CN104537939A - Virtual method and device for pedicle screw implantation - Google Patents
Virtual method and device for pedicle screw implantation Download PDFInfo
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Abstract
The invention belongs to the field of the computer-assisted medical science and provides a virtual method for pedicle screw implantation. The virtual method for pedicle screw implantation comprises the steps that CT data containing a spine image are obtained; segmentation and three-dimensional reconstruction are conducted on a spine area in an area of interest, so that a Mesh model is generated; operation tools are constructed; the Mesh model and the operation tools are led into a virtual operation environment; the change of an operation scene drawn through a force feedback device is received, wherein the force feedback device is used for moving along with dragging operation, generating the motion state and feeding back the motion effect; three-dimensional display is conducted on the change of the drawn operation scene, and a processed three-dimensional image is output. By the adoption of the virtual method for pedicle screw implantation, a trainee can learn about the dissection relation in an operation area more visually and more detailedly, whether a screw is accurately placed at a position and whether adjacent structures are damaged can be known from multiple view angles, in this way, teaching quality is improved, and a touch sense existing during operation can be created for users.
Description
Technical field
The invention belongs to computer-aided medical science field, particularly relate to virtual method and the device of the implantation of a kind of pedicle screw.
Background technology
In medical circle, pedicle of vertebral arch surgical technic requires the pedicle screw of accurate implanted diameter 4-7mm in the pedicle of vertebral arch of transverse diameter 5-10mm, and the important feature such as neighbour nerve root, dural sac can not be damaged, therefore, this is a huge challenge to beginner, free-hand implantation in pedicle of vertebral arch by pedicle screw is the modus operandi that open surgery is the most common clinically, under open posterior otch, by the identification of anatomic landmark point, touch feeling by nail road probe, carry out the implantation of screw according to the x-ray of the surgical experience of doctor and pre-operative patients, CT image.
In order to make the clinical experience of beginner more ripe, prior art provides a kind of pedicle screw to insert system of virtual operation, learn for helping beginner and train, this system is personalized CT image reconstruction spinal three-dimensional structure according to patient and backbone positive lateral projection image, it can not only be trained operative doctor Wicresoft under fluoroscopy during operation guides and insert pedicle screw, also guided operation doctor pedicle screw can be inserted by anatomic landmark point under open condition, improve the accuracy that operative doctor pedicle screw is inserted, it is inserted on anatomic teaching at pedicle screw has very important effect.
This system utilizes the CT image reconstruction of real patient to go out the model of backbone for virtual operation, devises the virtual operation such as puncture needle and pedicle screw instrument.Trainee is to link together the position of Kirschner wire on positive lateral projection image with the position of entering to follow closely Kirschner wire on planar cross section image, the corresponding relation of both observations, personalized preoperative training is carried out for implanting pedicle screw through skin in art under guide of fluoroscopy, simultaneously can by the diameter of pedicle screw required in range observation and measurement of angle logistic and length on three-dimensional stereo model.
Said system efficiently solves the problem that open pedicle screw implant surgery is lacked experience, concerning the operative doctor just carrying out percutaneous cervical arc root screw implantation, how to determine that the entry point of percutaneous cervical arc root screw is a very important anatomic teaching content with entering to follow closely track.The implantation utilizing system of virtual operation to carry out pedicle screw can excite the learning interest of operative doctor, strengthens independence and the property of participation of operative doctor study, promotes that operative doctor is to the understanding of knowledge and grasp.
But the pedicle screw that prior art provides inserts system of virtual operation, can only solve the difficulty in pedicle screw implant surgery from anatomical structure, and not for the training of the feel of trainee, the sense of reality is not strong, training effect is not good.
Summary of the invention
Given this, the invention provides virtual method and the device of the implantation of a kind of pedicle screw, the pedicle screw that being intended to solve prior art provides inserts system of virtual operation, the difficulty in pedicle screw implant surgery can only be solved from anatomical structure, and not for the training of the feel of trainee, the sense of reality is not strong, the problem that training effect is not good.
First aspect, the invention provides the virtual method that a kind of pedicle screw is implanted, said method comprising the steps of:
Obtain the CT data comprising spine image;
The spine regions of area-of-interest is split and three-dimensional reconstruction, generates Mesh model;
Build operation tool;
Described Mesh model and described operation tool are imported in virtual surgical environment;
Receive the surgical scene change of being drawn by device for force feedback; Wherein, described device for force feedback is used for following drag operation motion, and generates motion state, and feed back motion effect;
Stereo display process is carried out to the surgical scene change of drawing, and the stereo-picture after output processing.
