CN105997244A - Method and system for digital surgical operation design - Google Patents
Method and system for digital surgical operation design Download PDFInfo
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- CN105997244A CN105997244A CN201610282335.6A CN201610282335A CN105997244A CN 105997244 A CN105997244 A CN 105997244A CN 201610282335 A CN201610282335 A CN 201610282335A CN 105997244 A CN105997244 A CN 105997244A
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Abstract
The invention relates to the field of digital surgical operation design and specifically relates to a method and system for the digital surgical operation design. The method comprises the steps that a three-dimensional image is established according to an input medical digital image DICOM document; an operation model is established for the three-dimensional image; operational tools are selected according to an operation type to carry out operation plan operations of the operation model, an input 3D scanning image and a stl model, so that a digital operation result can be obtained; and an operation scheme is generated and can be used for operation guidance, wherein the operation scheme comprises one type or multiple types of operation stents and operation data. A system is designed correspondingly according to the method. The method and the system provided by the invention have the advantages that digital simulation of an operation course can be implemented; the operation result can be corrected; the operation scheme which can be used as guidance for actual operations can be generated; and accuracy of the actual operations can be increased.
Description
Technical field
The present invention relates to digitized surgical simulation technology, in particular to digitized surgical operation design side
Method and system.
Background technology
Along with prosperity and the people's fine yearning to beauty of present science and technology, carry out Oral and Maxillofacial Surgery hands
The people of art treatment gets more and more.Oral and Maxillofacial Surgery (oral and maxillofacial surgery) be one with surgery
Treatment is main, to oral cavity organs (tooth, alveolar bone, lip, cheek, tongue, palate, pharynx etc.), facial soft tissue, jaw
The all bones in face (upper jaw bone, mandibular bone, cheekbone etc.), remporomandibular joint, salivary gland and some relevant disease of cervical region enter
Row surgical intervention.Concrete therapeutic process is usually: operation consent passes through the Imaging Technology such as x-ray, CT, MRI
The head of patient, oral cavity etc. are carried out artificial or computer software measurement analysis, and passes through medical software
Carry out surgical effect simulation, formulate operation plan.CN102389335A provides a kind of digital jaw operation
Guide plate and manufacture method thereof, by gathering the imaging data of patient, measure analysis to imaging data
Line position of going forward side by side marks, and the data obtained after analyzing import design software, and design, except surgical guide, manufactures
Surgical guide.But, in this process, the uncertainty extracted due to various image datas, causes operation
Effect simulation occurs interference factor.And, the mark at flat image and the hands according to panel data design
Art guide plate, when being applied directly to the treatment of three-dimensional jaw face, can produce the inapplicable of plane and stereochemical structure, cause
Surgical simulation result causes very large deviation when instructing actual operation, directly affects the successful of operation.
Summary of the invention
It is an object of the invention to provide a kind of digitized surgical operation method for designing and system, with digitized hands
Art is simulated, and generates the scheme instructing actual operation.
Embodiments provide a kind of digitized surgical operation method for designing, comprising:
Step 1, builds 3-D view, described graphics according to the medical digital images DICOM file imported
As including: resurfacing 3-D view and many plane pictures MPR figure；
Step 2, carries out described resurfacing 3-D view building operation model；
Step 3, imports 3D scanogram and stl model；
Step 4, according to type of surgery, the 3D of described operation model and importing is scanned figure by selection operation instrument
Picture and stl model carry out surgical planning operation, obtain digitized surgical outcome；
Step 5, according to described digitized surgical outcome, generates operation plan, for guided operation, described hands
Art scheme includes: surgical guide, one or more in surgical data.
In certain embodiments, being preferably, between step 1 and step 2, described method for designing also includes:
Described resurfacing 3-D view is edited；
Described editor includes: rotates, move, scale, display layout's switching；
Described display layout includes: resurfacing 3-D view, described many plane pictures MPR figure is by presetting chi
Very little size, preset that arrangement mode is common or unique display.
In certain embodiments, being preferably, described step 2 includes:
Selecting building mode, described building mode includes: in the selection of threshold range, point of interest, regional choice
One or more, described threshold range includes: skeleton, tooth, soft tissue, enamel, Compact bone,
One or more in spongy bone；
Carrying out building operation according to described building mode, the structure operation of described point of interest selection correspondence is:
Selecting point of interest on described many planes MPR figure, the structure operation that described regional choice is corresponding is: described many
Region is selected on plane MPR figure；
Described structure operation is applied to described resurfacing 3-D view, disjunct with point of interest selected
Region is deleted, and forms operation model.
In certain embodiments, be preferably, described operation instrument includes: mirror image, cephalometry, movement,
Replacement, registration, natural head posture adjustment, osteotomy, fibula are rebuild.
In certain embodiments, being preferably, the method that described natural head posture adjusts is: with reference to treating surgery individual
Pose data in its natural state, adjust resurfacing 3-D view to natural pose.
