阅读说明：本技术 虚拟骨面的处理方法、装置及翻修手术机器人 (Virtual bone surface processing method and device and revision surgery robot ) 是由 申一君 庞博 于 2021-11-05 设计创作，主要内容包括：本发明公开了一种虚拟骨面的处理方法、装置及翻修手术机器人。其中,该方法包括：获取初始的虚拟骨面以及处理中的虚拟骨面；对初始的虚拟骨面与处理中的虚拟骨面进行多次配准处理,得到配准转换矩阵；根据配准转换矩阵对初始的虚拟骨面与处理中的虚拟骨面进行拼接处理,得到处理中重建的虚拟骨面。本发明解决了翻修手术的术前及术中的相关数据容易出现误差,导致无法精准植入补块或假体的技术问题。(The invention discloses a method and a device for processing a virtual bone surface and a revision surgery robot. Wherein, the method comprises the following steps: acquiring an initial virtual bone surface and a virtual bone surface in processing; carrying out registration processing on the initial virtual bone surface and the processed virtual bone surface for multiple times to obtain a registration transformation matrix; and splicing the initial virtual bone surface and the processed virtual bone surface according to the registration transformation matrix to obtain the reconstructed virtual bone surface in the processing. The invention solves the technical problem that the repair operation cannot be accurately implanted with the patch or the prosthesis because the related data before and during the revision operation are easy to have errors.)

1. A method for processing a virtual bone surface, comprising:

acquiring an initial virtual bone surface and a virtual bone surface in processing;

carrying out multiple registration processing on the initial virtual bone surface and the processed virtual bone surface to obtain a registration transformation matrix;

and splicing the initial virtual bone surface and the processed virtual bone surface according to the registration transformation matrix to obtain the reconstructed virtual bone surface in the processing.

2. The method of claim 1, wherein performing multiple registration processes on the initial virtual bone surface and the processing virtual bone surface to obtain a registration transformation matrix comprises:

dividing the initial virtual bone surface to obtain a plurality of initial virtual bone surface partitions, wherein each initial virtual bone surface partition corresponds to a confidence score;

partitioning the virtual bone surface in the processing to obtain a plurality of virtual bone surface partitions in the processing;

registering the plurality of virtual bone surface partitions in processing with the plurality of initial virtual bone surface partitions respectively to obtain registration errors;

matching the virtual bone surface in the processing and the initial virtual bone surface according to the conversion matrix corresponding to the virtual bone surface of which the registration error is within a preset registration error range;

and after the matching is finished, carrying out secondary registration on the initial virtual bone surface with the confidence coefficient value within a preset confidence coefficient value range to obtain the registration transformation matrix.

3. The method of claim 1, wherein obtaining the virtual bone surface under treatment comprises:

scanning the skeleton and/or the skeleton impression body of the target object to obtain a processed skeleton image;

and obtaining the virtual bone surface in the processing according to the bone image in the processing.

4. The method of claim 3, wherein prior to scanning the target subject's bone and/or bone phantom to obtain the image of the bone in treatment, the method further comprises:

and spraying biocompatible powder or developer to the bones and/or the bone turnover body of the target object.

5. The method of claim 1, wherein after the stitching process of the initial virtual bone surface and the in-process virtual bone surface according to the registration transformation matrix to obtain an in-process reconstructed virtual bone surface, the method further comprises:

and controlling a bone surface processing tool to perform bone surface processing on the bones and/or the bone turnover bodies of the target object corresponding to the virtual bone surface reconstructed in the processing.

6. The method of claim 5, wherein the facet treatment comprises at least: pre-drilling screw holes, patch implantation, screw fixation, and prosthesis implantation.

7. The method according to any one of claims 5 to 6, wherein after controlling a bone surface processing tool to perform bone surface processing on the bone and/or bone phantom of the target object corresponding to the virtual bone surface reconstructed in the processing, further comprising:

acquiring anatomical key points of bones and/or bone impression bodies of the target object;

and evaluating the bone surface treatment according to the anatomical key points.

8. A virtual bone surface processing apparatus, comprising:

the first acquisition module is used for acquiring an initial virtual bone surface and a processed virtual bone surface;

the first processing module is used for carrying out multiple registration processing on the initial virtual bone surface and the processed virtual bone surface to obtain a registration transformation matrix;

and the second processing module is used for splicing the initial virtual bone surface and the processed virtual bone surface according to the registration transformation matrix to obtain a reconstructed virtual bone surface in processing.

