CN105997244B - Digitize surgical operation design method and system - Google Patents
Digitize surgical operation design method and system Download PDFInfo
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- CN105997244B CN105997244B CN201610282335.6A CN201610282335A CN105997244B CN 105997244 B CN105997244 B CN 105997244B CN 201610282335 A CN201610282335 A CN 201610282335A CN 105997244 B CN105997244 B CN 105997244B
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Abstract
The present invention relates to digitlization surgical operation design fields, and in particular to digitlization surgical operation design method and system.This method constructs 3-D image according to the medical digital images DICOM file of importing；Building operation model is carried out to the 3-D image；According to type of surgery, selection operation tool carries out surgical planning operation to the 3D scan image and stl model of the operation model and importing, obtains digitlization surgical outcome；Operation plan is generated, for guided operation, the operation plan includes: surgical guide, one of surgical data or a variety of.System corresponds to this method and designs.The present invention can digitized simulation surgical procedure, and corrective procedure instructs the operation plan of actual operation as a result, generating, and improves the accuracy of actual operation.
Description
Technical field
The present invention relates to digitlization surgical simulation technologies, in particular to digitlization surgical operation design method and are
System.
Background technique
As the prosperity and people of present science and technology are to beautiful fine yearning, Oral and Maxillofacial Surgery treatment is carried out
People it is more and more.Oral and Maxillofacial Surgery (oral and maxillofacial surgery) is one and is with surgical intervention
It is main, to oral cavity organs (tooth, alveolar bone, lip, cheek, tongue, palate, pharynx etc.), facial soft tissue, all bones in jaw face (maxilla, mandibular,
Cheekbone etc.), remporomandibular joint, salivary gland and the certain related diseases of neck carry out surgical interventions.Specific therapeutic process is usual are as follows: hand
It is preoperative that artificial or computer software measurement is carried out by head, oral cavity etc. of the Imaging Technologies such as x-ray, CT, MRI to patient
Analysis, and surgical effect simulation is carried out by medical software, to formulate operation plan.CN102389335A provides a kind of digitlization
Jaw surgical guide plate and its manufacturing method measure analysis simultaneously to imaging data by acquiring the imaging data of patient
Position mark is carried out, the data obtained after analysis are imported into design software, design removes surgical guide, manufactures surgical guide.But
In this process, due to the uncertainty that various image datas extract, cause disturbing factor occur in surgical effect simulation.And
And it can be produced when being applied directly to the treatment of three-dimensional jaw face in the mark of flat image and the surgical guide designed according to panel data
Life face and stereochemical structure it is not applicable, cause surgical simulation result to cause very large deviation, direct shadow when instructing actual operation
Ring the successful of operation.
Summary of the invention
The purpose of the present invention is to provide a kind of digitlization surgical operation design method and systems, to digitize operation mould
It is quasi-, and generate the scheme for instructing actual operation.
The embodiment of the invention provides a kind of digitlization surgical operation design methods comprising:
Step 1,3-D image is constructed according to the medical digital images DICOM file of importing, the 3-D image includes: table
Face rebuilds 3-D image and more flat image MPR figure；
Step 2, building operation model is carried out to the resurfacing 3-D image；
Step 3,3D scan image and stl model are imported；
Step 4, according to type of surgery, 3D scan image and stl of the selection operation tool to the operation model and importing
Model carries out surgical planning operation, obtains digitlization surgical outcome；
Step 5, according to the digitlization surgical outcome, operation plan, for guided operation, the operation plan packet are generated
It includes: surgical guide, one of surgical data or a variety of.
In some embodiments, preferably, between step 1 and step 2, the design method further include: to the table
Face rebuilds 3-D image and is edited；
The editor includes: rotation, movement, scaling, display layout switching；
Display layout include: resurfacing 3-D image, more flat image MPR figures by pre-set dimension size,
Default arrangement mode is common or unique display.
In some embodiments, preferably, the step 2 includes:
Select building mode, the building mode include: threshold range, point of interest selection, one of regional choice or
A variety of, the threshold range includes: one of bone, tooth, soft tissue, enamel, compact bone, cancellous bone or a variety of；
Building operation is carried out according to the building mode, the point of interest selects corresponding building operation are as follows: described more
Select point of interest on plane MPR figure, the corresponding building operation of the regional choice are as follows: select area on more plane MPR figures
Domain；
Building operation is applied to the resurfacing 3-D image, is deleted with the disjunct choice area domain of point of interest
It removes, formation operation model.