In certain embodiments, being preferably, the method for described cephalometry includes: choose measuring method, institute
State measuring method to include: with lead-in mode import measuring method or self-defined measuring method, described in make by oneself
Justice measuring method can derive；Described self-defined measuring method includes: in some measurement, line measurement, planar survey
Any one or more；
According to measuring method, described operation model is measured.
In certain embodiments, being preferably, described registration includes:
Determine the fixed model as registration benchmark, and as floating model subject to registration；
Described floating model is registrated on described fixed model.
Present invention also offers a kind of system performing described digitized surgical operation method for designing, comprising:
Import module, be used for importing Digital image DICOM file and 3D scanogram and stl model；
3-D view builds module, for building according to the described Digital image DICOM file imported
Resurfacing 3-D view and many plane pictures MPR figure；
Operation model builds module, for described resurfacing 3-D view carries out structure operation model；
Surgical planning operation module, for according to type of surgery, selection operation instrument is to operation model and importing
3D scanogram and stl model carry out surgical planning operation, obtain digitized surgical outcome；
Generation module, for generating operation plan according to described digitized surgical outcome, for guided operation, institute
State operation plan to include: surgical guide, one or more in surgical data.
In certain embodiments, it is preferably, performs the system of described digitized surgical operation method for designing, its
Also include: editor module, for resurfacing 3-D view being built the described resurfacing three of module construction
Dimension image is edited, and for operation model, the resurfacing 3-D view after editor is built module.
In certain embodiments, be preferably, described editor module includes: gyrator module, mover module,
Scaling submodule, display layout's switching submodule；
Described gyrator module, for providing the throw that resurfacing 3-D view carries out rotation process；
Described mover module, for providing the translation instrument that resurfacing 3-D view carries out translation；
Described scaling submodule, for providing the scaling being amplified resurfacing 3-D view and/or reducing
Instrument；
Described display layout switching submodule, for showing that the layout of content switches over, the cloth of display content
Office includes: resurfacing 3-D view, described many plane pictures MPR figure is by pre-set dimension size, the row of presetting
Mode for cloth is common or unique display.
In certain embodiments, being preferably, described operation model builds module and includes: threshold range submodule,
Point of interest submodule, region submodule, delete submodule；
Described threshold range submodule, is used for providing threshold range to select, and/or threshold range input, described
Threshold range includes: the one or many in skeleton, tooth, soft tissue, enamel, Compact bone, spongy bone
Kind；
Described point of interest submodule, carries out point of interest editor for providing on described many plane pictures MPR figure
Instrument；
Described region submodule, for providing the work carrying out terrain feature edit on described many plane pictures MPR figure
Tool；
Delete submodule, for deleting in resurfacing 3-D view with emerging according to the point of interest selected, region
Interest puts disjunct selected region.
In certain embodiments, being preferably, surgical planning operation module includes: mirror image submodule, and head shadow is surveyed
Quantum module, mover module, replacement submodule, natural head posture adjust submodule, registration submodule；
Described mirror image submodule, is used for providing mirror image benchmark to arrange instrument, treat that mirror area selects instrument, institute
State mirror image benchmark to include: image line benchmark and/or, mirror image face benchmark；
Described natural head posture adjusts submodule, be used for providing controllable pair as shifter and/or X-axis, Y-axis,
The anglec of rotation input of Z axis, and rotate described operation model according to the horizontal plane and vertical plane crossing central point, make
Described operation model and natural pose data consistent.
Described replacement submodule, builds the operation model of module construction for calling described operation model；
Described cephalometry submodule, be used for providing instrument is a little set, line arranges instrument, face arranges instrument,
Measurement method instrument, measurement method import/derivation instrument；Described measurement method instrument, for providing the selection of measurement method
And/or self-defined, according to the point, line, surface arranged, utilize measurement method that operation model carries out distance, angle
Measurement, obtain measurement result；Described measurement method imports/derives, and is used for importing/derive measurement method；
Described registration submodule, is used for determining unit, characteristic point unit, registration unit；Described determine unit,
For providing the fixed model as registration benchmark and the selection instrument as floating model subject to registration；Described
Characteristic point unit, for providing the instrument determining characteristic point on floating model；Described registration unit, is used for
Registration way choice instrument is provided；Described registration mode includes: multiple spot registration and/or global registration.
In certain embodiments, being preferably, surgical planning operation module also includes: osteotomy submodule,
Described osteotomy submodule includes: osteotomy unit, operating point unit, adjustment unit；
Described osteotomy unit, for providing the selection instrument of osteotomy plate, described osteotomy plate includes: flat board, V
Template, Z-shaped plate, broken line plate, sagittal split plate-left side and sagittal splits one or more in plate；
Described operating point unit, for providing the instrument determining operating point on described operation model；
Described adjustment unit, is used for arranging central point, and according to described central point to operation model and/or right
Osteotomy plate on operation model is adjusted.