9. A revision surgery robot comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the processing method of the virtual bone surface according to any one of claims 1 to 7 through the computer program.

10. A computer-readable storage medium, comprising a stored program, wherein the program is operable to perform the method of processing a virtual bone surface as claimed in any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of joint replacement, in particular to a method and a device for processing a virtual bone surface and a revision surgery robot.

Background

Although artificial joint replacement is now well established, a significant proportion of patients undergoing primary joint replacement surgery still require revision surgery for a number of reasons including loosening of the prosthesis (sterility/sterility), fractures around the prosthesis, dislocation of the prosthesis, and the like.

Due to the numerous reasons and complex conditions of revision surgery, performing joint revision surgery requires extremely high surgical techniques and abundant surgical experience, even though the satisfaction rate of revision surgery is low. Proper filling of the defect site is an important step in revision joint surgery. With the development of 3D printing technology, patches of various shapes begin to play an important role, personalized prostheses of patients begin to appear, and revision surgery also makes certain progress. However, one problem that has not been addressed in revision surgery has been how to accurately place patches or prostheses. In response to this situation, some existing navigation or robotic systems attempt to precisely implant the prosthesis with the assistance of a computer, but there is currently no good method for reconstructing and registering the virtual bone surface of the patient during the operation due to the complexity of the revision surgery of the patient.

For example, in conventional robotics, bone registration (also known as registration) is used to algorithmically fit intraoperatively acquired model data to preoperative model data to obtain a transformation of its spatial pose. The core of the technical path is that the model data before and during the operation are consistent as much as possible, and if the model data are inconsistent in a large range, the technical path cannot be used. In revision surgery, this problem is very serious. The artifacts of the preoperative data are heavy and the bone mass of the intraoperative patient after prosthesis extraction is often difficult to predict, which directly results in the inability of conventional 3D scans to navigate in the manner registered.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the invention provides a method and a device for processing a virtual bone surface and a revision surgery robot, which at least solve the technical problem that a patch or a prosthesis cannot be accurately implanted due to the fact that related data before and during a revision surgery easily have errors.

According to an aspect of an embodiment of the present invention, there is provided a method for processing a virtual bone surface, including: acquiring an initial virtual bone surface and a virtual bone surface in processing; carrying out multiple registration processing on the initial virtual bone surface and the processed virtual bone surface to obtain a registration transformation matrix; and splicing the initial virtual bone surface and the processed virtual bone surface according to the registration transformation matrix to obtain the reconstructed virtual bone surface in the processing.

Optionally, performing registration processing on the initial virtual bone surface and the processed virtual bone surface for multiple times to obtain a registration transformation matrix, including: dividing the initial virtual bone surface to obtain a plurality of initial virtual bone surface partitions, wherein each initial virtual bone surface partition corresponds to a confidence score; partitioning the virtual bone surface in the processing to obtain a plurality of virtual bone surface partitions in the processing; registering the plurality of virtual bone surface partitions in processing with the plurality of initial virtual bone surface partitions respectively to obtain registration errors; matching the virtual bone surface in the processing and the initial virtual bone surface according to the conversion matrix corresponding to the virtual bone surface of which the registration error is within a preset registration error range; and after the matching is finished, carrying out secondary registration on the initial virtual bone surface with the confidence coefficient value within a preset confidence coefficient value range to obtain the registration transformation matrix.

Optionally, the obtaining the virtual bone surface in the process includes: scanning the skeleton and/or the skeleton impression body of the target object to obtain a processed skeleton image; and obtaining the virtual bone surface in the processing according to the bone image in the processing.

Optionally, before scanning the bone and/or bone phantom of the target object to obtain the processed bone image, the method further comprises: and spraying biocompatible powder or developer to the bones and/or the bone turnover body of the target object.

Optionally, after the initial virtual bone surface and the processed virtual bone surface are spliced according to the registration transformation matrix to obtain a reconstructed virtual bone surface, the method further includes: and controlling a bone surface processing tool to perform bone surface processing on the bones and/or the bone turnover bodies of the target object corresponding to the virtual bone surface reconstructed in the processing.