Preferably, the virtual method of described pedicle screw implantation is further comprising the steps of:
Calculation process is carried out to the surgical scene change of drawing, obtains final surgical effect figure, and show described surgical effect figure.
Preferably, the virtual method of described pedicle screw implantation is further comprising the steps of:
Calculate the deadline of being drawn surgical scene change by device for force feedback;
Judge which rate range the described deadline drops in;
According to judged result, determine grade.
Preferably, the virtual method of described pedicle screw implantation is further comprising the steps of:
The information into nail point is shown in surgical simulation.
Preferably, the virtual method of described pedicle screw implantation is further comprising the steps of:
Different width and hardness are arranged to the surgical object in virtual surgical environment.
Second aspect, the invention provides the virtual bench that a kind of pedicle screw is implanted, described device comprises:
Acquisition module, for obtaining the CT data comprising spine image;
Three-dimensional reconstruction module, for splitting and three-dimensional reconstruction the spine regions of area-of-interest, generates Mesh model;
Operation tool builds module, for building operation tool;
Import module, for importing in virtual surgical environment by described Mesh model and described operation tool;
Receiver module, for receiving the surgical scene change of being drawn by device for force feedback; Wherein, described device for force feedback is used for following drag operation motion, and generates motion state, and feed back motion effect;
Stereo display processing module, for carrying out stereo display process to the surgical scene change of drawing, and the stereo-picture after output processing.
Preferably, the virtual bench that described pedicle screw is implanted also comprises:
Design sketch processing module, for carrying out calculation process to the surgical scene change of drawing, obtaining final surgical effect figure, and showing described surgical effect figure.
Preferably, the virtual bench that described pedicle screw is implanted also comprises:
Time Calculation module, for calculating the deadline of being drawn surgical scene change by device for force feedback;
Grade judge module, for judging which rate range the described deadline drops in;
Level determination module, for according to judged result, determines grade.
Preferably, the virtual bench that described pedicle screw is implanted also comprises:
Enter a reminding module, for the information by showing in surgical simulation into nail point.
Preferably, the virtual bench that described pedicle screw is implanted also comprises:
Module is set, for arranging different width and hardness to the surgical object in virtual surgical environment.
In the present invention, by splitting and three-dimensional reconstruction the spine regions of area-of-interest, generate Mesh model; Build operation tool; Described Mesh model and described operation tool are imported in virtual surgical environment; Receive the surgical scene change of being drawn by device for force feedback; Wherein, described device for force feedback is used for following drag operation motion, and generates motion state, and feed back motion effect.The present invention can make trainee more intuitively and in detail understand the anatomy relationship of operative region, can understand from multiple visual angles whether put nail position accurate, whether there is the damage of proximity structure, thus improve quality of instruction, shorten the teaching cycle, and the touch feeling that user can be allowed to obtain in operating process.Meanwhile, add scoring, trainee more can be dissolved among training, effectively help trainee's exercise from the superficial to the deep, finally sturdy grasp anatomical structure and surgical skills.The use of stereo display technique, tack operation process put by Reality simulation pedicle of vertebral arch, adds the feeling of immersion of system, has stronger ease for use and practicality.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the realization flow schematic diagram of the virtual method of the pedicle screw implantation that the embodiment of the present invention provides;
Fig. 2 is the structural representation of the virtual bench of the pedicle screw implantation that the embodiment of the present invention provides.
Embodiment
In order to make object of the present invention, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
In order to technical solutions according to the invention are described, be described below by specific embodiment.
Refer to Fig. 1, be the realization flow of the virtual method of the pedicle screw implantation that the embodiment of the present invention provides, it comprises the following steps:
In step S101, obtain the CT data comprising spine image;
In embodiments of the present invention, the CT data of two-dimensional sequence dicom form are read in computing machine.
In step s 102, the spine regions of area-of-interest is split and three-dimensional reconstruction, generate Mesh model;
In embodiments of the present invention, the spine regions of area-of-interest is split and three-dimensional reconstruction, generate the Mesh model of obj form;
In step s 103, operation tool is built;
In embodiments of the present invention, in Maya software, operation tool is built according to actual size according to the retractor, bone drill, nail etc. of reality.
In step S104, described Mesh model and described operation tool are imported in virtual surgical environment;
In embodiments of the present invention, according to convergent-divergent in proportion, described Mesh model and described operation tool are imported in virtual surgical environment.
