CN104318009A - Method for designing personalized interbody fusion cage - Google Patents
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- CN104318009A CN104318009A CN201410558933.2A CN201410558933A CN104318009A CN 104318009 A CN104318009 A CN 104318009A CN 201410558933 A CN201410558933 A CN 201410558933A CN 104318009 A CN104318009 A CN 104318009A
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Abstract
The invention relates to a method for designing a personalized interbody fusion cage. The metod comprises the following steps of performing CT (computed tomography) scanning on a vertebral body; performing three-dimensional model reconstruction on CT continuous section image data; measuring a vertebral body model, namely measuring the sagittal diameter of the vertebral body, the transverse diameter of the vertebral body, the height of vertebrae interval and the like; performing personalized design and implantation on the interbody fusion cage on the basis of the measured parameters; meshing and smoothening; performing material assignment, boundary condition setting and the like to establish a finite element model; solving and analyzing the finite element model. The method provides a basis for the optimization and the improvement of the interbody fusion cage and the personalized interbody fusion cage is designed by considering geometric matching and function matching.
Description
Technical field
The present invention relates to a kind of personalized Invasive lumbar fusion device method for designing, more particularly relate to a kind of method of based on CT 3-dimensional reconstruction and measuring technique, finite element analysis technology, Invasive lumbar fusion device being carried out to personalized design.
Background technology
In clinical interbody fusion, implantation, size, spatial form and the neurotrosis of Invasive lumbar fusion device, implant stability, intervertebral bone graft amount is closely related.But, because differing greatly of physiological parameter and internal milieu individualized feature, standardization, mass, the Invasive lumbar fusion device of serializing production and the interaction of human body are difficult to optimization, cause some Invasive lumbar fusion devices to enter after in body, excessive wear, fatigue failure etc. occur.Therefore, the design of Invasive lumbar fusion device must be personalized.Invasive lumbar fusion device faces complicated ambient stress in vivo, these stress both can affect the reliability of Invasive lumbar fusion device self structure, the normal performance that also can affect Invasive lumbar fusion device function and surrounding host tissue change reconstruction, be one of key factor of Invasive lumbar fusion device success or failure.Therefore, the performance of Invasive lumbar fusion device not only will consider its material type selecting, preparation and surface modification, also should take into full account that it becomes the Configuration Design of medicine equipment, and the interaction between it and surrounding host tissue.At present, the design of most Invasive lumbar fusion device, based on geometric match demand, does not realize designing based on function match.
Summary of the invention
In order to overcome the design of current most Invasive lumbar fusion device based on geometric match demand, do not have to realize the problem based on function match design, the invention discloses a kind of personalized Invasive lumbar fusion device method for designing, described method is by utilizing CT three-dimensional reconstruction, under digital virtual environment, go back the anatomical structure feature of prevertebrate and carry out three-dimensional measurement, carry out personalized design and the implantation of Invasive lumbar fusion device on this basis, use personalized finite element analysis technology to carry out analyzing and studying to designed Invasive lumbar fusion device.
The present invention according to actual needs, the view data such as CT/MRI are imported in developed software CageDesigner, automatically carry out the segmentation of spinal vertebral, set up the geometric model of backbone, automatically carry out the stress and strain model of model, and backbone intervertebral fusion surgical procedure can be simulated and carry out finite element analysis, for the personalized design of Invasive lumbar fusion device provides reference.
The invention discloses a kind of personalized Invasive lumbar fusion device method for designing, specifically comprise the following steps:
1) image acquisition and pre-service: vertebra is carried out Spiral CT scan, the raw data of the vertebra then CT scanner obtained to import in software and carries out auto-sequencing and judgement according to the numbering of image to image.Then medium filtering, gaussian filtering and binary conversion treatment are carried out to the CT image imported.
2) foundation of centrum Iamge Segmentation and three-dimensional model: first manually select an initial lamella to start cutting procedure at software level face view area, the centrum general profile of the initial lamella of manual drawing, then adopts Level Set Method to obtain the centrum precise boundary of initial lamella through iteration.After this cutting procedure will be that starting point carries out cutting operation from upper and lower both direction to all lamellas with reference layer.Because the amplitude of variation of centrum CT image adjacent sheets target is less, thus can the segmentation result gained profile of handy processed lamella as the initial profile of adjacent sheets, then use Level Set Method to obtain the precise boundary of all centrums.Finally, manual method can be adopted to revise obtained profile.For the result of segmentation, adopt object plotting method to draw, and show in the window.