Optionally, the facet treatment comprises at least: pre-drilling screw holes, patch implantation, screw fixation, and prosthesis implantation.

Optionally, after controlling the bone surface processing tool to perform bone surface processing on the bone and/or the bone phantom of the target object corresponding to the virtual bone surface reconstructed in the processing, the method further includes: acquiring anatomical key points of bones and/or bone impression bodies of the target object; and evaluating the bone surface treatment according to the anatomical key points.

According to another aspect of the embodiments of the present invention, there is also provided a processing apparatus for a virtual bone surface, including: the first acquisition module is used for acquiring an initial virtual bone surface and a processed virtual bone surface; the first processing module is used for carrying out multiple registration processing on the initial virtual bone surface and the processed virtual bone surface to obtain a registration transformation matrix; and the second processing module is used for splicing the initial virtual bone surface and the processed virtual bone surface according to the registration transformation matrix to obtain a reconstructed virtual bone surface in processing.

According to another aspect of the embodiments of the present invention, there is also provided a revision surgery robot including a memory and a processor, the memory having a computer program stored therein, the processor being configured to execute the processing method of the virtual bone surface described in the above through the computer program.

According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored program, wherein the program executes the processing method of the virtual bone surface described in the above.

In the embodiment of the invention, the initial virtual bone surface and the virtual bone surface in the process are obtained; carrying out registration processing on the initial virtual bone surface and the processed virtual bone surface for multiple times to obtain a registration transformation matrix; the initial virtual bone surface and the processed virtual bone surface are spliced according to the registration conversion matrix to obtain a reconstructed virtual bone surface in processing, the initial virtual bone surface and the processed virtual bone surface are subjected to multiple registration processing, and the initial virtual bone surface and the processed virtual bone surface are spliced by the registration conversion matrix obtained through the multiple registration processing, so that the reconstructed virtual bone surface in processing is obtained, the purpose of reducing errors of the virtual bone surface is achieved, the reliability of the reconstructed virtual bone surface in the operation is improved, the technical effect of accurately implanting the patch or the prosthesis can be achieved subsequently, and the technical problem that the patch or the prosthesis cannot be implanted accurately due to the fact that errors easily occur on preoperative and intraoperative related data of the revision operation is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a flow chart of a method of processing a virtual bone surface according to an embodiment of the invention;

FIG. 2 is a schematic view of a navigation system for a revision surgery according to an alternative embodiment of the present invention;

FIG. 3 is a schematic illustration of a revision navigation process according to an alternative embodiment of the present invention;

FIG. 4 is a schematic illustration of an intraoperative virtual bone, in accordance with an alternative embodiment of the present invention;

fig. 5 is a schematic view of a virtual bone surface processing apparatus according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

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

Example 1

In accordance with an embodiment of the present invention, there is provided an embodiment of a method for processing a virtual bone surface, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.

Fig. 1 is a flowchart of a processing method of a virtual bone surface according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:

step S102, obtaining an initial virtual bone surface and a virtual bone surface in processing;

the initial virtual bone surface may be a preoperative virtual bone surface, and the in-process virtual bone surface may be an intraoperative virtual bone surface. The virtual skeleton is also called a virtual skeleton (model).

In an alternative embodiment, obtaining the virtual bone surface in the process comprises: scanning the skeleton and/or the skeleton impression body of the target object to obtain a processed skeleton image; and obtaining a virtual bone surface in the process according to the bone image in the process.

In an optional embodiment, before scanning the bone and/or bone phantom of the target object to obtain the processed bone image, the method further comprises: and spraying biocompatible powder or developer to the bones and/or bone turnover bodies of the target object.

Step S104, carrying out multiple registration processing on the initial virtual bone surface and the processed virtual bone surface to obtain a registration transformation matrix;

in an alternative embodiment, performing multiple registration processes on the initial virtual bone surface and the virtual bone surface under process to obtain a registration transformation matrix, includes: dividing the initial virtual bone surface to obtain a plurality of initial virtual bone surface partitions, wherein each initial virtual bone surface partition corresponds to a confidence score; partitioning the virtual bone surface in processing to obtain a plurality of virtual bone surface partitions in processing; registering the virtual bone surface partitions in the processing with the initial virtual bone surface partitions respectively to obtain registration errors; matching the virtual bone surface under processing and the initial virtual bone surface according to the conversion matrix corresponding to the virtual bone surface with the registration error within the preset registration error range; and after the pairing is finished, carrying out secondary registration on the initial virtual bone surface with the confidence score within the preset confidence score range to obtain a registration transformation matrix.

