CN108852511B - The automatic planning and device of implant for into bones optimal location - Google Patents
The automatic planning and device of implant for into bones optimal location Download PDFInfo
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- CN108852511B CN108852511B CN201810386481.2A CN201810386481A CN108852511B CN 108852511 B CN108852511 B CN 108852511B CN 201810386481 A CN201810386481 A CN 201810386481A CN 108852511 B CN108852511 B CN 108852511B
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- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 51
- 239000007943 implant Substances 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 48
- 230000009467 reduction Effects 0.000 claims abstract description 11
- 238000004590 computer program Methods 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 8
- 239000012141 concentrate Substances 0.000 claims description 5
- 238000007408 cone-beam computed tomography Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000007469 bone scintigraphy Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 230000001052 transient effect Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000009499 grossing Methods 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 210000004197 pelvis Anatomy 0.000 description 18
- 230000008569 process Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 12
- 210000002436 femur neck Anatomy 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 210000003484 anatomy Anatomy 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 206010058046 Post procedural complication Diseases 0.000 description 1
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000004 hemodynamic effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000036244 malformation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- Life Sciences & Earth Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Orthopedic Medicine & Surgery (AREA)
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- Prostheses (AREA)
Abstract
The embodiment of the present invention discloses the automatic planning and device of a kind of implant for into bones optimal location, it is ensured that the safety for the screw conduits selected, and optimal screw conduits can be automatically generated.Method includes: the geometrical model of target bone after obtaining the reduction of the fracture, with the entry point of preassigned screw on the target bone and go out nail point for seed point, surface point point set and the geometrical model of the geometrical model around the entry point is obtained to go out to follow closely the surface point point set around point described；For first point set and the second point set, it is therefrom each every time to choose a bit, a cylindrical body is generated using two points of selection, if judgement knows the cylindrical body in the geometrical model, the cylindrical body is then determined as to safe screw conduits, the combination for traversing all first point sets and the second point set determines all safety screw channels；Optimal screw conduits are selected from the safe screw conduits.
Description
Technical field
The present embodiments relate to the communications fields, and in particular to a kind of automatic planning of implant for into bones optimal location
And device.
Background technique
In the surgical navigational of current bone inner bolt merging, screw merging in conventional methods where dependent on establishing in intuition and
Experienced manual operation, surgical experience, the understanding of surrounding anatomical structures of fracturing, the reading ability of X-ray for operator
Very high requirement is suffered from, it is careless slightly, the life security that postoperative complication even threatens patient will be generated；And different
There is either large or small differences for the skeletal form of body, and especially in the malformation correction of bone, (such as pedicle nail correction backbone is abnormal
Shape) in, this species diversity is particularly evident.The judgement of empirical rule and intuition is it cannot be guaranteed that the safety and stabilization that screw is placed in
Property；The manual planning that operator is still relied in existing operation guiding system, there is no one kind can plan that screw is logical automatically
The method in road.
The substantially process of bone inner bolt merging is introduced by taking pelvis femoral neck cannulated screw as an example below.
Injury of pelvis belongs to serious orthopedic injury, and the death rate is higher.Common injury of pelvis relates generally to posterior ring pelvic
Shakiness, majority injure hemodynamic change with multiple, restore pelvic stability accurately and in time for entire patient's situation
It is further processed and improves particularly important.Anatomical structure is complicated especially at articulatio sacroiliaca around pelvis, and screw is easier to when being placed in
Damage peripheral vessels and nerve.By taking femoral neck cannulated screw as an example, most preferably larger into nail method dispute, the selection in channel is usually to pass through
The property tested.Identification of the conventional method according to significant anatomical structure on the perspective views such as pelvis side position, entrance position, outlet position, experience
Property judge the in and out point of screw according to some rules, surgical experience of the process to designer, drawing reading ability requirement
It is very high.
Summary of the invention
In view of the shortcomings of the prior art and defect, the embodiment of the present invention provides a kind of implant for into bones optimal location
Automatic planning and device.
