CN102018527A - Vertebral column three-dimensional dynamic measurement and analysis system and method - Google Patents
Vertebral column three-dimensional dynamic measurement and analysis system and method Download PDFInfo
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Abstract
The invention provides a vertebral column three-dimensional dynamic measurement and analysis system and method. The system comprises an X ray imaging device, a position adjusting device, a synchronous emission control device, a calibration device, a pressure measurement device and an analysis processing and display part, wherein the X ray imaging device is used for dynamic X ray imaging; the position adjusting device is used for adjusting the direction and the position of X ray machines; the synchronous emission control device is used for controlling the two X ray machines to synchronously emit X rays for imaging; the calibration device is used for calibrating an imaging system; the pressure measurement device is used for measuring pressure and producing trigger signals; and the analysis processing and display part is used for analyzing, processing and displaying collected data. The invention can realize dynamic three-dimensional geometry measurement and mechanical property analysis for vertebral columns. The method and equipment which are adopted in the invention are simple and low in production cost, and have strong robustness. The invention has high application value in clinics.
Description
Technical field
The present invention relates to the biomedical engineering research field, specifically relate to a kind of spinal column Three-Dimensional Dynamic measuring and analysis system and method based on computer vision.
Background technology
Skoliosis is meant or the alignment side bending in coronalplane departs from of several sections of spinal column, forms the deformity of spine have radian, usually with protruding increase and the minimizing of physiological lordosis and back on the rotation of spinal column and the sagittal plane.Wherein common with the teenager congenital scoliosis, account for whole scoliotic 75%～80%.Congenital scoliosis is meant in period of embryo's spinal growth growth course, block vertebrae and (or) form a kind of congenital malformation due to bad, be because the uneven spinal column lateral thrust that occurs of the growth promoter of spinal column both sides is grown.Deformity promptly takes place after infant often is born, and its pathological changes is carrying out property with age and increases the weight of, and has characteristics such as progress is fast, deformity is heavy, more stiff, orthopedic effect is poor, complication is many, is one of principal disease that causes teenager deformity.Sickness rate that according to statistics should disease is 1.04%, no family deformity of spine heredity history.
X-ray film is present clinical diagnosis and estimates scoliotic main means.X-ray film has superiority at aspects such as the integral body change that shows spine malformation, pliabilities as skoliosis patient's routine examination.But the X ray plain film is that three-dimensional scene is presented on the film or fluorescent screen of two dimension, the information overlap of different depth direction together, cause obscuring and wrong judgement of deformity of spine classification easily, and because side protuberance position level is more and the surrounding tissue density variation is difficult to select suitable projection condition's clear demonstration spinal column overall picture more greatly.Such as and since in the X-ray film near the vertebra of top the forward lapping of structure, the incomplete interpyramidal replacing bone bridge of merogenesis do not develop, make it can not show scoliotic pathological change comprehensively.For the serious patient of deformity, because the rotation of vertebral body can't be judged odd-shaped type by the X-ray film method usually.
Many researcheres digitized is rebuild and rapid shaping technique to be applied to spinal surgery clinical, and reach a conclusion: the spinal column three-dimensional reconstruction can be accurately and is reflected the deformity of spine situation intuitively, formulate surgical planning and operation technique thereby instruct, thereby three-dimensional reconstruction is for the feasibility and the necessity of observing deformity of spine.
At present, Chinese scholars adopts the CT scan data to set up threedimensional model more, and only to or several sections modelings of spinal column, and seldom whole spinal column is carried out three-dimensional modeling and analysis.And the time to whole full spinal column modeling, what adopt is that the CT data of the tomoscan by obtaining cadaver sample are carried out modeling, because this modeling method length consuming time, data volume is big, the more important thing is patient's radiation seriously, so this modeling method is difficult to be applicable to clinical practice.Over nearly 20 years, three-dimensional reconstruction technology based on two x-ray images constantly develops, this reconstruction technique provides accurate three-dimensional bone reconstruction model for the surgical plastic doctor, remedied the deficiency of only studying scoliotic spine morbidity and orthopedic mechanism with an x-ray image, rebuild with respect to three-D CT scanning simultaneously, reduced radiation patient.