The confidence score is determined according to the artifact degree of the initial bone image corresponding to each initial virtual bone surface partition; the preset registration error range may be set according to a specific application scenario, for example, the preset registration error range may be 20% to 40%; the preset confidence score range may also be set according to a specific application scenario, for example, the preset confidence score range may be 20% to 50%.

And S106, splicing the initial virtual bone surface and the processed virtual bone surface according to the registration transformation matrix to obtain the reconstructed virtual bone surface in the processing.

In an optional embodiment, after the initial virtual bone surface and the processed virtual bone surface are subjected to a stitching process according to the registration transformation matrix to obtain a reconstructed virtual bone surface in the process, the method further includes: and controlling a bone surface processing tool to perform bone surface processing on the bones and/or the bone turnover bodies of the target objects corresponding to the virtual bone surfaces reconstructed in the processing.

In an alternative embodiment, the above-mentioned bone surface treatment comprises at least: pre-drilling screw holes, patch implantation, screw fixation, and prosthesis implantation.

In an optional embodiment, after controlling the bone surface processing tool to perform bone surface processing on the bone and/or the bone phantom of the target object corresponding to the virtual bone surface reconstructed in the processing, the method further includes: acquiring anatomy key points of bones and/or bone impression bodies of a target object; bone surface treatment was evaluated based on anatomical key points.

Through the steps, the initial virtual bone surface and the processed virtual bone surface can be subjected to multiple registration processing, and then the initial virtual bone surface and the processed virtual bone surface are spliced by using the registration transformation matrix obtained through the multiple registration processing, so that the virtual bone surface reconstructed in the processing is obtained, the purpose of reducing the error of the virtual bone surface is achieved, the reliability of the reconstructed virtual bone surface in the operation is improved, the technical effect of accurately implanting the patch or the prosthesis can be achieved subsequently, and the technical problem that the patch or the prosthesis cannot be accurately implanted due to the fact that errors easily occur to related data before and in the operation of the revision operation is solved.

An alternative embodiment of the invention is described in detail below.

Aiming at the problem that the existing revision surgery is difficult to implement accurately, the invention provides the navigation system suitable for the orthopedic revision surgery in an optional implementation mode, which can be used for planning the operation of the intraoperative recurrence, can be used for guiding implantation of a general patch, and can also be used for guiding implantation of a personalized customized patch. In the aspect of screw fixation, not only can the direction of punching be guided, but also the hole depth can be reminded. The whole process of the revision surgery is navigated, and accurate implantation is realized.

Fig. 2 is a schematic diagram of a navigation system for a revision surgery according to an alternative embodiment of the present invention, as shown in fig. 2, which is composed of a doctor and patient Marker, a positioning module, a communication module, a data processing module, a display module, and a storage module.

Doctor/patient Marker, infrared light ball array (active/passive), or two-dimensional code, or stripe sequence, and other characteristic mark points with the same technical principle.

And the positioning module is a detection device for detecting and identifying the array mode, can convert the identified mode into a space three-dimensional coordinate and is used for positioning and tracking the skeleton of the patient and the surgical tool.

And the communication module is used for processing the data of the positioning module and outputting and connecting the data processing module.

The data processing module reads bottom data in the storage module, including all data required by navigation, such as a tool model, a planning file and the like, receives the output of the communication module, processes all the data, generates rendering picture data and transmits the rendering picture data to the display module.

And the display module dynamically visualizes the tool, the bone and the prosthesis and quantitatively displays the implanted position and angle.

Fig. 3 is a schematic diagram of a revision navigation process according to an alternative embodiment of the present invention, as shown in fig. 3, the surgical procedure is divided into two phases: the method comprises the following steps of preoperation and postoperation, wherein the preoperation at least comprises the processes of 3D reconstruction, revision planning, judgment of whether to customize a prosthesis or a universal patch and the like; the operation at least comprises the processes of bone registration, bone preparation, pre-screwing, patch implantation, screw fixation, prosthesis implantation, post-operation examination and the like.

