CN114587584B - Navigation system visualization method and system for improving safety of orthopedic nail setting operation - Google Patents
Navigation system visualization method and system for improving safety of orthopedic nail setting operation Download PDFInfo
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- 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
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Abstract
The embodiment of the disclosure provides a navigation system visualization method and a navigation system for improving the safety of orthopedic nail placement operation, belonging to the technical field of surgical navigation, wherein the method comprises the following steps: acquiring a three-dimensional model of a bone to be subjected to nail placement operation; acquiring an intersection point P1 of a ray formed by a bone nail and a bone surface in the three-dimensional model; 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 the normal N of the line segment P1 to form an insertion state judgment result; based on the insertion state judgment result, the nailing point and the nailing point, on the three-dimensional model of the bone, the nailing channel entry point is predicted in real time and visually displayed. Through the processing scheme of the present disclosure, the visual operation risk of the operator can be visually helped, and the effect and the safety of the operation are improved.
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 safety of orthopedic nail placement operation.
Background
Nail placement is a common surgical procedure in orthopaedics, but the risk is extremely high. Because the bone is opaque during the operation, the operator needs to intermittently judge the bone depth and the viscera condition of the bone nail on the penetrating side according to his own experience for many years. Conventional surgical navigation systems typically only display the relative positional relationship of the instrument to the organ in terms of coordinates such as position, angle, etc., but such information is of limited assistance to the clinician. The invention is a part of the visual technology of an orthopedic operation navigation system, mainly describes the design and the implementation technical method of a nail placement visual system, intuitively helps an operator to visualize the operation risk, and improves the operation effect and safety.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a navigation system visualization method and system for improving safety of orthopedic nail placement 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 orthopedic nail placement operation, including:
acquiring a three-dimensional model of a bone needing nail placement operation, wherein the three-dimensional model is constructed in a CT reconstruction mode so as to 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 of a ray formed by the bone nail and a bone surface in the three-dimensional model, marking the P1 as a nail inlet point when the included angle between the normal N of the P1 and the normal M of the bone nail is smaller than 90 degrees, and marking the P1 as a nail outlet point when the included angle between the normal N of the P1 and the normal M of the bone nail is larger than 90 degrees;
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 the normal N of the line segment P1 to form an insertion state judgment result;
based on the insertion state judgment result, the nailing point and the nailing point, on the three-dimensional model of the bone, the nailing channel entry point is predicted in real time and visually displayed.
According to a specific implementation manner of the embodiment of the present disclosure, the real-time prediction and visual display of the nail path entry point includes:
when the bone nail is moved to confirm the nail placement position, highlighting the bone surface within a preset distance of the nail;
judging the distance according to a line segment formed by the position of the nail tip of the bone nail, the direction and the length of the bone nail;
when the bone surface patch is in 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, and when the calculated result is in a preset range, the highlight range is judged, and the highlight range is highlighted.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
mounting a sensor on a surgical instrument to obtain the spatial position of the surgical instrument
Obtaining the direction of the bone nail and the offset of the spatial position of the surgical instrument through the space registration of the navigation system, so as to calculate a nail spatial position accurately calculated along with the position change of the instrument sensor, and enable the nail head position to be visualized in a three-dimensional space;
and calculating and displaying the position of the tail of the nail through the sum of the spatial position and the offset of the medical instrument.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
after the tail position, the nail direction, and the nail length are obtained, the nail is visualized in a real spatial position with a virtual nail model.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
and calculating the length of the PP1 section by acquiring the space coordinate positions of the nail tip P and the intersection point P1, and when the distance of the PP1 section is a positive number, representing the length value of the PP1 section as the implantation depth of the bone nail so as to carry out visual display based on the implantation depth.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
in the process of rendering and calculating, the parallel function of the GPU is used for calculating, and the three-dimensional rendering, the surface rendering, the nail point judgment and the implantation depth calculation based on the voxels are optimized.
According to a specific implementation manner of the embodiment of the disclosure, the setting system calculates a normal N, wherein the direction is that the inside of the bone surface points outwards, the normal of the bone nail is set as M, and the direction is that the needle point P of the bone nail faces outwards towards the tail of the nail.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
for the visually displayed images, a pixel-by-pixel display mode is adopted for display, a safety area and a dangerous area are displayed on an organ of operation, and different areas are displayed by using different gray scales or colors;
calculating each pixel of the operation organ on the screen, 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 area where the pixel is positioned and the depth of the 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, embodiments of the present disclosure provide a navigation system visualization system for improving safety of orthopedic nail placement operations, comprising:
the acquisition module is used for acquiring a three-dimensional model of the bone needing nail placement operation, and the three-dimensional model is constructed in a CT reconstruction mode so as to 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;
the marking module is used for obtaining an intersection point P1 of a ray formed by the bone nail and a bone surface in the three-dimensional model, marking the P1 as a nail inlet point when the included angle between the normal N of the P1 and the normal M of the bone nail is smaller than 90 degrees, and marking the P1 as a nail outlet point when the included angle between the normal N of the 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, determining whether the bone nail is inserted into the bone or not through the included angle between the line segment PP1 and the normal N of the line segment P1, and forming an insertion state judging result;
and the display module is used for predicting and visually displaying the nail channel entry point in real time on the three-dimensional model of the bone based on the insertion state judgment result, the nail entering point and the nail exiting point.