In step S105, receive the surgical scene change of being drawn by device for force feedback; Wherein, described device for force feedback is used for following drag operation motion, and generates motion state, and feed back motion effect;
In embodiments of the present invention, the operating grip of user's drawing force feedback assembly, makes the operating grip of device for force feedback move along any direction, and then to user's feed back motion effect, so that the touch feeling allowing user obtain in operating process.The motion state of device for force feedback have recorded the handle position of device for force feedback and user and puts on power on handle.
In embodiments of the present invention, utilize OpenGL to draw each step change of surgical scene, real-time calculating and plotting speed, it is conducive to trainee and holds operation progress, and can convergent-divergent, rotate and observe virtual operation scene from all angles.
In step s 106, stereo display process is carried out to the surgical scene change of drawing, and the stereo-picture after output processing.
In embodiments of the present invention, the stereo-picture after the process of output is checked by 3D glasses.
As one embodiment of the present invention, in order to trainee can recognize surgical outcome, the virtual method that described pedicle screw is implanted is further comprising the steps of:
Calculation process is carried out to the surgical scene change of drawing, obtains final surgical effect figure, and show described surgical effect figure.
As another preferred embodiment of the present invention, in order to increase the learning interest of trainee, be provided with different scorings to increase the learning interest of trainee, its implementation is as follows:
Calculate the deadline of being drawn surgical scene change by device for force feedback;
Judge which rate range the described deadline drops in;
According to judged result, determine grade.
Such as, completed in 15 seconds, be then defined as senior; Completed in 25 seconds, be then defined as middle rank; Completed in 35 seconds, be then defined as rudimentary.
As another preferred embodiment of the present invention, in order to allow beginner after pedicle of vertebral arch being put to tack operation and having the assurance of a system, one is had to be familiar with intuitively to the region that will perform the operation, ensure that inexperienced trainer can be excessive in without entering a prompting state gently from having into a prompting, therefore, the information of the embodiment of the present invention by showing in surgical simulation into nail point.
As another preferred embodiment of the present invention, the virtual method that described pedicle screw is implanted also comprises: arrange different width and hardness to the surgical object in virtual surgical environment, allow trainee while improving operating difficulty step by step, the spinal bone characteristic of various surgical object can be familiar with, thus virtually complete the learning process of pedicle of vertebral arch being put to different surgical object in tack operation.
As another preferred embodiment of the present invention, the virtual method that described pedicle screw is implanted also comprises: in virtual surgical environment, provide the ideal range of pedicle of vertebral arch operation bone drill end in operation, coordinate force feedback algorithm and device for force feedback, guaranteeing that trainee can form muscle memory power to surgical procedure in the training process, providing guarantee for completing brill bone process in surgery simulation system accurately.
Referring to Fig. 2, is the structural representation of the virtual bench of the pedicle screw implantation that the embodiment of the present invention provides.For convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.
The virtual bench that described pedicle screw is implanted comprises: acquisition module 101, three-dimensional reconstruction module 102, operation tool build module 103, import module 104, receiver module 105 and stereo display processing module 106.The virtual bench that described pedicle screw is implanted can be the unit of software unit, hardware cell or software and hardware combining.
Acquisition module 101, for obtaining the CT data comprising spine image;
In embodiments of the present invention, the CT data of two-dimensional sequence dicom form are read in computing machine.
Three-dimensional reconstruction module 102, for splitting and three-dimensional reconstruction the spine regions of area-of-interest, generates Mesh model;
In embodiments of the present invention, the spine regions of area-of-interest is split and three-dimensional reconstruction, generate the Mesh model of obj form;
Operation tool builds module 103, for building operation tool;
In embodiments of the present invention, operation tool is built according to the retractor, bone drill, nail etc. of reality according to actual size.
Import module 104, for importing in virtual surgical environment by described Mesh model and described operation tool;
In embodiments of the present invention, according to convergent-divergent in proportion, described Mesh model and described operation tool are imported in virtual surgical environment.
Receiver module 105, for receiving the surgical scene change of being drawn by device for force feedback; Wherein, described device for force feedback is used for following drag operation motion, and generates motion state, and feed back motion effect;
In embodiments of the present invention, the operating grip of user's drawing force feedback assembly, makes the operating grip of device for force feedback move along any direction, and then to user's feed back motion effect, so that the touch feeling allowing user obtain in operating process.The motion state of device for force feedback have recorded the handle position of device for force feedback and user and puts on power on handle.
In embodiments of the present invention, utilize OpenGL to draw each step change of surgical scene, real-time calculating and plotting speed, it is conducive to trainee and holds operation progress, and can convergent-divergent, rotate and observe virtual operation scene from all angles.
