CN104537939B - 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, more particularly to a kind of virtual method and dress of pedicle screw implantation
Put.
Background technology
In medical circle, pedicle of vertebral arch surgical technic requires the accurate implanted diameter 4-7mm in the pedicle of vertebral arch of transverse diameter 5-10mm
Pedicle screw, and the important features such as neighbour nerve root, dural sac can not be damaged, therefore, this is one huge to abecedarian
Challenge, it is free-hand will pedicle screw to be implanted in pedicle of vertebral arch be the clinically most commonly seen modus operandi of open surgery, in the way of escape
Under open otch, by the identification of anatomic landmark point, by the touch feeling of screw way probe, according to the surgical experience and art of doctor
The x-ray of front patient, CT images carry out the implantation of screw.
In order to make the clinical experience of abecedarian more ripe, prior art provides a kind of pedicle screw and inserts virtually
Surgery systems, are used to help abecedarian's study and train, and the system is the personalized CT image reconstructions spinal three-dimensional according to patient
Structure and spinal column positive side position projected image, which can not only train operative doctor embedded with minimal invasion pedicle of vertebral arch under fluoroscopy during operation guiding
Screw, also can guided operation doctor pedicle screw is inserted under open condition by anatomic landmark point, improve operative doctor vertebra
The accuracy that pedicle screw is inserted, which inserting very important effect of have on anatomic teaching in pedicle screw.
This system utilize the CT image reconstructions of real patient go out spinal column model be used for virtual operation, devise puncture needle and
The virtual operation instrument such as pedicle screw.Trainee is with the position by Kirschner wire in the projected image of positive side position with to enter to follow closely plane horizontal
On cross-section image, the position of Kirschner wire links together, the corresponding relation of both observations, is the percutaneous plant under guide of fluoroscopy in art
Entering pedicle screw carries out the preoperative training of personalization, while range measurement and angle survey can be passed through on three-dimensional stereo model
The diameter and length of pedicle screw needed for gauge arithmetic.
Said system efficiently solves the problems, such as that open pedicle screw implant surgery is lacked experience, to just carrying out
For the operative doctor of percutaneous cervical arc root screw implantation, how to determine that the entry point of percutaneous cervical arc root screw is individual with staple rail mark is entered
Very important anatomic teaching content.The implantation that pedicle screw is carried out using system of virtual operation can excite operative doctor
Learning interest, strengthens the autonomy and property of participation of operative doctor study, promotes understanding and grasp of the operative doctor to knowledge.
However, the pedicle screw that prior art is provided inserts system of virtual operation, can only come from anatomical structure
The difficulty in pedicle screw implant surgery is solved, without the training of the feel for trainee, sense of reality is not strong, training effect
Fruit is not good.
The content of the invention
In consideration of it, the present invention provides a kind of virtual method and device of pedicle screw implantation, it is intended to solve prior art
The pedicle screw of offer inserts system of virtual operation, and pedicle screw implant surgery can only be solved from anatomical structure
In difficulty, without the training of the feel for trainee, sense of reality is strong, the not good problem of training effect.
In a first aspect, the invention provides a kind of virtual method of pedicle screw implantation, methods described includes following step
Suddenly：
Obtain the CT data comprising spine image；
The spine regions of area-of-interest are split and three-dimensional reconstruction, generated Mesh models；
Build operation tool；
The Mesh models and the operation tool are imported in virtual surgical environment；
Receive the surgical scene change drawn by device for force feedback；Wherein, the device for force feedback is used to follow dragging
Operational movement, and kinestate is generated, and feed back motion effect；
Surgical scene change to drawing carries out stereo display process, and exports the stereo-picture after processing.
Preferably, the virtual method of the pedicle screw implantation is further comprising the steps of：
Surgical scene change to drawing carries out calculation process, obtains final surgical effect figure, and shows the operation effect
Fruit is schemed.
Preferably, the virtual method of the pedicle screw implantation is further comprising the steps of：
Calculate the deadline that surgical scene change is drawn by device for force feedback；
Judge which rate range the deadline falls in；
According to judged result, grade is determined.
