CN103976790A - Real-time evaluation and correction method in spine posterior approach operation - Google Patents
Real-time evaluation and correction method in spine posterior approach operation Download PDFInfo
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- 108010048734 sclerotin Proteins 0.000 claims description 12
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- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 description 1
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
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Abstract
The invention discloses a real-time evaluation and correction method in a spine posterior approach operation. Each segment of the spine is divided by an X ray photo and is matched with each corresponding segment of a 3D model which is constructed by CT (Computed Tomography), rigid body transformation is estimated, and thus a rectification result can be obtained; on the basis, the whole spine is spliced, a real-time three-dimensional spine form of a patient on an operating table is reconstructed, an operation effect is estimated in real time, the orientation for placing a nail is corrected in time, the incorrect nail placement in an operation is remedied, the operation risk is reduced, and the success rate of the operation is improved. According to the method, the spine segments belong to rigid bodies, the whole spine belongs to a non-rigid body, and 2D/3D images of a non-rigid body joint target are subjected to registration; the 3D positions of a pedicle screw is estimated by 2D images, and the 3D form of the spine of the patient after operation nail placement is reconstructed; the problems that visual real-time monitoring and correction lacks in the existing spine posterior approach operation, and the danger existing in the operation is not remedied in time are solved.
Description
Technical field
The invention belongs to clinical medicine technical field, relate in particular to a kind of method of real-time assessment and correction in posterior spinal operation art.
Background technology
Its cause of disease multi-source of waist disease is in spinal lesion, America NI H statistics: the annual spinal operation amount of the U.S. exceedes 1,000,000 examples, wherein lumbar surgery exceedes 250,000 examples, nearly 6,000,000,000 dollars of medical expense, China's spinal lesion patient quantity is more than American-European countries, and implementing spinal operation is the first-selected therapeutic scheme of Most patients in them.
In all spinal levels, dentata is considered to one of sections that more difficult enforcement pedicle screw inserts, and main and following factors has relation:
1. the width of axis arch root and highly all less, put nail difficulty large;
2. around important structure is many for axis arch root, once damage, consequence is serious;
3. due to the existence of vertebroarterial foramen anatomical variation, the anatomical structure of axis arch root is different from common cervical vertebra, has certain particularity;
In above three kinds of reasons, especially last a kind of, may be to cause axis arch root to put the major reason of the more difficult grasp of nail.
Technology of surgery navigation originates from neurosurgery, be widely used at present spinal surgery, department of otorhinolaryngology, the fields such as plastic surgery, because case in spinal surgery is more and risk is larger, therefore the application of airmanship is the most urgent and extensive, the method of Via Posterior Spinal Approach navigation both at home and abroad has following several at present: 1. traditional perspective method, now be widely used, shortcoming: location accuracy is not high, three-dimensional navigation in 2.Iso-C arm art, image data is obtained by C type arm X-ray machine instant video three-dimensional reconstruction in art, 3. preoperative spiral CT is checked to institute's data that obtain input computer navigation system, under the guiding of navigation system 3-dimensional image, carry out hands art, 4. the 3-D view navigation system of target following, 5. in operating room, special CT equipment navigation is installed, its shortcoming is to be equipped with specially CT equipment in operating room, need special operation table, spend the problems such as large, 6. first obtain three-dimensional rotation x-ray image, to obtain again MRI, the former is registered in to the latter, carry out image processing and navigation, it is the surgical navigational that had not only been suitable for bone but also had been suitable for soft tissue, but, the costliness of equipment has a strong impact on the universal of this law and promotes, 7. robot assisted navigation,
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of method of real-time assessment and correction in posterior spinal operation art, be intended to solve in existing posterior spinal operation art and lack real-time navigation instruction, not to the give warning in advance problem of method of the danger in operation.