Optionally, the actual outer contour of the bone is obtained by surface picking, registered with the preoperative image/model. For example, the virtual bone surface of the patient for the robot operation is reconstructed by scanning the actual bone surface of the patient in the operation or modeling reconstruction and combining a point cloud registration algorithm.

The preoperative planning uses a patient's bone model, and images for bone reversal include one or more modalities such as CT, nuclear magnetism, and the like.

The revision plan may be performed by a physician from a host or may be remotely assisted by an engineer.

Planning includes filling of bone defects, using generalized patches or personalized design for the patient himself, and obtaining by machining or 3D printing.

Planning involves the restoration of the patient's own anatomy and mechanics, and in particular, when used for hip revision, primarily the center of rotation, lower limb length, and offset distance.

The files formed by planning comprise all data needed for navigation implementation in the operation, such as a patient skeleton model, a prosthesis model, a tool model, a patch model, a personalized and customized prosthesis model, prosthesis six-degree-of-freedom information, cup coverage, anatomical key points and the like.

Intraoperatively usable tools surgical tools include, but are not limited to, rotator rod-like structures.

In the intraoperative virtual bone (corresponding to the virtual bone surface) registration reconstruction stage, a scanning device is used for obtaining the surface contour of a lesion part of a patient and acquiring the outer contour of a part of normal bone. Fig. 4 is a schematic view of an intraoperative virtual bone according to an alternative embodiment of the present invention, as shown in fig. 4, wherein the virtual bone includes at least: a positioning reference Marker41, a connecting frame 42, a patient pelvis 43, a bone defect part 44 and a normal bone part 45.

It should be noted that the area scanning method includes contact type/non-contact type; methods of area scanning include, but are not limited to, structured light, TOF (time of flight) and the like; the format of the scan acquisition includes, but is not limited to, a point cloud.

The scanning device needs to be additionally provided with a Marker of a navigation system, optionally an infrared light ball array (active/passive), or a two-dimensional code, or a stripe sequence, and other characteristic mark points with the same technical principle.

Before the scanning equipment works, calibration is needed, a coordinate system of the scanning equipment and a coordinate system of a navigation system are unified, and a conversion relation between the coordinate system of the scanning equipment and the coordinate system of the navigation system is obtained.

During the operation, when the skeleton of a patient is scanned, the navigation/robot system tracks the scanning equipment in the whole process.

And after the scanning is finished, mapping the point cloud obtained by scanning to a navigation coordinate system through the coordinate system conversion relation between the scanner coordinate system and the navigation/robot coordinate system.

The scanned bone portion is adjusted according to the data modality of the preoperative reconstruction. Specifically, when the preoperative image is CT, a large number of non-cartilage portions need to be scanned. When the preoperative image is nuclear magnetism, more cartilage parts can be scanned.

In some cases, the bone of the patient is large in defect or serious in bleeding, and the virtual bone surface of the patient is difficult to obtain through conventional scanning, so that the part reconstructed through scanning is not the bone of the patient, but a copy obtained according to the bone of the patient.

It should be noted that the material of the above-mentioned mold turnover body includes, but is not limited to, moldable non-biological toxic materials such as bone cement; the overmolded body needs to contain at least 1 or more normal bone interface. In addition, in order to improve the scanning effect, partial biocompatible powder/developer can be sprayed on the surface of the skeleton or the surface of the turnover mould of the patient.

After the point cloud is acquired, the picked point cloud data is matched with the pre-operative model data by including, but not limited to, an ICP algorithm. The algorithm can automatically adjust the weight of the registered point cloud according to the confidence coefficient of the preoperative image, and prevent the registration between wrong point cloud data. The method comprises the following specific steps:

1. the preoperatively reconstructed bone surface is partitioned into a (1) -a (n) (typically 4-16 partitions), and confidence scores SA (1) -SA (n) are given to each partition according to the degree of artifact in the preoperative medical image.

2. The virtual bone surface obtained by the intraoperative scanning is divided into 4-16 partitions B (1) -B (n) according to the scanned data.