In some embodiments, preferably, the operational instrument include: mirror image, cephalometry, movement, resetting, registration,
Natural head posture adjustment, osteotomy, fibula are rebuild.
In some embodiments, preferably, the method for the natural head posture adjustment are as follows: reference is to surgery individual in natural shape
Pose data under state adjust resurfacing 3-D image to natural pose.
In some embodiments, preferably, the method for the cephalometry includes: selection measurement method, the measurement side
Method includes: the measurement method or customized measurement method imported with lead-in mode, and the customized measurement method can export；Institute
Stating customized measurement method includes: that measurement, line measurement, planar survey are any one or more of；
The operation model is measured according to measurement method.
In some embodiments, preferably, the registration includes:
It is determined as the fixed model of registration benchmark, and as floating model to be registered；
The floating model is registrated on the fixed model.
The present invention also provides a kind of systems for executing the digitlization surgical operation design method comprising:
Import modul, for importing Digital image DICOM file and 3D scan image and stl model；
3-D image constructs module, for constructing resurfacing according to the Digital image DICOM file of importing
3-D image and more flat image MPR figure；
Operation model constructs module, for carrying out building operation model to the resurfacing 3-D image；
Surgical planning operation module, for according to type of surgery, selection operation tool to sweep operation model and the 3D of importing
Trace designs picture and the progress surgical planning operation of stl model, obtains digitlization surgical outcome；
Generation module, for generating operation plan, for guided operation, the operation side according to the digitlization surgical outcome
Case includes: surgical guide, one of surgical data or a variety of.
In some embodiments, preferably, the system for executing the digitlization surgical operation design method, further include:
Editor module, for being edited to the resurfacing 3-D image of resurfacing 3-D image building module building, and
Edited resurfacing 3-D image is used for operation model building module.
In some embodiments, preferably, the editor module includes: rotation submodule, mobile submodule, scaling submodule
Block, display layout switching submodule；
The rotation submodule, for providing the rotation tool for carrying out rotation process to resurfacing 3-D image；
The mobile submodule, for providing the translation tool for carrying out translation to resurfacing 3-D image；
The scaling submodule, for providing the zoom tool that resurfacing 3-D image is amplified and/or reduced；
The display layout switching submodule shows that the layout of content includes: for showing that the layout of content switches over
Resurfacing 3-D image, more flat image MPR figure are by pre-set dimension size, default arrangement mode is common or independent exhibition
Show.
In some embodiments, preferably, the operation model building module includes: threshold range submodule, point of interest
Submodule, region submodule delete submodule；
The threshold range submodule, for providing threshold range selection and/or threshold range input, the threshold value model
Enclose includes: one of bone, tooth, soft tissue, enamel, compact bone, cancellous bone or a variety of；
The point of interest submodule, for providing the tool for carrying out point of interest editor on more flat image MPR figures；
The region submodule, for providing the tool for carrying out terrain feature edit on more flat image MPR figures；
Submodule is deleted, for deleting in resurfacing 3-D image with point of interest not according to the point of interest of selection, region
Connected choice area domain.
In some embodiments, preferably, surgical planning operation module includes: mirror image submodule, cephalometry submodule,
Mobile submodule, resetting submodule, natural head posture adjusting submodule, registration submodule；
The mirror image submodule, for providing mirror image benchmark setting tool, to mirror area select tools, the mirror image base
Standard include: image line benchmark, and/or, mirror image face benchmark；
The natural head posture adjusting submodule, for providing the rotation of controllable object shifter, and/or X-axis, Y-axis, Z axis
Angle input, and the operation model is rotated according to the horizontal plane and vertical plane of crossing central point, make the operation model and nature
Pose data are consistent.
The resetting submodule, for calling the operation model of the operation model building module building；
The cephalometry submodule, for providing point setting tool, line setting tool, face setting tool, mensuration work
Tool, mensuration import/export tool；The mensuration tool, for providing the selection of mensuration and/or customized, according to setting
The point, line, surface set are carried out the measurement of distance, angle to operation model using mensuration, obtain measurement result；The mensuration
Importing/export, for import/export mensuration；
The registration submodule is used for determination unit, feature dot element, registration unit；The determination unit, for providing
As the fixed model of registration benchmark and as the select tools of floating model to be registered；The feature dot element, for mentioning
For determining the tool of characteristic point on floating model；The registration unit, for providing the select tools of registration mode；It is described to match
Quasi- mode includes: multiple spot registration and/or global registration.