But existing spinal column 3-D imaging system based on the plane X light image all can only be used for quiescent imaging, can not be used for dynamic imaging, therefore, has also limited the application of these systems.The observation of spinal motion situation and mensuration are all significant to spinal motion functional study, pathogeny, medical diagnosis on disease and assessment of function, but still lack accurate spinal motion measuring method so far, particularly the kinesiology of each movable sections of spinal column is observed, rested on all the time on the research level of cadaver sample, spinal column model or static X-ray film.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, the method and apparatus of a kind of dynamic spinal column three-dimensional reconstruction and Measurement and analysis is provided.Its adopt X line Dynamic Photography technology and corresponding image reconstruction and three-dimensional measurement technology realize to spinal column dynamic observe, measurement and assay.
Method according to an embodiment of the invention comprises: it is right simultaneously the human body continuous imaging that moves to be obtained different corresponding two x-ray images of the moment by two high speed X ray video cameras, the three dimensional space coordinate that each two width of cloth x-ray image is constantly sent to computer and determines arbitrary characteristic point on the spinal column according to the principle and the method for computer vision, three-dimensional coordinate according to a plurality of characteristic points of surveying, determine the geometric parameter of spinal column and carry out three-dimensional modeling, can be used for that institute's established model is carried out three-dimensional geometry and measure and mechanics property analysis.
Equipment of the present invention comprises six parts: x-ray imaging device, position regulating device, calibrating installation, pressure gauge, synchronized transmissions control device, analyzing and processing and display part.
X-ray imaging device comprises two high speed X ray emitter heads and two X-ray detectors.X ray generator emission X ray is received by X-ray detector after passing tested human body, forms x-ray image.
Position regulating device comprises that an orientation modulator and four locomotives constitute.Organic frame and frame arm on each locomotive.X-ray generator head and X line detector are arranged on the frame by frame arm.Can rotate between frame arm and the frame, thus the direction that can regulate x-ray generator head and X line detector.Frame is made up of inside and outside two nested parts, can relatively move between them, regulates x-ray generator head and the height of X line detector the space from face.And the orientation modulator can the transmitting radio adjustment signal, thereby realizes that by two-part relatively moving inside and outside rotation between regulation and control locomotive moving in the space, frame arm and the frame and the frame orientation to x-ray generator head and X line detector regulates and control.
Calibrating installation is made up of two orthogonal rectangular flats, and many calibration marker points are arranged on it, and the coordinate of these calibration marker points is known.
Flat pressure-measuring system is adopted in pressure gauge, comprises that induction is dull and stereotyped, and pressure data memorizer and corresponding data-interface, data-interface link to each other with the corresponding interface of display part with analyzing and processing with the synchronizing signal launch control unit respectively.
The synchronized transmissions control device is made up of signal adapter and synchronization control circuit.Signal adapter links to each other with pressure flat, receives pressure flat power triggering signal, and synchronization control circuit produces the synchronized transmissions control signal thereupon.The synchronization control circuit outfan directly links to each other with the X ray countdown circuit, thereby controls two X ray emitter head synchronized transmissions x-rays.
Analyzing and processing and display part comprise biplane x-ray imaging system alignment unit, index point extraction unit, three-dimensional reconstruction unit and Measurement and analysis unit.Biplane x-ray imaging system alignment unit adopts corresponding calibration algorithm, realizes the demarcation to the biplane x-ray imaging system, thereby determines the image coordinate system of video camera and the relation between the world coordinate system.The index point extraction unit adopts the extraction of corresponding image segmentation algorithm realization to anatomic landmark point on the spinal column.The three-dimensional reconstruction unit comprises the reconstruction of simple model and two parts of reconstruction of high accuracy model.The Measurement and analysis unit comprises dimensional measurement and two parts of mechanics property analysis.
According to an aspect of the present invention, provide a kind of spinal column Three-Dimensional Dynamic measuring and analysis system.It is characterized in that comprising: at least two X ray emitter heads are used to launch X ray; And at least two X-ray detectors corresponding respectively with described at least two X ray emitter heads are used for spinal column is carried out dynamic X-ray imaging.
According to another aspect of the present invention, provide a kind of spinal column Three-Dimensional Dynamic Measurement and analysis method, it is characterized in that comprising: from least two X ray emitter head emission X ray; At least two x-ray imaging devices with corresponding respectively with described at least two X ray emitter heads carry out dynamic X-ray imaging to spinal column.
