CN107260306A - Three-dimensional simulation, which is performed the operation, puts the planing method and surgical simulators device of nail - Google Patents
Three-dimensional simulation, which is performed the operation, puts the planing method and surgical simulators device of nail Download PDFInfo
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- CN107260306A CN107260306A CN201710507671.0A CN201710507671A CN107260306A CN 107260306 A CN107260306 A CN 107260306A CN 201710507671 A CN201710507671 A CN 201710507671A CN 107260306 A CN107260306 A CN 107260306A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- Life Sciences & Earth Sciences (AREA)
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Apparatus For Radiation Diagnosis (AREA)
Abstract
There is provided the planing method and surgical simulators device that nail is put in a kind of three-dimensional simulation operation suitable for medical instruments field by the present invention.Methods described includes：Three-dimensional modeling is carried out according to the CT images of the backbone of reception, threedimensional model is generated；Three cutting plane figures are generated according to threedimensional model；Show three cutting plane figures of threedimensional model and threedimensional model；Position and cutting direction to cutting plane are adjusted, intuitively to observe the tangent plane situation of backbone；The screw way of screw is determined by the intersection of the cutting plane of both direction；It is determined that screw way on add screw；Screw is moved up in the side of screw way, screw is in the position of actual operation, the planning of screw is completed.The planning of the present invention succinctly facilitates, and can more accurately plan screw way, makes to put and follows closely safer, reliable.
Description
Technical field
The planing method and surgery hand of nail are put the invention belongs to medical instruments field, more particularly to a kind of three-dimensional simulation operation
Art simulator.
Background technology
Backbone is the axis of human body, main to play support, protection, balance, motion.Backbone is by vertebra, interverbebral disc, ridge
Marrow, spinal nerve, autonomic nerves system composition.There is canalis spinalis in backbone, accommodate spinal cord and protect spinal cord.And it is connected in 31 couple of spinal cord
Spinal nerve all goes out canalis spinalis and protected by backbone by intervertebral foramen.Meanwhile, human body active vein and neck are also distributed around backbone
Portion's arteriovenous.
Because pedicle of vertebral arch closes on more blood vessel and neuromechanism, once screw inserts the improper spiral shell for penetrating vertebral plate, being strayed into
Nail can cause serious neural blood vessel to damage.Therefore, when progress backbone puts nail, it is necessary to accurately carry out surgery planning and accurate
Implement operation technique in ground.
Normal person's backbone has 32~34 spinal bones：7, cervical vertebra, thoracic vertebrae 12, lumbar vertebrae 5, sacral 5 and tail bone 3~5
It is individual.There are interverbebral disc 23 and 134, joint.The side of backbone is in " S " type, and front is in a straight line.
Because the anatomic form of each centrum is different and the difference and deformity of individual, screw enter to follow closely point, put nail direction and
Nail depth is put to be required to be planned.When being planned, it should ensure that screw can not wear out pedicle of vertebral arch outer wall, otherwise can damage neighbour
Near nerve and blood vessel.Entering the angle of nail should change with the change of vertebral arch angle, it is to avoid penetrate the cortex bone before centrum.Together
When, to ensure the anti-pull-out strength of screw, the size and length of suitable screw should be selected.Entry point is not a point, but
One region, and to coordinate into nail angle.The selection of entry point will make screw enter the reliable of nail, be difficult to slide.Enter nail
Direction should then make screw accurately by the most narrow place of pedicle of vertebral arch without wearing out outer wall.Screw should be prevented from passing vertebra by putting nail depth
Body.
The planing method of existing three-dimensional simulation operation, is to add an apparatus in the three-dimensional model, is then regarded in three-dimensional
Apparatus is moved in suitable position in figure.
Domestic BOHOLO surgical simulators devices, are first directed to after CT images, carry out three-dimensional modeling, then carry out three-dimensional
Planning.When carrying out three-dimensional planning, the apparatus that need to be added is found in apparatus storehouse first, apparatus is then added to threedimensional model
The lower right corner, then move apparatus to suitable position.
This mode, is directed to general operation, and the characteristics of not putting nail to spinal operation optimizes.In the presence of planning essence
Degree is poor, the problem of apparatus movement is difficult.Because there is six-freedom degree (screw is 5 frees degree) in space in an apparatus,
And apparatus is moved in PC interfaces, the movement of two dimension and the rotation of an angle can only be carried out, so needing in mobile apparatus
The angle of threedimensional model is ceaselessly converted simultaneously, apparatus correctly could be moved to suitable position.Due to mobile complicated, institute
To plan that precision is poor, reference can only be used as.
