CN118557284B - Guide plate generation method and device and guide plate - Google Patents
Guide plate generation method and device and guide plate Download PDFInfo
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- CN118557284B CN118557284B CN202411044777.8A CN202411044777A CN118557284B CN 118557284 B CN118557284 B CN 118557284B CN 202411044777 A CN202411044777 A CN 202411044777A CN 118557284 B CN118557284 B CN 118557284B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A61B17/00—Surgical instruments, devices or methods
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers, e.g. stabilisers comprising fluid filler in an implant
- A61B17/7071—Implants for expanding or repairing the vertebral arch or wedged between laminae or pedicles; Tools therefor
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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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Abstract
The application relates to the technical field of auxiliary nail placement, and provides a guide plate generation method, a guide plate generation device and a guide plate, wherein the guide plate obtained based on the method can be stably attached to the surface of vertebrae. The method comprises the steps of obtaining a target key point corresponding to a target vertebra model; generating a first geometric model positioned at the junction of the transverse process and the vertebral plate of the target vertebral model according to the target key points; determining a surface of a transition region from a transverse process to an articular process of the target vertebral model; and generating a reverse structure of the surface of the transition region on the first geometric model to obtain the guide plate.
Description
Technical Field
The present application relates to the field of auxiliary nail placement technology, and in particular, to a guide plate generating method, an apparatus, a guide plate, a computer device, a storage medium, and a computer program product.
Background
The pedicle is a bony structure connecting the vertebral body and the vertebral lamina, and three columns of the spine can be fixed simultaneously through screws of the pedicle to achieve larger fixing strength, so pedicle screw placement has become the most common intraspinal fixing method. The pedicle screw placement operation is a very complex spine operation with high precision requirement, and the auxiliary screw placement technology can effectively help surgeons to improve screw placement precision and operation efficiency. Wherein, use the supplementary pedicle of vertebral arch of baffle to put the nail operation and be a simple high-efficient mode, can help the surgeon to realize putting accurate location of nail passageway in the art.
Most of the existing guide plates are difficult to stably attach to the surfaces of vertebrae, so that errors in operation are easily caused, and potential risks in operation are increased.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a guide plate generating method, apparatus, guide plate, computer device, storage medium, and computer program product.
The application provides a guide plate generation method, which comprises the following steps:
Acquiring a target key point corresponding to a target vertebra model;
generating a first geometric model positioned at the junction of the transverse process and the lamina of the target vertebral model according to the target key points;
Determining a transition region surface from a transverse process to an articular process of the target vertebral model;
and generating a reverse structure of the surface of the transition area on the first geometric model to obtain the guide plate.
In one embodiment, before obtaining the target keypoints corresponding to the target vertebral model, the method further comprises:
Dividing a vertebra model to be processed to obtain a transverse process model and a lamina model in the vertebra model to be processed;
And obtaining the target vertebra model according to the transverse process model and the vertebral plate model.
In one embodiment, generating a first geometric model at the intersection of the transverse processes and lamina of the target vertebral model based on the target keypoints comprises:
obtaining a second geometric model positioned at the junction of the transverse process and the vertebral lamina of the target vertebral model according to the target key points;
and cutting the second geometric model according to the target key points to obtain the first geometric model.
In one embodiment, the cutting the second geometric model according to the target key point to obtain the first geometric model includes:
acquiring transverse process midline surface points and articular process surface points included by the target key points;
and cutting the second geometric model according to the surface passing through the transverse process midline surface point and the surface passing through the articular process surface point to obtain the first geometric model.
In one embodiment, deriving a second geometric model located at the intersection of the transverse processes and the lamina of the target vertebral model based on the target keypoints comprises:
determining a target size and a target position according to the target key points;
the second geometric model is generated at the intersection of the transverse processes and the lamina of the target vertebral model based on the target size and target location.
In one embodiment, determining the target size from the target keypoints comprises:
acquiring transverse process midline surface points and articular process surface points included by the target key points;
and obtaining the target size according to the transverse process midline surface point and the articular process surface point.
In one embodiment, obtaining the target size from the transverse process midline surface points and articular process surface points comprises:
Obtaining a first direction dimension according to the distance between a transverse process midline lower surface point included in the transverse process midline surface point and an articular process vertex included in the articular process surface point in a first direction;
obtaining a second direction dimension according to the distance between any point included in the transverse process midline surface point and any point included in the articular process surface point in a second direction;
Obtaining a third direction size according to the distances between the articular process vertex and a preset non-model surface point in the third direction;
and obtaining the target size according to the first direction size, the second direction size and the third direction size.
In one embodiment, generating a reverse structure of the transition region surface on the first geometric model results in a fence comprising:
Determining a peripheral surface area of a nail feeding point on the target vertebra model; the surface area around the nail feeding point comprises surface points, wherein the distance between the surface points and the nail feeding point on the target vertebra model is not more than a preset distance;
generating a third geometric model on the target vertebral model covering a peripheral surface area of the feed point;
generating a reverse structure of the surface of the transition area and a reverse structure of the third geometric model on the first geometric model to obtain the guide plate.