In some embodiments, preferably, surgical planning operation module further include: osteotomy submodule,
The osteotomy submodule includes: osteotomy unit, operation dot element, adjustment unit；
The osteotomy unit, for providing the select tools of osteotomy plate, the osteotomy plate includes: plate, V-type plate, Z-type
Plate, broken line plate, sagittal split plate-left side and sagittal splits one of plate or a variety of；
The operation dot element, for providing the tool for determining operating point on the operation model；
The adjustment unit, for central point to be arranged, and according to the central point to operation model, and/or to operation mould
Osteotomy plate in type is adjusted.
In some embodiments, preferably, surgical simulation module further include: fibula rebuilds submodule；
It includes: path unit, fibula model import unit, fibula implementation unit, adjustment list that the fibula, which rebuilds submodule,
Member；
The path unit, for providing the determination tool of path instruction point；
The fibula model import unit, for importing fibula model；
The fibula implementation unit, for being cut on operation model according to fibula model and path.
The adjustment unit, the wedge block on fibula for obtaining to cutting are adjusted.
Digitlization surgical operation design method and system provided in an embodiment of the present invention are effectively led compared with prior art
Enter medical digital images DICOM, converts resurfacing three-dimensional image information and more flat images for the two-dimensional signal on the figure
MPR figure can more directly carry out surgical planning operation from digitlization angle.It, can be according to tool after constructing resurfacing 3-D image
Body surgical procedure edits resurfacing 3-D image to obtain operation model, effectively rejecting interference information.By to operation
Model and the 3D scan image and stl model of importing carry out surgical planning, generate operation plan according to digitlization surgical outcome, should
It can be surgical data in operation plan, be also possible to surgical guide.
Detailed description of the invention
Fig. 1 is the step schematic diagram that one embodiment of the invention digitizes surgical operation design method.
Specific embodiment
The present invention is described in further detail below by specific embodiment combination attached drawing.
Consider that digitlization surgical operation instructs occur various mismatches, the problem of inaccuracy in actual operation till now, this
Embodiment provides a kind of digitlization surgical operation design method and system.
A kind of digitlization surgical operation design method comprising:
Step 1,3-D image is constructed according to the medical digital images DICOM file of importing, the 3-D image includes: table
Face rebuilds 3-D image and more flat image MPR figure；
Step 2, building operation model is carried out to the resurfacing 3-D image；
Step 3,3D scan image and stl model are imported；
Step 4, according to type of surgery, 3D scan image and stl of the selection operation tool to the operation model and importing
Model carries out surgical planning operation, obtains digitlization surgical outcome；
Step 5, according to the digitlization surgical outcome, operation plan, for guided operation, the operation plan packet are generated
It includes: surgical guide, one of surgical data or a variety of.
STL model is a kind of abbreviation of 3D model file format STL (STereo Lithography).
The system for executing digitlization surgical operation design method comprising:
Import modul, for importing Digital image DICOM file and 3D scan image and stl model；
3-D image constructs module, for constructing resurfacing according to the Digital image DICOM file of importing
3-D image and more flat image MPR figure；
Operation model constructs module, for carrying out building operation model to the resurfacing 3-D image；
Surgical planning operation module, for according to type of surgery, selection operation tool to sweep operation model and the 3D of importing
Trace designs picture and the progress surgical planning operation of stl model, obtains digitlization surgical outcome；
Generation module, for generating operation plan, for guided operation, the operation side according to the digitlization surgical outcome
Case includes: surgical guide, one of surgical data or a variety of.
Medical digital images DICOM is effectively imported, converts resurfacing 3-D image letter for the two-dimensional signal on the figure
Breath and more flat image MPR figure can more directly carry out surgical planning operation from digitlization angle.In building resurfacing three-dimensional figure
As after, resurfacing 3-D image can be edited to obtain operation model according to specific surgical procedure, effectively reject interference letter
Breath.It is raw according to digitlization surgical outcome by the 3D scan image and stl model progress surgical planning to operation model and importing
At operation plan, it can be surgical data in the operation plan, be also possible to surgical guide.
Next, the technology is described in detail by some specific embodiments by the present invention:
A kind of digitlization surgical operation design method, as shown in Figure 1, comprising:
Step 101, the corresponding medical digital images DICOM file to surgery individual is imported；
It treats the various scannings of surgery individual progress and obtains medical digital images DICOM file.
Step 102, corresponding 3D scan image and stl model to surgery individual is imported；
It should be noted that step 101, step 102 gives two kinds of importing file modes, in actual operation, imports also
It can be history engineering file.