3. And respectively (or in groups) registering all the subareas with the bone surface reconstructed before operation according to the medical image, and acquiring registration errors.

4. The intraoperative facets are paired with preoperative facets, e.g., a1-B5, A3-B10, etc., according to a registration transformation matrix acquired for facets 20% -40% prior to the registration error.

5. After the pairing is completed, the bone surfaces of the first 20-50% can be screened according to the confidence coefficient before the operation, and secondary registration is carried out. The rest bone surfaces are used as reference bone surfaces to participate in the reconstruction of the virtual bone surfaces in the operation.

6. And splicing the intraoperative scanned bone surface and the preoperative reconstructed bone surface according to the transformation matrix obtained by secondary registration to obtain the actual bone surface of the patient.

The physician may adjust the patient's plan based on the reconstructed facet, and the robot's execution may be adjusted according to the intraoperative plan.

Bone preparation is mainly carried out by bone surface treatment, irregular osteophytes are removed from the bone surface according to planning or actual conditions in operation, and irregular cavities or defects are treated into regular cambered surfaces so as to carry out subsequent implantation of prosthesis or patches.

Bone surface treatment tools include, but are not limited to: flat saws, curved saws, lasers, water knives, ultrasonic vibrations and abrasive drills.

The bone surface processing tool can be positioned and tracked in real time during operation, and the tool precision can be verified through the processing characteristics set in advance by the tool.

The bone surface processing process can be dynamically displayed, when the execution end of the processing tool is in contact with the bone surface, the bone model can display the state after cutting in real time, and when the cutting is performed, the software can prompt or alarm.

Alternatively, the revision may eventually fix the prosthesis or patch with screws.

Alternatively, the screw holes are typically pre-drilled prior to implantation.

Drilling tools such as a straight drill or a universal drill can be used for drilling the screw holes. When using gimbaled drills, the direction of the hole is determined by the soft drill guide. When using universal brill, universal brill can provide a plurality of different length specifications, uses mechanical spacing to restrict the drilling degree of depth.

Alternatively, the soft drill guide may be placed on the bone surface before drilling with the soft drill, and the software will display a virtual tunnel in the virtual bone to gauge the drilling location and drilling depth.

The patch holder is locked with the patch through threads or other quick connection modes, and the connection relation of the patch holder and the patch is only fixed.

The type of the patch can be selected, and the selected patch type can be changed in the software display in real time.

Alternatively, if a custom-made patch or prosthesis is used, a unique interface to the patch holder should be designed when designing the prosthesis.

The screw holder can be positioned and tracked in real time, and the position of the screw is reflected by the screw holder.

It should be noted that when implanting a patch or prosthesis, if the shape of the cavity or defect and the prosthesis do not match, and the implant is not possible, the physician can return to the bone preparation page.

Alternatively, the surgeon may switch between bone preparation, pre-drilling screw holes, patch implantation, screw fixation, etc. depending on the surgical requirements or knee joint.

After implantation of the prosthesis and reduction of the joint of the patient, the prosthesis implantation can be evaluated by picking up anatomical key points on the patient's bone or prosthesis. When performing hip revision, the leg length, the offset distance, the center of rotation, the position of the prosthesis or patch, and the like are mainly evaluated.

The software can generate reports on the operation results according to the operation implementation condition for postoperative evaluation.

Example 2

According to another aspect of the embodiments of the present invention, there is also provided a processing apparatus for a virtual bone surface, fig. 5 is a schematic diagram of the processing apparatus for a virtual bone surface according to the embodiments of the present invention, and as shown in fig. 5, the processing apparatus for a virtual bone surface includes: a first acquisition module 52, a first processing module 54, and a second processing module 56. The processing device for the virtual skeleton surface will be described in detail below.

A first obtaining module 52, configured to obtain an initial virtual bone surface and a processed virtual bone surface; a first processing module 54, connected to the first obtaining module 52, for performing multiple registration processing on the initial virtual bone surface and the processed virtual bone surface to obtain a registration transformation matrix; and a second processing module 56, connected to the first processing module 54, for performing a splicing process on the initial virtual bone surface and the virtual bone surface under processing according to the registration transformation matrix to obtain a virtual bone surface reconstructed under processing.