Stereo display processing module 106, for carrying out stereo display process to the surgical scene change of drawing, and the stereo-picture after output processing.
As one embodiment of the present invention, in order to trainee can recognize surgical outcome, the virtual bench that described pedicle screw is implanted also comprises:
Design sketch processing module, for carrying out calculation process to the surgical scene change of drawing, obtaining final surgical effect figure, and showing described surgical effect figure.
As another preferred embodiment of the present invention, in order to increase the learning interest of trainee, be provided with different scorings to increase the learning interest of trainee, the virtual bench that described pedicle screw is implanted also comprises:
Time Calculation module, for calculating the deadline of being drawn surgical scene change by device for force feedback;
Grade judge module, for judging which rate range the described deadline drops in;
Level determination module, for according to judged result, determines grade.
As another preferred embodiment of the present invention, in order to allow beginner after pedicle of vertebral arch being put to tack operation and having the assurance of a system, one is had to be familiar with intuitively to the region that will perform the operation, ensure that inexperienced trainer can be excessive in without entering a prompting state gently from having into a prompting, the virtual bench that described pedicle screw is implanted also comprises:
Enter a reminding module, for the information by showing in surgical simulation into nail point.
As another preferred embodiment of the present invention, the virtual bench that described pedicle screw is implanted also comprises: arrange module, for arranging different width and hardness to the surgical object in virtual surgical environment.Allow trainee while improving operating difficulty step by step, the spinal bone characteristic of various surgical object can be familiar with, thus virtually complete the learning process of pedicle of vertebral arch being put to different surgical object in tack operation.
As another preferred embodiment of the present invention, the virtual bench that described pedicle screw is implanted also comprises: impact point reminding module, for providing the ideal range of pedicle of vertebral arch operation bone drill end in operation in virtual surgical environment, coordinate force feedback algorithm and device for force feedback, guaranteeing that trainee can form muscle memory power to surgical procedure in the training process, providing guarantee for completing brill bone process in surgery simulation system accurately.
Those skilled in the art can be well understood to, for convenience of description and succinctly, only be illustrated with the division of above-mentioned each functional module, in practical application, can distribute as required and by above-mentioned functions and be completed by different functional modules, inner structure by described device is divided into different functional units or module, to complete all or part of function described above.Each functional module in embodiment can be integrated in a processing module, also can be that the independent physics of modules exists, also can two or more module integrations in a unit, above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.In addition, the concrete title of each functional module, also just for the ease of mutual differentiation, is not limited to the protection domain of the application.The specific works process of module in said apparatus, with reference to the corresponding process in preceding method embodiment, can not repeat them here.
In sum, the embodiment of the present invention, by splitting and three-dimensional reconstruction the spine regions of area-of-interest, generates Mesh model; Build operation tool; Described Mesh model and described operation tool are imported in virtual surgical environment; Receive the surgical scene change of being drawn by device for force feedback; Wherein, described device for force feedback is used for following drag operation motion, and generates motion state, and feed back motion effect.The present invention can make trainee more intuitively and in detail understand the anatomy relationship of operative region, can understand from multiple visual angles whether put nail position accurate, whether there is the damage of proximity structure, thus improve quality of instruction, shorten the teaching cycle, and the touch feeling that user can be allowed to obtain in operating process.Meanwhile, add scoring, trainee more can be dissolved among training, effectively help trainee's exercise from the superficial to the deep, finally sturdy grasp anatomical structure and surgical skills.The use of stereo display technique, tack operation process put by Reality simulation pedicle of vertebral arch, adds the feeling of immersion of system, has stronger ease for use and practicality.
Those of ordinary skill in the art can recognize, in conjunction with module and the algorithm steps of each example of embodiment disclosed herein description, can realize with the combination of electronic hardware or computer software and electronic hardware.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
In embodiment provided by the present invention, should be understood that disclosed apparatus and method can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described module, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple module or assembly can in conjunction with or another device can be integrated into, or some features can be ignored, or do not perform.Another point, it can be by some interfaces that shown or discussed coupling each other or direct-coupling or communication connect, and the indirect coupling of device or module or communication connect, and can be electrical, machinery or other form.
The described module illustrated as separating component can or may not be physically separates, and the parts as module display can be or may not be physical module, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of module wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional module in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of modules exists, also can two or more module integrations in a module.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.
If described integrated module using the form of software function module realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that the technical scheme of the embodiment of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) or processor (processor) perform all or part of step of method described in each embodiment of the embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-Only Memory), random access memory (RAM, Random AccessMemory), magnetic disc or CD etc. various can be program code stored medium.