On the one hand, the embodiment of the present invention proposes a kind of automatic planning of implant for into bones optimal location, comprising:
S1, the geometrical model for obtaining target bone after the reduction of the fracture, with preassigned screw on the target bone
Entry point and to go out nail point be seed point obtains surface point point set of the geometrical model around the entry point and described
Geometrical model goes out to follow closely the surface point point set around point described, wherein the geometrical model in the entry point and is gone out nail point
The surface point point set of surrounding is denoted as the first point set and the second point set respectively；
S2, for first point set and the second point set, therefrom each choose a little utilizes two points of selection to generate every time
One cylindrical body, if judgement knows that the cylindrical body in the geometrical model, is determined as safe screw conduits by the cylindrical body,
The combination for traversing all first point sets and the second point set determines all safety screw channels；
S3, optimal screw conduits are selected from the safe screw conduits.
On the other hand, the embodiment of the present invention proposes a kind of automatic device for planning of implant for into bones optimal location, comprising:
Acquiring unit, for obtaining the geometrical model of target bone after the reduction of the fracture, to refer in advance on the target bone
The entry point of fixed screw is seed point with nail is gone out, and obtains surface point point of the geometrical model around the entry point
Collection and the geometrical model go out to follow closely the surface point point set around point described, wherein by the geometrical model described into nail
Point and the surface point point set gone out around nail point are denoted as the first point set and the second point set respectively；
Determination unit, for for first point set and the second point set, therefrom each selection a bit, to utilize selection every time
Two points generate a cylindrical body, if judgement knows that the cylindrical body in the geometrical model, is determined as safety by the cylindrical body
Screw conduits, traverse the combination of all first point sets and the second point set, determine all safety screw channels；
Selection unit, for selecting optimal screw conduits from the safe screw conduits.
The third aspect, the embodiment of the present invention provide a kind of electronic equipment, comprising: processor, memory, bus and are stored in
On memory and the computer program that can run on a processor；
Wherein, the processor, memory complete mutual communication by the bus；
The processor realizes the above method when executing the computer program.
Fourth aspect, the embodiment of the present invention provide a kind of non-transient computer readable storage medium, on the storage medium
It is stored with computer program, which realizes the above method when being executed by processor.
The automatic planning and device of implant for into bones optimal location provided in an embodiment of the present invention utilize the mesh of individual
The geometrical model of bone is marked to determine safe screw conduits, and selects optimal screw from the safe screw conduits
Channel, and entire scheme only needs operator to select two rough seed points, compared to rely on empirical judgement and
The fine manually operated prior art, this programme can automatically generate optimal screw conduits, and can ensure that the screw selected
The safety in channel.
Detailed description of the invention
Fig. 1 is the flow diagram of one embodiment of automatic planning of implant for into bones optimal location of the present invention；
Fig. 2 is the flow diagram of another embodiment of automatic planning of implant for into bones optimal location of the present invention；
Fig. 3 is the part process signal of the another embodiment of automatic planning of implant for into bones optimal location of the present invention
Figure；
Fig. 4 is the structural schematic diagram of one embodiment of automatic device for planning of implant for into bones optimal location of the present invention；
Fig. 5 is the entity structure schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, the range of protection of the embodiment of the present invention is belonged to.
Referring to Fig. 1, the present embodiment discloses a kind of automatic planning of implant for into bones optimal location, comprising:
S1, the geometrical model for obtaining target bone after the reduction of the fracture, with preassigned screw on the target bone
Entry point and to go out nail point be seed point obtains surface point point set of the geometrical model around the entry point and described
Geometrical model goes out to follow closely the surface point point set around point described, wherein the geometrical model in the entry point and is gone out nail point
The surface point point set of surrounding is denoted as the first point set and the second point set respectively；
S2, for first point set and the second point set, therefrom each choose a little utilizes two points of selection to generate every time
One cylindrical body, if judgement knows that the cylindrical body in the geometrical model, is determined as safe screw conduits by the cylindrical body,
The combination for traversing all first point sets and the second point set determines all safety screw channels；
S3, optimal screw conduits are selected from the safe screw conduits.