The MAZOR companies of Israel put tack operation planning for backbone and have made certain optimization.Import CT images and carry out three
After dimension modeling, carried out cutting into single-unit backbone according to the structure of human spine.Then three are fixed to the threedimensional model of single-unit backbone
The vision figure in individual direction.Then spinal bone screw is added, respectively the adjusting screw direction in three views.However, this mode is only
It is the 3-D view for a 3-D view being divided into three directions, although adjust apparatus side than BOHOLO surgical simulators device
Just, the situation of screw way section in planning but can not be still known clearly, so planning precision is not still high.
The content of the invention
It is an object of the invention to provide the planing method and surgical simulators device that nail is put in a kind of three-dimensional simulation operation, purport
Simply a 3-D view is divided into the 3-D view in three directions, the problem of planning precision is not still high in solution.
In a first aspect, the invention provides the planing method that nail is put in a kind of three-dimensional simulation operation, methods described includes：
Three-dimensional modeling is carried out according to the CT images of the backbone of reception, threedimensional model is generated；
Three cutting plane figures are generated according to threedimensional model；
Show three cutting plane figures of threedimensional model and threedimensional model；
Position and cutting direction to cutting plane are adjusted, intuitively to observe the tangent plane situation of backbone；
The screw way of screw is determined by the intersection of the cutting plane of both direction；
It is determined that screw way on add screw；
Screw is moved up in the side of screw way, screw is in the position of actual operation, the planning of screw is completed.
Second aspect, the invention provides a kind of computer-readable recording medium, the computer-readable recording medium is deposited
Computer program is contained, the computer program realizes that the planning of nail is put in three-dimensional simulation operation described above when being executed by processor
The step of method.
The third aspect, the invention provides a kind of surgical simulators device, including：
One or more processors；
Memory；And
One or more computer programs, wherein one or more of computer programs are stored in the memory
In, and be configured to, by one or more of computing devices, realize during computer program described in the computing device
The step of planing method of nail is put in three-dimensional simulation operation described above.
In the present invention, due to generating three cutting plane figures, position and cutting direction to cutting plane according to threedimensional model
It is adjusted, intuitively to observe the tangent plane situation of backbone, the screw way of screw is determined by the intersection of the cutting plane of both direction,
Planning is succinct convenient, can more accurately plan screw way, makes to put and follows closely safer, reliable.
Brief description of the drawings
Fig. 1 is the flow chart for the planing method that nail is put in the three-dimensional simulation operation that the embodiment of the present invention one is provided.
Fig. 2 is that the three-dimensional simulation operation that the embodiment of the present invention one is provided is put in the planing method of nail, threedimensional model and three-dimensional
The schematic diagram of the sagittal plane of model, coronal-plane and horizontal plane.
Fig. 3 is initial cutting graph of a relation.
Fig. 4 is the cutting plane figure being adjusted.
Fig. 5 be it is determined that screw way on add screw schematic diagram.
Fig. 6 is the schematic diagram that screw is adjusted in place.
Fig. 7 is the surgical simulators device schematic diagram that the embodiment of the present invention three is provided.
Embodiment
In order that the purpose of the present invention, technical scheme and beneficial effect are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this hair
It is bright, it is not intended to limit the present invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
The parameter that backbone puts nail includes putting nail point, puts nail direction and put nail depth.It is to ensure vertebral arch to put the accurate key of nail
Root nail can not break through pedicle of vertebral arch bone wall when by interarticularis,pars.So the suitable nail and accurate nail direction of putting put of selection is
The emphasis of planning.
Embodiment one：
Referring to Fig. 1, the planing method that nail is put in the three-dimensional simulation operation that the embodiment of the present invention one is provided comprises the following steps：
S101, according to CT (Computed Tomography, computerized tomography) image of the backbone of reception carry out three
Dimension modeling, generates threedimensional model.
CT images are the skills for measuring and obtaining object mode cross section information by the ray projection to the different angles of object progress
Art, what is obtained is the DICOM format two-dimensional medical images of one group of section.
