CN114587584A - Navigation system visualization method and system for improving orthopedics nail implantation operation safety - Google Patents
Navigation system visualization method and system for improving orthopedics nail implantation operation safety Download PDFInfo
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Abstract
The embodiment of the disclosure provides a navigation system visualization method and system for improving the safety of orthopedics nail implantation operation, which belong to the technical field of surgical navigation, and the method comprises the following steps: acquiring a three-dimensional model of a bone needing nail implantation operation; acquiring an intersection point P1 of a ray formed by the bone nail in the three-dimensional model and a bone surface; connecting the positioning needle point P with the intersection point P1 to form a line segment PP1, determining whether the bone nail is inserted into the bone or not through an included angle between the line segment PP1 and a normal N of P1, and forming an insertion state judgment result; and predicting and visually displaying a nail path entry point on the three-dimensional model of the bone in real time based on the insertion state judgment result, the nail feeding point and the nail discharging point. Through this disclosed processing scheme, can visual help art person visual operation risk, improve the effect and the security of operation.
Description
Technical Field
The disclosure relates to the technical field of surgical navigation, in particular to a navigation system visualization method and system for improving the safety of orthopedic nail implantation operation.
Background
Nail placement is a common surgical operation in orthopedics, but the risk is extremely high. Because the bone is not transparent during the operation, the operator needs to intermittently judge the depth of the bone and the condition of the visceral organs at the side where the bone nail penetrates out according to his own experience for many years. Conventional surgical navigation systems typically only display the position, angle, etc. coordinates of the instrument relative to the organ, but such information is of limited assistance to the clinician. The invention relates to a part of visualization technology of an orthopedic surgery navigation system, which mainly describes the design of a nail placement visualization system and a technical method for realizing the nail placement visualization system, visually helps a surgeon to visualize surgery risks, and improves the effect and safety of surgery.
Disclosure of Invention
In view of the above, the embodiments of the present disclosure provide a navigation system visualization method and system for improving the safety of an orthopedic nail implantation operation, so as to at least partially solve the problems in the prior art.
In a first aspect, an embodiment of the present disclosure provides a navigation system visualization method for improving safety of an orthopedic nail implantation operation, including:
acquiring a three-dimensional model of a bone needing nail implantation, wherein the three-dimensional model is constructed in a CT reconstruction mode so as to conveniently finish correct mapping of the bone of a patient in reality and the three-dimensional model of the bone of the patient in software through spatial registration;
acquiring an intersection point P1 between a ray formed by a bone nail and a bone surface in the three-dimensional model, marking P1 as a nail entering point when an included angle between a normal N of P1 and a normal M of the bone nail is smaller than 90 degrees, and marking P1 as a nail exiting point when the included angle between the normal N of P1 and the normal M of the bone nail is larger than 90 degrees;
connecting the positioning needle point P with the intersection point P1 to form a line segment PP1, determining whether the bone nail is inserted into the bone or not through an included angle between the line segment PP1 and a normal N of P1, and forming an insertion state judgment result;
and predicting and visually displaying a nail path entry point on the three-dimensional model of the bone in real time based on the insertion state judgment result, the nail feeding point and the nail discharging point.
According to a specific implementation manner of the embodiment of the present disclosure, the real-time prediction and visual display of the staple track entry point includes:
when the bone nail is moved to confirm the nail placement position, highlighting the bone surface within the preset distance of the nail;
judging the distance according to the position of the nail tip of the bone nail and the line segment formed by the orientation and the length of the bone nail;
when the bone surface patch passes through a plane area formed by two end points in the vertical direction of the line segment, three-dimensional space distance calculation is carried out on the space coordinate of the center of the patch and the point coordinate on the corresponding nail line segment, the calculated result is judged to be a highlight range when being in a preset range, and highlight display is carried out on the highlight range.