The automatic planning of implant for into bones optimal location provided in an embodiment of the present invention utilizes the target bone of individual
Geometrical model to determine safe screw conduits, and select optimal screw conduits from the safe screw conduits,
And entire scheme only needs operator to select two rough seed points, compared to relying on empirical judgement and fine
The manually operated prior art, this programme can automatically generate optimal screw conduits, and can ensure that the screw conduits selected
Safety.
On the basis of preceding method embodiment, the surface model of target bone, be can wrap after the acquisition reduction of the fracture
It includes:
Obtain CT (Computed Tomography, the i.e. CT scan) number of the target bone scan
According to or CBCT (Cone beam Computed Tomography, i.e. pencil-beam CT scan) data；
Threshold segmentation is successively carried out to the CT data or CBCT data, region growing, wipes, fill up and smoothing processing,
Obtain the geometrical model of the target bone.
In the present embodiment, it should be noted that, can be directly in the several of target bone in specified entry point and nail point out
Specify, can also be specified on the CT image of target bone scan on what model, the entry point that will be specified on CT image later
On the geometrical model of nail point converting into target bone out.
On the basis of preceding method embodiment, the surface point for obtaining the geometrical model around the entry point
Point set and the geometrical model go out to follow closely the surface point point set around point described, comprising:
It is respectively that the centre of sphere does spherical surface with the entry point and out nail point, from the geometry mould according to the radius of preset ball
The surface point point of type concentrates the surface filtered out in the corresponding spherical surface of the entry point and in the corresponding spherical surface of the point of nail out
Point respectively obtains surface point point set and the geometrical model of the geometrical model around the entry point and goes out to follow closely point described
The surface point point set of surrounding.
In the present embodiment, the radius of the ball tentatively can be set to 4cm, naturally it is also possible to be done specifically according to skeletal size
It adjusts.Go out to follow closely point described obtaining surface point point set and the geometrical model of the geometrical model around the entry point
After the surface point point set of surrounding, down-sampled processing can be done, to the two point sets to reduce the quantity put in point set.
It is described to generate a cylindrical body using two points chosen on the basis of preceding method embodiment, comprising:
Using two points as the both ends of cylinder axis, the cylindrical body that a diameter is default value is generated；
Wherein, if the judgement knows the cylindrical body in the geometrical model, comprising:
The cylindrical body and the geometrical model are done into union, the result of union and the geometrical model are then done into difference set；
Judge whether the difference set volume is 0, if the difference set volume is 0, it is determined that go out the cylindrical body in the geometry
In model.
In the present embodiment, the default value can be set to 7cm, naturally it is also possible to be adjusted as the case may be.
The geometrical model can be voxel model or surface model.
On the basis of preceding method embodiment, the S3 may include:
The degree of safety for calculating the screw conduits of each item safety selects degree of safety most from the screw conduits of each item safety
High channel is as the optimal screw conduits.
On the basis of preceding method embodiment, the degree of safety of the screw conduits for calculating each item safety may include:
For the screw conduits of each safety, is filtered out from the surface point point of geometrical model concentration and be projected in the peace
Surface point in the axis segment of full screw conduits obtains a point set, and calculates the screw that the point concentrates all the points to the safety
The sum of the vertical line distance of passage axis, by the degree of safety of this and the screw conduits as the safety.
In the present embodiment, in addition to by the point concentrate all the points to the safety screw conduits axis vertical line distance and work
Except degree of safety for the screw conduits of the safety, all the points can also be concentrated to the screw conduits axis of the safety point
Degree of safety of minimum value of the vertical line in as the screw conduits of the safety.
It is described to select degree of safety highest from the screw conduits of each item safety on the basis of preceding method embodiment
Channel as the optimal screw conduits, may include:
Using finite element analysis means, compared according to the biomethanics situation after the merging of the screw conduits of each item safety
As a result, selecting biomethanics from the screw conduits of each item safety optimizes channel as the optimal screw conduits.