Preferably, the virtual method of the pedicle screw implantation is further comprising the steps of：
The information into nail point is shown in surgical simulation.
Preferably, the virtual method of the 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 a kind of virtual bench of pedicle screw implantation, described device includes：
Acquisition module, for obtaining the CT data comprising spine image；
Three-dimensional reconstruction module, for being split to the spine regions of area-of-interest and three-dimensional reconstruction, generates Mesh moulds
Type；
Operation tool builds module, for building operation tool；
Import modul, for the Mesh models and the operation tool are imported in virtual surgical environment；
Receiver module, for receiving the surgical scene change drawn by device for force feedback；Wherein, the device for force feedback
For following drag operation to move, and kinestate is generated, and feed back motion effect；
Stereo display processing module, carries out stereo display process for the surgical scene change to drawing, and exports process
Stereo-picture afterwards.
Preferably, the virtual bench of the pedicle screw implantation also includes：
Design sketch processing module, carries out calculation process for the surgical scene change to drawing, obtains final surgical effect
Figure, and show the surgical effect figure.
Preferably, the virtual bench of the pedicle screw implantation also includes：
Time Calculation module, for calculating the deadline that surgical scene change is drawn by device for force feedback；
Grade judge module, for judging which rate range the deadline falls in；
Level determination module, for according to judged result, determining grade.
Preferably, the virtual bench of the pedicle screw implantation also includes：
Access point reminding module, for by the information into nail point is shown in surgical simulation.
Preferably, the virtual bench of the pedicle screw implantation also includes：
Setup module, for arranging different width and hardness to the surgical object in virtual surgical environment.
In the present invention, split and three-dimensional reconstruction by the spine regions to area-of-interest, generated Mesh models；
Build operation tool；The Mesh models and the operation tool are imported in virtual surgical environment；Receive by force feedback
The surgical scene change that device is drawn；Wherein, the device for force feedback is used to follow drag operation to move, and generates motion shape
State, and feed back motion effect.The present invention can make trainee more directly perceived and understand the anatomy relationship of operative region, Ke Yicong in detail
Whether nail position is put in multiple visual angles understandings accurate, if has the damage of proximity structure, so as to improve quality of instruction, shortens religion
Cycle, and user can be allowed to obtain the touch feeling in operating process.Meanwhile, scoring is added, trainee is made more
Among training can be dissolved into, trainee's exercise from the superficial to the deep, final sturdy grasp anatomical structure and operation skill are effectively helped
Energy.The use of stereo display technique, simulates true pedicle of vertebral arch and puts tack operation process, increased the feeling of immersion of system, with stronger
Usability and practicality.
Description of the drawings
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to embodiment or description of the prior art
Needed for accompanying drawing to be used be briefly described, it should be apparent that, drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can be with according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is that the virtual method of pedicle screw provided in an embodiment of the present invention implantation realizes schematic flow sheet；
Fig. 2 is the structural representation of the virtual bench of pedicle screw implantation provided in an embodiment of the present invention.
Specific embodiment
In order that the purpose of the present invention, technical scheme and beneficial effect become more apparent, below in conjunction with accompanying drawing and enforcement
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this
It is bright, it is not intended to limit the present invention.
In order to illustrate technical solutions according to the invention, illustrate below by specific embodiment.
Fig. 1 is referred to, is that the virtual method of pedicle screw provided in an embodiment of the present invention implantation realizes flow process, its bag
Include following steps：
In step S101, the CT data comprising spine image are obtained；
In embodiments of the present invention, the CT data of two-dimensional sequence dicom forms are read in into computer.
In step s 102, the spine regions of area-of-interest are split and three-dimensional reconstruction, is generated Mesh models；
In embodiments of the present invention, the spine regions of area-of-interest are split and three-dimensional reconstruction, is generated obj forms
Mesh models；
In step s 103, build operation tool；
In embodiments of the present invention, according to actual retractor, bone drill, nail etc. according to actual size in Maya softwares
Build operation tool.
