CN111956318A - Positioning guide plate, manufacturing method thereof, positioning guide plate model generation method and system - Google Patents
Positioning guide plate, manufacturing method thereof, positioning guide plate model generation method and system Download PDFInfo
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- 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, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- 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, setting implements or the like
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Abstract
The invention provides a positioning guide plate and a manufacturing method thereof, and a positioning guide plate model generation method and a system, which are all based on a fractured bone model after virtual reduction of a fractured bone of a patient to be driven into a fracture nail, and all comprise the following steps: extracting a guide plate basal surface from a model surface of the fractured bone model; copying all space points on the basal surface of the guide plate and keeping the copied all space points in the original topological structure to translate for a preset distance to form the basal surface of the guide plate; performing triangular surface patch fitting on the boundary points of the base surface of the guide plate and the boundary points of the top surface of the base of the guide plate to obtain a preliminary-formed guide plate model; constructing a three-dimensional model of the guider; rotating and/or translating the three-dimensional model of the guider on the pre-formed guide plate model in a human-computer interaction mode to obtain a three-dimensional model of the target guider; and performing difference set Boolean operation on the three-dimensional model of the target guider and the model of the pre-formed guide plate to obtain a Boolean operation result, namely the positioning guide plate model to be generated. The invention is used for assisting the surgical positioning of the fracture nail.
Description
Technical Field
The invention relates to the technical field of computer assistance, in particular to a positioning guide plate and a manufacturing method thereof, and a positioning guide plate model generation method and system, which are mainly used for assisting the surgical positioning of fracture nails.
Background
Fracture generally refers to complete or partial fracture of continuity of bone structures caused by external force or internal injury, and is a common orthopedic disease, at present, the main treatment method is the mutual combination of reduction and fixation, many problems which are difficult to solve often occur during reduction and fixation, and because of no advanced auxiliary orthopedic technology, a doctor can only operate by experience, and the operation risk is relatively high.
The computer-assisted orthopedic technology is characterized in that advanced treatment equipment and diagnosis of surgeons can be organically combined, acquired information can be fully utilized to enable patients to obtain safe, accurate and minimally invasive surgical treatment, and the application of the computer-assisted orthopedic technology to fracture is a popular research in recent years. For example, in an orthopedic surgery, information about bones can be extracted from a patient's bone CT sequence diagram to perform three-dimensional reconstruction to obtain a patient's broken bone model, and then the patient's broken bone model is virtually reset, so that the broken bone model is virtually reset into a complete bone model. The bone model of the virtual reduction completion has become the reference for the doctor to treat the patient.
When a doctor treats a broken bone of a patient, the broken bone is firmly jointed together by a fracture nail beating mode. When the fracture nail is driven, the driving direction of the fracture nail needs to be determined, and at the moment, the direction is determined through an operation guide plate, and a doctor is guided to punch and implant the fracture nail. The operation guide plate is an auxiliary operation tool which accurately implements an operation preplanning scheme in an operation, solves the problem that a doctor causes great damage to a patient due to the fact that a fracture nail is driven in blindly, and is beneficial to reducing operation risks and operation failure rate to a certain extent.
Currently, guide plate technology is mainly applied to various fields of surgery in the forms of bone cutting guide plates, positioning guide plates and reduction guide plates. The positioning guide plate is an operation guide plate with a specific specification and produced by a professional medical instrument production mechanism, and can be applied to various fracture operations such as pelvic fracture operation, jaw fracture operation and the like.
However, most of the existing manufacturing methods are to use foreign mimics software, increase the original skeleton model by using voxels, and then subtract the original skeleton model from the increased model to generate the guide plate, which is limited by the use of foreign software, the generation position of the guide plate cannot be accurately controlled, the generated guide plate cannot be completely attached to the skeleton model, the operating steps of the software are quite complicated, and the operation is difficult for some non-professionals.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a positioning guide plate, a manufacturing method thereof, a positioning guide plate model generating method and a positioning guide plate model generating system.
In a first aspect, the present invention provides a method for generating a positioning guide model based on a fractured bone model after virtual reduction of a fractured bone into which a fracture nail is to be driven of a patient, comprising the steps of:
extracting a surface which can meet the requirements of the shape and the use position from the model surface of the fractured bone model according to the shape and the use position of the positioning guide plate model to be generated, and recording the surface as a guide plate basal surface;
copying all space points on the guide plate basal surface, keeping the original topological structure of all the copied space points, and respectively translating the copied space points along the directions of the normal vectors of the corresponding space points by preset distances to form a new guide plate surface model which is recorded as the guide plate basal surface;
performing triangular surface patch fitting on the boundary point of the base surface of the guide plate and the boundary point of the top surface of the guide plate to obtain a closed and hollow three-dimensional model, and marking as a primary forming guide plate model;
constructing a three-dimensional guider model capable of rotating and translating on the pre-formed guide plate model; the three-dimensional model of the guider is a linear tubular body, the diameter of the inner cavity of the tubular body is matched with the diameter of a fracture nail to be driven, and the tubular body penetrates through the base surface of the guide plate and the top surface of the guide plate;
rotating and/or translating the three-dimensional guider model on the primary forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail, and storing the three-dimensional guider model in the state after the driving position and the driving direction of the fracture nail are determined to obtain a three-dimensional target guider model;
and performing difference set Boolean operation on the target guider three-dimensional model and the preliminary forming guide plate model, and subtracting a part overlapped with the target guider three-dimensional model from the preliminary forming guide plate model to obtain a Boolean operation result, namely the positioning guide plate model to be generated.