The present application provides a guide plate generating device, the device comprising:
the key point acquisition module is used for acquiring a target key point corresponding to the target vertebra model;
a geometry generation module for generating a first geometry model located at the junction of the transverse processes and lamina of the target vertebral model based on the target keypoints;
A transition region surface determination module for determining a transition region surface located from a transverse process to an articular process of the target vertebral model;
and the guide plate acquisition module is used for generating a reverse structure of the surface of the transition area on the first geometric body model to obtain the guide plate.
The present application provides a guide plate obtained according to the method described in the above embodiments.
The present application provides a computer device comprising a memory storing a computer program and a processor executing the method described above.
The present application provides a computer readable storage medium having stored thereon a computer program for execution by a processor of the above method.
The present application provides a computer program product having a computer program stored thereon, the computer program being executed by a processor to perform the above method.
The guide plate generated by the application has a surface which forms a reverse structure with the surface of the transition area from the transverse process to the articular process, the surface of the transition area from the transverse process to the articular process can be exposed in pedicle screw placement operation and is similar to the shoulder neck of a human in morphology, the guide plate is a good attaching platform, no obvious bony bulge structure is formed on the surface of the transition area, complex bone fragments are not generated, the attachment of the guide plate to the vertebrae is easy, and the guide plate can be stably attached to the vertebrae under the condition of no doctor external force; the method specifically comprises the following steps: acquiring a target key point corresponding to a target vertebra model; generating a first geometric model positioned at the junction of the transverse process and the vertebral plate of the target vertebral model according to the target key points; determining the transition area surface from the transverse process to the articular process of the target vertebral model, and generating a reverse structure of the transition area surface on the first geometric model to obtain the guide plate.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 (a) is a schematic representation of the three-dimensional structure of a vertebra in one embodiment;
FIG. 1 (b) is a schematic representation of the two-dimensional structure of vertebrae viewed from above in one embodiment;
FIG. 2 is a flow chart of a method of generating a guide plate in one embodiment;
FIG. 3 is a schematic view of a vertebral model to be treated in one embodiment;
FIG. 4 is a schematic illustration of a target vertebral model in one embodiment;
FIG. 5 is a schematic illustration of a target vertebral model and a first geometric model in one embodiment;
FIG. 6 is a schematic illustration of a target vertebral model and a second geometric model in one embodiment;
FIG. 7 is a schematic illustration of a cut target vertebral model in one embodiment;
FIG. 8 is a schematic diagram of a target keypoint in one embodiment;
FIG. 9 is a schematic illustration of a target vertebral model and a third geometric model in one embodiment;
FIG. 10 is a schematic surface view of a first geometric model in one embodiment;
FIG. 11 is a graph showing the fit of a guide plate solid model to a vertebral solid model in one embodiment;
FIG. 12 is a block diagram showing the structure of a guide plate generating device in one embodiment;
Fig. 13 is an internal structural view of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the described embodiments of the application may be combined with other embodiments.
In order to provide a better understanding of the method of generating the guide plate of the present application, the structure of the vertebrae will be described first.
Referring to fig. 1 (a), fig. 1 (a) shows a three-dimensional block diagram of vertebrae including pedicles 11, vertebral bodies 12, spinous processes 13 and lamina. The lamina is the bone structure between the pedicle 11 and the spinous process 13, which is not shown in fig. 1 (a). Referring to fig. 1 (b), the single vertebrae include a vertebral body 12, a cone hole 14, a pedicle 11, a transverse process 15, an upper articular process 16, a mastoid process 17, a lamina arca 18, a sub-process 19, and a spinous process 13, wherein the upper articular process 16, the lower articular process 15, the mastoid process 17, and the lamina arca 18 belong to the structure of the lamina, and the lower articular process is not shown in fig. 1 (b); in pedicle screw placement, surface points may be selected on the vertebrae as screw access points 20. Among them, the left-right direction, the front-rear direction, and the up-down direction are set in the anatomical field, and fig. 1 (b) shows the left-right direction and the front-rear direction, and the up-down direction is a direction perpendicular to the front-rear direction and the left-right direction, and the up-down direction is not shown in fig. 1 (b). The following examples of the present application relate to "up, down, left, right, front, back" in accordance with anatomically defined directions. In addition, in some embodiments of the present application, the up-down direction is referred to as a first direction, the left-right direction is referred to as a second direction, and the front-back direction is referred to as a third direction.
The guide plate generating method provided by the application can be executed by computer equipment and comprises the steps shown in fig. 2:
Step S201, obtaining a target key point corresponding to a target vertebra model.