In the above embodiment, the processing device for the virtual bone surface may perform multiple registration processing on the initial virtual bone surface and the processed virtual bone surface, and then perform splicing processing on the initial virtual bone surface and the processed virtual bone surface by using the registration transformation matrix obtained through the multiple registration processing, so as to obtain the virtual bone surface reconstructed in processing, thereby achieving the purpose of reducing the error of the virtual bone surface, and thus achieving the technical effects of improving the reliability of the virtual bone surface reconstructed in an operation, enabling accurate implantation of a patch or a prosthesis to be performed subsequently, and further solving the technical problem that the patch or the prosthesis cannot be implanted accurately due to the fact that errors easily occur in preoperative and intraoperative related data of a revision operation.

It should be noted here that the first acquiring module 52, the first processing module 54 and the second processing module 56 correspond to steps S102 to S106 in embodiment 1, and the modules are the same as the corresponding steps in the implementation example and application scenario, but are not limited to the disclosure in embodiment 1.

Optionally, the first processing module 54 includes: the system comprises a first dividing unit, a second dividing unit and a third dividing unit, wherein the first dividing unit is used for dividing an initial virtual bone surface to obtain a plurality of initial virtual bone surface partitions, and each initial virtual bone surface partition corresponds to a confidence score; the second dividing unit is used for carrying out partition division on the virtual bone surfaces in processing to obtain a plurality of virtual bone surface partitions in processing; the first registration unit is used for registering the virtual bone surface partitions in the processing with the initial virtual bone surface partitions respectively to obtain registration errors; the matching unit is used for matching the processed virtual bone surface with the initial virtual bone surface according to the conversion matrix corresponding to the virtual bone surface with the registration error within the preset registration error range; and the second registration unit is used for performing secondary registration on the initial virtual bone surface with the confidence score within the preset confidence score range after the pairing is completed to obtain a registration transformation matrix.

Optionally, the first obtaining module 52 includes: the scanning unit is used for scanning the bones and/or the bone impression bodies of the target objects to obtain processed bone images; and the obtaining unit is used for obtaining the virtual bone surface in the processing according to the bone image in the processing.

Optionally, the apparatus further comprises: and the spraying module is used for spraying biocompatible powder or developer to the bones and/or the bone turnover body of the target object before scanning the bones and/or the bone turnover body of the target object to obtain a processed bone image.

Optionally, the apparatus further comprises: and the control module is used for controlling the bone surface processing tool to perform bone surface processing on the bone and/or the bone turnover model of the target object corresponding to the virtual bone surface reconstructed in the processing after the initial virtual bone surface and the virtual bone surface in the processing are spliced according to the registration conversion matrix to obtain the virtual bone surface reconstructed in the processing.

Optionally, the bone surface treatment at least comprises: pre-drilling screw holes, patch implantation, screw fixation, and prosthesis implantation.

Optionally, the apparatus further comprises: the second acquisition module is used for acquiring the anatomical key points of the bones and/or the bone remodelling bodies of the target object after controlling the bone surface processing tool to perform bone surface processing on the bones and/or the bone remodelling bodies of the target object corresponding to the virtual bone surface reconstructed in the processing; and the evaluation module is used for evaluating the bone surface treatment according to the anatomical key point.

Example 3

According to another aspect of the embodiments of the present invention, there is also provided a revision surgery robot including a memory and a processor, the memory storing therein a computer program, the processor being configured to execute the processing method of the virtual bone surface in the above through the computer program.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: acquiring an initial virtual bone surface and a virtual bone surface in processing; carrying out registration processing on the initial virtual bone surface and the processed virtual bone surface for multiple times to obtain a registration transformation matrix; and splicing the initial virtual bone surface and the processed virtual bone surface according to the registration transformation matrix to obtain the reconstructed virtual bone surface in the processing.

Optionally, performing registration processing on the initial virtual bone surface and the processed virtual bone surface for multiple times to obtain a registration transformation matrix, including: dividing the initial virtual bone surface to obtain a plurality of initial virtual bone surface partitions, wherein each initial virtual bone surface partition corresponds to a confidence score; partitioning the virtual bone surface in processing to obtain a plurality of virtual bone surface partitions in processing; registering the virtual bone surface partitions in the processing with the initial virtual bone surface partitions respectively to obtain registration errors; matching the virtual bone surface under processing and the initial virtual bone surface according to the conversion matrix corresponding to the virtual bone surface with the registration error within the preset registration error range; and after the pairing is finished, carrying out secondary registration on the initial virtual bone surface with the confidence score within the preset confidence score range to obtain a registration transformation matrix.