Further, according to the shape and the use position of the positioning guide plate model to be generated, a surface capable of meeting the requirements of the shape and the use position is extracted from the model surface of the fractured bone model, and the specific implementation method comprises the following steps:
sequentially clicking a corresponding number of space points on the surface of the model of the fractured bone model according to the using position of the positioning guide plate model to be generated, wherein the first space point selected by clicking is overlapped with the last space point selected by clicking, and the space points selected by clicking are sequentially connected according to a clicking sequence to form a closed curve which is marked as a first closed curve; the area enclosed by the first closed curve can cover the use position;
extracting a curved surface enclosed by the first closed curve on the surface of the fractured bone model according to the grid lines of the fractured bone model by using a curve segmentation technology to obtain an initial guide plate basal surface;
correspondingly cutting the edge of the initial guide plate base surface according to the shape and the using position of the positioning guide plate model to be generated to obtain the initial guide plate base surface meeting the requirements of the shape and the using position, and recording the initial guide plate base surface as a cutting initial guide plate base surface;
and performing Gaussian smoothing or grid thinning on the base surface of the initial cutting guide plate to obtain a surface to be obtained, wherein the boundary points of the surface are positioned on the same curve.
Further, triangular patch fitting is carried out on the boundary point of the base surface of the guide plate and the boundary point of the top surface of the guide plate to obtain a closed and hollow pre-formed guide plate model, and the specific implementation method comprises the following steps:
acquiring all boundary points of the base surface of the guide plate;
acquiring all boundary points of the top surface of the guide plate substrate;
performing triangular surface patch fitting on the boundary point of the obtained guide plate base surface and the boundary point of the obtained guide plate base top surface to obtain an annular cover for closing the boundaries of the guide plate base surface and the guide plate base top surface;
and obtaining a closed and hollow model formed by the annular cover, the guide plate base surface and the guide plate base top surface, wherein the obtained model is the preliminary forming guide plate model.
Further, a three-dimensional guider model capable of rotating and translating is built on the pre-forming guide plate model, and the three-dimensional guider model is rotated and/or translated on the pre-forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail, and the specific implementation method comprises the following steps:
displaying the preliminary forming guide plate model and the broken bone model in a window;
constructing a three-dimensional guider model capable of rotating and translating on the pre-formed guide plate model in a man-machine interaction mode;
and rotating and/or translating the three-dimensional model of the guider on the pre-forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail.
In a second aspect, the present invention provides a positioning guide model generation system based on a fractured bone model after virtual reduction of a fractured bone of a patient into which a fracture nail is to be driven, comprising:
a basal plane extracting unit, which is used for extracting a plane capable of meeting the requirements of the shape and the use position from the model surface of the fractured bone model according to the shape and the use position of the positioning guide plate model to be generated and recording the plane as a guide plate basal plane;
the base top surface generation unit is used for copying all space points on the base surface of the guide plate, and translating all the copied space points by preset distances along the directions of the normal vectors of the corresponding space points respectively while keeping the original topological structure to form a new guide plate surface model which is recorded as the base top surface of the guide plate;
the preliminary forming guide plate model generating unit is used for performing triangular patch fitting on the boundary points of the guide plate base surface and the boundary points of the guide plate base top surface to obtain a closed and hollow three-dimensional model which is marked as a preliminary forming guide plate model;
the guide three-dimensional model establishing unit is used for establishing a guide three-dimensional model capable of rotating and translating on the preliminary forming guide plate model; the three-dimensional model of the guider is a linear tubular body, the diameter of the inner cavity of the tubular body is matched with the diameter of a fracture nail to be driven, and the tubular body penetrates through the base surface of the guide plate and the top surface of the guide plate;
the target guider three-dimensional model obtaining unit is used for rotating and/or translating the guider three-dimensional model on the pre-forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail, and storing the guider three-dimensional model in the state after the driving position and the driving direction of the fracture nail are determined to obtain the target guider three-dimensional model;
and the guide plate model generating unit is used for carrying out difference set Boolean operation on the target guide three-dimensional model and the pre-formed guide plate model, and subtracting a part overlapped with the target guide three-dimensional model from the pre-formed guide plate model to obtain a Boolean operation result, namely the positioning guide plate model to be generated.
Further, the basal plane extraction unit includes:
the positioning guide plate model generating device comprises a first module, a second module and a third module, wherein the first module is used for sequentially clicking a corresponding number of space points on the surface of the model of the fractured bone model according to the using position of the positioning guide plate model to be generated, the first space point selected by clicking is overlapped with the last space point selected by clicking, and the space points selected by clicking are sequentially connected according to a clicking sequence to form a closed curve which is marked as a first closed curve; the area enclosed by the first closed curve can cover the use position;
the second module is used for extracting a curved surface closed by the first closed curve on the surface of the fractured bone model according to grid lines of the fractured bone model by utilizing a curve segmentation technology to obtain an initial guide plate basal surface;
the third module is used for correspondingly cutting the edge of the initial guide plate base surface according to the shape and the using position of the positioning guide plate model to be generated to obtain the initial guide plate base surface meeting the requirements of the shape and the using position, and the initial guide plate base surface is marked as a cutting initial guide plate base surface;
and the fourth module is used for performing Gaussian smoothing or grid thinning on the initial guide plate base surface to obtain a guide plate base surface, wherein all boundary points of the guide plate base surface are positioned on the same curve.