The importing can show list or path input frame by directory tree, file to edit the importing of DICOM file
Path, thus the DICOM data under importing specified directory.
Step 103, resurfacing 3-D image and more plan views are constructed according to the medical digital images DICOM file of importing
As MPR schemes；
After the DICOM file that selection imports is opened, it is read out, suitable series letter can be selected in reading process
Breath, and three-dimensional reconstruction operation is entered according to the series information of selection, 3-D image is obtained, which includes resurfacing three
Tie up image and more flat image MPR figure.
Step 104, resurfacing 3-D image is edited；
It is easily asked since perhaps the resurfacing 3-D image after building has position, angle, size, display mode etc.
Topic can first edit resurfacing 3-D image to be more convenient to carry out subsequent operation, such as: rotating, is mobile,
Scaling, display layout switching etc..
Herein for display layout switching, often operated on MPR figure in subsequent operation, and then be reacted to table
Face is rebuild in three-dimensional image information, therefore, screen show in need to scheme the MPR of multi-angle, resurfacing 3-D image it is independent
Display is shown simultaneously, and therefore, it is necessary to carry out the switching of display layout.Resurfacing 3-D image, more flat image MPR figures are pressed
Pre-set dimension size, default arrangement mode be common or unique display.
Step 105, building operation model is carried out to resurfacing 3-D image；
Since it is desired that operative site is different, complete resurfacing 3-D image can cause subsequent various operations excessive
It influences, the operation model for effectively extracting corresponding operative site is extremely important.
The extraction, building mode include: one of threshold range, point of interest selection, regional choice or a variety of, threshold value model
Enclose includes: one of bone, tooth, soft tissue, enamel, compact bone, cancellous bone or a variety of；By selecting different threshold values
Range can directly extract relevant operation model.
In order to improve applicability, threshold range can also be able to be customized threshold range to select included threshold range.No
It crosses, since the changeability of customized threshold value is larger, usually only has disposable and uncertain, therefore, which answers
This can save, deletes, edit.
Corresponding part can be combined by selection point of interest and selection region to construct.Interest can be selected on MPR figure
The point of interest of point, selection is shown in the corresponding position of resurfacing 3-D image simultaneously.Resurfacing 3-D image and MPR figure pair
It answers, there is data correlation, a side has variation, and another party also changes therewith.By using tool " lasso trick " or " circle " on MPR figure
Wipe or add the region of selection, round size can be adjusted by modification numerical value, with the disjunct region of point of interest
Unwanted regions are identified as, can be automatically deleted.
Above-mentioned building operation is applied to resurfacing 3-D image, formation operation model.
It should be noted that generation volume of data can be corresponded to after the operation model is formed, by changing the data, also
Operation model can be edited again, to obtain more accurate subsequent operation model.It, can be with moreover, this modification model
By reselecting point of interest, reselecting deletion, increase region and modify.
Step 106, according to type of surgery, 3D scan image and stl mould of the selection operation tool to operation model and importing
Type carries out surgical planning operation；
The step contains the various operations of 3D scan image and stl model to operation model and importing, to reach one
Surgical planning operation is carried out step by step, finally obtains digitlization surgical outcome.
The operation includes: natural head posture adjustment, mirror image, cephalometry, movement, resetting, registration, osteotomy, fibula reconstruction
Deng.Specifically:
Natural head posture adjustment: due to perhaps will appear inclined head to surgery individual, the problems such as head position is not positive, according to scanning information
The resurfacing 3-D image of generation can also have this, by step 105 obtain operation model also not to the problem into
Row is corrected, so, before carrying out other operations, correct position is needed to be corrected to natural head posture.Natural head posture is that model is most natural
Position can be adjusted by manually adjusting object shifter or being manually entered the rotation angle of X, Y, Z axis.
Concretely: determining central point, and cross the horizontal plane and vertical plane of central point；It is rotated according to horizontal plane and vertical plane
Operation model keeps operation model consistent with natural pose data.
Resetting: resetting model can be restored to reset condition, similar to restore, if operation error, resetting can be used to obtain
Obtain most original state.
Mirror image: it is generated by imaging plane using the line where imaging plane as the mirror image model of line of symmetry.In operation model
Or any 3 points of selection on MPR figure, imaging plane can be created.Selection operation model and corresponding imaging plane are produced with mirror
As plane be in symmetrical mirror image model.Title and visibility can be changed by object shifter adjusting position in imaging plane.