In certain embodiments, being preferably, surgical simulation module also includes: fibula rebuilds submodule；
Described fibula rebuild submodule include: path unit, fibula model import unit, fibula implementation unit,
Adjustment unit；
Described path unit, for providing the determination instrument of path instruction point；
Described fibula model import unit, is used for importing fibula model；
Described fibula implementation unit, for according to fibula model and path, cuts on operation model.
Described adjustment unit, the wedge on the fibula obtaining cutting is adjusted.
The digitized surgical operation method for designing of embodiment of the present invention offer and system, compared with prior art,
Effectively import medical digital images DICOM, the two-dimensional signal on this figure is converted into resurfacing 3-D view
Information and many plane pictures MPR figure, can more directly carry out surgical planning operation from digitized angle.Building
After resurfacing 3-D view, according to concrete operation technique, resurfacing 3-D view can be carried out editor and obtain
Operation model, effectively rejects interference information.By to the 3D scanogram of operation model and importing and stl mould
Type carries out surgical planning, generates operation plan according to digitized surgical outcome, can be hands in this operation plan
Physicopsychic training techniques evidence, it is also possible to be surgical guide.
Accompanying drawing explanation
Fig. 1 is the step schematic diagram of one embodiment of the invention digitized surgical operation method for designing.
Detailed description of the invention
Combine accompanying drawing below by specific embodiment the present invention is described in further detail.
Instruct in view of present digitized surgical operation and actual operation occurs various do not mate, inaccurate ask
Topic, the present embodiment provides a kind of digitized surgical operation method for designing and system.
A kind of digitized surgical operation method for designing, comprising:
Step 1, builds 3-D view, described graphics according to the medical digital images DICOM file imported
As including: resurfacing 3-D view and many plane pictures MPR figure；
Step 2, carries out described resurfacing 3-D view building operation model；
Step 3, imports 3D scanogram and stl model；
Step 4, according to type of surgery, the 3D of described operation model and importing is scanned figure by selection operation instrument
Picture and stl model carry out surgical planning operation, obtain digitized surgical outcome；
Step 5, according to described digitized surgical outcome, generates operation plan, for guided operation, described hands
Art scheme includes: surgical guide, one or more in surgical data.
STL model is the abbreviation of a kind of 3D model file form STL (STereo Lithography).
Perform the system of digitized surgical operation method for designing, comprising:
Import module, be used for importing Digital image DICOM file and 3D scanogram and stl model；
3-D view builds module, for building according to the described Digital image DICOM file imported
Resurfacing 3-D view and many plane pictures MPR figure；
Operation model builds module, for described resurfacing 3-D view carries out structure operation model；
Surgical planning operation module, for according to type of surgery, selection operation instrument is to operation model and importing
3D scanogram and stl model carry out surgical planning operation, obtain digitized surgical outcome；
Generation module, for generating operation plan according to described digitized surgical outcome, for guided operation, institute
State operation plan to include: surgical guide, one or more in surgical data.
Effectively import medical digital images DICOM, the two-dimensional signal on this figure is converted into resurfacing three-dimensional
Image information and many plane pictures MPR figure, can more directly carry out surgical planning operation from digitized angle.?
After building resurfacing 3-D view, according to concrete operation technique, resurfacing 3-D view can be edited
Obtain operation model, effectively reject interference information.By to the 3D scanogram of operation model and importing and stl
Model carries out surgical planning, generates operation plan according to digitized surgical outcome, in this operation plan can be
Surgical data, it is also possible to be surgical guide.
It follows that the present invention describes this technology in detail by some specific embodiments:
A kind of digitized surgical operation method for designing, as it is shown in figure 1, comprising:
Step 101, imports correspondence and treats the medical digital images DICOM file of surgery individual；
Treat surgery individual to carry out various scanning and obtain medical digital images DICOM file.
Step 102, imports correspondence and treats 3D scanogram and the stl model of surgery individual；
It should be noted that step 101, step 102 gives two kinds and imports file mode, in practical operation
In, importing can also be history project file.
This importing can edit DICOM literary composition by directory tree, file display list or path input frame
The lead-in path of part, thus the DICOM data under importing assigned catalogue.
Step 103, according to import medical digital images DICOM file build resurfacing 3-D view and
Many plane pictures MPR schemes；
After selecting the DICOM file imported to open, being read out it, it is suitable to select during reading
Series information, and according to select series information enter three-dimensional reconstruction operation, it is thus achieved that 3-D view, these are three years old
Dimension image includes resurfacing 3-D view and many plane pictures MPR figure.
Step 104, edits resurfacing 3-D view；
Owing to perhaps the resurfacing 3-D view after building exists position, angle, size, display mode etc.
Problem, carries out subsequent operation in order to more convenient, first can compile resurfacing 3-D view easily
Volume, such as: rotate, move, scale, display layout's switching etc..