According to a specific implementation manner of the embodiment of the present disclosure, the method further includes:
installing a sensor on the surgical instrument to obtain the spatial position of the surgical instrument
The direction of the bone nail and the offset of the spatial position of the surgical instrument are obtained through spatial registration of a navigation system, so that the spatial position of the nail which is accurately calculated along with the position change of an instrument sensor is calculated, and the position of the nail head can be visualized in a three-dimensional space;
and calculating and displaying the position of the nail tail through the sum of the spatial position and the offset of the medical instrument.
According to a specific implementation manner of the embodiment of the present disclosure, the method further includes:
after the nail tail position, the bone nail direction and the bone nail length are obtained, a virtual bone nail model is used for carrying out visualization processing on the bone nail at the real space position.
According to a specific implementation manner of the embodiment of the present disclosure, the method further includes:
and calculating the length of the PP1 segment by acquiring the space coordinate positions of the nail tip P and the intersection point P1, and when the distance of the PP1 segment is positive, expressing the implantation depth of the bone nail by using the length value of the PP1 segment so as to be conveniently and visually displayed based on the implantation depth.
According to a specific implementation manner of the embodiment of the present disclosure, the method further includes:
in the process of rendering and calculating, calculation is carried out through the parallel function of the GPU, and three-dimensional rendering based on voxels, body surface rendering, nail point judgment and implantation depth calculation are optimized.
According to a specific implementation manner of the embodiment of the present disclosure, the system is set to calculate the normal N, the direction is that the inside of the bone surface points to the outside, the normal of the bone nail is set to be M, and the direction is that the needle point P of the bone nail points outward toward the nail tail.
According to a specific implementation manner of the embodiment of the present disclosure, the method further includes:
displaying the visualized image in a pixel-by-pixel display mode, displaying a safety area and a danger area on an organ subjected to operation, and displaying different areas by using different gray scales or colors;
calculating each pixel of the operated organ on the screen cloth, and judging whether the pixel is in a safe area or a dangerous area so as to reach the limit of display precision;
in the process of image rendering and calculation of visual display, each pixel calculates the safety zone where the pixel is located and the depth of a nail;
the parallel acceleration hardware system is provided with a plurality of computing units, and each pixel in the visualized image is distributed to one computing unit so as to improve the computing speed of the visualized image.
In a second aspect, the disclosed embodiment provides a navigation system visualization system for improving safety of orthopedic nail implantation operation, including:
the acquisition module is used for acquiring a three-dimensional model of a bone needing nail implantation operation, and the three-dimensional model is constructed in a CT reconstruction mode so as to conveniently complete correct mapping of the bone of a patient in reality and the three-dimensional model of the bone of the patient in software through spatial registration;
the marking module is used for acquiring an intersection point P1 of a ray formed by the bone nail and a bone surface in the three-dimensional model, marking P1 as a nail entering point when an included angle between a normal N of P1 and a normal M of the bone nail is smaller than 90 degrees, and marking P1 as a nail exiting point when the included angle between the normal N of P1 and the normal M of the bone nail is larger than 90 degrees;
the determining module is used for connecting the positioning needle point P and the intersection point P1 to form a line segment PP1, and determining whether the bone nail is inserted into the bone or not through an included angle between the line segment PP1 and a normal N of P1 to form an insertion state judgment result;
and the display module is used for predicting and visually displaying the nail path entry point on the three-dimensional model of the bone in real time based on the insertion state judgment result, the nail entering point and the nail exiting point.
In a third aspect, an embodiment of the present disclosure further provides an electronic device, where the electronic device includes:
at least one processor; and (c) a second step of,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the navigation system visualization method for improving the safety of orthopaedic nail implantation operations of the first aspect or any implementation manner of the first aspect.
In a fourth aspect, the disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the navigation system visualization method for improving the safety of orthopedic nail implantation operations in the foregoing first aspect or any implementation manner of the first aspect.
In a fifth aspect, the disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the navigation system visualization method for improving the safety of orthopaedic nail implantation operations in the first aspect or any implementation manner of the first aspect.
