the current area is an osteotomy area, the saw blade can be updated to a first color to indicate that the osteotomy is allowed at the position, and an arrow moving to a redundant area of a second color can be displayed in a corresponding safe osteotomy prompt view to prompt a doctor to move the pendulum saw to the redundant area so as to completely cut off the bone part needing to be cut off as far as possible. If the tip of the saw blade of the oscillating saw touches the reserved area, the model osteotomy layering corresponding to the reserved area is firstly changed from the second color to the third color, so that a doctor is prompted to break through the osteotomy forbidding area, the doctor is prohibited from executing the osteotomy operation, and an arrow moving to the redundant area of the second color can be displayed in the corresponding safe osteotomy prompting view, so that the doctor is prompted to move the oscillating saw to the redundant area, and the bone part needing to be reserved is prevented from being excessively cut. If the model osteotomy layer corresponding to the tip of the oscillating saw blade displays the second color, the current position is the optimal osteotomy area, and the doctor can perform osteotomy at the position. It should be noted that, when the oscillating saw blade is in the area marked as the first color or the third color, if the doctor adjusts the oscillating saw blade to the second color area according to the indication in the safe osteotomy prompt view, after the adjustment, the real-time relative position between the saw blade and the model to be osteotomy can be obtained again, and then the osteotomy is performed according to the above procedure.

In the embodiment of the application, the generation process of the osteotomy prompt message can be realized through the following steps, namely, the layering effect of the osteotomy model is designed based on the preoperative surgical planning scheme; designing an osteotomy safety boundary for each osteotomy face contour based on the surgical planning scheme; and in the process of osteotomy, updating the osteotomy state in real time and prompting a doctor to finely adjust the position of the oscillating saw to realize safe osteotomy according to the corresponding poses of the oscillating saw blade and the model to be osteotomy, and the like. As described in detail below.

1. Design osteotomy model layering effect based on operation planning scheme

Fig. 5 is a flowchart illustrating a model hierarchical initialization algorithm according to an embodiment of the present application. According to the algorithm flow shown in fig. 5, for a certain osteotomy, the distance d between the point cloud of the model data and the current osteotomy is calculated, and the model can be divided into at least two color layers according to the size of d: according to the initialized color display color threshold c1, when d is larger than c1, the color of the patch corresponding to the current point cloud data is shown as 1, namely color1, and the color is used for prompting the doctor that the part is a bone part needing to be cut off; when d is less than c1, the corresponding patch for the point cloud data is displayed with color2, i.e. color2, to indicate to the doctor that the part is a bone part that needs to be preserved.

In specific implementation, for point cloud data M [ n ] in a model to be osteotomy, for any osteotomy plane P, the color of the model patch may be initialized to fp, a color threshold value is set to c1, then each patch and point cloud are traversed, a distance d between each point cloud M [ j ] and the osteotomy plane P is calculated, and each patch F [ i ] may be respectively displayed as color1 or color2 by determining a size relationship between the distance d and the threshold value c 1.

Of course, a redundant area may be further included between color1 and color2, and in an initial state, the redundant area and the reserved area may be displayed in the same color, which is not limited in this embodiment.

2. Osteotomy safety margin design based on osteotomy face profile

Fig. 6 is a flowchart illustrating a security boundary initialization algorithm according to an embodiment of the present application. According to the algorithm flow shown in fig. 6, the safety boundary point set Sp can be initialized by obtaining the contour point cloud of the osteotomy surface corresponding to the model and setting the minimum threshold t of the current boundary distance from the contour of the osteotomy surface, and the optimal safety boundary point set is iteratively updated according to t. After all the osteotomy surfaces are traversed, all the safety boundaries of the current osteotomy planning scheme of the model to be osteotomy can be obtained.

In specific implementation, an osteotomy model can be input firstly, a plane P to be osteotomy is determined, a normal vector of the plane P to be osteotomy can be set to be Py, the plunge direction of a pendulum saw is Pz, then a contour point cloud M [ M ] corresponding to the plane P is obtained, a minimum threshold t of the distance from Sp to the contour of the osteotomy plane is set, an iteration error e and a threshold e0 are set by initializing a safe boundary point set Sp [ n ], and an updated boundary point temp is obtained on the basis of traversing each data point i in the safe boundary point set under the condition that e is smaller than e 0. If the closest distance d2 from the new boundary point temp to the contour point cloud M [ M ] is greater than the threshold value t, the new boundary point may be added to the safe boundary point set Sp [ n ], otherwise, the new boundary point temp is determined again. On the other hand, if e is greater than or equal to e0, the value of e can be determined again according to the distance set D [ n ] of the contour point cloud M [ M ] closest to the safety boundary point set Sp [ n ]. For example, e may be set equal to the difference of the maximum value maxD in the distance set D [ n ] and the threshold t.