Herein for display layout switches, often operate on MPR figure in subsequent operation, and then
It is reacted in resurfacing three-dimensional image information, therefore, screen needs in showing to scheme the MPR of multi-angle,
Resurfacing 3-D view individually shows or shows simultaneously, accordingly, it would be desirable to carry out the switching of display layout.Table
Face reconstruction 3-D view, many plane pictures MPR figure are common or only by pre-set dimension size, default arrangement mode
Vertical displaying.
Step 105, carries out resurfacing 3-D view building operation model；
Since it is desired that operative site is different, follow-up various operations can be caused by complete resurfacing 3-D view
Too much impact, the operation model effectively extracting corresponding operative site is extremely important.
This extraction, building mode include: the one or many in the selection of threshold range, point of interest, regional choice
Kind, threshold range includes: the one in skeleton, tooth, soft tissue, enamel, Compact bone, spongy bone
Or it is multiple；By selecting different threshold ranges, the operation model can being correlated with extracting directly.
In order to improve the suitability, threshold range can be that selection carries threshold range, it is possible to for self-defined threshold value
Scope.But, owing to the transmutability of self-defined threshold value is relatively big, the most only possess disposable and uncertain,
Therefore, this self-defined threshold value should be able to preserve, delete, editor etc..
Corresponding local can combine build by selecting point of interest and selection region.Can select on MPR figure
Selecting point of interest, the point of interest of selection is simultaneously in the position display that resurfacing 3-D view is corresponding.Resurfacing
3-D view is corresponding with MPR figure, has data association, and a side has variation, the opposing party to change the most therewith.?
By using instrument " lasso trick " or " justifying " to wipe or add the region of selection on MPR figure, round is big
Little can by amendment numerical value adjust, region disjunct with point of interest is identified as unwanted regions, can
It is automatically deleted.
The operation of above-mentioned structure is applied to resurfacing 3-D view, forms operation model.
It should be noted that after this operation model is formed, correspondence volume of data can be generated, should by changing
Data, it is also possible to edit operation model again, to obtain subsequent operation model more accurately.And,
This amendment model, it is also possible to by reselect point of interest, reselect deletion, increase region revise.
Step 106, according to type of surgery, the selection operation instrument 3D scanogram to operation model and importing
Surgical planning operation is carried out with stl model；
This step contains the various operations of the 3D scanogram to operation model and importing and stl model, with
Reach to carry out step by step surgical planning operation, finally give digitized surgical outcome.
This operation includes: natural head posture adjustment, mirror image, cephalometry, movement, reset, registrate, osteotomy
Art, fibula reconstruction etc..Particularly as follows:
Natural head posture adjusts: owing to treating that perhaps surgery individual there will be inclined head, the head position problem such as the most just, according to
Also can there is this problem in the resurfacing 3-D view that scanning information generates, through the operation that step 105 obtains
This problem is not corrected by model, so, before carrying out other operations, need correct position to be corrected to certainly
So head position.Natural head posture is the most natural position of model, can manually regulating object shifter or the most defeated
The anglec of rotation entering X, Y, Z axis adjusts.
Concretely: determine central point, and cross horizontal plane and the vertical plane of central point；According to horizontal plane with perpendicular
Face rotation process model directly, make operation model and natural pose data consistent.
Reset: reset model and can return to initial condition, similar recovery, if operational error, can use
Reset to obtain initial condition.
Mirror image: generate the mirror image model with the line at imaging plane place as line of symmetry by imaging plane.Behaviour
Make arbitrarily to choose on model or MPR figure 3 points, imaging plane can be created.Select operation model with corresponding
The mirror image model that it is center line symmetry with imaging plane that imaging plane can generate.Imaging plane passes through object shifter
Adjusting position, can change title and observability.
It should be noted that the mirror image generated can realize preserving, import, replicate, delete, translucent etc..
And, imaging plane can be obtained by importing.
Mobile: model manually controlled plant shifter adjusts the position of model ideal.Manual scalable
The step-length of movement, distance, direction and the anglec of rotation adjust the tram of model.Movement can arrange limit
Molding formula (such as: move along axle, move in face, around rotating, pivoting).Manually adjust object
Shifter center position, thus adjust modal position.
Cephalometry: use existing analytic process or self-defined analytic process, creates dissimilar point (such as: solely
Vertical point, midpoint between 2, the intersection point in three faces, the intersection point of line dough-making powder, away from certain some fixed-direction and
The point of distance, Delaire analytic process X ' lighting), line (such as: line that two points determine, penetration and with
Line, penetration the line parallel with line, penetration the line vertical with face that line intersects vertically, two faces
Intersection etc.), face (such as: face, penetration the face parallel with face that three points determine, penetration and with face
Vertical face, penetration the face vertical with two faces, run through line the face parallel with another line, run through
The face etc. that point the face vertical with line, Points And lines determine), measuring method (such as: 3 angles determined,
The angle of two lines, the angle of line dough-making powder, the angle in two faces, supplementary angle, the distance between 2,2 points
Between distance in X-axis, the distance in Y-axis between 2, the distance on Z axis between 2,
Put the distance with line, point and the distance in face, the distance etc. of two lines).By measuring distance, angle etc. behaviour
Make to indicate on model, thus obtain measurement result, determine the surgical data such as displacement.Wherein analytic process can
The analytic process prestored with selection, it is also possible to self-defined analytic process, it is also possible to import external analysis method.Analytic process
In the position of point can indicate respectively or all indicate on operation model.During instruction or after completing, can
Cancel the instruction point just indicated.