3) vertebral model is measured: centrum sagittal diameter and centrum horizontal shape footpath obtain in the upper soleplate plane of vertebral model.Adopt the cutting function of software, the three-dimensional vertebral model of cutting, obtains soleplate plane on vertebral model.Soleplate plane finds and divides the anterior-posterior axle that vertebral model becomes left and right two halves equally, measure the distance between anterior-posterior axle and vertebral model edge two intersection point, this distance is centrum sagittal diameter.Measure and distance between perpendicular straight line vertebral model edge two intersection point of anterior-posterior axle, what its middle distance was maximum is the horizontal shape footpath of centrum.The height of intervertenral space is measured at vertebral model median sagittal plane.Median sagittal plane manually obtains front and back marginal point and the soleplate central point of terminal plate of vertebral body.The distance measuring upper and lower terminal plate of vertebral body leading edge point is intervertenral space leading edge height, and the distance of 2 terminal plate of vertebral body trailing edge points is intervertenral space trailing edge height, and the distance of two soleplate central points is intervertenral space centre-height.
4) design of Invasive lumbar fusion device and implantation: in existing Invasive lumbar fusion device model bank, according to the upper limb anatomic form (curve of centrum, platform), select the geometric configuration (radian) of fusion device, according to the height of disc height determination Invasive lumbar fusion device, according to centrum transverse diameter, the length of centrum radius vector determination Invasive lumbar fusion device and width.The principle of design makes Invasive lumbar fusion device laminating anatomical structure, reaches larger contact area, meet mechanical strength, promote to merge.For two pieces of Invasive lumbar fusion devices, its symmetry is implanted in centrum latter half of.For single fusion cage, it is tiltedly implanted centrum center.
5) FEM meshing and level and smooth: adopt the Meshing Method based on voxel to carry out stress and strain model to centrum.First by the different coded representation of the pixel of each several part; Then adjacent for levels 8 pixels are connected into 1 voxel as node, remove the voxel of redundancy, using the hexahedral element of remaining voxel as eight nodes.The pixel coder of eight nodes of the unit in model surface and different materials interface is different, now adopt the method for mirror image subdivision that each border hexahedral element is decomposed into 5 tetrahedron elements, then carry out the level and smooth of interface by the node of these tetrahedron elements mobile; In order to reduce calculated amount, some unit consistent for material will merge as required.Adopt the method mapped to be mapped on designed personalized Invasive lumbar fusion device by the finite element grid of the Modular Intervertebral fusion device model in existing Invasive lumbar fusion device model bank, realize the stress and strain model of Invasive lumbar fusion device.
6) assignment of material and boundary condition are arranged: the elastic modulus of range site node densitometer calculated unit, model thickness of cortex of bone and Minor articulus friction factor are set, suppose that cancellous bony material is isotropy, between Invasive lumbar fusion device with centrum, adopt face-face to contact.The all degree of freedom of lower soleplate of hypocentrum are all fixed, and choose the upper soleplate central point R of centrum, by applying downward pressure simulation centrum load-bearing on R, apply torque simulation anteflexion, after stretch, lateral bending, torsion.By above-mentioned steps, complete the foundation of the centrum finite element model being implanted with Invasive lumbar fusion device.
7) the solving and analyzing of finite element model: adopt voxel finite element model derivation algorithm to solve centrum finite element model, obtain major principal stress, equivalent stress, sink and displacement, be used for evaluating stress distribution situation and the misalignment of centrum and Invasive lumbar fusion device, thus determine whether design is reasonable.For irrational design, turn back to step 4 and design is modified, and final realization was not only considered geometric match but also considered the design of personalized Invasive lumbar fusion device of function match.The personalized Invasive lumbar fusion device of final design is with STL formatted output.
The present invention's personalized Invasive lumbar fusion device method for designing advantage comprises:
1, consider geometric match and function match in the design comprehensively, personalized finite element analysis technology is incorporated in the design of Invasive lumbar fusion device.
2, visual display vertebra shape can measure the parameter shape footpath as horizontal in centrum of reacting vertebral body structure feature, centrum sagittal diameter, disc height etc. comprehensively;
3, method for designing is easy, and the running time is short, is easy to clinical expansion.
Accompanying drawing explanation
Fig. 1 is that personalized Invasive lumbar fusion device according to an embodiment of the invention designs concrete implementing procedure figure;
Fig. 2 be according to an embodiment of the invention on centrum soleplate plane carry out parameter measurement schematic diagram;
Fig. 3 according to an embodiment of the inventionly carries out parameter measurement schematic diagram at centrum median plane;
Fig. 4 is two piece Invasive lumbar fusion device implantation position schematic diagram of the present invention;
Fig. 5 is single fusion cage implantation position schematic diagram of the present invention;
Fig. 6 is the centrum stress and strain model result figure of one embodiment of the present of invention;
Fig. 7 is the personalized Invasive lumbar fusion device designed by one embodiment of the present of invention.