It should be noted that, during the osteotomy process, the shape of the safety margin may be adjusted in real time according to the requirements. Specifically, there may be two adjustment methods: one is that the safety boundary is automatically updated by the computer according to the threshold value by adjusting the minimum distance threshold value t between the safety boundary and the osteotomy surface outline; and secondly, manually adjusting the positions of all points in the current safety boundary point set, and updating the safety boundary.

3. Dynamic update of security boundaries

Fig. 7 is a flowchart illustrating a security boundary updating algorithm according to an embodiment of the present application. According to the algorithm flow shown in fig. 7, after initializing a set B [ n ] of security boundary points, a threshold d of boundary distance, and a delta of boundary adjustment amount, the adjustment type of the boundary points is determined, if the adjustment is automatically enlarged, the threshold d of the boundary is increased, the increased value may be delta, if the adjustment is automatically reduced, the delta may be reduced for the threshold d of the boundary, and then the security boundary is regenerated according to the adjusted threshold of the boundary. For manual adjustment, the data points that make up the security boundary may be reselected, in conjunction with the boundary threshold, to generate a new security boundary.

4. Model layered display update during osteotomy

Fig. 8 is a flowchart illustrating a model layer updating algorithm in an osteotomy procedure according to an embodiment of the present application. According to the algorithm flow shown in fig. 8, the real-time poses of the point cloud of the saw blade tip of the oscillating saw and the model area to be osteotomy can be accurately calculated based on the real-time poses of the tracers in the osteotomy process. And after the distance d between the blade tip corresponding to the area to be osteotomy and the surface to be osteotomy is obtained, the color of the current osteotomy area model data is updated by judging the relationship between the distance d and the osteotomy color layered updating parameters c1, c2 and the like. For example, when the distance is greater than c1, the color of the patch corresponding to the model data is a first color1, and the saw blade color is synchronously updated to the first color, so that the osteotomy operation is allowed; when the distance is smaller than c2, the color of the corresponding dough sheet is a third color3, the color of the saw blade is synchronously updated to the third color, and a warning for forbidding osteotomy is sent; in other cases, the color of the dough sheet is the second color2, and the color of the saw blade is updated to the standard color. The thickness of the second color layer can be set in a user-defined mode according to operation requirements, and the saw blade of the swing saw corresponds to the osteotomy area of the second color layer and represents that the current position is the optimal osteotomy position.

In the concrete implementation, after point cloud data M [ n ] of a model to be osteotomy is input, a facet color F [ P ] corresponding to a current osteotomy face P is set, and color thresholds c1 and c2 are initialized, the minimum distance d1 between any point cloud M [ j ] and the tip of the saw blade can be calculated by acquiring the real-time pose S of the saw blade to determine whether the tip of the saw blade breaks through the safety boundary of the current osteotomy face. If the tip of the saw blade does not touch the safety boundary of the current osteotomy surface, the model data can be updated, the distance d2 between the projection of any point cloud M [ i ] in S and the current osteotomy surface P is calculated, and each region or layer of the model can be displayed as color1, color2 or color3 by comparing d2 with the threshold values c1 and c 2.

5. Safety margin real-time protection during osteotomy

Fig. 9 is a flowchart illustrating a safety margin real-time detection algorithm according to an embodiment of the present application. According to the algorithm flow shown in fig. 9, in the process of osteotomy, by obtaining the real-time poses of the tip of the oscillating saw and the safety boundary of the model to be osteotomy, the fitting vertex sawtooth point set T [ p ] of the tip of the oscillating saw can be custom-designed according to the parameters of the oscillating saw, so as to judge whether the elements in T are all in the envelope range of the safety boundary. When the point set T of the tip of the oscillating saw is within the envelope range of the point set of the safety boundary, the current saw blade is not touched with the safety boundary, and the osteotomy is allowed. If the point of existence in T is outside the safe boundary, the pendulum saw touches the safe boundary, and a warning is sent to indicate that the osteotomy is forbidden currently.

In the concrete implementation, a safe boundary point set B [ n ] and a current osteotomy surface P are input, after a real-time pose S of the tip of the saw blade is obtained, a tip point set Tp of the saw blade can be fitted, then each data point T [ i ] in the Tp is traversed, whether the data point is in a contour enclosed by a safe boundary or not is judged, and whether the saw blade touches the safe boundary or not is determined. Aiming at each safety boundary with dynamic change, the distance between the saw blade and the safety boundary can be judged according to the process, so that the osteotomy safety is ensured.