A subject (e.g., an animal or a human) to be subjected to pedicle screw placement surgery may be a target subject; the vertebrae to be nailed in the target object can be called target vertebrae, a preoperative image of the target object can be obtained before the pedicle screw operation is performed, and the target vertebrae are reconstructed according to the preoperative image to obtain a vertebrae model of the target vertebrae. The reconstructed vertebral model can be directly used as a target vertebral model, or can be processed to obtain the target vertebral model.
In the following description, the reconstructed vertebral model is referred to as the model of the vertebrae to be treated for the purpose of differentiation. If the vertebral model to be treated includes more structures, such as the vertebral body 12, the spinous process 13, the lamina 21, and the transverse processes (the transverse processes include the left transverse process 151 and the right transverse process 152) shown in fig. 3. The computer device may extract portions corresponding to the transverse processes and the lamina from the vertebral model to be processed, thereby obtaining a target vertebral model. In addition, after extracting the portions corresponding to the transverse processes and the vertebral plates from the vertebral model to be processed, the computer device may further perform surface refinement and surface smoothing operations to obtain a target vertebral model, as shown in fig. 4, where 101 is the target vertebral model obtained after the surface refinement and surface smoothing operations.
After the target vertebra model is obtained, the target vertebra model can be subjected to key point detection through a pre-constructed key point detection algorithm, and the detected key points are called target key points. In order to extract the transition region surface of the transverse process to the articular process, surface points with more pronounced anatomy at the boundary of the transition region surface may be selected as target keypoints. In some scenarios, the target keypoints may include articular process vertices. Wherein if the degree of clarity of the anatomy of a surface point is above a threshold value, it can be determined that the surface point belongs to a surface point having a more pronounced anatomy.
Step S202, generating a first geometric model positioned at the junction of the transverse process and the vertebral plate of the target vertebral model according to the target key points.
If the target key points are boundary surface points of the transition region surface, the required size and position for covering the transition region surface can be estimated according to the positions of the target key points, so as to obtain a three-dimensional model (which can be called a geometric model) with a geometric shape, and for distinguishing, the geometric model obtained here is called a first geometric model, which is located at the junction of the transverse process and the lamina of the target vertebral model, and can cover the aforementioned transition region surface, as shown in fig. 5, wherein 102 shown in fig. 5 is the first geometric model.
Step S203, determining a transition area surface from the transverse process to the articular process of the target vertebral model.
After the target vertebral model is obtained, the transition area surface of the transverse processes to the articular processes may be extracted from the target vertebral model. In extracting the surface of the transition region from the transverse process to the articular process from the target vertebral model, this may be accomplished by means of a surface extraction algorithm, such as:
algorithm ① mesh processing technique: the surface morphology extraction of the target vertebra model can be carried out through a grid processing technology, so that the transition area surface from the transverse process to the articular process is obtained;
Algorithm ② surface reconstruction technique: the transition area surface from transverse processes to articular processes can be extracted from the target vertebral model by a surface reconstruction technology, which is a technology for converting the triangular mesh surface of a three-dimensional model into a parametric curved surface (such as a B-spline curved surface), and the technology can be used for extracting the surface morphology of the model and generating smoother and continuous curved surfaces;
Algorithm ③ image processing technique: since the target vertebral model is generated from medical image data such as CT (Computed Tomography, electronic computer tomography), MRI (Magnetic Resonance Imaging ), etc., image processing techniques can be used to extract the surface morphology of the target vertebral model. The method involves preprocessing, thresholding, edge detection, etc. of the image to extract the edge information of the model, thereby generating the surface of the transition region from transverse processes to articular processes.
Step S204, generating a reverse structure of the surface of the transition area on the first geometric model to obtain the guide plate.
The surface of the transition area and the first geometric model can be subjected to Boolean subtraction operation, so that a reverse structure of the surface of the transition area is generated on the first geometric model, the reverse structure of the surface of the transition area belongs to a surface required by the joint positioning of the guide plate and the vertebrae, and the obtained guide plate can be relatively stably jointed and positioned with the surface of the transition area from transverse processes to articular processes on the vertebrae in the subsequent use process.
After creating the inverse structure of the transverse process to the articular process transition area surface on the first geometric model, a guide plate can be obtained by 3D printing, which is used to assist the physician in placing the nail on the pedicle.
In the guide plate generating method, target key points corresponding to the target vertebra model are obtained; generating a first geometric model positioned at the junction of the transverse process and the vertebral plate of the target vertebral model according to the target key points; the method comprises the steps of determining the surface of a transition area from the transverse process to the articular process of a target vertebral model, generating a reverse structure of the surface of the transition area on a first geometric model, wherein the obtained guide plate is provided with a surface which forms the reverse structure with the surface of the transition area from the transverse process to the articular process, the surface of the transition area from the transverse process to the articular process can be exposed in pedicle screw placement, is similar to the shoulder neck of a human in morphology, is a good attaching platform of the guide plate, has no obvious bony bulge structure, does not generate complex osteophytes, is easy to attach to the vertebrae, and can be stably attached to the vertebrae without external force of doctors.