Fig. 2 be pelvis femoral neck cannulated screw channel planning process schematic diagram, Fig. 3 be Fig. 2 in safety screw channel really
Determine process schematic, illustrates the planning process in pelvis femoral neck cannulated screw channel by taking Fig. 2 and Fig. 3 as an example below.
As shown in Fig. 2, needing first to obtain the CT image of pelvis, according to institute when planning pelvis femoral neck cannulated screw channel
It states CT image and generates pelvis threedimensional model, and determine optional screw conduits；Then, by the pelvis threedimensional model and
Optional screw conduits do Boolean calculation, determine safe screw conduits, the kind that this certain process depends on operator to specify
Sub-, i.e., the entry point of screw can be found in embodiment of the method above-mentioned with nail point, detailed process is gone out, and details are not described herein again.True
After making safe screw conduits, geometric shape can use, biomechanical approach is selected from the safe screw conduits
Optimize channel.
And Fig. 3 is the process schematic of the screw conduits shown in Fig. 2 for determining safety in the process, as shown in figure 3, in determination
Safety screw conduits when, it is necessary first to the CT image of pelvis successively carry out Threshold segmentation, region growing, wipe, fill up and
Smooth operation obtains the CT data divided；Later, the voxel mould of pelvis articulatio sacroiliaca is generated according to the CT data divided
Type generates the surface model of pelvis articulatio sacroiliaca further according to the voxel model of pelvis articulatio sacroiliaca, using specified seed point and
The surface point of pelvis articulatio sacroiliaca filters out surface point point set of the surface model of pelvis articulatio sacroiliaca around the seed point,
Obtain two point sets；Then the surface model for determining optional screw conduits traverses the table of each optional screw conduits
Surface model generates the voxel model of optional screw conduits according to the surface model of the optional screw conduits, by by pelvis
The voxel model of articulatio sacroiliaca and the voxel model of the optional screw conduits do Boolean calculation, determine that the optional screw is logical
Whether the corresponding screw conduits of the voxel model in road are safe screw conduits.
Referring to Fig. 4, the present embodiment discloses a kind of automatic device for planning of implant for into bones optimal location, comprising:
Acquiring unit 1, for obtaining the geometrical model of target bone after the reduction of the fracture, to refer in advance on the target bone
The entry point of fixed screw is seed point with nail is gone out, and obtains surface point point of the geometrical model around the entry point
Collection and the geometrical model go out to follow closely the surface point point set around point described, wherein by the geometrical model described into nail
Point and the surface point point set gone out around nail point are denoted as the first point set and the second point set respectively；
Determination unit 2, for for first point set and the second point set, therefrom each selection a bit, to utilize selection every time
Two points generate a cylindrical body, if judgement know that the cylindrical body in the geometrical model, which is determined as pacifying
Full screw conduits traverse the combination of all first point sets and the second point set, determine all safety screw channels；
Selection unit 3, for selecting optimal screw conduits from the safe screw conduits.
Specifically, the acquiring unit 1 obtains the geometrical model of target bone after the reduction of the fracture, on the target bone
The entry point of preassigned screw is seed point with nail is gone out, and obtains surface of the geometrical model around the entry point
Point point set and the geometrical model go out to follow closely the surface point point set around point described, wherein by the geometrical model described
Entry point and the surface point point set gone out around nail point are denoted as the first point set and the second point set respectively；For first point set and
Two point sets, the determination unit 2 is therefrom each every time to be chosen a bit, a cylindrical body is generated using two points of selection, if judgement obtains
The cylindrical body is known in the geometrical model, then the cylindrical body is determined as to safe screw conduits, traverses all first point sets
With the combination of the second point set, all safety screw channels are determined；The selection unit 3 is selected from the safe screw conduits
Optimal screw conduits.
The automatic device for planning of implant for into bones optimal location provided in an embodiment of the present invention utilizes the target bone of individual
Geometrical model to determine safe screw conduits, and select optimal screw conduits from the safe screw conduits,
And entire scheme only needs operator to select two rough seed points, compared to relying on empirical judgement and fine
The manually operated prior art, this programme can automatically generate optimal screw conduits, and can ensure that the screw conduits selected
Safety.