The embodiment of the present invention is achieved in that a kind of method of real-time assessment and correction in posterior spinal operation art, and in this posterior spinal operation art, the method for real-time assessment and correction comprises: the method for real-time assessment and correction in posterior spinal operation art, comprising:
Step 1, system parameter calibration, realizes the unification of C arm X-ray production apparatus and CT device coordinate parameter, makes the result of patient after both imagings, in system in unified coordinate system;
Step 2, positive side position X sheet and preoperative CT tract in the art of obtaining, be converted to them separately under corresponding three-dimensional coordinate system respectively, finally by euler transformation method, their unified under the same coordinate system;
Step 3, the spinal three-dimensional of preoperative CT is rebuild and vertebra feast-brand mark is determined; By high-brightness signal in spinal column feature in CT faultage image and CT sheet is extracted, cut apart and obtain spinal column tomography picture, carry out three-dimensional reconstruction, obtain the three dimensional point cloud of spinal column; By three dimensional point cloud, carry out the structure of patch grids, then carry out three-dimensional model reconfiguration and play up, obtain spinal three-dimensional model;
Step 4, two-dimentional X sheet spinal column is corresponding with the vertebra joint of 3D spine model; According to the mid-nail of art afterwards positive side position X sheet vertebra and 3D spine model characteristics of image and medical features jointly definite vertebra save corresponding relation;
Step 5, the real-time three-dimensional reconstruct of spinal column in art; According to the mid-nail of the art characteristics of image of positive side position X sheet vertebra and 3D spine model afterwards, by the 2D-3D registration in each single vertebral body stage, three-dimensional spinal column form in real-time three-dimensionalreconstruction patient art;
Step 6, bores nut screw location and three-dimensionalreconstruction in art;
Step 7, provides the visual nail of putting and instructs and put Real-Time Monitoring result after nail, for wrong and have the set screw of risk, provides warning and prompting, proofreaies and correct timely and the operation of remedying in art.
Further, in this posterior spinal operation art, the method spinal segments of real-time assessment and correction belongs to rigid body, and whole spinal column belongs to non-rigid body, by the 2D/3D Image registration of spinal segments rigid-object, realizes the three-dimensionalreconstruction of non-rigid body joint spinal column target.
Further, in this posterior spinal operation art, the method for real-time assessment and correction is estimated the 3D position of pedicle screw by 2D image, and the 3D form of following closely rear patient's spinal column is put in reconstruct operation.
Further, the concrete grammar of step 3:
The first step, for CT faultage image, passing threshold method, extracts high brightness sclerotin view data;
Second step, the sequence sclerotin view data of obtaining by CT image sequence, sweeps spacing according to the pixel size of CT image, bed thickness and layer, builds real skeleton three-dimensional point cloud;
The 3rd step, the demarcation of the separation of patient's spinal three-dimensional model and vertebra joint, the three dimensional point cloud that has comprised its spinal column in patient bone three dimensional point cloud, can in aforementioned second step, separate, but for obtaining the spine model of sequential identity vertebral body sections, the separation of spinal three-dimensional model and vertebra feast-brand mark are carried out surely simultaneously; First,, by the sclerotin view data in CT image sequence, according to human medical basin bone, rib and shoulder clavicle feature, obtain basin bone and rib position at patient's sclerotin three dimensional point cloud; Next step, the relation in skeleton medical science according to basin bone and lumbar vertebra, judges lumbar motion segment, demarcates and separation basin bone and vertebral body cloud data; Then, the relation in skeleton medical science according to rib and thoracic vertebra, judges thoracic vertebra sections, demarcates and separate rib and vertebral body cloud data; Again, according to shoulder clavicle and cervical vertebra relation in skeleton medical science, judge cervical vertebra sections, demarcate and separate shoulder clavicle and vertebral body cloud data; Finally, set up the spinal three-dimensional cloud data of sequential identity vertebral body sections;
The 4th step, the surperficial cloud data of extraction three-dimensional point cloud, utilization turns net lattice Reconstruction Method effects on surface cloud data and carries out patch grids reconstruct, and plays up and obtain patient bone threedimensional model.
Further, the concrete grammar of step 4:
The first step, by canny edge extracting method, extracts spinal vertebral stage and basin bone edge in the X sheet of positive side position;
Second step, according to circular arc and the size characteristic of basin bone and spinal column larger difference, obtains the basin position of bone and puts, thereby determines lumbar motion segment, sets up and labelling spinal vertebral sequence;
The 3rd step, for further confirming the correctness in vertebral body stage, according to the degree of crook of vertebral body sections in X picture and vertebral body size, with the vertebral body sections projection imaging of 3D model corresponding angle, mate with corresponding the correspondence of compound two-dimentional vertebral body and three-dimensional vertebral body.