It should be noted that the mirror image generated may be implemented to save, import, replicate, delete, is translucent etc..Moreover, mirror image
Plane can be obtained by importing.
Mobile: model adjusts the position of model ideal by manually adjusting object shifter.Movement is adjusted manually
Step-length, distance, direction and rotation angle adjust the correct position of model.Can be set in movement unrestricted model (such as: along axis move
It is moved in dynamic, face, around rotating, be pivoted).Object shifter center position is manually adjusted, so as to adjust model position
It sets.
Cephalometry: using and have analytic approach or customized analytic approach, and creation different type point (such as: independent point, two
Intersection point, line and the intersection point in face at midpoint, three faces between point, point, Delaire analytic approach away from certain point fixed-direction and distance
X ' lighting), line (such as: two points determine line, penetration and with line, penetration and the line parallel with line that line intersects vertically,
Penetration and the line vertical with face, the intersection in two faces etc.), face (such as: face that three points determine, penetration and parallel with face
Face, penetration and with the vertical face in face, penetration and with the vertical face in two faces, through line and parallel with another line
The face etc. that face, penetration and the face vertical with line, Points And lines determine), and measurement method (such as: angle, the two lines of 3 points of determinations
Angle, line and the angle in face, the angle in two faces, supplementary angle, the distance between two o'clock, the distance between two o'clock in X-axis, two
Between point in the distance in Y-axis, the distance between two o'clock on Z axis, point at a distance from line, point is at a distance from face, two lines
Distance etc.).It is indicated on operation model by measurement distance, angle etc., to obtain measurement result, determines the hands such as moving distance
Art data.Wherein analytic approach can select the analytic approach prestored, can also can also import external analysis with customized analytic approach
Method.The position of point in analytic approach can indicate respectively or all indicate on operation model.During instruction or after the completion, it can use
Disappear the instruction point for just indicating to complete.
It should be noted that the analysis method is reproducible, operation model can be carried out by duplication analytic approach various types of
Like operation.It can also be exported, be applied on other operation models with facilitating.
Osteotomy: selecting different types of osteotomy plate, takes up an official post in threedimensional model or mpr plane and takes at 3 points.Osteotomy plate
It can be edited, position is adjusted by object shifter, the central point of object shifter and the size direction of osteotomy plate also can be changed,
Width, length and the thickness of osteotomy plate can be manually entered.Selection carries out the model and osteotomy plate of osteotomy, executes osteotomy.It cuts
Bone plate type can be divided into that plate, V-type plate, Z-shaped plate, broken line plate, sagittal split plate-left side and sagittal splits plate.Certainly, which can protect
It deposits, import or deletes.
Fibula is rebuild: needing to be arranged path and fibula truncation is implemented.Can on model or mpr plane indicate path, fibula
It can be cut according to the path point of instruction.Wherein the mode of importing can be used in fibula model, and path can be deleted, increase instruction
Point deletes instruction point, modifies the instruction point etc. on path.After selection operation model, according to the path point of instruction, fibula is cut
Cut embodiment.Creation: the starting point of fibula cutting position can be created on fibula model, according to the starting point and design of creation
Path embodiment, carry out fibula cutting.The wedge block on fibula that can be completed to cutting is adjusted.Completed fibula
Block can be rotated at lower jaw.Complete design is the fibula block models for generating cutting and completing.It should be noted that
The starting point of creation can be deleted.
Registration: floating model is registrated on fixed model, obtains registration result；
Some model is fixed, by floating model according to the Characteristic points match of selection on fixed model or selected part is special
Global registration is levied on fixed model.
Registration mode can be divided into multiple spot registration and global registration.
Multiple spot registration are as follows: corresponding characteristic point is taken to carry out multiple spot respectively on fixed model and floating model respectively
Match.
Corresponding function key are as follows: determine: selection is fixed, after the completion of floating model, is clicked confirming button, can be carried out multiple spot
Matching.Cancel: in the selection process or after the completion of selection, cancel button is removed in click, can cancel the characteristic point of selection.In deletion
One point: in the selection process or after the completion of selection, a characteristic point can be deleted by clicking the upper button of deletion.It deletes
Whole points: in the selection process or after the completion of selection, whole delete buttons is clicked, the characteristic point all indicated can be deleted.
Global registration are as follows: according to the fixed model and floating model of selection, selected part feature is by floating model global
It is fitted on fixed model.Run through, passes through the part of entire model together with the region selected through the part for indicating to be selected.