In one embodiment, before obtaining the target key point corresponding to the target vertebra model, the method provided by the application further comprises: dividing the vertebrae model to be processed to obtain a transverse process model and a lamina model in the vertebrae model to be processed; and obtaining a target vertebra model according to the transverse process model and the vertebral plate model.
Before the pedicle screw placement operation is performed, a preoperative image of the target object can be acquired, and the target vertebrae are reconstructed according to the preoperative image to obtain a vertebrae model to be processed. The vertebral model to be processed can be segmented through a pre-constructed segmentation algorithm to obtain a vertebral body model, a transverse process model, a spinous process model and a vertebral lamina model, wherein the transverse process model can comprise a left transverse process model and a right transverse process model. Then, the portions of the vertebral model to be processed other than the transverse process model and the lamina model may be removed, thereby obtaining a target vertebral model.
In this embodiment, the bone structure having little surface correlation with the transition region from the transverse process to the articular process is eliminated, and the code operation efficiency is improved.
In one embodiment, generating a first geometric model at the intersection of the transverse processes and the lamina of the target vertebral model based on the target keypoints may specifically include: obtaining a second geometric model positioned at the junction of the transverse process and the vertebral plate of the target vertebral model according to the target key points; and cutting the second geometric model according to the target key points to obtain the first geometric model.
When the target key points are boundary surface points of the transition region surface, the size and the position required for covering the transition region surface can be estimated according to the positions of the target key points, so as to obtain a three-dimensional model with a more regular geometric shape, wherein the three-dimensional model with the more regular geometric shape is called a second geometric model for distinguishing, and the second geometric model can be an ellipsoid, as shown in 103 of fig. 6. The second geometric body model can also be in other shapes such as a square body and the like, and can be set according to actual requirements.
Considering that the second geometric model includes a portion corresponding to the osseous structure from the transverse process to the articular process, and other portions included in the second geometric model may affect the fit of the guide plate to the vertebrae, the present embodiment cuts the second geometric model by means of the target key point, extracts the portion corresponding to the osseous structure from the transverse process to the articular process in the second geometric model, and eliminates other portions to obtain the first geometric model.
In addition, the second geometric model is located at the junction of the transverse process and the vertebral lamina of the target vertebral model, and the target vertebral model can be cut while the second geometric model is cut, so that the osseous structure from the transverse process to the articular process in the target vertebral model is reserved, and the cut target vertebral model is shown in fig. 7.
In this embodiment, the second geometric model is cut by means of the target key points, the portion of the second geometric model corresponding to the osseous structure from the transverse process to the articular process is extracted, other portions are removed, and the first geometric model is obtained, so that the subsequent guide plate is conveniently attached to the vertebrae.
In one embodiment, the cropping of the second geometric model to obtain the first geometric model according to the target key comprises: acquiring transverse process midline surface points and articular process surface points included in target key points; and cutting the second geometric model according to the surface passing through the transverse process midline surface point and the surface passing through the articular process surface point to obtain a first geometric model.
Wherein the transverse process midline is substantially parallel to the up-down direction, the transverse process midline surface points may include upper surface points and lower surface points of the transverse process at the transverse process midline, the upper surface points of the transverse process at the transverse process midline being referred to as the transverse process midline upper surface points, and the lower surface points of the transverse process at the transverse process midline being referred to as the transverse process midline lower surface points.
The articular process apex has a relatively pronounced anatomical structure and the detected articular process surface points may include the articular process apex.
After the computer device obtains the transverse process midline surface point and the articular process surface point, the computer device may cut the second geometric model according to the surface passing through the transverse process midline surface point and the articular process surface point, and keep the portion corresponding to the osseous structure from the transverse process to the articular process in the second geometric model, and remove other portions, thereby obtaining the first geometric model.
In addition, the cutting plane used for cutting the second geometric model can be used for cutting the target vertebra model, the osseous structure from the transverse process to the articular process in the target vertebra model is extracted, other parts are removed, and the cut target vertebra model is obtained, as shown in fig. 7.
In this embodiment, since the transverse process midline surface point and the articular process surface point belong to boundary surface points of the surface of the transition area from the transverse process to the articular process, the portion of the second geometric model corresponding to the bony structure from the transverse process to the articular process can be extracted by using the surface passing through the transverse process midline surface point and the articular process surface point, and other portions can be removed, so that the subsequent guide plate can be attached to the vertebrae conveniently.
In one embodiment, the obtaining a second geometric model located at the intersection of the transverse processes and the lamina of the target vertebral model based on the target keypoints may specifically include: determining a target size and a target position according to the target key points; based on the target size and the target position, a second geometric model is generated that is located at the intersection of the transverse processes and the lamina of the target vertebral model.