Further, the concrete grammar of step 5:
The first step, extracts high brightness pedicle screw view data in the X sheet of positive side position, and to cutting apart, obtains screw edge;
Second step, by canny Boundary extracting algorithm, extracts the positive side of vertebral body sections position X sheet Edge Feature Points;
The 3rd step, the screw edge obtaining according to the first step, removes the screw marginal point in Edge Feature Points;
The 4th step, selects to fix a certain roll angle of 3D spine model attitude, by canny Boundary extracting algorithm, extracts the positive lateral projection of 3D spine model picture edge characteristic point;
The 5th step, utilizes ICP algorithm, and respectively the positive lateral projection of the 3D spine model sections marginal point of now fixing roll angle is carried out to registration with positive side position X sheet sections marginal point, thereby estimate azimuth and the angle of pitch of spinal column attitude in X sheet, and the error of calculation;
The 6th step, repeats the 4th step and the 5th step, until error meets actual operation precision;
The 7th step, according to the registration results of each sections of spinal vertebral, adjusts each stage model of patient 3D spinal column, thus quasi real time reconstruct, three-dimensional spine model in patient's art, and record the corresponding registration parameter of each sections.
Further, in step 6 art, bore the concrete grammar of nut screw location and three-dimensionalreconstruction:
The first step, the preoperative cone nut screw 3D model that obtains respective model;
Second step, to each sections screwing of each spinal vertebral, according to screw centrosymmetric structure, in normotopia X sheet, determines screw attitude roll angle;
The 3rd step, utilizes ICP algorithm, and to screw marginal point in normotopia X sheet, the normotopia projecting edge point under corresponding roll angle carries out registration with screw 3D model, thereby determines the azimuth of screw; Extract screw center simultaneously, determine the XZ plan-position in normotopia X sheet of screw;
The 4th step, utilizes ICP algorithm, and in the X sheet of offside position, screw marginal point carries out registration with lateral projection's marginal point of screw 3D model under corresponding roll angle, thereby determines the angle of pitch of screw; Extract screw center simultaneously, determine the YZ plan-position in the X sheet of side position of screw;
The 5th step, according to calculating the positive side position registration parameter obtaining, and azimuth, the angle of pitch, XZ plan-position, the YZ plan-position in the roll angle of estimation and C, D step, estimated, calculate in the actual three-dimensional spine model of reconstruct patient, put the accurate location of screw after following closely;
The 6th step, repeats second step-five steps, until complete the accurate three-dimensionalreconstruction of all screws.
The method of real-time assessment and correction in posterior spinal operation art provided by the invention, cuts apart each sections of spinal column by X-ray, and corresponding each sections of the 3D model building with CT mates, and estimates rigid body translation, thereby obtains registration results; On this basis, spinal column entirety is carried out to amalgamation, reconstruct the real-time three-dimensional spinal column form of patient on operating-table, surgical effect is carried out to real-time assessment, proofread and correct and put nail orientation in time, mistake in art is put to nail and remedy, reduce operation risk, improved success rate of operation.Method of the present invention is simple, utilize spinal segments to belong to rigid body, and whole spinal column belongs to non-rigid body, the 2D/3D Image registration of non-rigid body joint target; Estimate the 3D position of pedicle screw by 2D image, and the 3D form of following closely rear patient's spinal column is put in reconstruct operation; Solve preferably in existing posterior spinal operation art and lacked real-time navigation instruction, not to the give warning in advance problem of method of the danger in operation.
Brief description of the drawings
Fig. 1 is the method flow diagram of real-time assessment and correction in the posterior spinal operation art that provides of the embodiment of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Below in conjunction with drawings and the specific embodiments, application principle of the present invention is further described.
As shown in Figure 1, in the posterior spinal operation art of the embodiment of the present invention, the method for real-time assessment and correction comprises the following steps:
S101: system parameter calibration, realize the unification of C arm X-ray production apparatus and CT device coordinate parameter, make the result of patient after both imagings, in system in unified coordinate system;
S102: positive side position X sheet and preoperative CT tract in the art of obtaining, respectively they are converted to separately under corresponding three-dimensional coordinate system, finally by euler transformation method, their are unified under the same coordinate system;
S103: by high-brightness signal in spinal column feature in CT faultage image and CT sheet is extracted, cut apart and obtain spinal column tomography picture, carry out three-dimensional reconstruction, obtain the three dimensional point cloud of spinal column;
S104: by three dimensional point cloud, carry out the structure of patch grids, then carry out three-dimensional model reconfiguration and play up, obtain spinal three-dimensional model;
S105: according to definite corresponding with the characteristics of image in 3D model in X sheet, by degree of crook and vertebral body size; The spatial alternation of corresponding X sheet vertebral body and model vertebral body, realizes the real-time three-dimensionalreconstruction of patient's spinal column in art;
S106: the apparatus and the screw image that utilize photographic head to take, the visual signature of extraction respective objects, identification apparatus; Manually give obvious mark to apparatus and screw, in image, extract the mark of respective objects, identification apparatus;
S107: utilize two photographic head that are arranged on above operating room diverse location, produce and have the target image of parallax in different angles, the parallax existing between the position by known photographic head and target image, calculates the exact position of target;
S108: the real-time positioning by photographic head in art and tracking operating theater instruments, doctor's instrumentation process will show in real time, provide visual putting after nail is put in nail guidance and provide Real-Time Monitoring result, proofread and correct timely and the operation of remedying in art.