Beneficial effect of the present invention is as follows:
The image system of the present invention design is based on the X line machine of routine, in conjunction with calibrating installation very flexibly, adopts corresponding calculated machine visible sensation method to realize spinal column dynamic three-dimensional reconstruction and Measurement and analysis again, can be applicable to the diagnosis of clinical deformity of spine disease.The invention has the advantages that:
1, with respect to three-dimensional reconstruction systems such as CT, native system is little to patient's radiation;
2, with respect to general three dimension spinal column image system, native system can carry out kinetic measurement to spinal column, thereby can be used for as a subject breathes cycle or asynchronous spinal column three-dimensional reconstruction of gait cycle and Measurement and analysis;
3, spinal column Three-Dimensional Dynamic measuring and analysis system of the present invention not only can realize the dimensional measurement of dynamic spinal, and can also carry out the relevant mechanical properties analysis;
4, the present invention design possess safe, the degree of accuracy height, easy and simple to handle, characteristics such as practicality and ruggedness are good can be used for clinical diagnosis and evaluation.
Description of drawings
Fig. 1 is the composition sketch map of spinal column Three-Dimensional Dynamic measuring and analysis system.
Fig. 2 is the sketch map of calibrating installation in the spinal column Three-Dimensional Dynamic measuring and analysis system.
Fig. 3 is a specific implementation method flow chart of the present invention.
Fig. 4 is the schematic top plan view of spinal column Three-Dimensional Dynamic measuring and analysis system.
Fig. 5 is the synchronized transmissions control signal that synchronized transmissions control device of the present invention produces.
The specific embodiment
As shown in Figure 1: spinal column Three-Dimensional Dynamic measuring and analysis system according to an embodiment of the invention comprises: four locomotives 1,2,3,4, be contained in two high speed X ray emitter heads 5 on locomotive 2 and 3 respectively, 6, be contained in two X-ray detectors 7 on locomotive 1 and 4 respectively, 8, respectively with emitter head 5,6 two frame arm 10 that link to each other, 11, respectively with X-ray detector 7,8 two frame arm 9 that link to each other and 12, difference supporting frame arm 9,10,11, four frames 13 of 12,14,15,16, runway 18, pressure gauge 19, image processing computer 20, operation and display interface 21, synchronizing signal launch control unit 22.
Wherein, X ray emitter head 5,6 emission X ray are received by corresponding X-ray detector 7,8 after passing tested human body, form x-ray image, and the gained image storage is in image processing computer 20, and operation and display interface 21 are used for showing.An orientation modulator (not marking on the figure) and four locomotive 1-4 constitute position regulating device.X-ray generator head and X line detector are arranged on the frame by frame arm.Can rotate between frame arm and the frame, thus the direction that can regulate x-ray generator head and X line detector.Each can be made up of frame 13-16 inside and outside nested two parts, they this can relatively move, from face adjusting x-ray generator head and the height of X line detector the space.The orientation modulator can the transmitting radio adjustment signal, thereby by regulation and control locomotive 1-4 spatial move and each boom 9-12 and corresponding frame 13-16 between rotation and each frame 9-12 inside and outside two-part relatively moving, realize the orientation of each x-ray generator head 5,6 and corresponding X line detector 7,8 is regulated and control.
According to a specific embodiment of the present invention, flat pressure-measuring system is adopted in pressure gauge 19, comprise induction flat board, pressure data memorizer and corresponding data-interface (not marking on the figure), data-interface links to each other with analysis the corresponding interface with the image processing computer 20 of display part with synchronized transmissions control device 22 respectively.
According to a specific embodiment of the present invention, synchronized transmissions control device 22 comprises signal adapter and synchronization control circuit.Signal adapter links to each other with pressure flat.The power triggering signal that pressure flat received, synchronization control circuit produce the synchronized transmissions control signal thereupon.The synchronization control circuit outfan directly links to each other with the X ray countdown circuit, thereby makes two X ray emitter head synchronized transmissions x-rays.