It should be noted that this analysis method is reproducible, operation model can be carried out by replicating analytic process
Various similar operations.Can also be exported, apply on other operation models to facilitate.
Osteotomy: select different types of osteotomy plate, takes up an official post at threedimensional model or mpr plane and takes at 3.
Osteotomy plate can be edited, by object shifter adjust position, it is possible to change object shifter central point and
The size direction of osteotomy plate, can be manually entered the width of osteotomy plate, length and thickness.Select to carry out osteotomy
Model and osteotomy plate, perform osteotomy.Osteotomy plate type can be divided into flat board, V-type plate, Z-shaped plate, broken line
Plate, sagittal split plate-left side and sagittal splits plate.Certainly, this blade plate can preserve, imports or delete.
Fibula is rebuild: need to arrange path and fibula blocks enforcement.Can on model or mpr plane instruction road
Footpath, fibula can cut according to the path point of instruction.Wherein fibula model can use the mode of importing, road
Footpath can be deleted, increases instruction point, delete instruction point, the instruction point etc. on amendment path.Select operation mould
After type, according to the path point of instruction, fibula carries out cutting embodiment.Create: can create on fibula model
Build the starting point of fibula cutting position, according to the starting point created and the path embodiment of design, carry out calf
Bone cuts.Wedge on the fibula cut can be adjusted.Completed fibula block, at lower jaw
Place can rotate.Complete design i.e. generate cut fibula block models.It should be noted that
The starting point created can be deleted.
Registration: floating model is registrated on fixed model, obtains registration result；
Fix certain model, by floating model according to the Characteristic points match chosen on fixed model, or choose
Partial Feature global registration is on fixed model.
Registration mode can be divided into multiple spot registration and global registration.
Multiple spot registration is: takes corresponding characteristic point respectively on fixed model and floating model respectively and carries out many
Point matching.
Corresponding function key is: determine: after selecting fixing, floating model to complete, click on confirming button, i.e.
Many Point matching can be carried out.Cancel: in the selection process or after having selected, cancel button is removed in click,
Cancel the characteristic point chosen.Delete a point: in the selection process or after having selected, click on deleting
One some button can delete a characteristic point.Delete whole point: in the selection process or after having selected,
Click on and all delete button, the characteristic point of all instructions can be deleted.
Global registration is: according to the fixed model selected and floating model, selected part feature is by floating model
Global registration is on fixed model.Run through, run through the selected part of expression and pass together with selected region
The part of whole model.
Step 107, generates operation plan according to digitized surgical outcome, for guided operation, operation plan bag
Include: surgical guide, one or more in surgical data.
Due to whole surgical planning operation be all resurfacing 3-D view, the 3D scanogram of importing and
Carrying out on stl model, therefore, the digitized surgical outcome finally obtained directly can be printed by 3D and obtain,
Concrete surgical guide can also be printed by 3D and obtain, and surgical data is also to be obtained by digitized surgical outcome
?.The surgical guide obtained can directly be used as in actual surgery.After operation terminates, hands can extracted
The data of art individuality carry out building 3-D graphic again, compare with digitized surgical outcome, to determine operation
The most successful.So, this digitized surgical operation method for designing can be additionally used in subsequent authentication.
Above-mentioned digitized surgical operation method for designing is designed as a set of software program, is applied to computer system,
Or operate in the system of exploitation.The installation requirement of this software program is:
Installing this software needs the minimum hardware and software met to require as follows:
CPU:32/64bit Intel Pentium 4 2.4G
Internal memory: 4G
Video card: more than 1G video memory, supports 1280*1024 resolution
Operating system: Windows more than 7
The system of this execution digitized surgical operation method for designing includes:
Import module, be used for importing Digital image DICOM file and 3D scanogram and stl model；
3-D view builds module, for building surface according to the Digital image DICOM file imported
Rebuild 3-D view and many plane pictures MPR figure；
Operation model builds module, for resurfacing 3-D view carries out structure operation model；
Surgical planning operation module, for according to type of surgery, selection operation instrument is to operation model and importing
3D scanogram and stl model carry out surgical planning operation, obtain digitized surgical outcome；
Generation module, for generating operation plan according to digitized surgical outcome, for guided operation, operation side
Case includes: surgical guide, one or more in surgical data.