Embodiment
As shown in Figure 1, be that personalized Invasive lumbar fusion device according to an embodiment of the invention designs concrete implementing procedure figure, comprise the following steps:
Step 101: image acquisition and pre-service.
Spiral CT scan is carried out to vertebra, obtains vertebra CT image.The raw image data of the vertebra of acquisition to be imported in software and according to the numbering of image, auto-sequencing and judgement to be carried out to image.Then medium filtering, gaussian filtering and binary conversion treatment are carried out to the CT image imported.
Step 102: the foundation of centrum Iamge Segmentation and three-dimensional model.
First manually select an initial lamella to start cutting procedure at software level face view area, the centrum general profile of the initial lamella of manual drawing, then adopt Level Set Method to obtain the centrum precise boundary of initial lamella through iteration.After this cutting procedure will be that starting point carries out cutting operation from upper and lower both direction to all lamellas with reference layer.Because the amplitude of variation of centrum CT image adjacent sheets target is less, thus can the segmentation result gained profile of handy processed lamella as the initial profile of adjacent sheets, then use Level Set Method to obtain the precise boundary of all centrums.Finally, manual method can be adopted to revise obtained profile.For the result of segmentation, adopt object plotting method to draw, and show in the window.
Step 103: vertebral model is measured.
Centrum sagittal diameter and horizontal shape footpath obtain in the upper soleplate plane of vertebral model.Adopt the cutting function of software, the three-dimensional vertebral model of cutting, obtain the upper soleplate plane (Fig. 2) of centrum.Soleplate plane finds and divides the anterior-posterior axle L (Fig. 2) that vertebral model becomes left and right two halves equally, measure the distance between anterior-posterior axle L and vertebral model edge two intersection point C, D (Fig. 2), this distance is the sagittal diameter of centrum.Measure and distance between the perpendicular straight line of anterior-posterior axle L and vertebral model edge two intersection point, the maximum distance between 2 A, B (Fig. 2) of its middle distance is the horizontal shape footpath of centrum.The height of intervertenral space is measured at vertebral model median sagittal plane (Fig. 3).Median sagittal plane manually obtains front and back marginal point E, F, G, H (Fig. 3) and soleplate central point I, J (Fig. 3) of terminal plate of vertebral body.Measure upper and lower terminal plate of vertebral body leading edge point F, the distance of H (Fig. 3) is intervertenral space leading edge height, the distance of 2 terminal plate of vertebral body trailing edge points E, G (Fig. 3) is intervertenral space trailing edge height, and the distance of two soleplate central point I, J (Fig. 3) is intervertenral space centre-height.
Step 104: the design of Invasive lumbar fusion device and implantation.
In existing Invasive lumbar fusion device model bank, according to the upper limb anatomic form (curve of centrum, platform), select the geometric configuration (radian) of fusion device, according to the height of disc height determination Invasive lumbar fusion device, according to centrum transverse diameter, the length of centrum radius vector determination Invasive lumbar fusion device and width.The principle of design makes Invasive lumbar fusion device laminating anatomical structure, reaches larger contact area, meet mechanical strength, promote to merge.For two pieces of Invasive lumbar fusion devices, its symmetry is implanted in centrum latter half of (Fig. 4).First vertebral rim is inside contracted 1/3rd, obtain the gray area shown in Fig. 4, Invasive lumbar fusion device can not implant this part.One piece of Invasive lumbar fusion device is alignd with some D (Fig. 4), moves to the right, until it contacts with gray area, complete the determination of the implantation position of this piece of Invasive lumbar fusion device, then place another piece of Invasive lumbar fusion device symmetrically.For single fusion cage, it is tiltedly implanted centrum center (Fig. 5).First 45 degree are become to place with centrum sagittal diameter in Invasive lumbar fusion device major axis h direction, Invasive lumbar fusion device trailing edge is overlapped with some D (Fig. 5), then Invasive lumbar fusion device is moved in parallel to side, until Invasive lumbar fusion device major axis h is by centrum center O (Fig. 5), complete the implantation of single fusion cage.
Step 105: FEM meshing and level and smooth.