As shown in Figure 2, be the calibrating installation of spinal column Three-Dimensional Dynamic measuring and analysis system according to an embodiment of the invention, it comprises two orthogonal dull and stereotyped 201 and calibration marker point 202.The coordinate of these calibration marker points is known.As one embodiment of the present of invention, dull and stereotyped 201 adopt the lucite rectangular flat, and it is the steel ball of 0.5cm that calibration marker point adopts diameter.
As shown in Figure 3, the flow chart of spinal column Three-Dimensional Dynamic Measurement and analysis method according to an embodiment of the invention may further comprise the steps:
Step S301: orientation regulating step.
Before measuring, adjust X ray emitter head and X-ray detector earlier to appropriate orientation.By orientation modulator transmitting radio adjustment signal, control locomotive 1-4 moves to the space correct position, regulate angle and the inside and outside two-part relative position of frame between boom 9-12 and the corresponding frame 13-16, adjust X ray emitter head 5,6 and X-ray detector 7,8 to appropriate orientation.As shown in Figure 4, be the simple and easy sketch map of overlooking of system after the orientation adjustment.Among Fig. 4, the X-ray beam that X ray emitter head 401,402 is launched is respectively received by X-ray detector 403,404, forms x-ray image.The part 406 that two X ray intersect is for testing and the zone of imaging.
Step S302: system calibration step.
System calibration comprises demarcates two x-ray imaging systems.Demarcation is based on that the ultimate principle of computer vision carries out.One of basic task of computer vision, it is the geological information that calculates object in the three dimensions according to the image information that video camera obtains, and rebuild thus and recognition object, and the three-dimensional geometry position of certain point of space object surface and its mutual relation between the corresponding point in image to be geometric model by video camera imaging determine that these geometric model parameters are exactly camera parameters.Under most of conditions, these parameters must just can obtain with calculating by experiment, and this process is called as camera calibration.Calibration process is exactly to determine the geometry of video camera and optical parametric and the video camera orientation with respect to world coordinate system.
As shown in Figure 4, be the schematic top plan view of spinal column Three-Dimensional Dynamic measuring and analysis system according to an embodiment of the invention.Choose a point as the world coordinate system initial point at imaging region 406 centers, respectively with two axles being parallel to pressure flat with perpendicular to an axle of pressure flat X, Y, Z axle as world coordinate system.When carrying out system calibration, the initial point of calibrating installation and the initial point of world coordinate system are coincided, x axle, y axle, the z axle dull and stereotyped with respect to calibration overlap with X-axis, Y-axis and the Z axle of world coordinate system respectively, and at this moment, coordinate system and world coordinate system on the calibrating installation coincide.During imaging, two 401,402 while of X ray emitter emitting x-ray, to the calibrating installation imaging, the x-ray image that obtains calibrating installation is right.Calibration marker on x-ray image point extracted obtain its coordinate in image coordinate.Then according to these calibration marker points in image coordinate system coordinate and the coordinate in the world coordinate system demarcate, thereby determine the geometry of two X-ray machines and optical parametric and with respect to the orientation of world coordinate system.
Step S303: data acquisition.
After imaging system is calibrated, calibrating installation is removed, it is constant to be held in the picture system attitude, carries out Dynamic Data Acquiring subsequently, comprises the collection of x-ray image and the collection of plantar pressure.As shown in Figure 1, experimenter 17 walks on runway 18 or runs, and in order to reduce the infringement of X ray to human body, X-ray production apparatus was not launched X ray before the experimenter arrived the pressure flat zone.After the experimenter arrives on the pressure flat 19, the pick off (not shown) is experienced the pressure of human body in the pressure flat, one side is stored in it in pressure data memorizer and/or passes to computer and handle, and on the other hand, links to each other with synchronized transmissions control device 22 through data-interface.Signal adapter in the synchronized transmissions control device 22 receives the triggering signal that pressure flat 19 transmits, and the synchronization control circuit in the synchronized transmissions control device 22 produces the synchronized transmissions control signal thereupon, control X ray emitter head 5,6 synchronized transmissions x-rays.
The synchronized transmissions control signal that synchronized transmissions control device according to an embodiment of the invention produces as shown in Figure 5.
Step S304, Treatment Analysis.
Analyzing and processing comprises foundation and two parts of Measurement and analysis of threedimensional model.