When the target key points belong to boundary surface points of the transition area surface from the transverse process to the articular process, the target key points outline the boundary of the transition area surface, the distance between the target key points can reflect the size of the transition area surface, and the position of the target key points can reflect the position of the transition area surface, so that the size and the position required for covering the transition area surface can be estimated according to the distance between the target key points and the position of the target key points, the estimated size is taken as the target size, and the estimated position is taken as the target position. A second geometric model is generated at the target size and target location, the second geometric model being located at the intersection of the transverse processes and lamina of the target vertebral model.
In this embodiment, the size and the position required for covering the surface of the transition region are estimated based on the target key points of the target vertebral model, so that a relatively accurate target size and target position can be obtained, and the second geometric model can cover the surface of the transition region from the transverse process to the articular process as much as possible.
In one embodiment, determining the target size from the target keypoints comprises: acquiring transverse process midline surface points and articular process surface points included in target key points; the target size is obtained from the transverse process midline surface points and the articular process surface points.
Target keypoints may include transverse process midline surface points and articular process surface points. Wherein the transverse process midline is substantially parallel to the up-down direction, the transverse process midline surface points may include upper surface points and lower surface points of the transverse process at the transverse process midline, the upper surface points of the transverse process at the transverse process midline being referred to as the transverse process midline upper surface points, and the lower surface points of the transverse process at the transverse process midline being referred to as the transverse process midline lower surface points.
The articular process apex has a relatively pronounced anatomical structure, and thus, the articular process surface points may include the articular process apex.
After obtaining the transverse process midline surface point and the articular process surface point included by the target key point, if the transverse process midline surface point includes a transverse process midline upper surface point and a transverse process midline lower surface point, the computer device may calculate a distance between the transverse process midline upper surface point and the articular process vertex and calculate a distance between the transverse process midline lower surface point and the articular process vertex. For example, the maximum distance may be determined from the obtained two distances, and the maximum distance may be taken as the dimension in the up-down direction, the dimension in the left-right direction, and the dimension in the front-rear direction, thereby obtaining the target dimension.
In this embodiment, the target size is determined according to the distance between the transverse process midline surface point and the articular process surface point, so that the second geometric model generated by the method is not too small in size, and the surface of the transition area can be covered, so that the processing failure is avoided.
In one embodiment, the target size is obtained according to the transverse process midline surface point and the articular process surface point, which may specifically include: obtaining a first direction dimension according to the distance between a transverse process midline lower surface point included in the transverse process midline surface point and a joint process vertex included in the joint process surface point in a first direction; obtaining a second direction dimension according to the distance between any point included in the transverse process midline surface point and any point included in the articular process surface point in the second direction; obtaining a third-direction dimension according to the distances between the articular process vertex and a preset non-model surface point in a third direction; and obtaining the target size according to the first direction size, the second direction size and the third direction size.
The first direction corresponds to the up-down direction, the second direction corresponds to the left-right direction, and the third direction corresponds to the front-back direction.
Taking the positioning design of the guide plate on the left side of the single cone as an example, as shown in fig. 8, the target keypoints detected by the keypoint detection algorithm may include: a left lateral transverse midline upper surface point P1, a left lateral transverse midline lower surface point P2, a superior articular process apex P3, and a superior articular process midline point P4, wherein the superior articular process midline is substantially parallel to the left-right direction.
The computer device may determine a first directional dimension based on the distance of the left transverse process midline inferior surface point P2 and the superior articular process vertex P3 in the first direction; the first directional dimension is greater than or equal to the distance between the left transverse process midline inferior surface point P2 and the superior articular process vertex P3 in the first direction.
The computer device may determine the second directional dimension based on the distance in the second direction between any point comprised by a transverse process midline surface point (e.g., left transverse process midline upper surface point P1) and any point comprised by an articular process surface point (e.g., upper articular process midline point P4). The second dimension is greater than or equal to the distance in the lateral direction of any point comprised by the midline surface point of the transverse process from any point comprised by the articular process surface point.
The computer equipment can obtain the dimension of the third direction according to the upper articular process vertex P3 and the distance of the preset non-model surface point in the third direction; the third direction dimension may be greater than or equal to the distance between the superior articular process vertex P3 and the predetermined non-model surface point in the third direction.
After the first direction dimension, the second direction dimension, and the third direction dimension are obtained, the first direction dimension, the second direction dimension, and the third direction dimension may be taken as target dimensions.
In this embodiment, the target size is determined by using the target key points obtained by the key point detection, and because the target key points belong to boundary surface points of the transition region surface from the transverse process to the articular process, the generated second geometric model is not too small, and can cover the transition region surface, thereby avoiding processing failure; in addition, the second direction determined according to the surface points of the transverse process midline is reasonable, and the doctor can not use too much stripped muscle tissue in the operation, for example, in the previous example of the positioning design of the guide plate on the left side of the single vertebral body, the doctor can not use too much stripped left muscle tissue of the left transverse process midline, so that the influence on postoperative rehabilitation is reduced.