Concrete steps of the present invention are as follows:
The first step, system parameter calibration:
System parameter calibration is mainly the unification that realizes C arm X-ray production apparatus and CT device coordinate parameter, makes the result of patient after both imagings, in system in unified coordinate system.Thereby reduce largely yardstick, the deformation such as affine, for follow-up 2D/3D registration lays the foundation;
Second step, positive side position X sheet and preoperative CT tract in the art of obtaining, be converted to separately under corresponding three-dimensional coordinate system (X1Y1Z1) and (X2Y2Z2) them respectively; Finally by euler transformation method, they are unified under the same coordinate system O-XYZ;
The 3rd step, by spinal column feature in CT faultage image (and in CT sheet high-brightness signal) is extracted, cut apart and obtain spinal column tomography picture (only comprising spinal column in picture), carry out on this basis three-dimensional reconstruction, obtain the three dimensional point cloud of spinal column;
The 4th step, by three dimensional point cloud, carries out the structure of patch grids, then carries out three-dimensional model reconfiguration and plays up, and obtains spinal three-dimensional model;
The 5th step, according to definite corresponding with the characteristics of image in 3D model in X sheet, by degree of crook and vertebral body size; The spatial alternation of corresponding X sheet vertebral body and model vertebral body, realizes the real-time three-dimensionalreconstruction of patient's spinal column in art;
The 6th step, the apparatus and the screw image that utilize photographic head to take, the visual signature of extraction respective objects, identification apparatus; Manually give obvious mark to apparatus and screw, in image, extract the mark of respective objects, identification apparatus;
The 7th step, utilizes two photographic head that are arranged on above operating room diverse location, produces and has the target image of parallax in different angles, and the parallax existing between the position by known photographic head and target image, calculates the exact position of target;
The 8th step, the real-time positioning by photographic head in art and tracking operating theater instruments, doctor's instrumentation process by real-time showing in system; Real-time navigation is provided, provides visual putting after nail is put in nail guidance and provide Real-Time Monitoring result, provide foundation for proofreading and correct and remedy in art.
In conjunction with specific embodiments effect of the present invention is described further:
Embodiment 1:
Step 1, system parameter calibration, realizes the unification of C arm X-ray production apparatus and CT device coordinate parameter, makes the result of patient after both imagings, in system in unified coordinate system;
Step 2, positive side position X sheet and preoperative CT tract in the art of obtaining, be converted to them separately under corresponding three-dimensional coordinate system respectively, finally by euler transformation method, their unified under the same coordinate system;
Step 3, the spinal three-dimensional of preoperative CT is rebuild and vertebra feast-brand mark is determined.By high-brightness signal in spinal column feature in CT faultage image and CT sheet is extracted, cut apart and obtain spinal column tomography picture, carry out three-dimensional reconstruction, obtain the three dimensional point cloud of spinal column; By three dimensional point cloud, carry out the structure of patch grids, then carry out three-dimensional model reconfiguration and play up, obtain spinal three-dimensional model; Concrete grammar:
A, for CT faultage image, passing threshold method, extracts high brightness sclerotin view data;
B, the sequence sclerotin view data of obtaining by CT image sequence, sweep spacing according to the pixel size of CT image, bed thickness and layer, builds real skeleton three-dimensional point cloud;
The demarcation of the separation of C, patient's spinal three-dimensional model and vertebra joint.The three dimensional point cloud that has comprised its spinal column in patient bone three dimensional point cloud can separate in aforementioned B step.But for obtaining the spine model of sequential identity vertebral body sections, the separation of spinal three-dimensional model and vertebra feast-brand mark are carried out surely simultaneously.First,, by the sclerotin view data in CT image sequence, according to human medical basin bone, rib and shoulder clavicle feature, obtain basin bone and rib position at patient's sclerotin three dimensional point cloud; Next step, the relation in skeleton medical science according to basin bone and lumbar vertebra, judges lumbar motion segment, demarcates and separation basin bone and vertebral body cloud data; Then, the relation in skeleton medical science according to rib and thoracic vertebra, judges thoracic vertebra sections, demarcates and separate rib and vertebral body cloud data; Again, according to shoulder clavicle and cervical vertebra relation in skeleton medical science, judge cervical vertebra sections, demarcate and separate shoulder clavicle and vertebral body cloud data; Finally, set up the spinal three-dimensional cloud data of sequential identity vertebral body sections;