Step 107, operation plan is generated according to digitlization surgical outcome, for guided operation, operation plan includes: that operation is led
Plate, one of surgical data or a variety of.
Since the operation of entire surgical planning is the 3D scan image and stl model in resurfacing 3-D image, importing
Upper progress, therefore, the digitlization surgical outcome finally obtained can be obtained directly by 3D printing, and specific surgical guide can also
To be obtained by 3D printing, surgical data is also to be obtained by digitlization surgical outcome.Obtained surgical guide can be used directly
It does in actual surgery.After operation, building 3-D graphic can be carried out again in the data for extracting surgery individual, with digitlization
Surgical outcome is compared, to determine whether operation succeeds.So the digitlization surgical operation design method can also be used in it is subsequent
Verifying.
Above-mentioned digitlization surgical operation design method is designed as a set of software program, is applied to computer system, or operating
In self-developed system.The installation requirement of the software program are as follows:
It is as follows that the minimum hardware and software requirement that the software needs to meet is installed:
CPU:32/64bit Intel Pentium 4 2.4G
Memory: 4G
Video card: 1G or more video memory supports 1280*1024 resolution ratio
Operating system: 7 or more Windows
The execution digitlization surgical operation design method system include:
Import modul, for importing Digital image DICOM file and 3D scan image and stl model；
3-D image constructs module, three-dimensional for constructing resurfacing according to the Digital image DICOM file of importing
Image and more flat image MPR figure；
Operation model constructs module, for carrying out building operation model to resurfacing 3-D image；
Surgical planning operation module, for according to type of surgery, selection operation tool to sweep operation model and the 3D of importing
Trace designs picture and the progress surgical planning operation of stl model, obtains digitlization surgical outcome；
Generation module, for generating operation plan according to digitlization surgical outcome, for guided operation, operation plan includes:
Surgical guide, one of surgical data or a variety of.
The system for executing digitlization surgical operation design method further include: editor module, for resurfacing three-dimensional figure
Resurfacing 3-D image as constructing module building is edited, and by edited resurfacing 3-D image for operating mould
Type constructs module and uses.
Editor module includes: rotation submodule, mobile submodule, scaling submodule, display layout switching submodule；
Submodule is rotated, for providing the rotation tool for carrying out rotation process to resurfacing 3-D image；
Mobile submodule, for providing the translation tool for carrying out translation to resurfacing 3-D image；
Submodule is scaled, for providing the zoom tool that resurfacing 3-D image is amplified and/or reduced；
Display layout switching submodule shows that the layout of content includes: surface for showing that the layout of content switches over
Rebuild 3-D image, more flat image MPR figure presses pre-set dimension size, default arrangement mode is common or unique display.
Operation model building module includes: threshold range submodule, and point of interest submodule, region submodule delete submodule
Block；
Threshold range submodule, for providing threshold range selection and/or threshold range input, threshold range includes: bone
One of bone, tooth, soft tissue, enamel, compact bone, cancellous bone are a variety of；
Point of interest submodule, for providing the tool for carrying out point of interest editor on more flat image MPR figures；
Region submodule, for providing the tool for carrying out terrain feature edit on more flat image MPR figures；
Submodule is deleted, for deleting in resurfacing 3-D image with point of interest not according to the point of interest of selection, region
Connected choice area domain.
Surgical planning operation module includes: mirror image submodule, cephalometry submodule, mobile submodule, resetting submodule,
Natural head posture adjusting submodule, registration submodule, osteotomy submodule, fibula rebuild submodule；
For providing mirror image benchmark tool is arranged, to mirror area select tools in mirror image submodule, and mirror image benchmark includes:
Image line benchmark, and/or, mirror image face benchmark；
Natural head posture adjusting submodule, for providing controllable object shifter, and/or X-axis, Y-axis, the rotation angle of Z axis
Input, and according to the horizontal plane and vertical plane rotation process model for crossing central point, keep operation model consistent with natural pose data.
Submodule is reset, the operation model for the building of call operation model construction module；
Cephalometry submodule, for providing point setting tool, line setting tool, face setting tool, mensuration tool, surveying
Amount method imports/export tool；Mensuration tool, for providing the selection of mensuration and/or customized, according to the point of setting, line,
Face is carried out the measurement of distance, angle to operation model using mensuration, obtains measurement result；Mensuration importing/export, is used for
Importing/export mensuration.