A kind of establishment step of exemplary threedimensional model is as follows: 1. extract minutiae: adopt Corner Detection, region growing and template matching method are partitioned into epispinal anatomic landmark point.The last mid point that comprises terminal plate of vertebral body, the following mid point of terminal plate of vertebral body, the upper left end points of pedicle of vertebral arch, the upper right end points of pedicle of vertebral arch, pedicle of vertebral arch lower-left end points, pedicle of vertebral arch bottom right end points.2. the three-dimensional reconstruction of characteristic point: the image coordinate of the calibration information by step S302 gained and the anatomic landmark point of extraction, adopt the stereophotography principle to obtain the three-dimensional coordinate of anatomic landmark point in world coordinate system by solving an equation.3. to the CT model of standard, by the interpolation deformation method with mate with measured anatomic landmark point, form the high-precision spinal column threedimensional model of personalization.
A kind of exemplary Measurement and analysis comprises such as dimensional measurement and mechanics property analysis.
Dimensional measurement can comprise: static index: spinal column three-D curved line shape, spine lengths, the height of each vertebra, vertebra direction of rotation, cobb angle etc.Dynamic indicator comprises: relative displacement and relative direction of rotation between adjacent vertebrae in the motion, intervertebral disc deformation, the demonstration of ligament deformation and spinal motion etc.
The plantar pressure surveyed is passed through in the analysis of mechanical property, adopts the power TRANSFER MODEL, obtains the power on the vertebra, by difference constantly between the variation and the metamorphosis of power, obtain the elastic modelling quantity of intervertebral disc.
Dynamic observing and Measurement and analysis of embodiment Noninvasive lumbar vertebra flexion and extension.
The motion of spinal column is with cervical vertebra and lumbar vertebra mobility maximum, and lumbar spine is one section of spinal load amount maximum, and the incidence rate of strain and regression is also the highest, therefore, observes significant to the lumbar vertebra kinesiology.Adopt the present invention can realize dynamic observing and Measurement and analysis of Noninvasive live body lumbar vertebra flexion and extension.
When carrying out kinetic measurement, at first by orientation modulator transmitting radio adjustment signal, control locomotive 1,2,3,4 moves to the space correct position, regulate angle and frame 13,14,15,16 inside and outside two-part relative positions between boom 9,10,11,12 and the frame 13,14,15,16, adjust X ray emitter head 5,6 and X-ray detector 7,8 to appropriate orientation.Choosing a point as the world coordinate system initial point at imaging region 406 centers, respectively with the axle that is parallel to pressure flat 407, perpendicular to the axle of pressure flat 407 and perpendicular to the axle of horizontal plane as X, Y, the Z axle of world coordinate system.When carrying out system calibration, the initial point that calibration is dull and stereotyped and the initial point of world coordinate system coincide, dull and stereotyped x axle, y axle, the z axle of calibration overlaps with X-axis, Y-axis and the Z axle of world coordinate system respectively, and at this moment, coordinate system and world coordinate system on the calibrating installation coincide.Two X ray emitters are emitting x-ray simultaneously, and to the calibrating installation imaging, the x-ray image that obtains calibrating installation is right.According to these calibration marker points in image coordinate system coordinate and the coordinate in the world coordinate system demarcate, thereby determine the geometry of two X-ray machines and optical parametric and with respect to the orientation of world coordinate system.After imaging system is calibrated, calibrating installation is removed, it is constant to be held in the picture system attitude, and the experimenter carries out at the uniform velocity mobilely by the full position of bending to stretching entirely, and the every 20ms of high speed X light machine to people's volume imaging once and obtains mechanical information by pressure apparatus.Right for each x-ray image constantly that obtains in this process, carry out three-dimensional reconstruction and analyze.Comprise the analysis of five aspects: the three dimensional display of (1) spinal column flexion and extension: each spinal column model is constantly carried out dynamic play show, in order to the flexion and extension of the spinal column of watching the match intuitively.