6. Safe osteotomy prompt in osteotomy process

Fig. 10 is a flowchart illustrating a safe osteotomy prompting algorithm according to an embodiment of the present application. According to the algorithm flow shown in fig. 10, the safe osteotomy prompt view of the osteotomy procedure may include three parts, from left to right: up-down/left-right arrow prompt, saw position indicator prompt and corresponding osteotomy zone position prompt. Wherein, the osteotomy district position can be shown with the trichromatic strip, divides according to the parameter of osteotomy layering colour renewal, and the display order of three kinds of colours sets up according to the adjustment direction of osteotomy visual angle and the relative osteotomy face of pendulum saw: if the bone cutting amount is above the oscillating saw blade, the three-color bar display sequence is a first color, a second color and a third color from top to bottom (sequence 1); if the bone cutting amount is below the oscillating saw, the three color bars are the third color, the second color and the first color from top to bottom (sequence 2). Meanwhile, an arrow sequence is set according to the position of the current pendulum: sequence 1 is an up and down arrow; sequence 2 is a left and right arrow.

In the process of osteotomy, the corresponding poses of the tip of the oscillating saw and the plane to be osteotomy can be obtained in real time, the minimum distance d between the tip of the oscillating saw and the plane to be osteotomy in the normal vector direction is calculated, the position of the middle pointer on the three-color bar is updated according to the value of d, and the corresponding position of the oscillating saw and the current osteotomy surface of the model is simulated. Taking the sequence of the first color, the second color and the third color of the right three-color bar, wherein the shape of the arrow is an up-down arrow as an example, when d is larger than c1, the middle pointer is in the first color bar area, and the left side displays a down arrow icon to prompt that the osteotomy amount is small at the moment, the oscillating saw needs to move downwards to increase the osteotomy amount; when d is between c1 and c2, a favorable gesture icon is displayed on the left side, the current saw position is prompted to be optimal, and the current pose is kept to continue to cut bones forwards; when d is smaller than c2, an upward arrow icon is displayed on the left side to prompt that the current osteotomy amount is large, the pendulum saw needs to be moved upwards to reduce the osteotomy amount, and an osteotomy warning that the osteotomy amount is too large is sent to the system to ensure safe osteotomy. For a certain bone section, only an up-down arrow is used for prompting that a doctor cannot accurately adjust the position of the data, so that left-right arrow adjustment can be set according to the current position of the data, for example, a left arrow replaces an upward arrow, and a right arrow replaces a downward arrow.

In a specific implementation, the corresponding pointing range r, as well as the color bar color parameters b1, b2, c1 and c2, are set by initializing the osteotomy plane P and the arrow pointing position Ap, and initializing the color bar order O1 (color 1-color 2-color 3), O2 (color 3-color 2-color 1), initializing the arrow order a1 (up arrow, down arrow), a2 (left arrow, right arrow). After the color bar sequence and the arrow sequence are selected according to the current osteotomy surface, the minimum value d of the vector distance between the tip position S [ k ] of the oscillating saw blade and the osteotomy surface P can be obtained, and the d value is compared with the color bar color parameters b1, b2, c1 and c2, so that a corresponding arrow chart or a favorable gesture chart can be displayed in a safe osteotomy prompt view to indicate a doctor to perform osteotomy, and the safety of osteotomy is ensured.

Referring to fig. 11, a schematic diagram of a device for generating a safe osteotomy prompt message according to an embodiment of the present application is shown, which may specifically include the following modules:

an obtaining module 1101, configured to obtain information of an osteotomy procedure and a to-be-osteotomy model corresponding to the information of the osteotomy procedure;

a dividing module 1102, configured to divide the model to be osteotomy into at least two model regions according to the osteotomy information;

a determining module 1103 for determining a model area where the tip of the saw blade is located during the osteotomy procedure;

and the generating module 1104 is used for generating safe osteotomy prompt information according to the model area where the tip is located.

In this embodiment of the present application, the dividing module 1102 may specifically include the following sub-modules:

and the dividing submodule is used for dividing the model to be osteotomy into an osteotomy region and a reserved region according to the osteotomy operation information.

In this embodiment of the present application, the sub-module for dividing may specifically include the following units:

the osteotomy surface determining unit is used for determining at least one osteotomy surface in the model to be subjected to osteotomy according to the osteotomy operation information;

the distance calculation unit is used for respectively calculating the distance between each data point in the model to be osteotomy and the current osteotomy surface according to the current osteotomy surface;

the osteotomy region determining unit is used for determining a region formed by a plurality of data points with the distance between the current osteotomy surface and the current osteotomy surface larger than a preset first distance threshold value as an osteotomy region; and the number of the first and second groups,

and the reserved area determining unit is used for determining an area formed by a plurality of data points of which the distance from the current osteotomy surface is smaller than a preset first distance threshold value as a reserved area.

In this embodiment, the apparatus may further include the following modules:

and the redundant area determining module is used for determining the redundant area contained in the reserved area according to the osteotomy information.