The automatic device for planning of the implant for into bones optimal location of the present embodiment, can be used for executing preceding method embodiment
Technical solution, it is similar that the realization principle and technical effect are similar, and details are not described herein again.
Fig. 5 shows the entity structure schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention, as shown in figure 5, should
Electronic equipment may include: processor 11, memory 12, bus 13 and be stored on memory 12 and can transport on processor 11
Capable computer program；
Wherein, the processor 11, memory 12 complete mutual communication by the bus 13；
The processor 11 realizes method provided by above-mentioned each method embodiment when executing the computer program, such as
It include: the geometrical model of target bone after obtaining the reduction of the fracture, with the entry point of preassigned screw on the target bone
It is seed point with nail point is gone out, obtains surface point point set and the geometry mould of the geometrical model around the entry point
Type goes out to follow closely the surface point point set around point described, wherein in the entry point and goes out the geometrical model around nail point
Surface point point set is denoted as the first point set and the second point set respectively；For first point set and the second point set, therefrom each choosing every time
It takes a bit, a cylindrical body is generated using two points of selection, if judgement knows that the cylindrical body, should in the geometrical model
Cylindrical body is determined as safe screw conduits, traverses the combination of all first point sets and the second point set, determines all safety screws
Channel；Optimal screw conduits are selected from the safe screw conduits.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, is stored thereon with computer program, should
Method provided by above-mentioned each method embodiment is realized when computer program is executed by processor, for example, it is multiple to obtain fracture
The geometrical model of target bone behind position with the entry point of preassigned screw on the target bone and goes out nail point for seed
Point obtains surface point point set and the geometrical model of the geometrical model around the entry point and goes out to follow closely point described
The surface point point set of surrounding, wherein distinguish the geometrical model in the entry point and the surface point point set gone out around nail point
It is denoted as the first point set and the second point set；It is therefrom each every time to choose a bit for first point set and the second point set, utilize selection
Two points generate a cylindrical body, if judgement know that the cylindrical body in the geometrical model, which is determined as pacifying
Full screw conduits traverse the combination of all first point sets and the second point set, determine all safety screw channels；From the safety
Screw conduits in select optimal screw conduits.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.Term " on ", "lower" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplifies
Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In specification of the invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this specification.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into a single embodiment, figure, or description thereof sometimes.However, should not be by the method solution of the disclosure
Release is in reflect an intention that i.e. the claimed invention requires more than feature expressly recited in each claim
More features.More precisely, as the following claims reflect, inventive aspect is less than single reality disclosed above
Apply all features of example.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment,
It is wherein each that the claims themselves are regarded as separate embodiments of the invention.It should be noted that in the absence of conflict, this
The feature in embodiment and embodiment in application can be combined with each other.The invention is not limited to any single aspect,
It is not limited to any single embodiment, is also not limited to any combination and/or displacement of these aspects and/or embodiment.And
And can be used alone each aspect and/or embodiment of the invention or with other one or more aspects and/or its implementation
Example is used in combination.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (10)
1. a kind of automatic planning of implant for into bones optimal location characterized by comprising
S1, the geometrical model for obtaining target bone after the reduction of the fracture, on the target bone preassigned screw into nail
Point and go out nail point be seed point, obtain surface point point set and the geometry of the geometrical model around the entry point
Model goes out to follow closely the surface point point set around point described, wherein in the entry point and goes out the geometrical model around nail point
Surface point point set be denoted as the first point set and the second point set respectively；
S2, for first point set and the second point set, therefrom each choose a little utilizes two points of selection to generate a circle every time
Cylinder traverses if judgement knows that the cylindrical body in the geometrical model, is determined as safe screw conduits by the cylindrical body
The combination of all first point sets and the second point set determines all safety screw channels；
S3, optimal screw conduits are selected from the safe screw conduits.
2. the method according to claim 1, wherein it is described obtain the reduction of the fracture after target bone geometry mould
Type, comprising:
Obtain the CT data or CBCT data of the target bone scan；
Threshold segmentation is successively carried out to the CT data or CBCT data, region growing, wipes, fill up and smoothing processing, is obtained
The geometrical model of the target bone.