The visualization scheme of the navigation system for improving the safety of the orthopedic nail implantation operation in the embodiment of the disclosure comprises the steps of obtaining a three-dimensional model of a bone needing nail implantation operation, wherein the three-dimensional model is constructed in a CT reconstruction mode so as to complete correct mapping of the bone of a patient in reality and the three-dimensional model of the bone of the patient in software through spatial registration; acquiring an intersection point P1 of a ray formed by a bone nail and a bone surface in the three-dimensional model, marking P1 as a nail entering point when an included angle between a normal N of P1 and a normal M of the bone nail is smaller than 90 degrees, and marking P1 as a nail exiting point when the included angle between the normal N of P1 and the normal M of the bone nail is larger than 90 degrees; connecting the positioning needle point P with the intersection point P1 to form a line segment PP1, determining whether the bone nail is inserted into the bone or not through an included angle between the line segment PP1 and a normal N of P1, and forming an insertion state judgment result; and predicting and visually displaying a nail path entry point on the three-dimensional model of the bone in real time based on the insertion state judgment result, the nail feeding point and the nail discharging point. Through the processing scheme disclosed by the invention, the position of the nail path, the depth of the nail inlet, the depth of the nail outlet and the depth of the nail path from the inlet to the outlet are displayed in real time through simulation calculation, and the effect and risk of nail placing operation are more visually displayed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a navigation system visualization method for improving safety of an orthopedic nail implantation operation according to an embodiment of the present disclosure;
FIGS. 2a-2d are schematic views illustrating calculation of a bone screw entry point according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating real-time prediction and display of a staple exit point provided by an embodiment of the present disclosure;
fig. 4 is a schematic view of a bone nail provided in an embodiment of the present disclosure being visualized in a navigation system;
fig. 5 is a schematic structural diagram of a navigation system visualization device for improving safety of an orthopedic nail implantation operation according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the disclosure provides a navigation system visualization method for improving the safety of orthopedic nail implantation operation. The navigation system visualization method for improving the safety of the orthopedic nail implantation operation provided by the embodiment can be executed by a computing device, the computing device can be implemented as software, or implemented as a combination of software and hardware, and the computing device can be integrally arranged in a server, a client and the like.
Referring to fig. 1, a navigation system visualization method for improving the safety of an orthopedic nail implantation operation in an embodiment of the present disclosure may include the following steps:
s101, acquiring a three-dimensional model of a bone needing nail implantation, wherein the three-dimensional model is constructed in a CT reconstruction mode so as to conveniently finish correct mapping of the bone of a patient in reality and the three-dimensional model of the bone of the patient in software through spatial registration;
s102, obtaining an intersection point P1 of a ray formed by the bone nail in the three-dimensional model and a bone surface, marking P1 as a nail entering point when an included angle between a normal N of P1 and a normal M of the bone nail is smaller than 90 degrees, and marking P1 as a nail exiting point when the included angle between the normal N of P1 and the normal M of the bone nail is larger than 90 degrees;
s103, connecting the positioning needle point P with the intersection point P1 to form a line segment PP1, determining whether the bone nail is inserted into the bone or not through an included angle between the line segment PP1 and a normal N of P1, and forming an insertion state judgment result;
and S104, predicting and visually displaying a nail path entry point on the three-dimensional model of the bone in real time based on the insertion state judgment result, the nail feeding point and the nail discharging point.
In the process of implementing steps S101-104, an optical positioning instrument, an optical ball marker rake, and a three-dimensional model of the bone to be operated on may be used, and the functions of the components are described as follows:
an optical locator: the navigation system can correctly orient the spatial position of the bone nail and the bone.
Light ball marker rake: an optical ball target is arranged on the bone, and the position of the bone can be accurately tracked through registration; the other photosphere rake is arranged on the bone nail, and can accurately position the needle point and the axial direction of the bone nail through the tool calibration.
Three-dimensional model of bone: the three-dimensional model of the bone to which the operation is applied is reconstructed from the CT, and the correct mapping of the patient's bone in reality and the patient's bone model in software is done by spatial registration.
Referring to fig. 2a-2d, calculation and display of the staple track entry point may include:
1) normal definition: the invention sets the system to calculate the normal N, the direction being the bone surface interior pointing outward. Setting the normal line of the bone nail as M and the direction as the needle point P of the bone nail outwards towards the nail tail.