The above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of the embodiment of the present invention.
Claims (10)
1. a virtual method for pedicle screw implantation, is characterized in that, said method comprising the steps of:
Obtain the CT data comprising spine image;
The spine regions of area-of-interest is split and three-dimensional reconstruction, generates Mesh model;
Build operation tool;
Described Mesh model and described operation tool are imported in virtual surgical environment;
Receive the surgical scene change of being drawn by device for force feedback; Wherein, described device for force feedback is used for following drag operation motion, and generates motion state, and feed back motion effect;
Stereo display process is carried out to the surgical scene change of drawing, and the stereo-picture after output processing.
2. the virtual method of pedicle screw implantation as claimed in claim 1, it is characterized in that, the virtual method that described pedicle screw is implanted is further comprising the steps of:
Calculation process is carried out to the surgical scene change of drawing, obtains final surgical effect figure, and show described surgical effect figure.
3. the virtual method of pedicle screw implantation as claimed in claim 1, it is characterized in that, the virtual method that described pedicle screw is implanted is further comprising the steps of:
Calculate the deadline of being drawn surgical scene change by device for force feedback;
Judge which rate range the described deadline drops in;
According to judged result, determine grade.
4. the virtual method of pedicle screw implantation as claimed in claim 1, it is characterized in that, the virtual method that described pedicle screw is implanted is further comprising the steps of:
The information into nail point is shown in surgical simulation.
5. the virtual method of pedicle screw implantation as claimed in claim 1, it is characterized in that, the virtual method that described pedicle screw is implanted is further comprising the steps of:
Different width and hardness are arranged to the surgical object in virtual surgical environment.
6. a virtual bench for pedicle screw implantation, it is characterized in that, described device comprises:
Acquisition module, for obtaining the CT data comprising spine image;
Three-dimensional reconstruction module, for splitting and three-dimensional reconstruction the spine regions of area-of-interest, generates Mesh model;
Operation tool builds module, for building operation tool;
Import module, for importing in virtual surgical environment by described Mesh model and described operation tool;
Receiver module, for receiving the surgical scene change of being drawn by device for force feedback; Wherein, described device for force feedback is used for following drag operation motion, and generates motion state, and feed back motion effect;
Stereo display processing module, for carrying out stereo display process to the surgical scene change of drawing, and the stereo-picture after output processing.
7. the virtual bench of pedicle screw implantation as claimed in claim 6, it is characterized in that, the virtual bench that described pedicle screw is implanted also comprises:
Design sketch processing module, for carrying out calculation process to the surgical scene change of drawing, obtaining final surgical effect figure, and showing described surgical effect figure.
8. the virtual bench of pedicle screw implantation as claimed in claim 6, it is characterized in that, the virtual bench that described pedicle screw is implanted also comprises:
Time Calculation module, for calculating the deadline of being drawn surgical scene change by device for force feedback;
Grade judge module, for judging which rate range the described deadline drops in;
Level determination module, for according to judged result, determines grade.
9. the virtual bench of pedicle screw implantation as claimed in claim 6, it is characterized in that, the virtual bench that described pedicle screw is implanted also comprises:
Enter a reminding module, for the information by showing in surgical simulation into nail point.
10. the virtual bench of pedicle screw implantation as claimed in claim 6, it is characterized in that, the virtual bench that described pedicle screw is implanted also comprises:
Module is set, for arranging different width and hardness to the surgical object in virtual surgical environment.
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| CN105931517A (en) * | 2016-06-17 | 2016-09-07 | 重庆金山科技（集团）有限公司 | Surgical operation virtual simulation method and system |
| CN106205329A (en) * | 2016-09-26 | 2016-12-07 | 四川大学 | Virtual operation training system |
| CN106683085A (en) * | 2016-12-23 | 2017-05-17 | 浙江大学 | CT image spine and spinal dura mater automation detection method |
| CN108281055A (en) * | 2018-01-19 | 2018-07-13 | 武汉康慧然信息技术咨询有限公司 | Staged surgical training device and its application method |
| CN112185226A (en) * | 2020-08-24 | 2021-01-05 | 自贡市第四人民医院(自贡市急救中心) | Simulated lumbar vertebra model for training low-age-capital orthopedists to find optimal screw feeding point of lumbar pedicle screw and manufacturing method |
| CN112906205A (en) * | 2021-01-29 | 2021-06-04 | 广东工业大学 | Virtual learning method for total hip replacement surgery |
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