In step S104, the Mesh models and the operation tool are imported in virtual surgical environment；
In embodiments of the present invention, according to scale in proportion will the Mesh models and the operation tool import it is virtual
In surgical environments.
In step S105, the surgical scene change drawn by device for force feedback is received；Wherein, the device for force feedback
For following drag operation to move, and kinestate is generated, and feed back motion effect；
In embodiments of the present invention, user drags the operation handle of device for force feedback, makes the manipulator of device for force feedback
Handle is moved along any direction, and then to user feed back motion effect, in order to allow user to obtain the tactile in operating process
Impression.The kinestate of device for force feedback have recorded the handle position and user of device for force feedback and put on handle
Power.
In embodiments of the present invention, each step change of surgical scene, real-time calculating and plotting speed are drawn using OpenGL
Degree, which is conducive to trainee to hold operation progress, and can scale, rotate from all angles and observe virtual operation scene.
In step s 106, the surgical scene change to drawing carries out stereo display process, and exports the solid after processing
Image.
In embodiments of the present invention, by 3D glasses checking the stereo-picture after the process of output.
Used as one embodiment of the present invention, in order to trainee will be understood that surgical outcome, the pedicle screw is planted
The virtual method for entering is further comprising the steps of：
Surgical scene change to drawing carries out calculation process, obtains final surgical effect figure, and shows the operation effect
Fruit is schemed.
As another preferred embodiment of the invention, in order to increase the learning interest of trainee, different scoring machines are provided with
The learning interest for making to increase trainee, its implementation are as follows：
Calculate the deadline that surgical scene change is drawn by device for force feedback；
Judge which rate range the deadline falls in；
According to judged result, grade is determined.
For example, completed in 15 seconds, it is determined that for senior；Completed in 25 seconds, it is determined that for middle rank；It is complete in 35 seconds
Into, it is determined that for rudimentary.
As another preferred embodiment of the invention, there is the handle of a system tack operation is put to pedicle of vertebral arch in order to allow abecedarian
After holding, the region to being performed the operation has one intuitively to recognize, it is ensured that inexperienced trainer can be from there is access point to point out
It is gentle excessively to point out state to without access point, therefore, the embodiment of the present invention is believed by the prompting into nail point is shown in surgical simulation
Breath.
Used as another preferred embodiment of the invention, the virtual method of the pedicle screw implantation also includes：To virtual hand
Surgical object in art environment arranges different width and hardness, allows trainee while operating difficulty is improved step by step, energy
Enough it is familiar with the spinal bone characteristic of various surgical objects, different surgical objects in tack operation is put to pedicle of vertebral arch so as to virtually complete
Learning process.
Used as another preferred embodiment of the invention, the virtual method of the pedicle screw implantation also includes：In virtual hand
Ideal range of the pedicle of vertebral arch operation bone drill end in operation, combining ability feedback algorithm and force feedback dress are given in art environment
Put, it is ensured that trainee can form muscle memory power to operation process in the training process, be accurate in surgery simulation system
Complete to bore bone process and provide ensure.
Fig. 2 is referred to, is the structural representation of the virtual bench of pedicle screw implantation provided in an embodiment of the present invention.For
It is easy to explanation, illustrate only the part related to the embodiment of the present invention.
The virtual bench of the pedicle screw implantation includes：Acquisition module 101, three-dimensional reconstruction module 102, operation tool
Build module 103, import modul 104, receiver module 105, and stereo display processing module 106.The pedicle screw is planted
The virtual bench for entering 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 forms are read in into computer.
Three-dimensional reconstruction module 102, for being split to the spine regions of area-of-interest and three-dimensional reconstruction, generates Mesh
Model；
In embodiments of the present invention, the spine regions of area-of-interest are split and three-dimensional reconstruction, is generated obj forms
Mesh models；
Operation tool builds module 103, for building operation tool；
In embodiments of the present invention, operation work is built according to actual size according to actual retractor, bone drill, nail etc.