The system performing digitized surgical operation method for designing also includes: editor module, for resurfacing
3-D view builds the resurfacing 3-D view of module construction and edits, and by the resurfacing after editor
3-D view builds module for operation model.
Editor module includes: gyrator module, mover module, scaling submodule, display layout's switching
Module；
Gyrator module, for providing the throw that resurfacing 3-D view carries out rotation process；
Mover module, for providing the translation instrument that resurfacing 3-D view carries out translation；
Scaling submodule, for providing the zoom tool being amplified resurfacing 3-D view and/or reducing；
Display layout's switching submodule, for showing that the layout of content switches over, the layout bag of display content
Include: resurfacing 3-D view, many plane pictures MPR figure is by pre-set dimension size, default arrangement mode altogether
With or unique display.
Operation model builds module and includes: threshold range submodule, point of interest submodule, region submodule,
Delete submodule；
Threshold range submodule, is used for providing threshold range to select, and/or threshold range input, threshold range
Including: one or more in skeleton, tooth, soft tissue, enamel, Compact bone, spongy bone；
Point of interest submodule, for providing the instrument carrying out point of interest editor on many plane pictures MPR figure；
Region submodule, for providing the instrument carrying out terrain feature edit on many plane pictures MPR figure；
Delete submodule, for deleting in resurfacing 3-D view with emerging according to the point of interest selected, region
Interest puts disjunct selected region.
Surgical planning operation module includes: mirror image submodule, cephalometry submodule, mover module, weight
Put submodule, natural head posture adjusts submodule, registration submodule, osteotomy submodule, fibula rebuild submodule
Block；
Mirror image submodule, is used for providing mirror image benchmark to arrange instrument, treat that mirror area selects instrument, mirror image base
Standard includes: image line benchmark and/or, mirror image face benchmark；
Natural head posture adjusts submodule, is used for providing controllable pair as shifter and/or X-axis, Y-axis, Z axis
Anglec of rotation input, and according to crossing the horizontal plane of central point and vertical plane rotation process model, make operation mould
Type and natural pose data consistent.
Reset submodule, the operation model built for call operation model construction module；
Cephalometry submodule, be used for providing instrument is a little set, line arranges instrument, face arranges instrument, measurement
Method instrument, measurement method import/derivation instrument；Measurement method instrument, for providing the selection of measurement method and/or making by oneself
Justice, according to the point, line, surface arranged, utilizes measurement method that operation model carries out distance, the measurement of angle,
Obtain measurement result；Measurement method imports/derives, and is used for importing/derive measurement method.
Registration module includes: Model Selection submodule, characteristic point submodule, matched sub-block, run through submodule
Block；
Model Selection submodule, for fixed model, the selection of floating model；
Characteristic point submodule, for providing the instrument determining characteristic point on floating model；
Matched sub-block, is used for providing registration way choice instrument；Registration mode includes: multiple spot registration and/
Or global registration；
Run through submodule, pass the portion of whole operation model for selected part together with selected region
Point.
Osteotomy submodule includes: osteotomy unit, operating point unit, adjustment unit；
Described osteotomy unit, for providing the selection instrument of osteotomy plate, described osteotomy plate includes: flat board, V
Template, Z-shaped plate, broken line plate, sagittal split plate-left side and sagittal splits one or more in plate；
Described operating point unit, for providing the instrument determining operating point on described operation model；
Described adjustment unit, is used for arranging central point, and according to described central point to operation model and/or right
Osteotomy plate on operation model is adjusted.
Fibula rebuilds submodule；
Described fibula rebuild submodule include: path unit, fibula model import unit, fibula implementation unit,
Adjustment unit；
Described path unit, for providing the determination instrument of path instruction point；
Described fibula model import unit, is used for importing fibula model；
Described fibula implementation unit, for according to fibula model and path, cuts on operation model.
Described adjustment unit, the wedge on the fibula obtaining cutting is adjusted.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for ability
For the technical staff in territory, the present invention can have various modifications and variations.All in the spirit and principles in the present invention
Within, any modification, equivalent substitution and improvement etc. made, should be included in protection scope of the present invention it
In.
Claims (14)
1. a digitized surgical operation method for designing, it is characterised in that including:
Step 1, builds 3-D view, described graphics according to the medical digital images DICOM file imported
As including: resurfacing 3-D view and many plane pictures MPR figure；
Step 2, carries out described resurfacing 3-D view building operation model；
Step 3, imports 3D scanogram and stl model；
Step 4, according to type of surgery, the 3D of described operation model and importing is scanned figure by selection operation instrument
Picture and stl model carry out surgical planning operation, obtain digitized surgical outcome；
Step 5, according to described digitized surgical outcome, generates operation plan, for guided operation, described hands
Art scheme includes: surgical guide, one or more in surgical data.