Registration module includes: model selection submodule, characteristic point submodule, matched sub-block, runs through submodule；
Model selects submodule, the selection for fixed model, floating model；
Characteristic point submodule, for providing the tool for determining characteristic point on floating model；
Matched sub-block, for providing the select tools of registration mode；Registration mode includes: multiple spot registration and/or the overall situation
Registration；
Through submodule, the part for being selected passes through the part of whole operation model together with the region selected.
Osteotomy submodule includes: osteotomy unit, operation dot element, adjustment unit；
The osteotomy unit, for providing the select tools of osteotomy plate, the osteotomy plate includes: plate, V-type plate, Z-type
Plate, broken line plate, sagittal split plate-left side and sagittal splits one of plate or a variety of；
The operation dot element, for providing the tool for determining operating point on the operation model；
The adjustment unit, for central point to be arranged, and according to the central point to operation model, and/or to operation mould
Osteotomy plate in type is adjusted.
Fibula rebuilds submodule；
It includes: path unit, fibula model import unit, fibula implementation unit, adjustment list that the fibula, which rebuilds submodule,
Member；
The path unit, for providing the determination tool of path instruction point；
The fibula model import unit, for importing fibula model；
The fibula implementation unit, for being cut on operation model according to fibula model and path.
The adjustment unit, the wedge block on fibula for obtaining to cutting are adjusted.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (13)
1. a kind of digitlization surgical operation design method characterized by comprising
Step 1,3-D image is constructed according to the medical digital images DICOM file of importing, the 3-D image includes: surface weight
Build 3-D image and more flat image MPR figure；
Step 2, building operation model is carried out to the resurfacing 3-D image, selects building mode, the building mode packet
Include: one of threshold range, point of interest selection, regional choice are a variety of, and the threshold range includes: bone, tooth, soft group
It knits, one of enamel, compact bone, cancellous bone or a variety of；
Building operation is carried out according to the building mode, the point of interest selects corresponding building operation are as follows: in more planes
Select point of interest on image MPR figure, the corresponding building operation of the regional choice are as follows: select area on more plane MPR figures
Domain；
Building operation is applied to the resurfacing 3-D image, is deleted with the disjunct choice area domain of point of interest,
Formation operation model；
Step 3,3D scan image and stl model are imported；
Step 4, according to type of surgery, 3D scan image and stl model of the selection operation tool to the operation model and importing
Surgical planning operation is carried out, digitlization surgical outcome is obtained；
Step 5, according to the digitlization surgical outcome, operation plan is generated, for guided operation, the operation plan includes operation
Guide plate and surgical data, or including surgical guide.
2. digitlization surgical operation design method as described in claim 1, which is characterized in that between step 1 and step 2,
The design method further include: the resurfacing 3-D image is edited；
The editor includes: rotation, movement, scaling, display layout switching；
Display layout includes: resurfacing 3-D image, more flat image MPR figures by pre-set dimension size, default
Arrangement mode is common or unique display.
3. digitlization surgical operation design method as described in claim 1, which is characterized in that the operational instrument includes: mirror
Picture, cephalometry, movement, resetting, registration, natural head posture adjustment, osteotomy, fibula are rebuild.
4. digitlization surgical operation design method as claimed in claim 3, which is characterized in that the side of the natural head posture adjustment
Method are as follows: with reference to the pose data to surgery individual in its natural state, resurfacing 3-D image is adjusted to natural pose.
5. digitlization surgical operation design method as claimed in claim 3, which is characterized in that the method packet of the cephalometry
It includes: choosing measurement method, the measurement method includes: the measurement method or customized measurement method imported with lead-in mode, institute
Stating customized measurement method can export；The customized measurement method includes: any one of a measurement, line measurement, planar survey
Or it is a variety of；
The operation model is measured according to measurement method.
6. digitlization surgical operation design method as claimed in claim 3, which is characterized in that the registration includes:
It is determined as the fixed model of registration benchmark, and as floating model to be registered；
The floating model is registrated on the fixed model.
7. the system that a kind of perform claim requires any one of 1-6 digitlization surgical operation design method, which is characterized in that packet
It includes:
Import modul, for importing Digital image DICOM file and 3D scan image and stl model；
3-D image constructs module, three-dimensional for constructing resurfacing according to the Digital image DICOM file of importing
Image and more flat image MPR figure；
Operation model constructs module, for carrying out building operation model to the resurfacing 3-D image；
Surgical planning operation module, for according to type of surgery, 3D scanning figure of the selection operation tool to operation model and importing
Picture and stl model carry out surgical planning operation, obtain digitlization surgical outcome；
Generation module, for generating operation plan, for guided operation, the operation plan packet according to the digitlization surgical outcome
It includes: surgical guide, one of surgical data or a variety of.