In one embodiment, cutting the second geometric model from the plane passing through the midline surface points of the transverse process and the plane passing through the articular process surface points to obtain the first geometric model includes: obtaining a plurality of cutting planes according to a sagittal plane passing through a transverse process midline surface point, a coronal plane passing through a joint process vertex included in the joint process surface point, a horizontal plane passing through a joint process midline included in the joint process surface point, a horizontal plane passing through a transverse process midline lower surface point included in the transverse process midline surface point, and a sagittal plane passing through a joint process midline included in the joint process surface point; and cutting the second geometric model based on the cutting surfaces to obtain the first geometric model.
In the anatomy, a tangential plane in which a human anatomy position is divided into left and right parts is called a sagittal plane, a tangential plane in which a human anatomy position is divided into front and rear parts is called a coronal plane, and a tangential plane in which a human anatomy position is divided into upper and lower parts is called a horizontal plane.
Since the transverse process midline surface points and the articular process surface points belong to boundary surface points of the transverse process to articular process transition region surfaces, the computer device may cut the second geometric model with the aid of the transverse process midline surface points, the articular process surface points, and the sagittal, coronal, and horizontal planes in the anatomy.
Specifically, a sagittal plane passing through the transverse process midline surface point may be one of the cut surfaces, a coronal plane passing through the articular process vertex included by the articular process surface point may be one of the cut surfaces, a horizontal plane passing through the articular process midline point included by the articular process surface point may be one of the cut surfaces, a horizontal plane passing through the transverse process midline lower surface point included by the transverse process midline surface point may be one of the cut surfaces, and a sagittal plane passing through the articular process midline point included by the articular process surface point may be one of the cut surfaces.
After the five foregoing clipping planes are obtained, the second geometric model may be clipped to obtain the first geometric model.
In this embodiment, based on the boundary point of the surface of the transition region from the transverse process to the articular process, the second geometric model is cut, so that the first geometric model obtained by cutting is ensured to correspond to the surface of the transition region from the transverse process to the articular process as much as possible, the size of the first geometric model is ensured to meet the actual requirement as much as possible, the guide plate is not too small to be unstable, and the postoperative rehabilitation of the target object is not too greatly affected; in addition, the sagittal plane, the coronal plane and the horizontal plane in the anatomy are used for cutting, so that the cutting is easy to generate, a complex cutting plane is not required to be generated, and the treatment efficiency is improved.
In one embodiment, generating a reverse structure of the transition region surface on the first geometric model results in a fence comprising: determining a peripheral surface area of a nail feeding point on the target vertebra model; the surface area around the nail feeding point comprises surface points, wherein the distance between the surface points and the nail feeding point is not more than a preset distance, on the target vertebra model; generating a third geometric model covering the peripheral surface area of the nail feeding point on the target vertebra model; generating a reverse structure of the transition area surface and a reverse structure of the third geometric model on the first geometric model to obtain the guide plate.
In order to avoid that the guide plate is not installed in place in operation due to osteophytes, a hollow area is formed near the nail feeding point for cavity treatment.
Specifically, surface points with the distance between the surface points and the nail feeding point not larger than a preset distance can be determined on the target vertebra model, and the surface points form a surface area around the nail feeding point; then, a third geometric model covering the surface area around the nail-in point can be generated on the target vertebra model; considering that the surface of the transition region from the transverse process to the articular process is similar to an arc surface, in order to make the hollow region more accurate, the third geometric model may be in a sphere shape, as shown at 104 in fig. 9; the third geometric model can also be in other shapes such as a square body and the like, and can be set according to actual requirements.
Respectively carrying out Boolean subtraction operation on the first geometric model and the surface of the transition area from the transverse process to the articular process and the third geometric model; the first geometric model and the transition area surface from the transverse process to the articular process are subjected to Boolean subtraction operation to generate a reverse structure of the transition area surface, the first geometric model and the third geometric model are subjected to Boolean subtraction operation to form a hollow area near a nail feeding point, a guide plate is a hollow area at the position of the surface area around the nail feeding point, excessive close fit is not formed, and the guide plate is in close fit with the transition area surface from the transverse process to the articular process at other positions, as shown in fig. 10, wherein 102 is the first geometric model, 105 is the hollow area, and 106 is the reverse structure of the transition area surface.
In this embodiment, a third geometry model covering the peripheral surface area of the nail feeding point is generated on the target vertebra model, a reverse structure of the surface of the transition area and a reverse structure of the third geometry model are generated on the first geometry model, a guide plate is obtained, a hollow area is formed near the nail feeding point of the guide plate, excessive close fitting is avoided, the situation that the guide plate cannot be installed in place due to osteophytes near the nail feeding point in operation is avoided, the guide plate obtained through subsequent printing can be compatible with operation habits of different doctors, the doctor can judge whether to carry out bone biting operation before placing the guide plate according to actual requirements in operation, the doctor can firstly bite bone and then place the guide plate, and subsequent nail path drilling operation is easier.