3. method according to claim 1 or 2, which is characterized in that described to obtain the geometrical model in the entry point
The surface point point set and the geometrical model of surrounding go out to follow closely the surface point point set around point described, comprising:
It is respectively that the centre of sphere does spherical surface with the entry point and out nail point, from the geometrical model according to the radius of preset ball
Surface point point concentrates the surface point filtered out in the corresponding spherical surface of the entry point and in the corresponding spherical surface of the point of nail out, point
Surface point point set and the geometrical model of the geometrical model around the entry point is not obtained to go out to follow closely around point described
Surface point point set.
4. the method according to claim 1, wherein described generate a cylindrical body, packet using two points chosen
It includes:
Using two points as the both ends of cylinder axis, the cylindrical body that a diameter is default value is generated；
Wherein, if the judgement knows the cylindrical body in the geometrical model, comprising:
The cylindrical body and the geometrical model are done into union, the result of union and the geometrical model are then done into difference set；
Judge whether the difference set volume is 0, if the difference set volume is 0, it is determined that go out the cylindrical body in the geometrical model
It is interior.
5. according to the method described in claim 3, it is characterized in that, the S3, comprising:
The degree of safety for calculating the screw conduits of each item safety, it is highest from the screw conduits of each item safety to select degree of safety
Channel is as the optimal screw conduits.
6. according to the method described in claim 5, it is characterized in that, the degree of safety of the screw conduits for calculating each item safety,
Include:
For the screw conduits of each safety, is filtered out from the surface point point of geometrical model concentration and be projected in the safety
Surface point in the axis segment of screw conduits obtains a point set, and calculates the screw conduits that the point concentrates all the points to the safety
The sum of the vertical line distance of axis, by the degree of safety of this and the screw conduits as the safety.
7. according to the method described in claim 5, it is characterized in that, described select peace from the screw conduits of each item safety
The highest channel of whole step is as the optimal screw conduits, comprising:
Using finite element analysis means, knot is compared according to the biomethanics situation after the merging of the screw conduits of each item safety
Fruit selects biomethanics from the screw conduits of each item safety and optimizes channel as the optimal screw conduits.
8. a kind of automatic device for planning of implant for into bones optimal location characterized by comprising
Acquiring unit, for obtaining the geometrical model of target bone after the reduction of the fracture, with preassigned on the target bone
The entry point of screw is seed point with nail is gone out, and obtains surface point point set of the geometrical model around the entry point, with
And the geometrical model it is described go out nail point around surface point point set, wherein by the geometrical model the entry point with
The surface point point set around nail point is denoted as the first point set and the second point set respectively out；
Determination unit, for for first point set and the second point set, therefrom each selection a bit, to utilize two of selection every time
Point generates a cylindrical body, if judgement knows that the cylindrical body in the geometrical model, is determined as safe spiral shell by the cylindrical body
Nail channel traverses the combination of all first point sets and the second point set, determines all safety screw channels；
Selection unit, for selecting optimal screw conduits from the safe screw conduits.
9. a kind of electronic equipment characterized by comprising processor, memory, bus and storage on a memory and can located
The computer program run on reason device；
Wherein, the processor, memory complete mutual communication by the bus；
The processor realizes such as method of any of claims 1-7 when executing the computer program.
10. a kind of non-transient computer readable storage medium, which is characterized in that be stored with computer journey on the storage medium
Sequence realizes such as method of any of claims 1-7 when the computer program is executed by processor.
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| CN110946652B (en) * | 2019-11-29 | 2021-11-12 | 北京工业大学 | Method and device for planning screw path of bone screw |
| CN113284082A (en) * | 2020-02-18 | 2021-08-20 | 北京积水潭医院 | Intelligent planning method and device for hand bone fracture treatment nail channel |
| CN114587584B (en) * | 2022-03-04 | 2023-10-03 | 杭州湖西云百生科技有限公司 | Navigation system visualization method and system for improving safety of orthopedic nail setting operation |
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