2) The calculation method of the nail path entry point comprises the following steps:
the surface of the bone is formed by combining a plurality of tiny triangular patches S. During the nail placing operation, a ray A is emitted from the needle point P of the bone nail, the intersection point of the ray A and the bone surface is P1, and the ray A passes through a point P1 and a line N. As shown, when the angle between the normal N of P1 and the normal M of the bone nail is less than 90 °, P1 is the nail insertion point; above 90 deg., P1 is the staple out point.
3) Calculating the insertion condition of the bone nail:
firstly, inserting: connecting the needle point P with the intersection point P1, and if the included angle alpha between the segment PP1 and the normal N of P1 is larger than 90 degrees, it indicates that the bone nail is inserted into the bone.
② no insertion: connecting the needle point P to the point of intersection P1, if the angle beta between the line PP1 and the normal N to P1 is < 90 deg., this indicates that the entry point is in front of the nail and that no bone has been inserted.
5) The display method of the entry point of the nail path comprises the following steps:
in the invention, the nailing point is displayed as a high-brightness circular projection on the surface of the bone, and the nailing path entry point is predicted and displayed in real time.
Firstly, by utilizing the parallel computing function of the GPU, when the nail is moved to confirm the nail placement position, highlighting the bone surface within a certain distance of the nail.
Secondly, judging the distance according to a line segment formed by the nail tip position, the nail orientation and the nail length.
And thirdly, judging two conditions of the interior and the exterior of a plane area formed by passing two end points of the facet slice in the vertical direction of the line segment, when the facet slice on the surface of the bone is in the two plane areas, carrying out three-dimensional space distance calculation on the space coordinate of the center of the facet slice and the point coordinate on the line segment of the corresponding nail, and judging the calculated result as a highlight range when the calculated result is in a certain range.
The real-time prediction and display of the exit point of the nail path can comprise the following steps:
spatial position of the instrument: a sensor is arranged on the surgical instrument to obtain the spatial position of the instrument.
② the spatial position of the nail: the direction of the nail and the offset of the spatial position of the instrument are obtained through the spatial registration of the navigation system. Thereby calculating a spatial nail position accurately calculated as a function of the instrument sensor position, enabling visualization of the nail head position in three-dimensional space.
Thirdly, calculating the position of the nail tail: the spatial position of the instrument + the offset is the position of the tail of the nail.
Referring to fig. 3, the display of the staple track may include: after the nail tail position, the nail direction and the nail length are obtained, a virtual nail model is used for carrying out visualization processing on the nail at the real space position.
Implant depth display
Firstly, defining the implantation depth: the distance between the head of the nail and the surface of the bone.
The implantation depth calculation method comprises the following steps: and calculating the length of the PP1 segment by acquiring the space coordinate positions of the nail tip P and the intersection point P1, wherein the distance is a negative number when the nail is not inserted, the distance is a positive number when the nail is inserted, and the value of the positive number is the implantation depth of the bone nail.
Referring to fig. 4, to improve the real-time response of the system, the system employs parallel accelerated hardware, such as a GPU. Parallel acceleration hardware systems may have thousands of computational units. Each pixel is assigned to a computing unit. Can be accelerated by thousands of times.
Optimizing: in the process of rendering and calculating, calculation is carried out through the parallel function of the GPU, and three-dimensional rendering based on voxels, body surface rendering, nail point judgment and implantation depth calculation are optimized.
Effect II: the frame rate of the whole software reaches more than 25 frames, so that the real-time calculation of the whole calculation and rendering process is optimized.
According to a specific implementation manner of the embodiment of the present disclosure, the real-time prediction and visual display of the staple track entry point includes:
when the bone nail is moved to confirm the nail placement position, highlighting the bone surface within the preset distance of the nail;
judging the distance according to the position of the nail tip of the bone nail, the orientation of the bone nail and the line segment formed by the length of the bone nail;
when the bone surface patch passes through a plane area formed by two end points in the vertical direction of the line segment, three-dimensional space distance calculation is carried out on the space coordinate of the center of the patch and the point coordinate on the corresponding nail line segment, the calculated result is judged to be a highlight range when being in a preset range, and highlight display is carried out on the highlight range.