Further, the preliminary forming guide plate model generating unit includes:
the first boundary point acquisition module is used for acquiring all boundary points of the base surface of the guide plate;
the second boundary point acquisition module is used for acquiring all boundary points of the guide plate base top surface;
the fitting module is used for performing triangular patch fitting on the boundary point of the obtained guide plate base surface and the boundary point of the obtained guide plate base top surface to obtain an annular cover for sealing the boundaries of the guide plate base surface and the guide plate base top surface;
and the preliminary forming guide plate model obtaining module is used for obtaining a closed and hollow model formed by the annular cover, the guide plate base surface and the guide plate base top surface, and the model is the obtained preliminary forming guide plate model.
Further, the specific method for constructing the three-dimensional guider model capable of rotating and translating on the preliminary-formed guide plate model by the three-dimensional guider model creating unit is as follows: displaying the preliminary forming guide plate model and the broken bone model in a window, and then constructing a three-dimensional guider model capable of rotating and translating on the preliminary forming guide plate model in a man-machine interaction mode;
the target guider three-dimensional model acquisition unit rotates and/or translates the guider three-dimensional model on the primary forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail, and the implementation method comprises the following steps: displaying the preliminary forming guide plate model, the broken bone model and the constructed three-dimensional guider model in a window, and then rotating and/or translating the three-dimensional guider model on the preliminary forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail.
In a third aspect, the present invention provides a method for manufacturing a positioning guide plate, including:
manufacturing a positioning guide plate model of a fractured bone to be driven into the fracture nail by adopting the positioning guide plate model generating method in each aspect, and recording the positioning guide plate model as a target guide plate model;
and printing the target guide plate model by adopting a 3D printing technology to obtain a corresponding positioning guide plate.
In a fourth aspect, the present invention provides a positioning guide plate, which is manufactured by the manufacturing method described above.
The beneficial effect of the invention is that,
(1) the positioning guide plate, the manufacturing method thereof, the positioning guide plate model generation method and the positioning guide plate model generation system provided by the invention can avoid the adoption of a voxel enlarging method for manufacturing a positioning guide plate model, increase the orthopedic positioning guide plate model and the manufacturing method of the positioning guide plate, and are beneficial to breaking the limitation of foreign software to a certain extent;
(2) according to the positioning guide plate and the manufacturing method thereof as well as the positioning guide plate model generation method and system, when the positioning guide plate model is manufactured, the part to be used by the positioning guide plate can be directly selected from the fractured bone model after the virtual reduction of the fractured bone of a patient to be driven into a fracture nail, and the part to be used by the positioning guide plate can be extracted and used for generating the positioning guide plate model, so that the guide plate generation position can be accurately controlled to a certain extent, and the generated guide plate can be completely attached to the bone model.
(3) According to the positioning guide plate and the manufacturing method thereof, and the positioning guide plate model generation method and system, the generation of the positioning guide plate model in the orthopedic surgery is realized by adopting a method combining human-computer interaction and automatic fitting, the method is directly operated on the three-dimensional skeleton model, the operation is more visual, the fitting thickness can be automatically determined, the size and the shape of the guide plate can be automatically set according to the actual situation, the operation is more convenient and fast, the manual operation is very easy for some non-professionals, and the method and the system are more practical.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a method for generating a location guide model according to an embodiment of the present invention.
FIG. 2 is a schematic structural diagram of an embodiment of the target fractured bone model and the closed curve A in the invention.
FIG. 3 is a schematic structural view of one embodiment of the initial guide plate footprint described in the present invention.
Fig. 4 is a schematic view of a cutting position of an embodiment of the cutting surface of the present invention.
FIG. 5 is a cut-away view of one embodiment of the initial guide plate base surface of the present invention.
Fig. 6 is a schematic diagram of a target bone model and a prototype guide model shown in the same window according to an embodiment of the present invention.
FIG. 7 is a schematic block diagram of a flipper model design system in accordance with an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
fig. 1 is a schematic flow chart of a positioning guide model generation method according to an embodiment of the present invention, which is based on a fractured bone model after virtual reduction of a fractured bone of a patient into which a fracture nail is to be driven, and relates to a fracture nail positioning guide model generation method.
As shown in fig. 1, the positioning guide model generation method 100 includes:
150, rotating and/or translating the three-dimensional guider model on the primary forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail, and storing the three-dimensional guider model in the state after the driving position and the driving direction of the fracture nail are determined to obtain a three-dimensional target guider model;
and 160, performing difference set Boolean operation on the target guider three-dimensional model and the preliminary forming guide plate model, and subtracting a part overlapped with the target guider three-dimensional model from the preliminary forming guide plate model to obtain a Boolean operation result, namely the positioning guide plate model to be generated.
Optionally, in step 110, according to the shape and the use position of the positioning guide model to be generated, a surface capable of meeting the requirements of the shape and the use position is extracted from the model surface of the fractured bone model, and the specific implementation method includes:
sequentially clicking a corresponding number of space points on the surface of the model of the fractured bone model according to the using position of the positioning guide plate model to be generated, wherein the first space point selected by clicking is overlapped with the last space point selected by clicking, and the space points selected by clicking are sequentially connected according to a clicking sequence to form a closed curve which is marked as a first closed curve; the area enclosed by the first closed curve can cover the use position;
extracting a curved surface enclosed by the first closed curve on the surface of the fractured bone model according to the grid lines of the fractured bone model by using a curve segmentation technology to obtain an initial guide plate basal surface;
correspondingly cutting the edge of the initial guide plate base surface according to the shape and the using position of the positioning guide plate model to be generated to obtain the initial guide plate base surface meeting the requirements of the shape and the using position, and marking as a cutting initial guide plate base surface;
and performing Gaussian smoothing or grid thinning on the base surface of the initial cutting guide plate to obtain a surface to be obtained, wherein the boundary points of the surface are positioned on the same curve.