The resulting guide plate can assist the physician in placing the staples on the pedicles. In addition, the laminating and fixing effects can be verified by printing respective solid models of the guide plate and the vertebrae in a 3D printing mode. Referring to fig. 11, fig. 11 is a graph showing the fitting effect of the guide plate solid model 113 and the vertebral solid model 111.
Compared with the mode of manually modeling the guide plate on three-dimensional software, the guide plate generation method provided by the application can generate the code in a self-adaptive way, and the mode of automatically generating the three-dimensional model through the code is simple and efficient, and is easier to realize through modes such as 3D printing and the like.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a guide plate generating device for realizing the guide plate generating method. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitations in the embodiments of the one or more guide plate generating devices provided below may be referred to above for the limitations of the guide plate generating method, and will not be repeated here.
In one embodiment, as shown in fig. 12, there is provided a guide plate generating apparatus including:
The key point obtaining module 1201 is configured to obtain a target key point corresponding to the target vertebra model;
A geometry generation module 1202 for generating a first geometry model located at the intersection of the transverse processes and lamina of the target vertebral model based on the target keypoints;
A transition region surface determination module 1203 to determine a transition region surface of a transverse process to an articular process of the target vertebral model;
a guide plate obtaining module 1204, configured to generate a reverse structure of the transition area surface on the first geometric model, to obtain a guide plate.
In one embodiment, the apparatus further comprises a target vertebral model acquisition module for: dividing a vertebra model to be processed to obtain a transverse process model and a lamina model in the vertebra model to be processed; and obtaining a target vertebra model according to the transverse process model and the vertebral plate model.
In one embodiment, geometry generation module 1202 is further configured to: obtaining a second geometric model positioned at the junction of the transverse process and the vertebral lamina of the target vertebral model according to the target key points; and cutting the second geometric model according to the target key points to obtain the first geometric model.
In one embodiment, geometry generation module 1202 is further configured to: acquiring transverse process midline surface points and articular process surface points included by the target key points; and cutting the second geometric model according to the surface passing through the transverse process midline surface point and the surface passing through the articular process surface point to obtain the first geometric model.
In one embodiment, geometry generation module 1202 is further configured to: determining a target size and a target position according to the target key points; the second geometric model is generated at the intersection of the transverse processes and the lamina of the target vertebral model based on the target size and target location.
In one embodiment, geometry generation module 1202 is further configured to: acquiring transverse process midline surface points and articular process surface points included by the target key points; and obtaining the target size according to the transverse process midline surface point and the articular process surface point.
In one embodiment, geometry generation module 1202 is further configured to: obtaining a first direction dimension according to the distance between a transverse process midline lower surface point included in the transverse process midline surface point and an articular process vertex included in the articular process surface point in a first direction; obtaining a second direction dimension according to the distance between any point included in the transverse process midline surface point and any point included in the articular process surface point in a second direction; obtaining a third direction size according to the distances between the articular process vertex and a preset non-model surface point in the third direction; and obtaining the target size according to the first direction size, the second direction size and the third direction size.
In one embodiment, geometry generation module 1202 is further configured to: obtaining a plurality of cutting planes according to a sagittal plane passing through the transverse process midline surface point, a coronal plane passing through a joint process vertex included in the joint process surface point, a horizontal plane passing through a joint process midline point included in the joint process surface point, a horizontal plane passing through a transverse process midline lower surface point included in the transverse process midline surface point, and a sagittal plane passing through a joint process midline point included in the joint process surface point; and cutting the second geometric model based on a plurality of cutting planes to obtain a first geometric model.
In one embodiment, the fence capture module 1204 is further configured to: determining a peripheral surface area of a nail feeding point on the target vertebra model; the surface area around the nail feeding point comprises surface points, wherein the distance between the surface points and the nail feeding point on the target vertebra model is not more than a preset distance; generating a third geometric model on the target vertebral model covering a peripheral surface area of the feed point; generating a reverse structure of the surface of the transition area and a reverse structure of the third geometric model on the first geometric model to obtain the guide plate.
The respective modules in the above-described guide plate generating device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one exemplary embodiment, a computer device is provided, the internal structure of which may be as shown in FIG. 13. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing data related to the above method. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a guide plate generation method.
It will be appreciated by those skilled in the art that the structure shown in FIG. 13 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a guide plate is provided, which is obtained according to the steps in the respective method embodiments described above.
In one embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the method embodiments described above when the processor executes the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the respective method embodiments described above.