The surperficial cloud data of D, extraction three-dimensional point cloud, utilization turns net lattice Reconstruction Method effects on surface cloud data and carries out patch grids reconstruct, and plays up and obtain patient bone threedimensional model;
Step 4, two-dimentional X sheet spinal column is corresponding with the vertebra joint of 3D spine model.According to the mid-nail of art afterwards positive side position X sheet vertebra and 3D spine model characteristics of image and medical features jointly definite vertebra save corresponding relation, concrete grammar:
A, by canny edge extracting method, extract spinal vertebral stage and basin bone edge in the X sheet of positive side position;
B, according to circular arc and the size characteristic of basin bone and spinal column larger difference, obtain the basin position of bone and put, thus determine lumbar motion segment, set up and labelling spinal vertebral sequence;
C, be the correctness of further confirming the vertebral body stage, according to the degree of crook of vertebral body sections in X picture and vertebral body size, with the vertebral body sections projection imaging of 3D model corresponding angle, mate with corresponding the correspondence of compound two-dimentional vertebral body and three-dimensional vertebral body;
Step 5, the quasi real time three-dimensionalreconstruction of spinal column in art.According to the mid-nail of the art characteristics of image of positive side position X sheet vertebra and 3D spine model afterwards, by the 2D-3D registration in each single vertebral body stage, three-dimensional spinal column form in three-dimensionalreconstruction patient art quasi real time, concrete grammar:
A, extract high brightness pedicle screw view data in the X sheet of positive side position, and it is cut apart, obtain screw edge;
B, by canny Boundary extracting algorithm, extract the positive side of vertebral body sections position X sheet Edge Feature Points;
C, the screw edge obtaining according to the first step, remove the screw marginal point in Edge Feature Points;
The a certain roll angle of D, the fixing 3D spine model attitude of selection, by canny Boundary extracting algorithm, extracts the positive lateral projection of 3D spine model picture edge characteristic point;
E, utilize ICP algorithm, respectively the positive lateral projection of the 3D spine model sections marginal point of now fixing roll angle is carried out to registration with positive side position X sheet sections marginal point, thereby estimate azimuth and the angle of pitch of (actual patient) spinal column attitude in X sheet, and the error of calculation;
D, E in F, repeating step five, until error meets actual operation precision;
G, according to the registration results of each sections of spinal vertebral, adjust each stage model of patient 3D spinal column, thus quasi real time reconstruct, three-dimensional spine model in patient's art, and record the corresponding registration parameter of each sections.
Step 6, bores nut screw location and three-dimensionalreconstruction in art.Concrete grammar:
A, the preoperative cone nut screw 3D model that obtains respective model;
B, to each sections screwing of each spinal vertebral, according to screw centrosymmetric structure, in normotopia X sheet, determine screw attitude roll angle;
C, utilize ICP algorithm, to screw marginal point in normotopia X sheet, the normotopia projecting edge point under corresponding roll angle carries out registration with screw 3D model, thereby determines the azimuth of screw; Extract screw center simultaneously, determine the XZ plan-position in normotopia X sheet of screw;
D, utilize ICP algorithm, in the X sheet of offside position, screw marginal point carries out registration with lateral projection's marginal point of screw 3D model under corresponding roll angle, thereby determines the angle of pitch of screw; Extract screw center simultaneously, determine the YZ plan-position in the X sheet of side position of screw;
E, according in step 5 calculate obtain positive side position registration parameter, and azimuth, the angle of pitch, XZ plan-position, the YZ plan-position in the roll angle of estimating in step 6 B step and C, D step, estimated, calculate in the actual three-dimensional spine model of reconstruct patient, put the accurate location of the rear screw of nail;
B, C, D, E in F, repeating step six, until complete the accurate three-dimensionalreconstruction of all screws;
Step 7, provides the visual nail of putting and instructs and put Real-Time Monitoring result after nail, for wrong and have the set screw of risk, provides warning and prompting, proofreaies and correct timely and the operation of remedying in art.