Tool.
Import modul 104, for the Mesh models and the operation tool are imported in virtual surgical environment；
In embodiments of the present invention, according to scale in proportion will the Mesh models and the operation tool import it is virtual
In surgical environments.
Receiver module 105, for receiving the surgical scene change drawn by device for force feedback；Wherein, the force feedback
Device is used to follow drag operation to move, and generates kinestate, and feed back motion effect；
In embodiments of the present invention, user drags the operation handle of device for force feedback, makes the manipulator of device for force feedback
Handle is moved along any direction, and then to user feed back motion effect, in order to allow user to obtain the tactile in operating process
Impression.The kinestate of device for force feedback have recorded the handle position and user of device for force feedback and put on handle
Power.
In embodiments of the present invention, each step change of surgical scene, real-time calculating and plotting speed are drawn using OpenGL
Degree, which is conducive to trainee to hold operation progress, and can scale, rotate from all angles and observe virtual operation scene.
Stereo display processing module 106, carries out stereo display process for the surgical scene change to drawing, and at output
Stereo-picture after reason.
Used as one embodiment of the present invention, in order to trainee will be understood that surgical outcome, the pedicle screw is planted
The virtual bench for entering also includes：
Design sketch processing module, carries out calculation process for the surgical scene change to drawing, obtains final surgical effect
Figure, and show the surgical effect figure.
As another preferred embodiment of the invention, in order to increase the learning interest of trainee, different scoring machines are provided with
The learning interest for making to increase trainee, the virtual bench of the pedicle screw implantation also include：
Time Calculation module, for calculating the deadline that surgical scene change is drawn by device for force feedback；
Grade judge module, for judging which rate range the deadline falls in；
Level determination module, for according to judged result, determining grade.
As another preferred embodiment of the invention, there is the handle of a system tack operation is put to pedicle of vertebral arch in order to allow abecedarian
After holding, the region to being performed the operation has one intuitively to recognize, it is ensured that inexperienced trainer can be from there is access point to point out
It is gentle excessively also to include to the virtual bench that state, the pedicle screw implantation is pointed out without access point：
Access point reminding module, for by the information into nail point is shown in surgical simulation.
Used as another preferred embodiment of the invention, the virtual bench of the pedicle screw implantation also includes：Setup module,
For arranging different width and hardness to the surgical object in virtual surgical environment.Trainee is allowed to improve operation hardly possible step by step
While spending, the spinal bone characteristic of various surgical objects can be familiar with, pedicle of vertebral arch is put in tack operation so as to virtually complete
The learning process of different surgical objects.
Used as another preferred embodiment of the invention, the virtual bench of the pedicle screw implantation also includes：Impact point is carried
Show module, for ideal range of the pedicle of vertebral arch operation bone drill end in operation, combining ability are provided in virtual surgical environment
Feedback algorithm and device for force feedback, it is ensured that trainee in the training process can to operation process formed muscle memory power, be
Accurately complete to bore bone process in surgery simulation system there is provided guarantee.
Those skilled in the art can be understood that, for convenience of description and succinctly, only with above-mentioned each work(
The division of energy module is illustrated, and in practical application, can distribute above-mentioned functions by different functions as desired
Module is completed, will the internal structure of described device be divided into different functional units or module, it is described above complete to complete
Portion or partial function.During each functional module in embodiment can be integrated in a processing module, or modules
Individually it is physically present, it is also possible to which two or more modules are integrated in a unit, above-mentioned integrated module can both be adopted
Realized with the form of hardware, it would however also be possible to employ the form of software function module is realized.In addition, the specific name of each functional module
Only to facilitate mutually distinguishing, the protection domain of the application is not limited to.The specific works mistake of module in said apparatus
Journey, may be referred to the corresponding process in preceding method embodiment, will not be described here.