The Meshing Method based on voxel is adopted to carry out stress and strain model to centrum.First by the different coded representation of the pixel of each several part; Then adjacent for levels 8 pixels are connected into 1 voxel as node, remove the voxel of redundancy, using the hexahedral element of remaining voxel as eight nodes.The pixel coder of eight nodes of the unit in model surface and different materials interface is different, now adopt the method for mirror image subdivision that each border hexahedral element is decomposed into 5 tetrahedron elements, then carry out the level and smooth of interface by the node of these tetrahedron elements mobile; In order to reduce calculated amount, some unit consistent for material will merge as required.Adopt the method mapped to be mapped on designed personalized Invasive lumbar fusion device by the finite element grid of the Modular Intervertebral fusion device model in existing Invasive lumbar fusion device model bank, realize the stress and strain model of Invasive lumbar fusion device.A fructufy of FEM meshing is such as shown in Fig. 6.
Step 106: the assignment of material and boundary condition are arranged.
The elastic modulus of range site node densitometer calculated unit, arranges model thickness of cortex of bone and Minor articulus friction factor, supposes that cancellous bony material is isotropy, adopts face-face to contact between Invasive lumbar fusion device with centrum.The all degree of freedom of lower soleplate of hypocentrum are all fixed, and choose the upper soleplate central point R of centrum, by applying downward pressure simulation centrum load-bearing on R, apply torque simulation anteflexion, after stretch, lateral bending, torsion.By above-mentioned steps, complete the foundation of the centrum finite element model being implanted with Invasive lumbar fusion device.
Step 107: the solving and analyzing of finite element model.
Adopt voxel finite element model to solve conventional algorithm EBE-PCG (element by element precon-ditioned conjugate gradient) algorithm to solve, obtain major principal stress, equivalent stress, sink and displacement, be used for evaluating stress distribution situation and the misalignment of centrum and Invasive lumbar fusion device, thus determine whether design is reasonable.For irrational design, turn back to step 4 and design is modified, and final realization was not only considered geometric match but also considered the design of personalized Invasive lumbar fusion device of function match.The personalized Invasive lumbar fusion device of final design is with STL formatted output (Fig. 7).
The design of the personalized lumbar intervertebral fusion device of embodiment
L3-L4 lumbar vertebrae is carried out Spiral CT scan, sweep parameter: thickness 0.63mm, layer is apart from 0.63mm, bulb voltage 120kV, and electric current 225mAs, resolution 512*512pxl, obtain 150 lumbar vertebrae CT images.Medium filtering, gaussian filtering and binary conversion treatment is carried out by these 150 CT data importing softwares.
First a picture with centrum and vertebral arch is manually selected as initial lamella to start cutting procedure at software level face view area, the centrum general profile of the initial lamella of manual drawing, then adopts Level Set Method to obtain the centrum precise boundary of initial lamella through iteration.After this cutting procedure will be that starting point carries out cutting operation from upper and lower both direction to all lamellas with reference layer.
Adopt the cutting function of software, the three-dimensional vertebral model of cutting, obtain the upper soleplate plane (Fig. 2) of centrum.Soleplate plane finds and divides the anterior-posterior axle L (Fig. 2) that vertebral model becomes left and right two halves equally, measure the distance between anterior-posterior axle L and vertebral model edge two intersection point C, D (Fig. 2), obtain centrum sagittal diameter.Measure and distance between the perpendicular straight line of anterior-posterior axle L and vertebral rim two intersection point, the maximum distance between 2 A, B (Fig. 2) of its middle distance is the horizontal shape footpath of centrum.Median sagittal plane manually obtains front and back marginal point E, F, G, H (Fig. 3) and soleplate central point I, J (Fig. 3) of terminal plate of vertebral body.Measure upper and lower terminal plate of vertebral body leading edge point F, the distance of H (Fig. 3) obtains intervertenral space leading edge height, the distance of 2 terminal plate of vertebral body trailing edge points E, G (Fig. 3) obtains intervertenral space trailing edge height, and the distance of two soleplate central point I, J (Fig. 3) obtains intervertenral space centre-height.
Choose JAGUAR
tMlUMBAR I/F CAGE (size: height=9mm, wide=9mm, length=25mm, elastic modulus: 3600MPa, Poisson ratio: 0.25) as reference model, design the length of new Invasive lumbar fusion device according to measured centrum horizontal shape footpath, the height of new Invasive lumbar fusion device is set according to disc height.
Two pieces of Invasive lumbar fusion devices are implanted in centrum latter half of.Stress and strain model and level and smooth is carried out to model.Arranging Minor articulus friction factor is 0.1, supposes that cancellous bony material is isotropy, adopts face-face to contact between Invasive lumbar fusion device with centrum.The all degree of freedom of lower soleplate of L4 centrum are all fixed, and choose the upper soleplate central point R of L3 centrum, by applying 400N downward pressure simulation centrum load-bearing on R, apply 10N-m torque simulation anteflexion, after stretch, lateral bending, torsion.