2. digitized surgical operation method for designing as claimed in claim 1, it is characterised in that in step 1
With between step 2, described method for designing also includes: described resurfacing 3-D view is edited；
Described editor includes: rotates, move, scale, display layout's switching；
Described display layout includes: resurfacing 3-D view, described many plane pictures MPR figure is by presetting chi
Very little size, preset that arrangement mode is common or unique display.
3. digitized surgical operation method for designing as claimed in claim 1, it is characterised in that described step
2 include:
Selecting building mode, described building mode includes: in the selection of threshold range, point of interest, regional choice
One or more, described threshold range includes: skeleton, tooth, soft tissue, enamel, Compact bone,
One or more in spongy bone；
Carrying out building operation according to described building mode, the structure operation of described point of interest selection correspondence is:
Selecting point of interest on described many planes MPR figure, the structure operation that described regional choice is corresponding is: described many
Region is selected on plane MPR figure；
Described structure operation is applied to described resurfacing 3-D view, disjunct with point of interest selected
Region is deleted, and forms operation model.
4. digitized surgical operation method for designing as claimed in claim 1, it is characterised in that described operation
Instrument includes: mirror image, cephalometry, movement, reset, registrate, natural head posture adjustment, osteotomy, calf
Bone remoulding.
5. digitized surgical operation method for designing as claimed in claim 4, it is characterised in that described nature
The method that head position adjusts is: with reference to treating surgery individual pose data in its natural state, by surface weight
Build 3-D view to adjust to natural pose.
6. digitized surgical operation method for designing as claimed in claim 4, it is characterised in that described head shadow
The method measured includes: choosing measuring method, described measuring method includes: the measurement imported with lead-in mode
Method or self-defined measuring method, described self-defined measuring method can derive；Described self-defined measuring method
Including: any one or more in some measurement, line measurement, planar survey；
According to measuring method, described operation model is measured.
7. digitized surgical operation method for designing as claimed in claim 1, it is characterised in that described registration
Including:
Determine the fixed model as registration benchmark, and as floating model subject to registration；
Described floating model is registrated on described fixed model.
8. the system performing described digitized surgical operation method for designing, it is characterised in that including:
Import module, be used for importing Digital image DICOM file and 3D scanogram and stl model；
3-D view builds module, for building according to the described Digital image DICOM file imported
Resurfacing 3-D view and many plane pictures MPR figure；
Operation model builds module, for described resurfacing 3-D view carries out structure operation model；
Surgical planning operation module, for according to type of surgery, selection operation instrument is to operation model and importing
3D scanogram and stl model carry out surgical planning operation, obtain digitized surgical outcome；
Generation module, for generating operation plan according to described digitized surgical outcome, for guided operation, institute
State operation plan to include: surgical guide, one or more in surgical data.
9. the system performing described digitized surgical operation method for designing as claimed in claim 8, its feature
It is, also includes: editor module, for resurfacing 3-D view being built the described surface of module construction
Rebuild 3-D view to edit, and the resurfacing 3-D view after editor is built module for operation model
Use.
10. the system performing described digitized surgical operation method for designing as claimed in claim 9, it is special
Levying and be, described editor module includes: gyrator module, mover module, scaling submodule, shows cloth
Office's switching submodule；
Described gyrator module, for providing the throw that resurfacing 3-D view carries out rotation process；
Described mover module, for providing the translation instrument that resurfacing 3-D view carries out translation；
Described scaling submodule, for providing the scaling being amplified resurfacing 3-D view and/or reducing
Instrument；
Described display layout switching submodule, for showing that the layout of content switches over, the cloth of display content
Office includes: resurfacing 3-D view, described many plane pictures MPR figure is by pre-set dimension size, the row of presetting
Mode for cloth is common or unique display.
11. systems performing described digitized surgical operation method for designing as claimed in claim 8, it is special
Levying and be, described operation model builds module and includes: threshold range submodule, point of interest submodule, region
Submodule, deletes submodule；
Described threshold range submodule, is used for providing threshold range to select, and/or threshold range input, described
Threshold range includes: the one or many in skeleton, tooth, soft tissue, enamel, Compact bone, spongy bone
Kind；
Described point of interest submodule, carries out point of interest editor for providing on described many plane pictures MPR figure
Instrument；
Described region submodule, for providing the work carrying out terrain feature edit on described many plane pictures MPR figure
Tool；
Delete submodule, for deleting in resurfacing 3-D view with emerging according to the point of interest selected, region
Interest puts disjunct selected region.
12. systems performing described digitized surgical operation method for designing as claimed in claim 8, it is special
Levying and be, surgical planning operation module includes: mirror image submodule, cephalometry submodule, mover module,
Reset submodule, natural head posture adjusts submodule, registration submodule；
Described mirror image submodule, is used for providing mirror image benchmark to arrange instrument, treat that mirror area selects instrument, institute
State mirror image benchmark to include: image line benchmark and/or, mirror image face benchmark；
Described natural head posture adjusts submodule, be used for providing controllable pair as shifter and/or X-axis, Y-axis,
The anglec of rotation input of Z axis, or rotate described operation model according to the horizontal plane and vertical plane crossing central point, make
Described operation model is in nature pose data.