According to a specific implementation manner of the embodiment of the present disclosure, the method further includes:
installing a sensor on the surgical instrument to obtain the spatial position of the surgical instrument
The direction of the bone nail and the offset of the spatial position of the surgical instrument are obtained through spatial registration of a navigation system, so that the spatial position of the nail which is accurately calculated along with the position change of an instrument sensor is calculated, and the position of the nail head can be visualized in a three-dimensional space;
and calculating and displaying the position of the nail tail through the sum of the spatial position and the offset of the medical instrument.
According to a specific implementation manner of the embodiment of the present disclosure, the method further includes:
after the nail tail position, the bone nail direction and the bone nail length are obtained, a virtual bone nail model is used for carrying out visualization processing on the bone nail at the real space position.
According to a specific implementation manner of the embodiment of the present disclosure, the method further includes:
and calculating the length of the PP1 segment by acquiring the space coordinate positions of the nail tip P and the intersection point P1, and when the distance of the PP1 segment is a positive number, representing the implantation depth of the bone nail by using the length value of the PP1 segment so as to be visually displayed based on the implantation depth.
According to a specific implementation manner of the embodiment of the present disclosure, the method further includes:
in the process of rendering and calculating, calculation is carried out through the parallel function of the GPU, and three-dimensional rendering based on voxels, body surface rendering, nail point judgment and implantation depth calculation are optimized.
According to a specific implementation manner of the embodiment of the present disclosure, the system is set to calculate the normal N, the direction is that the inside of the bone surface points to the outside, the normal of the bone nail is set to be M, and the direction is that the needle point P of the bone nail points outward toward the nail tail.
Referring to fig. 4, in order to achieve high accuracy of display, a pixel-by-pixel calculation method is adopted. The calculations in the above-described method embodiments are performed for each pixel on the panel tomb. According to a specific implementation manner of the embodiment of the present disclosure, the method further includes: and displaying the visually displayed image in a pixel-by-pixel display mode, and displaying the pixel points to be displayed in a color different from the color of the bone. For example, for a three-dimensional model of bone described in white, the nail point may be represented in a blue highlight manner, and the nail point may be described in a red highlight circular projection manner. Of course, the setting may be performed according to other colors, so that the visual display portion may be made to have different colors to present a semitransparent effect. The invention is not specifically limited herein.
Specifically, the system software may define the safety zone and the hazard zone according to the location of the point of penetration and the point of exit and the surgical requirements. In order to clearly display the operating space and the safety area. The system employs a pixel-by-pixel display approach. There are many ways to display the security zones, such as representing the security zones by balls or squares, or using labels for illustration. However, the accuracy of this method has many problems in surgery:
1) the boundary accuracy is not sufficient, the sphere or the square is only approximate, and the boundary cannot be accurately displayed. The label is difficult to clearly display the boundary;
2) because the safe area and the dangerous area are just in the operation range, the added display physics can easily shield the view of a doctor.
The invention provides a scheme for pixel-by-pixel accurate display.
1) It is characterized by that on the organ of operation the safe zone and dangerous zone are displayed, and on the organ of operation the different zones can be displayed by using different grey scales or colours without adding new finger-like object.
2) High precision: and calculating each pixel of the operated organ on the screen cloth, and judging whether the pixel is in a safe area or a dangerous area to reach the limit of display precision.
Optimizing: in the process of rendering and calculating, each pixel needs to calculate the safety zone where the pixel is located and the depth of the nail, and in order to improve the real-time response of the system, the system adopts parallel accelerated hardware, such as a GPU. The parallel acceleration hardware system can hold thousands of computation units, and each pixel is distributed to one computation unit, so that the speed can be increased by thousands of times.
Effect II: the frame rate of the whole software reaches more than 25 frames, and a doctor can adjust a scheme in real time during an operation to see the risk and effect of the operation.