Optionally, in step 130, performing triangular patch fitting on the boundary point of the guide plate base surface and the boundary point of the guide plate base top surface to obtain a closed and hollow preliminary forming guide plate model, which includes:
acquiring all boundary points of the base surface of the guide plate;
acquiring all boundary points of the top surface of the guide plate substrate;
performing triangular surface patch fitting on the boundary point of the obtained guide plate base surface and the boundary point of the obtained guide plate base top surface to obtain an annular cover for closing the boundaries of the guide plate base surface and the guide plate base top surface;
and obtaining a model consisting of the annular cover, the guide plate base surface and the guide plate base top surface, wherein the obtained model is the pre-formed guide plate model.
The pre-forming guide plate model is a closed and hollow three-dimensional model.
Optionally, a three-dimensional model of a guide capable of rotating and translating is built on the preliminary forming guide model, and the three-dimensional model of the guide is rotated and/or translated on the preliminary forming guide model in a man-machine interaction manner to determine the driving position and the driving direction of the fracture nail, and the specific implementation method comprises the following steps:
displaying the preliminary forming guide plate model and the broken bone model in a window;
constructing a three-dimensional guider model capable of rotating and translating on the pre-formed guide plate model in a man-machine interaction mode;
and rotating and/or translating the three-dimensional model of the guider on the pre-forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail.
In order to facilitate understanding of the present invention, the positioning guide model generation method provided by the present invention is further described below with reference to the principle of the positioning guide model generation method of the present invention and the generation process of the positioning guide model in the embodiments.
In the present embodiment, a positioning guide model for a human pelvis is taken as an example. The fractured bone model after the virtual reduction of the human pelvis is recorded as a target fractured bone model 300. The positioning guide model to be generated in this embodiment is referred to as a target positioning guide model.
Specifically, the method for generating the positioning guide model includes:
step S1: according to the shape and the using position of the target positioning guide plate model, a surface capable of meeting the requirements of the shape and the using position is extracted from the model surface of the target fractured bone model and is recorded as a guide plate basal surface.
Specifically, the step S1 includes the steps of:
the first step is as follows: firstly, using vtkstiltreader () class to read in the target bone fracture model 300, then according to the using position of the target positioning guide plate model (the corresponding data is provided by a professional doctor), by using a man-machine interaction mode, a corresponding number of points (hereinafter referred to as "spatial points") are sequentially clicked on the model surface of the target fractured bone model 300 along the peripheral circumference of the above-described use positions (corresponding to the use positions of the positioning fence made according to the target positioning fence model), the first spatial point selected by the point is overlapped with the last spatial point selected by the point, and the spatial points selected by the points are connected on the model surface of the target broken bone model 300 according to the order of point selection to form a closed curve, which is marked as a closed curve a (as shown in fig. 2), and the line (i.e. path) directly connected between the spatial points selected by the two adjacent points is calculated by using a dijkstra shortest path algorithm in the grid model (i.e. the target broken bone model 300).
In this embodiment, the target fractured bone model 300 is clicked five times, the first spatial point clicked coincides with the last spatial point clicked, and four spatial points are selected at the same point, and the four spatial points enclose the closed curve a on the model surface of the target fractured bone model 300. The four small circles on the closed curve a in fig. 3 represent four spatial points selected from the points in the present embodiment, and the four spatial points are distributed in a quadrilateral shape. During specific implementation, the number of the spatial points clicked by the human-computer interaction and the arrangement shape of the clicked spatial points (for example, four spatial points in the embodiment are distributed in a quadrilateral shape), and an operator can adjust the number according to the shape of the target positioning guide model (corresponding to the shape of the positioning guide manufactured according to the target positioning guide model) according to actual conditions.
The second step is that: by using a curve segmentation technology, a closed region formed by a closed curve a on the target fractured bone model 300 is copied and extracted according to grid lines on the model surface of the target fractured bone model 300 by adopting a vtkkselectplolydata () class, so as to obtain an initial guide plate basal plane 200, as shown in fig. 3.
In a specific implementation, the vtkstlsplitter () class may be used to save the obtained initial fence base surface 200 as an stl-type file, which is recorded as an initial fence base surface stl file.
The initial guide plane 200 obtained as described above is composed of grid lines taken from the model surface of the target fractured bone model 300, and can be attached to the model surface of the target fractured bone model 300.
The third step: the edge of the initial guide base surface 200 is cut correspondingly according to the shape and the use position of the target positioning guide model, and the cut initial guide base surface 400 satisfying the requirements of the shape and the use position (the size required by the corresponding target positioning guide model) of the target positioning guide model is obtained.
In particular, the skilled person can implement the clipping of each initial guide plane footprint involved in the present invention by using any existing VTK (Visualization Toolkit) based three-dimensional model cutting (clipping) method. For example, the method can be implemented using a SetClipFunction () function, a SetInputConnection () function, and a myinteractostype () function, where the SetInputConnection () function can be used to set a polygon clipping model to create a cutting tool, the SetClipFunction () function can be used to set a clipping (i.e., cutting) method, and the myinteractostype () function can be used to implement human-computer interaction of the cutting tool. Wherein the SetClipFunction () function and the SetInputConnection () function are based on the vtk.