In one embodiment, a computer program product is provided, on which a computer program is stored, which computer program is executed by a processor for performing the steps of the various method embodiments described above.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are both information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to meet the related regulations.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile memory and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (RESISTIVE RANDOM ACCESS MEMORY, reRAM), magneto-resistive Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computation, an artificial intelligence (ARTIFICIAL INTELLIGENCE, AI) processor, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the present application.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (10)
1. A method of generating a guide plate, the method comprising:
Acquiring a target key point corresponding to a target vertebra model;
generating a first geometric model positioned at the junction of the transverse process and the lamina of the target vertebral model according to the target key points;
Determining a transition region surface from a transverse process to an articular process of the target vertebral model;
Generating a reverse structure of the transition region surface on the first geometric model to obtain a guide plate, comprising: determining a peripheral surface area of a nail feeding point on the target vertebra model; the surface area around the nail feeding point comprises surface points, wherein the distance between the surface points and the nail feeding point on the target vertebra model is not more than a preset distance; generating a third geometric model on the target vertebral model covering a peripheral surface area of the feed point; generating a reverse structure of the surface of the transition area and a reverse structure of the third geometric model on the first geometric model to obtain the guide plate.
2. The method of claim 1, wherein prior to obtaining the target keypoints corresponding to the target vertebral model, the method further comprises:
Dividing a vertebra model to be processed to obtain a transverse process model and a lamina model in the vertebra model to be processed;
And obtaining the target vertebra model according to the transverse process model and the vertebral plate model.
3. The method of claim 1, wherein generating a first geometric model at the intersection of the transverse processes and lamina of the target vertebral model based on the target keypoints comprises:
obtaining a second geometric model positioned at the junction of the transverse process and the vertebral lamina of the target vertebral model according to the target key points;
and cutting the second geometric model according to the target key points to obtain the first geometric model.
4. A method according to claim 3, wherein cropping the second geometric model based on the target keypoints to obtain the first geometric model comprises:
acquiring transverse process midline surface points and articular process surface points included by the target key points;
and cutting the second geometric model according to the surface passing through the transverse process midline surface point and the surface passing through the articular process surface point to obtain the first geometric model.
5. A method according to claim 3, wherein deriving a second geometric model at the intersection of the transverse processes and the lamina of the target vertebral model from the target keypoints comprises:
determining a target size and a target position according to the target key points;
the second geometric model is generated at the intersection of the transverse processes and the lamina of the target vertebral model based on the target size and target location.
6. The method of claim 5, wherein determining a target size from the target keypoints comprises:
acquiring transverse process midline surface points and articular process surface points included by the target key points;
and obtaining the target size according to the transverse process midline surface point and the articular process surface point.
7. The method of claim 6, wherein deriving the target size from the transverse process midline surface points and articular process surface points comprises:
Obtaining a first direction dimension according to the distance between a transverse process midline lower surface point included in the transverse process midline surface point and an articular process vertex included in the articular process surface point in a first direction;
obtaining a second direction dimension according to the distance between any point included in the transverse process midline surface point and any point included in the articular process surface point in a second direction;
Obtaining a third direction size according to the distances between the articular process vertex and a preset non-model surface point in the third direction;
and obtaining the target size according to the first direction size, the second direction size and the third direction size.
8. A guide plate generating apparatus, characterized in that the apparatus comprises:
the key point acquisition module is used for acquiring a target key point corresponding to the target vertebra model;
a geometry generation module for generating a first geometry model located at the junction of the transverse processes and lamina of the target vertebral model based on the target keypoints;
A transition region surface determination module for determining a transition region surface located from a transverse process to an articular process of the target vertebral model;
A guide plate acquisition module for generating a reverse structure of the transition region surface on the first geometric model to obtain a guide plate, comprising: determining a peripheral surface area of a nail feeding point on the target vertebra model; the surface area around the nail feeding point comprises surface points, wherein the distance between the surface points and the nail feeding point on the target vertebra model is not more than a preset distance; generating a third geometric model on the target vertebral model covering a peripheral surface area of the feed point; generating a reverse structure of the surface of the transition area and a reverse structure of the third geometric model on the first geometric model to obtain the guide plate.
9. A guide plate, characterized in that it is obtained according to the method of any one of claims 1 to 7.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the method of any one of claims 1 to 7 when executing the computer program.
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| CN205459007U (en) * | 2016-02-24 | 2016-08-17 | 袁峰 | Percutaneous lumbar vertebrae vertebral plate articular process screw director |
| CN207136901U (en) * | 2017-03-03 | 2018-03-27 | 于明 | A kind of lumbar vertebrae Lamina screw puts nail guider |
| CN109171958A (en) * | 2018-10-12 | 2019-01-11 | 杭州电子科技大学 | The production method of personalized spinal surgery guide plate |
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| CN104287815A (en) * | 2014-06-16 | 2015-01-21 | 南通舟可信息科技有限公司 | 3D printing percutaneous vertebral pedicle guide plate, preparation method of 3D printing percutaneous vertebral pedicle guide plate, and using method of 3D printing percutaneous vertebral pedicle guide plate |
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