(2) angular movement analysis: obtain the full position of bending, semiflexion, the position is partly stretched in neutral position, stretches the spinal column threedimensional model that position 5 moment reconstruct entirely, respectively the top edge of L1-L5 vertebral body is made tangent line, notes.Calculate L1-2 respectively, L2-3, L3-4, the angle of cut of L4-5 upper limb tangent line.Carry out aforementioned calculation one by one for 5 moment of flexion and extension, be used to analyze the variation of angular movement.When analyzing, be divided into 4 stages during with flexion and extension, that is: the full semiflexion of bending, semiflexion-neutrality, neutral-as partly to stretch, partly stretch-stretch entirely, calculate relatively the characteristic of activities of each sections of lumbar vertebra in this 4 stages.(3) translational movement analysis: measure lumbar vertebra translational movement between the adjacent vertebral bodies when bending and stretching.Obtain the full position of bending, semiflexion, the position is partly stretched in neutral position, stretches the spinal column threedimensional model that position 5 moment reconstruct entirely, sets up coordinate system with the trailing edge mid point of next vertebral body as initial point, calculate different constantly between relative displacement between adjacent vertebral bodies.(4) Bian Xing measurement: 1. measure the distortion of intervertebral disc, be used for analysis and have or not symptoms such as having spinal nerves card pressure to occur.Because vertebra is harder, can regard rigid body as, can think indeformable in spinal motion.Therefore, the motion of spinal column mainly is that the distortion of intervertebral disc causes.Respectively to each vertebra top edge and lower limb make tangent line, calculate the angle of lower vertebra top edge and upper vertebra lower limb tangent line in the adjacent vertebrae then, the variation of this angle folder can be similar to the variation as intervertebral disc.2. the distortion of ligament: measure the variation of distance between the different terminals of vertebra arnold ligament constantly, can be used as the distortion of ligament.(5) mechanics property analysis: by the variation of different tense institute dynamometry, and the variation of intervertebral disc form, can measure the elastic modelling quantity of intervertebral disc.
Should be understood that, in above narration and explanation to just explanation but not determinate of description that the present invention carried out, and do not breaking away under the prerequisite of the present invention that limits as appended claims, can carry out various changes, distortion and/or correction the foregoing description.
The drawing reference numeral explanation
1-4: locomotive 5,6:X ray emitter machine 7,8:X ray detector
9-12: frame arm 13-16, frame 17, experimenter
18, runway 19, pressure measxurement device 20, image processing computer
21, operation and demonstration interface
22, synchronizing signal launch control unit
Claims (10)
1. spinal column Three-Dimensional Dynamic measuring and analysis system.It is characterized in that comprising:
At least two X ray emitter heads (5,6) are used to launch X ray;
At least two X-ray detectors (7,8) corresponding respectively with described at least two X ray emitter heads (5,6) are used for spinal column is carried out dynamic X-ray imaging.
2. spinal column Three-Dimensional Dynamic measuring and analysis system according to claim 1 is characterized in that further comprising:
Synchronized transmissions control device (22) is used to control the X ray synchronized transmissions of described at least two X ray emitter heads (5,6);
Analyzing and processing and display part, be used to realize to two/many plane X radiation imaging system demarcation, realize three-dimensional reconstruction, carry out dimensional measurement and mechanics property analysis.
3. spinal column Three-Dimensional Dynamic measuring and analysis system according to claim 2 is characterized in that:
Described X ray emitter head (5,6) is a high speed X ray emitter head;
Described analyzing and processing and display part further comprise:
Two/many plane X radiation imaging system alignment unit, be used to adopt corresponding calibration algorithm, realize demarcation, thereby determine the image coordinate system of video camera and the relation between the world coordinate system the biplane x-ray imaging system,
The index point extraction unit is used to adopt the extraction of corresponding image segmentation algorithm realization to anatomic landmark point on the spinal column,
The three-dimensional reconstruction unit is used to carry out the reconstruction of simple model and the reconstruction of high accuracy model,
And the Measurement and analysis unit, be used to carry out dimensional measurement and mechanics property analysis.
4. according to any one described spinal column Three-Dimensional Dynamic measuring and analysis system among the claim 1-3, it is characterized in that further comprising:
Position regulating device: the direction and the position that are used to regulate X-ray machine;
Calibrating installation: be used for the calibration of imaging system;
Pressure gauge: be used for pressure measxurement and produce triggering signal.