In sum, the embodiment of the present invention is split by the spine regions to area-of-interest and three-dimensional reconstruction, raw
Into Mesh models；Build operation tool；The Mesh models and the operation tool are imported in virtual surgical environment；Receive
The surgical scene change drawn by device for force feedback；Wherein, the device for force feedback is used to follow drag operation to move, and raw
Into kinestate, and feed back motion effect.The present invention can make trainee more directly perceived and understand the dissection of operative region in detail to close
Whether accurate system, can put nail position from the understanding of multiple visual angles, if having the damage of proximity structure, so as to improve teaching matter
Amount, shortens the teaching cycle, and user can be allowed to obtain the touch feeling in operating process.Meanwhile, scoring is added,
Among making trainee more be dissolved into training, trainee's exercise from the superficial to the deep, final sturdy grasp is effectively helped to dissect knot
Structure and surgical skills.The use of stereo display technique, simulates true pedicle of vertebral arch and puts tack operation process, increased immersing for system
Sense, with stronger usability and practicality.
Those of ordinary skill in the art are it is to be appreciated that the mould of each example described with reference to the embodiments described herein
Block and algorithm steps, being capable of being implemented in combination in electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel
Each specific application can be used different methods to realize described function, but this realization it is not considered that exceeding
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, can pass through other
Mode is realized.For example, device embodiment described above is only schematic, and for example, the division of the module is only
A kind of division of logic function, can have an other dividing mode when actually realizing, such as multiple module or components can with reference to or
Person is desirably integrated into another device, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be that INDIRECT COUPLING by some interfaces, device or module or communication connect
Connect, can be electrical, mechanical or other forms.
The module as separating component explanation can be or may not be it is physically separate, it is aobvious as module
The part for showing can be or may not be physical module, you can local to be located at one, or can also be distributed to multiple
On NE.Some or all of module therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional module in each embodiment of the invention can be integrated in a processing module, it is also possible to
It is that modules are individually physically present, it is also possible to which two or more modules are integrated in a module.Above-mentioned integrated mould
Block both can be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.
If the integrated module is realized and as independent production marketing or use using in the form of software function module
When, can be stored in a computer read/write memory medium.Based on such understanding, the technical scheme of the embodiment of the present invention
The part for substantially contributing to prior art in other words or all or part of the technical scheme can be with software products
Form embody, the computer software product is stored in a storage medium, including some instructions use so that one
Computer equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform this
The all or part of step of bright embodiment each embodiment methods described.And aforesaid storage medium includes：USB flash disk, portable hard drive,
Read only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic
Dish or CD etc. are various can be with the medium of store program codes.
Embodiment described above only to illustrate technical scheme, rather than a limitation；Although with reference to aforementioned reality
Apply example to be described in detail the present invention, it will be understood by those within the art that：Which still can be to aforementioned each
Technical scheme described in embodiment is modified, or carries out equivalent to which part technical characteristic；And these modifications
Or replace, do not make the essence of appropriate technical solution depart from the spirit and model of each embodiment technical scheme of the embodiment of the present invention
Enclose.
Claims (10)
1. the virtual method that a kind of pedicle screw is implanted into, it is characterised in that the method comprising the steps of：
Obtain the CT data comprising spine image；
The spine regions of area-of-interest are split and three-dimensional reconstruction, generated Mesh models；
Build operation tool；
The Mesh models and the operation tool are imported in virtual surgical environment；
Receive the surgical scene change drawn by device for force feedback；Wherein, the device for force feedback is used to follow drag operation
Motion, and kinestate is generated, and feed back motion effect；Specifically, the operation handle of device for force feedback is dragged by using person,
The operation handle of device for force feedback is made to move along any direction, and then to user feed back motion effect, in order to allow user
Obtain the touch feeling in operating process；The kinestate of the device for force feedback have recorded the handle position of device for force feedback with
And user puts on the power on handle；
Surgical scene change to drawing carries out stereo display process, and exports the stereo-picture after processing.