Adopt voxel finite element model to solve conventional algorithm EBE-PCG (element by element precon-ditioned conjugate gradient) algorithm to solve, obtain major principal stress, equivalent stress, sink and displacement, be used for evaluating stress distribution situation and the misalignment of centrum and Invasive lumbar fusion device, thus determine whether design is reasonable.For irrational design, turn back to step 4 and design is modified, and final realization was not only considered geometric match but also considered the design of personalized Invasive lumbar fusion device of function match.The personalized Invasive lumbar fusion device of final design is with STL formatted output (Fig. 7).
Should be understood that, just to illustrate but not determinate in the above description described and carry out the present invention in illustrating, and do not depart from as appended claims under the prerequisite of the present invention that limits, can various change, distortion be carried out to above-described embodiment and/or revise.
drawing reference numeral explanation
The foundation of 101, image acquisition and pre-service 102, centrum Iamge Segmentation and three-dimensional model
103, vertebral model measure 104, the design of Invasive lumbar fusion device and implantation
105, the assignment of FEM meshing and level and smooth 106, material and boundary condition are arranged
107, the solving and analyzing of finite element model.
Claims (5)
1. a method for designing for personalized Invasive lumbar fusion device model, is characterized in that comprising the following steps:
1) image acquisition and pre-service: vertebra is carried out Spiral CT scan, then carries out Image semantic classification by the vertebra raw data that CT scanner obtains, thus obtains centrum image;
2) foundation of centrum Iamge Segmentation and three-dimensional model: the segmentation being realized centrum image by automatic or manual segmentation, adopts object plotting method to complete reconstruction and the display of centrum three-dimensional model;
3) centrum three-dimensional model is measured: the sagittal diameter of centrum and horizontal shape footpath obtain in the upper soleplate plane of centrum three-dimensional model, and the height of intervertenral space is measured at the median sagittal plane of centrum three-dimensional model;
4) design of Invasive lumbar fusion device model and implantation: in existing Invasive lumbar fusion device model bank, according to the upper limb anatomic form of centrum three-dimensional model, select the geometric configuration of fusion device model, according to the height of disc height determination Invasive lumbar fusion device model, according to length and the width of centrum transverse diameter, centrum radius vector determination Invasive lumbar fusion device model, according to the quantity of the Invasive lumbar fusion device model implanted, be implanted to the different parts of centrum three-dimensional model;
5) FEM meshing and level and smooth: respectively FEM meshing and level and smooth is carried out to centrum three-dimensional model and Invasive lumbar fusion device model;
6) assignment of material and boundary condition are arranged: the material properties and the boundary condition that arrange centrum three-dimensional model each several part, by above-mentioned steps, complete the foundation of the centrum finite element model being implanted with Invasive lumbar fusion device model;
7) the solving and analyzing of finite element model: adopt voxel finite element model derivation algorithm to solve centrum finite element model, solving result is used for evaluating stress distribution situation and the misalignment of centrum three-dimensional model and Invasive lumbar fusion device model, thus determines whether design is reasonable; For irrational design, turn back to step 4) design to be modified, final realization had not only been considered geometric match but also had been considered the design of personalized Invasive lumbar fusion device model of function match.
2. the method for designing of personalized Invasive lumbar fusion device model according to claim 1, is characterized in that, the 1st) Image semantic classification described in step comprises medium filtering, gaussian filtering and binary conversion treatment.
3. the method for designing of personalized Invasive lumbar fusion device model according to claim 1, it is characterized in that, 4th) described in step, the concrete mode of Invasive lumbar fusion device model implant site is: for two pieces of Invasive lumbar fusion device models, by latter half of for its symmetrical implantation centrum three-dimensional model, for single fusion cage model, it is tiltedly implanted centrum three-dimensional model center.
4. the method for designing of personalized Invasive lumbar fusion device model according to claim 1, it is characterized in that, 5th) FEM meshing described in step and level and smooth concrete mode are: adopt the Meshing Method based on voxel to carry out stress and strain model and level and smooth to centrum three-dimensional model, adopt the method mapped to carry out stress and strain model to designed Invasive lumbar fusion device model.
5. the method for designing of personalized Invasive lumbar fusion device model according to claim 1, is characterized in that, the 7th) solving result described in step specifically comprises major principal stress, equivalent stress, sinks and displacement.
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