5. spinal column Three-Dimensional Dynamic measuring and analysis system according to claim 4 is characterized in that:
Described position regulating device comprises an orientation modulator and four locomotives, organic frame and frame arm on each locomotive.Can rotate between frame arm and the frame, frame comprises inside and outside two nested parts, can relatively move between them, and the orientation modulator can the transmitting radio adjustment signal, thus by the regulation and control locomotive spatially move, two-part relatively moving realizes that the orientation to x-ray generator head and X line detector regulates and control inside and outside rotation between frame arm and the frame and the frame;
Described synchronized transmissions control device comprises signal adapter and synchronization control circuit, signal adapter links to each other with pressure flat, receive pressure flat power triggering signal, synchronization control circuit produces the synchronized transmissions control signal thereupon, the synchronization control circuit outfan directly links to each other with the X ray countdown circuit, thereby controls two X ray emitter head synchronized transmissions x-rays;
Described calibrating installation comprises two mutually perpendicular rectangular flats, and many calibration marker points are arranged on it, and the coordinate of these calibration marker points is known;
Flat pressure-measuring system is adopted in described pressure gauge, comprises that induction is dull and stereotyped, and pressure data memorizer and corresponding data-interface, data-interface link to each other with the corresponding interface of display part with analyzing and processing with the synchronizing signal launch control unit respectively.
6. spinal column Three-Dimensional Dynamic Measurement and analysis method is characterized in that comprising:
From at least two X ray emitter heads (5,6) emission X ray;
At least two x-ray imaging devices (8,7) with corresponding respectively with described at least two X ray emitter heads (5,6) carry out dynamic X-ray imaging to spinal column.
7. spinal column Three-Dimensional Dynamic Measurement and analysis method according to claim 6 is characterized in that further comprising:
X ray synchronized transmissions with a synchronized transmissions control device (22) described at least two the X ray emitter heads of control (5,6);
Analyzing and processing and step display, to two/many plane X radiation imaging system is demarcated, three-dimensional reconstruction, dimensional measurement and mechanics property analysis.
8. spinal column Three-Dimensional Dynamic Measurement and analysis method according to claim 6 is characterized in that:
Described X ray emitter head (5,6) is a high speed X ray emitter head;
Described analyzing and processing and step display further comprise:
Adopt corresponding calibration algorithm, realize demarcation, thereby determine the image coordinate system of video camera and the relation between the world coordinate system the biplane x-ray imaging system,
Adopt the extraction of corresponding image segmentation algorithm realization to anatomic landmark point on the spinal column,
Carry out the reconstruction of simple model and the reconstruction of high accuracy model,
Carry out dimensional measurement and mechanics property analysis.
9. according to any one described spinal column Three-Dimensional Dynamic Measurement and analysis method among the claim 6-8, it is characterized in that further comprising:
Regulate the direction and the position of X-ray machine with position regulating device;
Calibrate imaging system with calibrating installation;
Carry out pressure measxurement and produce triggering signal with pressure gauge.
10. spinal column Three-Dimensional Dynamic Measurement and analysis method according to claim 9 is characterized in that:
Described position regulating device comprises an orientation modulator and four locomotives, organic frame and frame arm on each locomotive.Can rotate between frame arm and the frame, frame comprises inside and outside two nested parts, can relatively move between them, and the orientation modulator can the transmitting radio adjustment signal, thus by the regulation and control locomotive spatially move, two-part relatively moving realizes that the orientation to x-ray generator head and X line detector regulates and control inside and outside rotation between frame arm and the frame and the frame;
Described synchronized transmissions control device comprises signal adapter and synchronization control circuit, signal adapter links to each other with pressure flat, receive pressure flat power triggering signal, synchronization control circuit produces the synchronized transmissions control signal thereupon, the synchronization control circuit outfan directly links to each other with the X ray countdown circuit, thereby controls two X ray emitter head synchronized transmissions x-rays;
Described calibrating installation comprises two mutually perpendicular rectangular flats, and many calibration marker points are arranged on it, and the coordinate of these calibration marker points is known;
Flat pressure-measuring system is adopted in described pressure gauge, comprises that induction is dull and stereotyped, and pressure data memorizer and corresponding data-interface, data-interface link to each other with the corresponding interface of display part with analyzing and processing with the synchronizing signal launch control unit respectively,
Wherein
It is right simultaneously the human body continuous imaging that moves to be obtained different corresponding two x-ray images of the moment by two high speed X ray video cameras, the three dimensional space coordinate that each two width of cloth x-ray image is constantly sent to computer and determines arbitrary characteristic point on the spinal column according to the principle and the method for computer vision, three-dimensional coordinate according to a plurality of characteristic points of surveying, determine the geometric parameter of spinal column and carry out three-dimensional modeling, institute's established model is carried out three-dimensional geometry measure and mechanics property analysis;
Described dimensional measurement comprises the measurement to static index and dynamic indicator, and described static index comprises height, the vertebra direction of rotation of spinal column three-D curved line shape, spine lengths, each vertebra, cobb angle; Described dynamic indicator comprises in the motion relative displacement and relative direction of rotation, intervertebral disc deformation, ligament deformation and spinal motion between adjacent vertebrae.