In the embodiment of the present invention one, S101 specifically may comprise steps of：
CT DICOM images are converted into BMP bitmap files；
BMP bitmap files are carried out image smoothing to filter out noise；
Sharpening enhancing processing is carried out to filtering out the image after noise, making the image of bone parts is strengthened；
Enhanced image is split, object section gray value and the gray value for belonging to the figure viewed from behind are divided with a threshold values
Separate out and；
Extract the vector outline of image after segmentation；
Iso-surface patch or volume drawing are carried out, threedimensional model is generated.
S102, according to threedimensional model generate three cutting plane figures.
In the embodiment of the present invention one, three cutting plane figures include sagittal plane, coronal-plane and horizontal plane.
S103, display threedimensional model and threedimensional model three cutting plane figures (as shown in Figure 2).
In the embodiment of the present invention one, sagittal plane, coronal-plane and horizontal plane are such as schemed by the center of original image
Shown in 3.
S104, the position to cutting plane and cutting direction are adjusted, intuitively to observe the tangent plane situation of backbone.
In the embodiment of the present invention one, in three cutting plane figures, each cutting plane figure has two other cutting plane figure
Cutting line.Cutting plane can be translated and rotated.
S104 is specifically as follows：
When mouse is selected in the image range of cutting plane after cutting line above and below progress or when moving left and right, three-dimensional mould is translated
The cutting plane of type；
When above and below mouse selects to carry out after cutting line outside the image range of cutting plane or when moving left and right, the friendship of cutting line
Point position is constant, and the selected point coordinates of cutting line is moved with the movement of mouse, cutting line is rotated around intersection point；
After the cutting line of one cutting plane figure of change, another two cutting plane figure is also changed according to this and accordingly.
S105, the screw way for determining by the intersection of the cutting plane of both direction screw.
When adding screw, the screw way of screw is exactly that horizontal tangent plane (being initially horizontal plane) and front and rear tangent plane (are initially arrow
Shape face) intersection.So, by adjusting cutting plane, the situation details of screw way can be observed so that put the planning of nail more
Accurately.
By way of adjusting cutting plane, screw way can be more accurately planned, makes to put and follows closely safer, reliable.It is adjusted
Cutting plane figure it is as shown in Figure 4.
S106, it is determined that screw way on add screw.
Adjust cutting plane, also with regard to planning got well screw enter nail point and enter to follow closely direction.It is exactly screw along screw way to enter nail point
Externally to threedimensional model bone tissue enter follow closely when rigid connection touch bone tissue when intersection point, it is exactly from nail point is entered along nail to enter to follow closely direction
The direction in road.In this manner it is possible to directly add screw.
Choose after the specification (diameter and length) of screw, you can addition screw.Add screw as shown in Figure 5.
S107, in the side of screw way screw is moved up, screw is in the position of actual operation, complete the planning of screw.
In the embodiment of the present invention one, S107 is specially：Screw is moved up in the side of screw way, the screw root of screw
It is moved into nail point position, screw is in the position of actual operation, completes the planning of screw, as shown in Figure 6.
Many screws can be put due to once performing the operation, so also needing to enter professional etiquette to next screw after completing a screw
Draw.Therefore, in the embodiment of the present invention one, it can also comprise the following steps after S107：
The screw planned is overlapped with threedimensional model, and the rule of next screw are participated in as an overall threedimensional model
Draw.So as to preferably plan each screw, it is to avoid interfere with each other.
In the embodiment of the present invention one, it can also comprise the following steps after S107：
When certain screw needs to plan again, delete after this screw, return to S104.
Embodiment two：
The embodiment of the present invention two provides a kind of computer-readable recording medium, the computer-readable recording medium storage
There is computer program, the three-dimensional simulation hand provided such as the embodiment of the present invention one is provided when the computer program is executed by processor
The step of art puts the planing method of nail.