2. the virtual method that pedicle screw as claimed in claim 1 is implanted into, it is characterised in that the pedicle screw implantation
Virtual method it is further comprising the steps of：
Surgical scene change to drawing carries out calculation process, obtains final surgical effect figure, and shows the surgical effect figure.
3. the virtual method that pedicle screw as claimed in claim 1 is implanted into, it is characterised in that the pedicle screw implantation
Virtual method it is further comprising the steps of：
Calculate the deadline that surgical scene change is drawn by device for force feedback；
Judge which rate range the deadline falls in；
According to judged result, grade is determined.
4. the virtual method that pedicle screw as claimed in claim 1 is implanted into, it is characterised in that the pedicle screw implantation
Virtual method it is further comprising the steps of：
The information into nail point is shown in surgical simulation.
5. the virtual method that pedicle screw as claimed in claim 1 is implanted into, it is characterised in that the pedicle screw implantation
Virtual method it is further comprising the steps of：
Different width and hardness are arranged to the surgical object in virtual surgical environment.
6. the virtual bench that a kind of pedicle screw is implanted into, it is characterised in that described device includes：
Acquisition module, for obtaining the CT data comprising spine image；
Three-dimensional reconstruction module, for being split to the spine regions of area-of-interest and three-dimensional reconstruction, generates Mesh models；
Operation tool builds module, for building operation tool；
Import modul, for the Mesh models and the operation tool are imported in virtual surgical environment；
Receiver module, for receiving the surgical scene change drawn by device for force feedback；Wherein, the device for force feedback is used for
Follow drag operation to move, and generate kinestate, and feed back motion effect；Specifically for dragging force feedback dress by using person
The operation handle put, makes the operation handle of device for force feedback move along any direction, and then to user feed back motion effect, with
It is easy to allow user to obtain the touch feeling in operating process；The kinestate of the device for force feedback have recorded device for force feedback
Handle position and user put on the power on handle；
Stereo display processing module, carries out stereo display process for the surgical scene change to drawing, and after exporting process
Stereo-picture.
7. the virtual bench that pedicle screw as claimed in claim 6 is implanted into, it is characterised in that the pedicle screw implantation
Virtual bench also include：
Design sketch processing module, carries out calculation process for the surgical scene change to drawing, obtains final surgical effect figure, and
Show the surgical effect figure.
8. the virtual bench that pedicle screw as claimed in claim 6 is implanted into, it is characterised in that the pedicle screw implantation
Virtual bench also include：
Time Calculation module, for calculating the deadline that surgical scene change is drawn by device for force feedback；
Grade judge module, for judging which rate range the deadline falls in；
Level determination module, for according to judged result, determining grade.
9. the virtual bench that pedicle screw as claimed in claim 6 is implanted into, it is characterised in that the pedicle screw implantation
Virtual bench also include：
Access point reminding module, for by the information into nail point is shown in surgical simulation.
10. the virtual bench that pedicle screw as claimed in claim 6 is implanted into, it is characterised in that the pedicle screw is planted
The virtual bench for entering also includes：
Setup module, for arranging different width and hardness to the surgical object in virtual surgical environment.
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|---|---|---|---|
| CN201410856472.7A CN104537939B (en) | 2014-12-31 | 2014-12-31 | Virtual method and device for pedicle screw implantation |
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|---|---|---|---|
| CN201410856472.7A CN104537939B (en) | 2014-12-31 | 2014-12-31 | Virtual method and device for pedicle screw implantation |
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| CN104537939B true CN104537939B (en) | 2017-05-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN108281055B (en) * | 2018-01-19 | 2019-12-03 | 徐树建 | Staged surgical training device and its application method |
| CN112185226B (en) * | 2020-08-24 | 2022-08-26 | 自贡市第四人民医院(自贡市急救中心) | Manufacturing method of simulated lumbar model for training low-age-capital orthopedists to find optimal screw feeding point of lumbar pedicle screw |
| CN112906205B (en) * | 2021-01-29 | 2023-01-20 | 广东工业大学 | Virtual learning method for total hip replacement surgery |
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