Method of the present invention is simple, utilize spinal segments to belong to rigid body, and whole spinal column belongs to non-rigid body, the 2D/3D Image registration of non-rigid body joint target; Estimate the 3D position of pedicle screw by 2D image, and the 3D form of following closely rear patient's spinal column is put in reconstruct operation; Solve preferably in existing posterior spinal operation art and lacked real-time navigation instruction, not to the give warning in advance problem of method of the danger in operation.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. a method for real-time assessment and correction in posterior spinal operation art, is characterized in that, in this posterior spinal operation art, the method for real-time assessment and correction comprises:
Step 1, system parameter calibration, realizes the unification of C arm X-ray production apparatus and CT device coordinate parameter, makes the result of patient after both imagings, in system in unified coordinate system;
Step 2, positive side position X sheet and preoperative CT tract in the art of obtaining, be converted to them separately under corresponding three-dimensional coordinate system respectively, finally by euler transformation method, their unified under the same coordinate system;
Step 3, the spinal three-dimensional of preoperative CT is rebuild and vertebra feast-brand mark is determined; By high-brightness signal in spinal column feature in CT faultage image and CT sheet is extracted, cut apart and obtain spinal column tomography picture, carry out three-dimensional reconstruction, obtain the three dimensional point cloud of spinal column; By three dimensional point cloud, carry out the structure of patch grids, then carry out three-dimensional model reconfiguration and play up, obtain spinal three-dimensional model;
Step 4, two-dimentional X sheet spinal column is corresponding with the vertebra joint of 3D spine model; According to the mid-nail of art afterwards positive side position X sheet vertebra and 3D spine model characteristics of image and medical features jointly definite vertebra save corresponding relation;
Step 5, the quasi real time three-dimensionalreconstruction of spinal column in art; According to the mid-nail of the art characteristics of image of positive side position X sheet vertebra and 3D spine model afterwards, by the 2D-3D registration in each single vertebral body stage, three-dimensional spinal column form in three-dimensionalreconstruction patient art quasi real time;
Step 6, bores nut screw location and three-dimensionalreconstruction in art;
Step 7, provides the visual nail of putting and instructs and put Real-Time Monitoring result after nail, for wrong and have the set screw of risk, provides warning and prompting, proofreaies and correct timely and the operation of remedying in art.
2. the method for real-time assessment and correction in posterior spinal operation art as claimed in claim 1, it is characterized in that, in this posterior spinal operation art, the method spinal segments of real-time assessment and correction belongs to rigid body, and whole spinal column belongs to non-rigid body, by the 2D/3D Image registration of rigid-object, realize the three-dimensionalreconstruction of non-rigid body joint target.
3. the method for real-time assessment and correction in posterior spinal operation art as claimed in claim 1, it is characterized in that, in this posterior spinal operation art, the method for real-time assessment and correction is estimated the 3D position of pedicle screw by 2D image, and the 3D form of following closely rear patient's spinal column is put in reconstruct operation.
4. the method for real-time assessment and correction in posterior spinal operation art as claimed in claim 1, is characterized in that the concrete grammar of step 3:
The first step, for CT faultage image, passing threshold method, extracts high brightness sclerotin view data;
Second step, the sequence sclerotin view data of obtaining by CT image sequence, sweeps spacing according to the pixel size of CT image, bed thickness and layer, builds real skeleton three-dimensional point cloud;
The 3rd step, the demarcation of the separation of patient's spinal three-dimensional model and vertebra joint, the three dimensional point cloud that has comprised its spinal column in patient bone three dimensional point cloud, can in aforementioned second step, separate, but for obtaining the spine model of sequential identity vertebral body sections, the separation of spinal three-dimensional model and vertebra feast-brand mark are carried out surely simultaneously; First,, by the sclerotin view data in CT image sequence, according to human medical basin bone, rib and shoulder clavicle feature, obtain basin bone and rib position at patient's sclerotin three dimensional point cloud; Next step, the relation in skeleton medical science according to basin bone and lumbar vertebra, judges lumbar motion segment, demarcates and separation basin bone and vertebral body cloud data; Then, the relation in skeleton medical science according to rib and thoracic vertebra, judges thoracic vertebra sections, demarcates and separate rib and vertebral body cloud data; Again, according to shoulder clavicle and cervical vertebra relation in skeleton medical science, judge cervical vertebra sections, demarcate and separate shoulder clavicle and vertebral body cloud data; Finally, set up the spinal three-dimensional cloud data of sequential identity vertebral body sections;
The 4th step, the surperficial cloud data of extraction three-dimensional point cloud, utilization turns net lattice Reconstruction Method effects on surface cloud data and carries out patch grids reconstruct, and plays up and obtain patient bone threedimensional model.