In this embodiment, the apparatus may further include the following modules:

and the color marking module is used for marking the osteotomy region as a first color and marking the redundant region and the reserved region as a second color.

In this embodiment of the application, the determining module 1103 may specifically include the following sub-modules:

the tracking sub-module is used for tracking the real-time pose of the saw blade in the process of the osteotomy operation;

and the determining submodule is used for determining a model area where the tip of the saw blade is located according to the real-time pose of the saw blade.

In this embodiment of the application, the generating module 1104 may specifically include the following sub-modules:

the first generation submodule is used for generating first prompt information and updating the color of the saw blade to a first color to indicate that the saw blade is moved to the redundant area when the model area where the tip of the saw blade is located is the osteotomy area marked as the first color;

the second generation submodule is used for generating second prompt information and updating the color of the saw blade to a standard color when the model area where the tip of the saw blade is located is a redundant area marked as a second color so as to indicate that the current position is the optimal osteotomy position;

and the third generation submodule is used for generating third prompt information and updating the color of the reserved area and the saw blade into a third color when the tip of the saw blade touches the reserved area so as to indicate that the current position is the reserved area and forbid osteotomy.

In this embodiment, the apparatus may further include the following modules:

the contour point set determining module is used for determining a contour point set of the current osteotomy surface in the model to be osteotomy;

and the safety boundary determining module is used for determining the safety boundary of the current osteotomy surface according to the contour point set and a preset second distance threshold.

In this embodiment, the apparatus may further include the following modules:

the safety boundary detection module is used for detecting whether the tip of the saw blade touches the safety boundary of the current osteotomy surface;

the bone cutting forbidding prompting module is used for prompting that bone cutting is forbidden if the tip of the saw blade touches the safety boundary of the current bone cutting surface;

and the calling module is used for calling the generating module 1104 to generate safe osteotomy prompt information according to the model area where the tip of the saw blade is located if the tip of the saw blade does not touch the safe boundary of the current osteotomy surface.

In this embodiment, the apparatus may further include the following modules:

and the safety boundary updating module is used for updating the safety boundary of the current osteotomy surface in the osteotomy operation process.

In this embodiment of the present application, the security boundary updating module may specifically include the following sub-modules:

the distance threshold adjusting submodule is used for adjusting the second distance threshold in the process of osteotomy so as to synchronously update the safety boundary of the current osteotomy surface; alternatively, the first and second electrodes may be,

and the data point position adjusting submodule is used for adjusting the positions of all data points forming the safety boundary of the current osteotomy surface and updating the safety boundary according to the adjusted positions of all the data points.

For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to the description of the method embodiment section for relevant points.

Referring to fig. 12, a schematic diagram of a terminal device according to an embodiment of the present application is shown. As shown in fig. 12, the terminal apparatus 1200 of the present embodiment includes: a processor 1210, a memory 1220, and a computer program 1221 stored in the memory 1220 and operable on the processor 1210. The processor 1210, when executing the computer program 1221, implements the steps in the embodiments of the method for generating a safe osteotomy prompting message, such as the steps S101 to S104 shown in fig. 1. Alternatively, the processor 1210, when executing the computer program 1221, implements the functions of the modules/units in the above-described device embodiments, for example, the functions of the modules 1101 to 1105 shown in fig. 11.

Illustratively, the computer program 1221 may be partitioned into one or more modules/units that are stored in the memory 1220 and executed by the processor 1210 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which may be used to describe the execution process of the computer program 1221 in the terminal device 1200. For example, the computer program 1221 may be divided into an obtaining module, a dividing module, a determining module, and a generating module, and the specific functions of the modules are as follows:

the acquiring module is used for acquiring osteotomy information and a to-be-osteotomy model corresponding to the osteotomy information;

the dividing module is used for dividing the model to be osteotomy into at least two model areas according to the osteotomy information;

the determination module is used for determining a model area where the tip of the saw blade is located in the process of osteotomy;

and the generating module is used for generating safe osteotomy prompt information according to the model area where the tip is positioned.

The terminal device 1200 may include, but is not limited to, a processor 1210 and a memory 1220. Those skilled in the art will appreciate that fig. 12 is only one example of a terminal device 1200 and does not constitute a limitation of the terminal device 1200, and may include more or less components than those shown, or combine some components, or different components, for example, the terminal device 1200 may further include input and output devices, network access devices, buses, etc.

The Processor 1210 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 1220 may be an internal storage unit of the terminal device 1200, such as a hard disk or a memory of the terminal device 1200. The memory 1220 may also be an external storage device of the terminal device 1200, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the terminal device 1200. Further, the memory 1220 may also include both an internal storage unit and an external storage device of the terminal device 1200. The memory 1220 is used for storing the computer program 1221 and other programs and data required by the terminal device 1200. The memory 1220 may also be used to temporarily store data that has been output or is to be output.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.