Described replacement submodule, builds the operation model of module construction for calling described operation model；
Described cephalometry submodule, be used for providing instrument is a little set, line arranges instrument, face arranges instrument,
Measurement method instrument, measurement method import/derivation instrument；Described measurement method instrument, for providing the selection of measurement method
And/or self-defined, according to the point, line, surface arranged, utilize measurement method that operation model carries out distance, angle
Measurement, obtain measurement result；Described measurement method imports/derives, and is used for importing/derive measurement method；
Described registration submodule, is used for determining unit, characteristic point unit, registration unit；Described determine unit,
For providing the fixed model as registration benchmark and the selection instrument as floating model subject to registration；Described
Characteristic point unit, for providing the instrument determining characteristic point on floating model；Described registration unit, is used for
Registration way choice instrument is provided；Described registration mode includes: multiple spot registration and/or global registration.
As described in 13. execution as described in any one of claim 8-12, digitized surgical operation method for designing is
System, it is characterised in that surgical planning operation module also includes: osteotomy submodule,
Described osteotomy submodule includes: osteotomy unit, operating point unit, adjustment unit；
Described osteotomy unit, for providing the selection instrument of osteotomy plate, described osteotomy plate includes: flat board, V
Template, Z-shaped plate, broken line plate, sagittal split plate-left side and sagittal splits one or more in plate；
Described operating point unit, for providing the instrument determining operating point on described operation model；
Described adjustment unit, is used for arranging central point, and according to described central point to operation model and/or right
Osteotomy plate on operation model is adjusted.
As described in 14. execution as described in any one of claim 8-12, digitized surgical operation method for designing is
System, it is characterised in that surgical simulation module also includes: fibula rebuilds submodule；
Described fibula rebuild submodule include: path unit, fibula model import unit, fibula implementation unit,
Adjustment unit；
Described path unit, for providing the determination instrument of path instruction point；
Described fibula model import unit, is used for importing fibula model；
Described fibula implementation unit, for according to fibula model and path, cuts on operation model.
Described adjustment unit, the wedge on the fibula obtaining cutting is adjusted.
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| CN107343817A (en) * | 2017-04-11 | 2017-11-14 | 天津市天津医院 | CAD orthopaedics osteotomy orthopedic fixation integration guide plate and preparation method |
| CN107610215A (en) * | 2017-08-11 | 2018-01-19 | 桂林航天工业学院 | A kind of high-precision multi-angle oral cavity 3 D digital imaging model building method |
| CN108122282A (en) * | 2016-11-30 | 2018-06-05 | 财团法人金属工业研究发展中心 | Medical image modeling system and medical image modeling method |
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| CN106503451A (en) * | 2016-10-24 | 2017-03-15 | 京东方科技集团股份有限公司 | A kind of online operation plan analysis system |
| CN106503451B (en) * | 2016-10-24 | 2019-04-05 | 京东方科技集团股份有限公司 | A kind of online operation plan analysis system |
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| CN107343817A (en) * | 2017-04-11 | 2017-11-14 | 天津市天津医院 | CAD orthopaedics osteotomy orthopedic fixation integration guide plate and preparation method |
| CN107343817B (en) * | 2017-04-11 | 2020-07-31 | 天津市天津医院 | Computer-aided design orthopedic osteotomy and orthopedic fixation integrated guide plate and manufacturing method thereof |
| CN107610215A (en) * | 2017-08-11 | 2018-01-19 | 桂林航天工业学院 | A kind of high-precision multi-angle oral cavity 3 D digital imaging model building method |
| CN107610215B (en) * | 2017-08-11 | 2020-11-06 | 桂林航天工业学院 | High-precision multi-angle oral cavity three-dimensional digital imaging model construction method |
| CN108354651A (en) * | 2018-01-09 | 2018-08-03 | 浙江省肿瘤医院 | It is prepared using digitlization Space Reconstruction and 3D printing for determining that soft tissue surfaces substitute the method for cutting guide plate of flap size |
| CN108670362A (en) * | 2018-01-09 | 2018-10-19 | 浙江省肿瘤医院 | The method for cutting guide plate and determining cut soft tissue replacement flap volume is prepared using digitlization Space Reconstruction and 3D printing technique |
| CN108888340A (en) * | 2018-06-27 | 2018-11-27 | 上海昕健医疗技术有限公司 | Personalized preoperative planning system |
| CN113409341A (en) * | 2021-07-13 | 2021-09-17 | 上海交通大学医学院附属第九人民医院 | Fibula cutting automatic cutter stopping device, computer equipment, system and medium |
| CN113409341B (en) * | 2021-07-13 | 2022-05-03 | 上海交通大学医学院附属第九人民医院 | Fibula cutting automatic cutter stopping device, computer equipment, system and medium |
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