Embodiment three：
Fig. 7 shows the concrete structure block diagram for the surgical simulators device that the embodiment of the present invention three is provided, a kind of surgery hand
Art simulator, including：
One or more processors 101；
Memory 102；And
One or more computer programs, wherein one or more of computer programs are stored in the memory
In, and be configured to, by one or more of computing devices, realize during computer program described in the computing device
The step of planing method of nail is put in three-dimensional simulation operation such as the offer of the embodiment of the present invention one.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. the planing method of nail is put in a kind of three-dimensional simulation operation, it is characterised in that methods described includes：
Three-dimensional modeling is carried out according to the CT images of the backbone of reception, threedimensional model is generated；
Three cutting plane figures are generated according to threedimensional model；
Show three cutting plane figures of threedimensional model and threedimensional model；
Position and cutting direction to cutting plane are adjusted, intuitively to observe the tangent plane situation of backbone；
The screw way of screw is determined by the intersection of the cutting plane of both direction；
It is determined that screw way on add screw；
Screw is moved up in the side of screw way, screw is in the position of actual operation, the planning of screw is completed.
2. the method as described in claim 1, it is characterised in that three cutting plane figures include sagittal plane, coronal-plane and water
Plane.
3. method as claimed in claim 2, it is characterised in that the sagittal plane, coronal-plane and horizontal plane pass through original graph
The center of picture.
4. the method as described in claim 1, it is characterised in that in three cutting plane figures, each cutting plane figure has in addition
The cutting line of two cutting plane figures, cutting plane can be translated and rotated.
5. method as claimed in claim 4, it is characterised in that the position and cutting direction to cutting plane is adjusted tool
Body is：
When mouse selects after cutting line above and below progress or when moving left and right, to translate threedimensional model in the image range of cutting plane
Cutting plane；
When above and below mouse selects to carry out after cutting line outside the image range of cutting plane or when moving left and right, the intersection point position of cutting line
Put constant, the selected point coordinates of cutting line is moved with the movement of mouse, cutting line is rotated around intersection point；
After the cutting line of one cutting plane figure of change, another two cutting plane figure is also changed according to this and accordingly.
6. the method as described in claim 1, it is characterised in that the side in screw way moves up screw, is in screw
The position of actual operation, complete screw planning be specially：
Screw is moved up in the side of screw way, the screw root of screw is moved into nail point position, screw is in actual hand
The position of art, completes the planning of screw.
7. the method as described in claim 1, it is characterised in that the side in screw way moves up screw, is in screw
The position of actual operation, after the planning for completing screw, methods described also includes：
The screw planned is overlapped with threedimensional model, and the planning of next screw is participated in as an overall threedimensional model.
8. the method as described in claim 1, it is characterised in that the side in screw way moves up screw, is in screw
The position of actual operation, after the planning for completing screw, methods described also includes：
When screw needs to plan again, delete after this screw, return is described to be carried out to the position of cutting plane and cutting direction
The step of adjustment.
9. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, its feature exists
In nail is put in three-dimensional simulation operation of the realization as described in any one of claim 1 to 8 when the computer program is executed by processor
Planing method the step of.
10. a kind of surgical simulators device, including：
One or more processors；
Memory；And
One or more computer programs, wherein one or more of computer programs are stored in the memory, and
And be configured to by one or more of computing devices, it is characterised in that computer program described in the computing device
The step of planing method of nail is put in three-dimensional simulation operations of the Shi Shixian as described in any one of claim 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710507671.0A CN107260306B (en) | 2017-06-28 | 2017-06-28 | Planning method for three-dimensional simulation operation nail placement and surgical operation simulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710507671.0A CN107260306B (en) | 2017-06-28 | 2017-06-28 | Planning method for three-dimensional simulation operation nail placement and surgical operation simulator |
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| CN107260306A true CN107260306A (en) | 2017-10-20 |
| CN107260306B CN107260306B (en) | 2020-04-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110946652A (en) * | 2019-11-29 | 2020-04-03 | 北京工业大学 | Method and device for planning screw path of bone screw |
| CN116712168A (en) * | 2023-08-10 | 2023-09-08 | 鑫君特(苏州)医疗科技有限公司 | Vertebral plate grinding control method and surgical robot system |
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| CN110946652A (en) * | 2019-11-29 | 2020-04-03 | 北京工业大学 | Method and device for planning screw path of bone screw |
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| CN116712168A (en) * | 2023-08-10 | 2023-09-08 | 鑫君特(苏州)医疗科技有限公司 | Vertebral plate grinding control method and surgical robot system |
| CN116712168B (en) * | 2023-08-10 | 2023-11-21 | 鑫君特(苏州)医疗科技有限公司 | Vertebral plate grinding control method and surgical robot system |
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| CN107260306B (en) | 2020-04-14 |
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