Corresponding to the above method embodiment, referring to fig. 5, the embodiment of the present disclosure further provides a navigation system visualization system 50 for improving the safety of an orthopedic nail implantation operation, including:
an obtaining module 501, configured to obtain a three-dimensional model of a bone requiring nail implantation, where the three-dimensional model is constructed in a CT reconstruction manner, so as to complete correct mapping between a bone of a patient in reality and a three-dimensional model of a bone of a patient in software through spatial registration;
the marking module 502 is used for acquiring an intersection point P1 of a ray formed by the bone nail and a bone surface in the three-dimensional model, marking P1 as a nail entering point when an included angle between a normal N of P1 and a normal M of the bone nail is smaller than 90 degrees, and marking P1 as a nail exiting point when the included angle between the normal N of P1 and the normal M of the bone nail is larger than 90 degrees;
the determining module 503 is used for connecting the positioning needle point P and the intersection point P1 to form a line segment PP1, and determining whether the bone nail is inserted into the bone through an included angle between the line segment PP1 and a normal N of P1 to form an insertion state judgment result;
and the display module 504 is used for performing real-time prediction and visual display on the nail path entry point on the three-dimensional model of the bone based on the insertion state judgment result, the nail entering point and the nail exiting point.
For parts not described in detail in this embodiment, reference is made to the contents described in the above method embodiments, which are not described again here.
Referring to fig. 6, an embodiment of the present disclosure also provides an electronic device 60, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the navigation system visualization method for improving the safety of orthopaedic nail implantation operation in the above method embodiments.
The disclosed embodiment also provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to execute the navigation system visualization method for improving the safety of the orthopedic nail implantation operation in the method embodiment.
The disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the navigation system visualization method for improving the safety of orthopaedic nail implantation operations in the aforementioned method embodiments.
Referring now to FIG. 6, a schematic diagram of an electronic device 60 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 6, the electronic device 60 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 601 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the electronic apparatus 60 are also stored. The processing device 601, the ROM602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 60 to communicate with other devices wirelessly or by wire to exchange data. While the figures illustrate an electronic device 60 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 609, or may be installed from the storage means 608, or may be installed from the ROM 602. The computer program, when executed by the processing device 601, performs the above-described functions defined in the methods of embodiments of the present disclosure.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring at least two internet protocol addresses; sending a node evaluation request comprising the at least two internet protocol addresses to node evaluation equipment, wherein the node evaluation equipment selects the internet protocol addresses from the at least two internet protocol addresses and returns the internet protocol addresses; receiving an internet protocol address returned by the node evaluation equipment; wherein the obtained internet protocol address indicates an edge node in the content distribution network.
Alternatively, the computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving a node evaluation request comprising at least two internet protocol addresses; selecting an internet protocol address from the at least two internet protocol addresses; returning the selected internet protocol address; wherein the received internet protocol address indicates an edge node in the content distribution network.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a unit does not in some cases constitute a limitation of the unit itself, for example, the first retrieving unit may also be described as a "unit for retrieving at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A visualization method of a navigation system for improving the safety of orthopedics nail implantation operation is characterized by comprising the following steps:
acquiring a three-dimensional model of a bone needing nail implantation, wherein the three-dimensional model is constructed in a CT reconstruction mode so as to conveniently finish correct mapping of the bone of a patient in reality and the three-dimensional model of the bone of the patient in software through spatial registration;
acquiring an intersection point P1 between a ray formed by a bone nail and a bone surface in the three-dimensional model, marking P1 as a nail entering point when an included angle between a normal N of P1 and a normal M of the bone nail is smaller than 90 degrees, and marking P1 as a nail exiting point when the included angle between the normal N of P1 and the normal M of the bone nail is larger than 90 degrees;
connecting the positioning needle point P with the intersection point P1 to form a line segment PP1, determining whether the bone nail is inserted into the bone or not through an included angle between the line segment PP1 and a normal N of P1, and forming an insertion state judgment result;
and predicting and visually displaying a nail path entry point on the three-dimensional model of the bone in real time based on the insertion state judgment result, the nail feeding point and the nail discharging point.