5. the method for real-time assessment and correction in posterior spinal operation art as claimed in claim 1, is characterized in that the concrete grammar of step 4:
The first step, by canny edge extracting method, extracts spinal vertebral stage and basin bone edge in the X sheet of positive side position;
Second step, according to circular arc and the size characteristic of basin bone and spinal column larger difference, obtains the basin position of bone and puts, thereby determines lumbar motion segment, sets up and labelling spinal vertebral sequence;
The 3rd step, for further confirming the correctness in vertebral body stage, according to the degree of crook of vertebral body sections in X picture and vertebral body size, with the vertebral body sections projection imaging of 3D model corresponding angle, mate with corresponding the correspondence of compound two-dimentional vertebral body and three-dimensional vertebral body.
6. the method for real-time assessment and correction in posterior spinal operation art as claimed in claim 1, is characterized in that the concrete grammar of step 5:
The first step, extracts high brightness pedicle screw view data in the X sheet of positive side position, and to cutting apart, obtains screw edge;
Second step, by canny Boundary extracting algorithm, extracts the positive side of vertebral body sections position X sheet Edge Feature Points;
The 3rd step, the screw edge obtaining according to the first step, removes the screw marginal point in Edge Feature Points;
The 4th step, selects to fix a certain roll angle of 3D spine model attitude, by canny Boundary extracting algorithm, extracts the positive lateral projection of 3D spine model picture edge characteristic point;
The 5th step, utilizes ICP algorithm, and respectively the positive lateral projection of the 3D spine model sections marginal point of now fixing roll angle is carried out to registration with positive side position X sheet sections marginal point, thereby estimate azimuth and the angle of pitch of spinal column attitude in X sheet, and the error of calculation;
The 6th step, repeats the 4th step and the 5th step, until error meets actual operation precision;
The 7th step, according to the registration results of each sections of spinal vertebral, adjusts each stage model of patient 3D spinal column, thus quasi real time reconstruct, three-dimensional spine model in patient's art, and record the corresponding registration parameter of each sections.
7. the method for real-time assessment and correction in the posterior spinal operation art as described in claim 1 or 6, is characterized in that, bores the concrete grammar of nut screw location and three-dimensionalreconstruction in step 6 art:
The first step, the preoperative cone nut screw 3D model that obtains respective model;
Second step, to each sections screwing of each spinal vertebral, according to screw centrosymmetric structure, in normotopia X sheet, determines screw attitude roll angle;
The 3rd step, utilizes ICP algorithm, and to screw marginal point in normotopia X sheet, the normotopia projecting edge point under corresponding roll angle carries out registration with screw 3D model, thereby determines the azimuth of screw; Extract screw center simultaneously, determine the XZ plan-position in normotopia X sheet of screw;
The 4th step, utilizes ICP algorithm, and in the X sheet of offside position, screw marginal point carries out registration with lateral projection's marginal point of screw 3D model under corresponding roll angle, thereby determines the angle of pitch of screw; Extract screw center simultaneously, determine the YZ plan-position in the X sheet of side position of screw;
The 5th step, according to calculating the positive side position registration parameter obtaining, and azimuth, the angle of pitch, XZ plan-position, the YZ plan-position in the roll angle of estimation and C, D step, estimated, calculate in the actual three-dimensional spine model of reconstruct patient, put the accurate location of screw after following closely;
The 6th step, repeats second step-five steps, until complete the accurate three-dimensionalreconstruction of all screws.
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Effective date of registration: 20160421 Address after: 410013 Yuelu District, Hunan, Tongzi slope road, Changsha Applicant after: The Third Hospital of Central South University Address before: 410013 Hunan province Changsha Hexi Yuelu District Tongzi Po Lu Central South University Xiangya Hospital Department of orthopedics Applicant before: Zhou Yong Applicant before: Tan Zhiguo |
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