The analysis of described mechanical property comprises passes through the plantar pressure surveyed, adopts the power TRANSFER MODEL, obtains the power on the vertebra, by difference constantly between the variation and the metamorphosis of power, obtain the mechanical performance index of intervertebral disc.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102743158A (en) * | 2012-07-23 | 2012-10-24 | 中南大学湘雅医院 | Digital spinal column reconstruction method and system |
| CN102973286A (en) * | 2012-10-30 | 2013-03-20 | 南方医科大学 | X-ray imaging device and imaging method thereof |
| CN103239250A (en) * | 2013-05-29 | 2013-08-14 | 中国人民解放军第三军医大学第一附属医院 | Dynamic kinematic acquisition system for human body bone joint |
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| CN105212951A (en) * | 2015-10-15 | 2016-01-06 | 中国人民解放军第二军医大学 | Spinal column is at body biomechanical measurement device |
| CN106344055A (en) * | 2016-09-09 | 2017-01-25 | 上海波城医疗科技有限公司 | Double X-ray machine system and control method thereof |
| CN107049488A (en) * | 2017-05-27 | 2017-08-18 | 北京航空航天大学 | A kind of monoplane location of operation method and model |
| CN107464275A (en) * | 2017-07-28 | 2017-12-12 | 电子科技大学 | Human spine center line three-dimensional reconstruction method |
| EP3182898A4 (en) * | 2014-08-21 | 2018-08-15 | Halifax Biomedical Inc. | Systems and methods for measuring and assessing spinal instability |
| CN109602428A (en) * | 2018-11-05 | 2019-04-12 | 上海逸动医学科技有限公司 | A kind of three-dimensional dynamic positioning system of movable type bi-plane X-ray system |
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| CN102743158B (en) * | 2012-07-23 | 2013-11-27 | 中南大学湘雅医院 | Digital spinal column reconstruction method and system |
| CN102743158A (en) * | 2012-07-23 | 2012-10-24 | 中南大学湘雅医院 | Digital spinal column reconstruction method and system |
| CN102973286A (en) * | 2012-10-30 | 2013-03-20 | 南方医科大学 | X-ray imaging device and imaging method thereof |
| CN102973286B (en) * | 2012-10-30 | 2014-12-10 | 南方医科大学 | X-ray imaging device and imaging method thereof |
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| EP3182898A4 (en) * | 2014-08-21 | 2018-08-15 | Halifax Biomedical Inc. | Systems and methods for measuring and assessing spinal instability |
| CN105212951B (en) * | 2015-10-15 | 2017-10-20 | 中国人民解放军第二军医大学 | Backbone is in body biomechanical measurement device |
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| CN107049488A (en) * | 2017-05-27 | 2017-08-18 | 北京航空航天大学 | A kind of monoplane location of operation method and model |
| CN107049488B (en) * | 2017-05-27 | 2022-01-07 | 北京航空航天大学 | Single-plane operation positioning method and model |
| CN107464275A (en) * | 2017-07-28 | 2017-12-12 | 电子科技大学 | Human spine center line three-dimensional reconstruction method |
| CN109602428A (en) * | 2018-11-05 | 2019-04-12 | 上海逸动医学科技有限公司 | A kind of three-dimensional dynamic positioning system of movable type bi-plane X-ray system |
| CN109602428B (en) * | 2018-11-05 | 2022-07-22 | 上海逸动医学科技有限公司 | Three-dimensional dynamic positioning system of mobile double-plane X-ray system |
| CN111466933A (en) * | 2020-04-24 | 2020-07-31 | 山东师范大学 | Spine mobility measuring method and system |
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