In this embodiment, a quadrilateral cutting model is adopted, a cutting surface is presented correspondingly, fig. 4 shows a schematic diagram of a cutting position of the cutting surface, an operator can adjust the position of the cutting surface according to actual needs, for example, the cutting surface is moved left and right, the cutting surface is rotated left and right by 90 degrees and then moved up and down, and the like, and cutting can be performed after the cutting surface is moved to a proper cutting position each time. The final cut to the desired shape of the model, FIG. 5, is a schematic view of the cut model of one embodiment corresponding to the initial guide plate footprint of FIG. 4.
In the specific implementation, the shape and size of the cutting tool can be arbitrarily set by those skilled in the art according to their own habits.
It should be noted that, during actual cutting, according to the actual conditions of the industry, the initial guide plate base surface obtained by cutting roughly meets the requirements of the shape and size (slightly larger or smaller than the area occupied by the use position of the target positioning guide plate model) required by the target positioning guide plate model, and the normal use of the positioning guide plate is not affected.
The fourth step: and carrying out grid refinement on the initial guide plate base surface 400 obtained in the third step to obtain the guide plate base surface of the target positioning guide plate model.
After the grid refinement in the fourth step is performed on the initial guide plate base surface 400, all boundary points of the obtained guide plate base surface are located on the same curve.
In particular implementations, one skilled in the art may also use gaussian smoothing to replace the above mesh refinement.
Whereas the guide plate basal surface is extracted from the target fractured bone model 300, the guide plate basal surface can be attached on the model surface of the target fractured bone model 300.
The fifth step: and copying all the space points on the guide plate basal surface, keeping the original topological structure, and respectively translating the copied space points along the directions of the normal vectors of the corresponding space points by preset distances to form a new guide plate surface model which is recorded as the guide plate basal surface.
And the space point normal vector is a normal vector of the corresponding space point on the guide plate basal plane. Each point on the replicated guide plate base surface has a respective normal vector on the guide plate base surface.
And sixthly, fitting a triangular patch to the boundary point of the obtained guide plate base surface and the boundary point of the obtained guide plate base top surface to obtain a closed and hollow preliminary forming guide plate model 700.
In this embodiment, the boundary point of the guide plate base surface is denoted as a lower boundary point, the boundary point of the guide plate base surface is denoted as an upper boundary point, and the upper and lower boundary points (i.e., the upper boundary point and the lower boundary point) are subjected to triangular patch fitting (to obtain an annular cover) according to a manner that three points adjacent to each other up and down (here, the boundary points) can be fitted into one triangular patch, so that the guide plate base surface and the guide plate base surface are closed and molded, at this time, a closed and hollow three-dimensional model is integrally constructed by the guide plate base surface, and the annular cover, and the three-dimensional model is the preliminary molded guide plate model 700.
Specifically, the sixth step includes:
acquiring all boundary points of the base surface of the guide plate;
acquiring all boundary points of the top surface of the guide plate substrate;
performing triangular surface patch fitting on the boundary point of the obtained guide plate base surface and the boundary point of the obtained guide plate base top surface to obtain an annular cover for closing the boundaries of the guide plate base surface and the guide plate base top surface;
and acquiring a closed and hollow model consisting of the annular cover, the guide plate base surface and the guide plate base top surface, wherein the acquired model is the primary formed guide plate model 700 and is stored as an stl-type file.
The seventh step: constructing a three-dimensional guider model capable of rotating and translating on the pre-formed guide plate model 700; the three-dimensional model of the guider is a linear tubular body, the diameter of the inner cavity of the tubular body is matched with the diameter of a fracture nail to be driven, and the tubular body penetrates through the base surface of the guide plate and the top surface of the guide plate.
In order to make the direction determined by the guider more accurate, the design of the guider in this step is performed on the target bone model, specifically, firstly, vtkstildreder () is used to read the target bone model 300 and the pre-formed template model 700 obtained in the previous step and display them in a window (as shown in fig. 6), then two points are randomly clicked twice above and below the pre-formed template model 700 in a man-machine interaction manner and submitted, at this time, a linear tubular body 500 is generated by taking the two randomly clicked points as the central axis and according to the preset radius of the tube, as shown in fig. 6. The tubular body 500 is a three-dimensional model of the guide as described in this embodiment.
In particular, the radius of the tube may be preset according to the diameter of the bone fracture nail to be driven, so that the bone fracture nail can pass through the lumen channel of the tubular body.
In this embodiment, the three-dimensional model of the director (i.e., the tubular body 500) may be implemented using the vtk. vtklink line source () class, the vtk. vtktube filter () class, and the MyInteractorStyle () class, where:
a straight line can be created by clicking two selected points through a vtk. vtklinesource () class;
a pipeline surrounding the created straight line is generated by using the created straight line as a central line through a vtk.vtk tube filter () class and based on a preset radius r, namely a tubular body is generated, wherein the radius r is the radius of the generated tubular body, and the radius r can be directly set in the vtk.vtk tube filter () class;
man-machine interaction of the generated tubular body can be realized through MyInteractorstyle (), then an operator can adjust the position and the inclination angle of the tubular body by rotating and translating the tubular body, and the driving position and the driving direction of the fracture nail can be conveniently determined according to actual requirements.
Eighth step: and rotating and/or translating the three-dimensional guider model on the primary forming guide plate model 700 in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail, and storing the three-dimensional guider model in the state after the driving position and the driving direction of the fracture nail are determined to obtain the three-dimensional target guider model.