8. executing the system of the digitlization surgical operation design method as claimed in claim 7, which is characterized in that also wrap
It includes: editor module, for being edited to the resurfacing 3-D image of resurfacing 3-D image building module building,
And edited resurfacing 3-D image is used for operation model building module.
9. executing the system of the digitlization surgical operation design method as claimed in claim 8, which is characterized in that the volume
Collecting module includes: rotation submodule, mobile submodule, scaling submodule, display layout switching submodule；
The rotation submodule, for providing the rotation tool for carrying out rotation process to resurfacing 3-D image；
The mobile submodule, for providing the translation tool for carrying out translation to resurfacing 3-D image；
The scaling submodule, for providing the zoom tool that resurfacing 3-D image is amplified and/or reduced；
The display layout switching submodule shows that the layout of content includes: surface for showing that the layout of content switches over
Rebuild 3-D image, more flat image MPR figures press pre-set dimension size, preset arrangement mode jointly or unique display.
10. executing the system of the digitlization surgical operation design method as claimed in claim 7, which is characterized in that described
Operation model building module includes: threshold range submodule, and point of interest submodule, region submodule delete submodule；
The threshold range submodule, for providing threshold range selection and/or threshold range input, the threshold range packet
Include: one of bone, tooth, soft tissue, enamel, compact bone, cancellous bone are a variety of；
The point of interest submodule, for providing the tool for carrying out point of interest editor on more flat image MPR figures；
The region submodule, for providing the tool for carrying out terrain feature edit on more flat image MPR figures；
Submodule is deleted, for deleting in resurfacing 3-D image and being not attached to point of interest according to the point of interest of selection, region
Choice area domain.
11. executing the system of the digitlization surgical operation design method as claimed in claim 7, which is characterized in that operation
Schedules operations module includes: mirror image submodule, cephalometry submodule, mobile submodule, resetting submodule, natural head posture adjustment
Submodule, registration submodule；
The mirror image submodule, for providing mirror image benchmark setting tool, to mirror area select tools, the mirror image benchmark packet
Include: image line benchmark, and/or, mirror image face benchmark；
The natural head posture adjusting submodule, for providing controllable object shifter, and/or X-axis, Y-axis, the rotation angle of Z axis
Input, or the operation model is rotated according to the horizontal plane and vertical plane of crossing central point, so that the operation model is in nature position
Appearance data；
The resetting submodule, for calling the operation model of the operation model building module building；
The cephalometry submodule, for providing point setting tool, line setting tool, face setting tool, mensuration tool, surveying
Amount method imports/export tool；The mensuration tool, for providing the selection of mensuration and/or customized, according to setting
Point, line, surface are carried out the measurement of distance, angle to operation model using mensuration, obtain measurement result；The mensuration importing/
Export tool, for import/export mensuration；
The registration submodule includes determination unit, feature dot element, registration unit；The determination unit, for providing conduct
It is registrated the fixed model of benchmark and the select tools as floating model to be registered；The feature dot element, for providing
The tool of characteristic point is determined on floating model；The registration unit, for providing the select tools of registration mode；The registration side
Formula includes: multiple spot registration and/or global registration.
12. the system for digitizing surgical operation design method as described in the described in any item execution of claim 7-11, feature
It is, surgical planning operation module further include: osteotomy submodule,
The osteotomy submodule includes: osteotomy unit, operation dot element, adjustment unit；
The osteotomy unit, for providing the select tools of osteotomy plate, the osteotomy plate includes: plate, V-type plate, Z-shaped plate, folding
Line plate and sagittal split one of plate or a variety of；
The operation dot element, for providing the tool for determining operating point on the operation model；
The adjustment unit, for central point to be arranged, and according to the central point to operation model, and/or on operation model
Osteotomy plate be adjusted.
13. the system for digitizing surgical operation design method as described in the described in any item execution of claim 7-11, feature
It is, surgical simulation module further include: fibula rebuilds submodule；
It includes: path unit, fibula model import unit, fibula implementation unit, adjustment unit that the fibula, which rebuilds submodule,；
The path unit, for providing the determination tool of path instruction point；
The fibula model import unit, for importing fibula model；
The fibula implementation unit, for being cut on operation model according to fibula model and path；
The adjustment unit, the wedge block on fibula for obtaining to cutting are adjusted.
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| 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 |
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