Optionally, the obtaining the virtual bone surface in the process includes: scanning the skeleton and/or the skeleton impression body of the target object to obtain a processed skeleton image; and obtaining a virtual bone surface in the process according to the bone image in the process.

Optionally, before scanning the bone and/or the bone phantom of the target object to obtain the processed bone image, the method further comprises: and spraying biocompatible powder or developer to the bones and/or bone turnover bodies of the target object.

Optionally, after the initial virtual bone surface and the processed virtual bone surface are spliced according to the registration transformation matrix to obtain a reconstructed virtual bone surface in the processing, the method further includes: and controlling a bone surface processing tool to perform bone surface processing on the bones and/or the bone turnover bodies of the target objects corresponding to the virtual bone surfaces reconstructed in the processing.

Optionally, the bone surface treatment at least comprises: pre-drilling screw holes, patch implantation, screw fixation, and prosthesis implantation.

Optionally, after controlling the bone surface processing tool to perform bone surface processing on the bone and/or the bone phantom of the target object corresponding to the virtual bone surface reconstructed in the processing, the method further includes: acquiring anatomy key points of bones and/or bone impression bodies of a target object; bone surface treatment was evaluated based on anatomical key points.

Example 4

According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored program, wherein the program executes the processing method of the virtual bone surface.

Optionally, in this embodiment, the computer-readable storage medium may be located in any one of a group of computer terminals in a computer network and/or in any one of a group of mobile terminals, and the computer-readable storage medium includes a stored program.

Optionally, the program when executed controls an apparatus in which the computer-readable storage medium is located to perform the following functions: acquiring an initial virtual bone surface and a virtual bone surface in processing; carrying out registration processing on the initial virtual bone surface and the processed virtual bone surface for multiple times to obtain a registration transformation matrix; and splicing the initial virtual bone surface and the processed virtual bone surface according to the registration transformation matrix to obtain the reconstructed virtual bone surface in the processing.

Optionally, performing registration processing on the initial virtual bone surface and the processed virtual bone surface for multiple times to obtain a registration transformation matrix, including: dividing the initial virtual bone surface to obtain a plurality of initial virtual bone surface partitions, wherein each initial virtual bone surface partition corresponds to a confidence score; partitioning the virtual bone surface in processing to obtain a plurality of virtual bone surface partitions in processing; registering the virtual bone surface partitions in the processing with the initial virtual bone surface partitions respectively to obtain registration errors; matching the virtual bone surface under processing and the initial virtual bone surface according to the conversion matrix corresponding to the virtual bone surface with the registration error within the preset registration error range; and after the pairing is finished, carrying out secondary registration on the initial virtual bone surface with the confidence score within the preset confidence score range to obtain a registration transformation matrix.

Optionally, the obtaining the virtual bone surface in the process includes: scanning the skeleton and/or the skeleton impression body of the target object to obtain a processed skeleton image; and obtaining a virtual bone surface in the process according to the bone image in the process.

Optionally, before scanning the bone and/or the bone phantom of the target object to obtain the processed bone image, the method further comprises: and spraying biocompatible powder or developer to the bones and/or bone turnover bodies of the target object.

Optionally, after the initial virtual bone surface and the processed virtual bone surface are spliced according to the registration transformation matrix to obtain a reconstructed virtual bone surface in the processing, the method further includes: and controlling a bone surface processing tool to perform bone surface processing on the bones and/or the bone turnover bodies of the target objects corresponding to the virtual bone surfaces reconstructed in the processing.

Optionally, the bone surface treatment at least comprises: pre-drilling screw holes, patch implantation, screw fixation, and prosthesis implantation.

Optionally, after controlling the bone surface processing tool to perform bone surface processing on the bone and/or the bone phantom of the target object corresponding to the virtual bone surface reconstructed in the processing, the method further includes: acquiring anatomy key points of bones and/or bone impression bodies of a target object; bone surface treatment was evaluated based on anatomical key points.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

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

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

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

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.