In this embodiment, the eighth step is performed based on the seventh step, specifically, after the seventh step is performed, the preliminary formed guide model 700, the target fractured bone model 300 and the obtained target guide three-dimensional model are displayed in a window, and at this time, the guide three-dimensional model is rotated and/or translated on the preliminary formed guide model 700 in a man-machine interaction manner to determine the driving position and the driving direction of the fracture nail. In the present embodiment, the rotation and translation adjustment of the three-dimensional model of the target guide is performed on the target fractured bone model 300, which contributes to improving the accuracy of determining the driving position and the driving direction of the fracture nail to some extent. Wherein, the length direction of the three-dimensional model of the target guider corresponds to the driving direction of the fracture nail.
The three-dimensional model of the rotation and translation adjusting guide device determines the driving position and the driving direction of the fracture nail, and all relevant data information is provided by a specialist.
The ninth step: and performing difference Boolean operation (namely: subtrraction (the pre-forming guide plate model 700-the target guide plate three-dimensional model)) on the target guide plate three-dimensional model and the pre-forming guide plate model 700 to obtain a Boolean operation result, namely the positioning guide plate model to be generated, so as to obtain the target positioning guide plate model.
In the ninth step, a part which is overlapped with the three-dimensional model of the target guider is subtracted from the pre-forming guide plate model 700 through difference set Boolean operation, the obtained Boolean operation result is a three-dimensional model, and a hole corresponding to the three-dimensional model of the target guider on the three-dimensional model is a guide hole which is suitable for the target fractured bone model 300 and is used for positioning the fracture nail.
And printing the target positioning guide plate model by adopting a 3D printing technology to obtain the fracture nail positioning guide plate suitable for the human pelvis, wherein the hole corresponding to the guide hole on the obtained fracture nail positioning guide plate is a guider for guiding (the fracture nail penetrates through the corresponding hole) a doctor to punch and implant the fracture nail.
Example 2:
FIG. 7 is one embodiment of a location guide model generation system of the present invention. The positioning guide plate model generation system is based on a fractured bone model of a patient after virtual reduction of a fractured bone into which a fracture nail is to be driven, and is actually a fracture nail positioning guide plate model generation system.
As shown in fig. 7, the positioning guide model generation system 600 specifically includes:
a basal plane extracting unit 601, configured to extract a plane that can meet the requirements of the shape and the use position from the model surface of the fractured bone model according to the shape and the use position of the positioning guide model to be generated, and to be referred to as a guide basal plane;
the basal plane generating unit 602 is configured to copy all spatial points on the basal plane of the guide plate, and translate all the copied spatial points by a preset distance along the direction of the normal vector of each corresponding spatial point while retaining the original topological structure, so as to form a new guide plane model, which is recorded as the basal plane of the guide plate;
a preliminary-forming guide plate model generating unit 603, configured to perform triangular patch fitting on the boundary point of the guide plate base surface and the boundary point of the guide plate base top surface to obtain a closed and hollow three-dimensional model, which is denoted as a preliminary-forming guide plate model 700;
a guide three-dimensional model creating unit 604 for constructing a guide three-dimensional model capable of rotating and translating on the preliminary formed guide plate model 700; the three-dimensional model of the guider is a linear tubular body, the diameter of the inner cavity of the tubular body is matched with the diameter of a fracture nail to be driven, and the tubular body penetrates through the base surface of the guide plate and the top surface of the guide plate;
a target guide three-dimensional model obtaining unit 605, configured to rotate and/or translate the guide three-dimensional model on the pre-formed guide plate model 700 in a human-computer interaction manner to determine a driving position and a driving direction of the fracture nail, and store the guide three-dimensional model in this state after determining the driving position and the driving direction of the fracture nail, so as to obtain a target guide three-dimensional model;
and a guide plate model generating unit 606, configured to perform difference boolean operations on the target guide three-dimensional model and the preliminary-formed guide plate model 700, and subtract a portion that is overlapped with the target guide three-dimensional model from the preliminary-formed guide plate model 700, so that an obtained boolean operation result is the positioning guide plate model to be generated.
Optionally, as an embodiment of the present invention, the ground plane extracting unit 601 includes:
the positioning guide plate model generating device comprises a first module, a second module and a third module, wherein the first module is used for sequentially clicking a corresponding number of space points on the surface of the model of the fractured bone model according to the using position of the positioning guide plate model to be generated, the first space point selected by clicking is overlapped with the last space point selected by clicking, and the space points selected by clicking are sequentially connected according to a clicking sequence to form a closed curve which is marked as a first closed curve; the area enclosed by the first closed curve can cover the use position;
the second module is used for extracting a curved surface closed by the first closed curve on the surface of the fractured bone model according to grid lines of the fractured bone model by utilizing a curve segmentation technology to obtain an initial guide plate basal surface;
the third module is used for correspondingly cutting the edge of the initial guide plate base surface according to the shape and the using position of the positioning guide plate model to be generated to obtain the initial guide plate base surface meeting the requirements of the shape and the using position, and the initial guide plate base surface is marked as a cutting initial guide plate base surface;
and the fourth module is used for performing Gaussian smoothing or grid thinning on the initial guide plate base surface to obtain a guide plate base surface, wherein all boundary points of the guide plate base surface are positioned on the same curve.
Optionally, as an embodiment of the present invention, the preliminary formed guide model generating unit 603 includes:
the first boundary point acquisition module is used for acquiring all boundary points of the base surface of the guide plate;
the second boundary point acquisition module is used for acquiring all boundary points of the guide plate base top surface;
the fitting module is used for performing triangular patch fitting on the boundary point of the obtained guide plate base surface and the boundary point of the obtained guide plate base top surface to obtain an annular cover for sealing the boundaries of the guide plate base surface and the guide plate base top surface;
and a preliminary-formed guide plate model obtaining module, configured to obtain a closed and hollow model formed by the annular cover surface, the guide plate base surface, and the guide plate base top surface, where the model is the obtained preliminary-formed guide plate model 700.