2. The method of claim 1, wherein said real-time prediction and visualization of the staple track entry point comprises:
when the bone nail is moved to confirm the nail placement position, highlighting the bone surface within the preset distance of the nail;
judging the distance according to the position of the nail tip of the bone nail, the orientation of the bone nail and the line segment formed by the length of the bone nail;
when the bone surface patch passes through a plane area formed by two end points in the vertical direction of the line segment, three-dimensional space distance calculation is carried out on the space coordinate of the center of the patch and the point coordinate on the corresponding nail line segment, the calculated result is judged to be a highlight range when being in a preset range, and highlight display is carried out on the highlight range.
3. The method of claim 2, further comprising:
installing a sensor on the surgical instrument to obtain the spatial position of the surgical instrument
The direction of the bone nail and the offset of the spatial position of the surgical instrument are obtained through spatial registration of a navigation system, so that the spatial position of the nail which is accurately calculated along with the position change of an instrument sensor is calculated, and the position of the nail head can be visualized in a three-dimensional space;
and calculating and displaying the position of the nail tail through the sum of the spatial position and the offset of the medical instrument.
4. The method of claim 3, further comprising:
after the nail tail position, the bone nail direction and the bone nail length are obtained, a virtual bone nail model is used for carrying out visualization processing on the bone nail at the real space position.
5. The method of claim 4, further comprising:
and calculating the length of the PP1 segment by acquiring the space coordinate positions of the nail tip P and the intersection point P1, and when the distance of the PP1 segment is positive, expressing the implantation depth of the bone nail by using the length value of the PP1 segment so as to be conveniently and visually displayed based on the implantation depth.
6. The method of claim 5, further comprising:
in the process of rendering and calculating, calculation is carried out through the parallel function of the GPU, and three-dimensional rendering based on voxels, body surface rendering, nail point judgment and implantation depth calculation are optimized.
7. The method of claim 6, wherein:
the system is set to calculate the normal N, the direction is that the inside of the bone surface points to the outside, the normal of the bone nail is set to be M, and the direction is that the needle point P of the bone nail faces to the outside of the nail tail.
8. The method of claim 6, further comprising:
displaying the visualized image in a pixel-by-pixel display mode, displaying a safety area and a danger area on the organ of the operation, and displaying different areas by using different gray scales or colors;
calculating each pixel of the operated organ on the screen cloth, and judging whether the pixel is in a safe area or a dangerous area so as to reach the limit of display precision;
in the process of image rendering and calculation of visual display, each pixel calculates the safety zone where the pixel is located and the depth of a nail;
the parallel acceleration hardware system is provided with a plurality of computing units, and each pixel in the visualized image is distributed to one computing unit so as to improve the computing speed of the visualized image.
9. The utility model provides an improve visual system of navigation of orthopedics nail implantation operation security which characterized in that includes:
the acquisition module is used for acquiring a three-dimensional model of the bone needing nail implantation operation, and the three-dimensional model is constructed in a CT reconstruction mode so as to conveniently complete correct mapping of the bone of the patient in reality and the three-dimensional model of the bone of the patient in software through spatial registration;
the marking module is used for acquiring an intersection point P1 of a ray formed by the bone nail and a bone surface in the three-dimensional model, marking P1 as a nail entering point when an included angle between a normal N of P1 and a normal M of the bone nail is smaller than 90 degrees, and marking P1 as a nail exiting point when the included angle between the normal N of P1 and the normal M of the bone nail is larger than 90 degrees;
the determining module is used for connecting the positioning needle point P and the intersection point P1 to form a line segment PP1, and determining whether the bone nail is inserted into the bone or not through an included angle between the line segment PP1 and a normal N of P1 to form an insertion state judgment result;
and the display module is used for predicting and visually displaying the nail path entry point on the three-dimensional model of the bone in real time based on the insertion state judgment result, the nail entering point and the nail exiting point.
10. An electronic device, characterized in that the electronic device comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of visualizing a navigation system for improving the safety of orthopaedic nail implantation operations of any one of the preceding claims 1 to 8.
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