Optionally, as an embodiment of the present invention, a specific method for constructing the three-dimensional model of the guide capable of rotating and translating on the preliminary formed guide model 700 by the guide three-dimensional model creating unit 604 is as follows: displaying the preliminary forming guide plate model 700 and the broken bone model in a window, and then constructing a three-dimensional guider model capable of rotating and translating on the preliminary forming guide plate model 700 in a man-machine interaction mode;
the target guide three-dimensional model obtaining unit 605 rotates and/or translates the guide three-dimensional model on the pre-formed guide plate model 700 in a man-machine interaction manner to determine the driving position and the driving direction of the fracture nail, and the implementation method is as follows: displaying the pre-formed guide plate model 700, the broken bone model and the constructed three-dimensional model of the guider in a window, and then rotating and/or translating the three-dimensional model of the guider on the pre-formed guide plate model 700 in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail.
Example 3:
the embodiment provides a manufacturing method of a positioning guide plate, which comprises the following steps:
step p 1: a positioning guide plate model of a fractured bone into which a fracture nail is to be driven is manufactured by adopting the method for generating the positioning guide plate model in the embodiment 1 and is recorded as a target guide plate model;
step p 2: and printing the target guide plate model by adopting a 3D printing technology to obtain a corresponding positioning guide plate.
Example 4:
this example provides a positioning guide plate manufactured by the manufacturing method described in example 3.
It should be noted that, in the present specification, the same and similar parts between the respective embodiments may be referred to each other, and the contents not described in detail in the present specification are all contents that can be easily realized by those skilled in the art according to the prior art, and the directional terms in the present invention are based on fig. 6.
Although the present invention has been described in detail by referring to the drawings in connection with the preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made on the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and these modifications or substitutions are within the scope of the present invention/any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for generating a positioning guide model based on a fractured bone model after virtual reduction of a fractured bone of a patient into which a fracture nail is to be driven, the method comprising the steps of:
extracting a surface which can meet the requirements of the shape and the use position from the model surface of the fractured bone model according to the shape and the use position of the positioning guide plate model to be generated, and recording the surface as a guide plate basal surface;
copying all space points on the guide plate basal surface, keeping the original topological structure of all the copied space points, and respectively translating the copied space points along the directions of the normal vectors of the corresponding space points by preset distances to form a new guide plate surface model which is recorded as the guide plate basal surface;
performing triangular surface patch fitting on the boundary point of the base surface of the guide plate and the boundary point of the top surface of the guide plate to obtain a closed and hollow three-dimensional model, and marking as a primary forming guide plate model;
constructing a three-dimensional guider model capable of rotating and translating on the pre-formed guide plate model; the three-dimensional model of the guider is a linear tubular body, the diameter of the inner cavity of the tubular body is matched with the diameter of a fracture nail to be driven, and the tubular body penetrates through the base surface of the guide plate and the top surface of the guide plate;
rotating and/or translating the three-dimensional guider model on the primary forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail, and storing the three-dimensional guider model in the state after the driving position and the driving direction of the fracture nail are determined to obtain a three-dimensional target guider model;
and performing difference set Boolean operation on the target guider three-dimensional model and the preliminary forming guide plate model, and subtracting a part overlapped with the target guider three-dimensional model from the preliminary forming guide plate model to obtain a Boolean operation result, namely the positioning guide plate model to be generated.
2. The method for generating a positioning guide model according to claim 1, wherein a surface satisfying the requirements of the shape and the use position is extracted from the model surface of the fractured bone model according to the shape and the use position of the positioning guide model to be generated, and the method comprises the following steps:
sequentially clicking a corresponding number of space points on the surface of the model of the fractured bone model according to the using position of the positioning guide plate model to be generated, wherein the first space point selected by clicking is overlapped with the last space point selected by clicking, and the space points selected by clicking are sequentially connected according to a clicking sequence to form a closed curve which is marked as a first closed curve; the area enclosed by the first closed curve can cover the use position;
extracting a curved surface enclosed by the first closed curve on the surface of the fractured bone model according to the grid lines of the fractured bone model by using a curve segmentation technology to obtain an initial guide plate basal surface;
correspondingly cutting the edge of the initial guide plate base surface according to the shape and the using position of the positioning guide plate model to be generated to obtain the initial guide plate base surface meeting the requirements of the shape and the using position, and recording the initial guide plate base surface as a cutting initial guide plate base surface;
and performing Gaussian smoothing or grid thinning on the base surface of the initial cutting guide plate to obtain a surface to be obtained, wherein the boundary points of the surface are positioned on the same curve.
3. The method for generating a positioning guide plate model according to claim 1 or 2, further comprising performing triangular patch fitting on the boundary points of the guide plate base surface and the boundary points of the guide plate base top surface to obtain a closed and hollow preliminary forming guide plate model, wherein the method comprises the following specific steps:
acquiring all boundary points of the base surface of the guide plate;
acquiring all boundary points of the top surface of the guide plate substrate;
performing triangular surface patch fitting on the boundary point of the obtained guide plate base surface and the boundary point of the obtained guide plate base top surface to obtain an annular cover for closing the boundaries of the guide plate base surface and the guide plate base top surface;
and obtaining a closed and hollow model formed by the annular cover, the guide plate base surface and the guide plate base top surface, wherein the obtained model is the preliminary forming guide plate model.
4. The positioning guide model generation method as claimed in claim 1 or 2, further comprising constructing a three-dimensional guide model capable of rotating and translating on the preliminary formed guide model, and rotating and/or translating the three-dimensional guide model on the preliminary formed guide model in a man-machine interaction manner to determine the driving position and the driving direction of the fracture nail, wherein the method comprises the following steps:
displaying the preliminary forming guide plate model and the broken bone model in a window;
constructing a three-dimensional guider model capable of rotating and translating on the pre-formed guide plate model in a man-machine interaction mode;
and rotating and/or translating the three-dimensional model of the guider on the pre-forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail.
5. A positioning guide model generation system based on a fractured bone model after virtual reduction of a fractured bone into which a fracture nail is to be driven of a patient, the positioning guide model generation system comprising:
a basal plane extracting unit, which is used for extracting a plane capable of meeting the requirements of the shape and the use position from the model surface of the fractured bone model according to the shape and the use position of the positioning guide plate model to be generated and recording the plane as a guide plate basal plane;
the base top surface generation unit is used for copying all space points on the base surface of the guide plate, and translating all the copied space points by preset distances along the directions of the normal vectors of the corresponding space points respectively while keeping the original topological structure to form a new guide plate surface model which is recorded as the base top surface of the guide plate;
the preliminary forming guide plate model generating unit is used for performing triangular patch fitting on the boundary points of the guide plate base surface and the boundary points of the guide plate base top surface to obtain a closed and hollow three-dimensional model which is marked as a preliminary forming guide plate model;
the guide three-dimensional model establishing unit is used for establishing a guide three-dimensional model capable of rotating and translating on the preliminary forming guide plate model; the three-dimensional model of the guider is a linear tubular body, the diameter of the inner cavity of the tubular body is matched with the diameter of a fracture nail to be driven, and the tubular body penetrates through the base surface of the guide plate and the top surface of the guide plate;
the target guider three-dimensional model obtaining unit is used for rotating and/or translating the guider three-dimensional model on the pre-forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail, and storing the guider three-dimensional model in the state after the driving position and the driving direction of the fracture nail are determined to obtain the target guider three-dimensional model;
and the guide plate model generating unit is used for carrying out difference set Boolean operation on the target guide three-dimensional model and the pre-formed guide plate model, and subtracting a part overlapped with the target guide three-dimensional model from the pre-formed guide plate model to obtain a Boolean operation result, namely the positioning guide plate model to be generated.
6. The positioning guide model generation system as claimed in claim 5, wherein the basal plane extraction unit includes:
the positioning guide plate model generating device comprises a first module, a second module and a third module, wherein the first module is used for sequentially clicking a corresponding number of space points on the surface of the model of the fractured bone model according to the using position of the positioning guide plate model to be generated, the first space point selected by clicking is overlapped with the last space point selected by clicking, and the space points selected by clicking are sequentially connected according to a clicking sequence to form a closed curve which is marked as a first closed curve; the area enclosed by the first closed curve can cover the use position;
the second module is used for extracting a curved surface closed by the first closed curve on the surface of the fractured bone model according to grid lines of the fractured bone model by utilizing a curve segmentation technology to obtain an initial guide plate basal surface;
the third module is used for correspondingly cutting the edge of the initial guide plate base surface according to the shape and the using position of the positioning guide plate model to be generated to obtain the initial guide plate base surface meeting the requirements of the shape and the using position, and the initial guide plate base surface is marked as a cutting initial guide plate base surface;
and the fourth module is used for performing Gaussian smoothing or grid thinning on the initial guide plate base surface to obtain a guide plate base surface, wherein all boundary points of the guide plate base surface are positioned on the same curve.
7. The positioning guide model generating system according to claim 5 or 6, wherein the preliminary formed guide model generating unit includes:
the first boundary point acquisition module is used for acquiring all boundary points of the base surface of the guide plate;
the second boundary point acquisition module is used for acquiring all boundary points of the guide plate base top surface;
the fitting module is used for performing triangular patch fitting on the boundary point of the obtained guide plate base surface and the boundary point of the obtained guide plate base top surface to obtain an annular cover for sealing the boundaries of the guide plate base surface and the guide plate base top surface;
and the preliminary forming guide plate model obtaining module is used for obtaining a closed and hollow model formed by the annular cover, the guide plate base surface and the guide plate base top surface, and the model is the obtained preliminary forming guide plate model.
8. The positioning guide model generation system according to claim 5 or 6,
the specific method for constructing the three-dimensional guider model capable of rotating and translating on the pre-formed guide plate model by the three-dimensional guider model establishing unit comprises the following steps: displaying the preliminary forming guide plate model and the broken bone model in a window, and then constructing a three-dimensional guider model capable of rotating and translating on the preliminary forming guide plate model in a man-machine interaction mode;
the target guider three-dimensional model acquisition unit rotates and/or translates the guider three-dimensional model on the primary forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail, and the implementation method comprises the following steps: displaying the preliminary forming guide plate model, the broken bone model and the constructed three-dimensional guider model in a window, and then rotating and/or translating the three-dimensional guider model on the preliminary forming guide plate model in a man-machine interaction mode to determine the driving position and the driving direction of the fracture nail.
9. A manufacturing method of a positioning guide plate is characterized by comprising the following steps:
manufacturing a positioning guide plate model of a fractured bone to be driven into the fracture nail by adopting the positioning guide plate model generating method of any one of claims 1 to 4, and recording the positioning guide plate model as a target guide plate model;
and printing the target guide plate model by adopting a 3D printing technology to obtain a corresponding positioning guide plate.
10. A positioning guide, characterized in that it is manufactured by the method of claim 9.
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