In a third aspect, embodiments of the present disclosure further provide an electronic device, including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the navigation system visualization method of the first aspect or any implementation of the first aspect that improves the safety of orthopaedic stapling operations.
In a fourth aspect, the disclosed embodiments also provide a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the navigation system visualization method for improving the safety of an orthopaedic stapling operation in the foregoing first aspect or any implementation manner of the first aspect.
In a fifth aspect, embodiments of the present disclosure 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 of improving the safety of an orthopaedic stapling operation in any one of the implementations of the foregoing first aspect or the first aspect.
The navigation system visualization scheme for improving the safety of the orthopedic nail placing operation in the embodiment of the disclosure comprises the steps of obtaining a three-dimensional model of a bone to be subjected to the nail placing operation, wherein the three-dimensional model is constructed in a CT reconstruction mode so as to 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 of a ray formed by the bone nail and a bone surface in the three-dimensional model, marking the P1 as a nail inlet point when the included angle between the normal N of the P1 and the normal M of the bone nail is smaller than 90 degrees, and marking the P1 as a nail outlet point when the included angle between the normal N of the P1 and the normal M of the bone nail is larger than 90 degrees; 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 the normal N of the line segment P1 to form an insertion state judgment result; based on the insertion state judgment result, the nailing point and the nailing point, on the three-dimensional model of the bone, the nailing channel entry point is predicted in real time and visually displayed. Through the processing scheme of the present disclosure, through simulation calculation, the position of nail way is shown in real time, and the degree of depth of income nail mouth, play nail mouth and nail way apart from entry and export, more audio-visual show effect and the risk of putting the nail operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a flow chart of a navigation system visualization method for improving safety of orthopedic nail placement operation provided by an embodiment of the present disclosure;
FIGS. 2a-2d are schematic illustrations of the calculation of bone screw entry points provided by embodiments of the present disclosure;
FIG. 3 is a schematic view of real-time prediction and display of the lane exit point provided in an embodiment of the present disclosure;
FIG. 4 is a schematic view of a bone screw in a navigation system provided in an embodiment of the present disclosure;
FIG. 5 is a schematic structural view of a navigation system visualization device for improving safety of orthopedic nail placement operation according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following 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 present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, 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. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the disclosure by way of illustration, and only the components related to the disclosure are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide 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 placement operation. The navigation system visualization method for improving the safety of the orthopedic nail placement operation provided by the embodiment can be executed by a computing device, the computing device can be implemented as software or 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 safety of orthopedic nail placement operation in an embodiment of the present disclosure may include the steps of:
s101, acquiring a three-dimensional model of a bone needing nail placement operation, wherein the three-dimensional model is constructed in a CT reconstruction mode so as to 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, acquiring an intersection point P1 of a ray formed by the bone nail and a bone surface in the three-dimensional model, marking the P1 as a nail inlet point when the included angle between the normal N of the P1 and the normal M of the bone nail is smaller than 90 degrees, and marking the P1 as a nail outlet point when the included angle between the normal N of the P1 and the normal M of the bone nail is larger than 90 degrees;
s103, 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 the included angle between the line segment PP1 and the normal N of the line segment P1 to form an insertion state judgment result;
s104, based on the insertion state judgment result, the nailing point and the nailing point, performing real-time prediction and visual display on a nail channel entry point on the three-dimensional model of the bone.
In the implementation of steps S101-104, an optical positioner, a ball marker, and a three-dimensional model of the bone to which the operation is to be performed may be used, and the functions of the components are as follows:
optical positioning instrument: for tracking the bone and the position of the nail, the navigation system can correctly orient the bone nail and the spatial position of the bone.
Optical ball marking harrow: a light ball marker rake is arranged on the bone, and can accurately track the position of the bone after alignment; the other light ball target is arranged on the bone nail, and the needle point and the axial direction of the bone nail can be accurately positioned through the tool.
Bone three-dimensional model: the three-dimensional model of the bone subjected to the operation is reconstructed according to CT, and the correct mapping of the bone of the patient in reality and the bone model of the patient in software is completed through spatial registration.
Referring to fig. 2a-2d, the calculation and display of the lane entry point may include:
1) Normal definition: the system is set to calculate the normal N in the direction of the inside of the bone surface pointing outwards. Setting the normal line of the bone screw as M, and setting the direction of the needle point P of the bone screw outwards towards the tail of the bone screw.
2) The calculation method of the nail path entry point comprises the following steps:
the bone surface of the present invention is composed of numerous tiny triangular patches S. In the nail placing operation process, a ray A is emitted from the nail tip P, the intersection point of the ray A and the bone surface is P1, and the line N is made through the P1 point. As shown in the figure, when the included angle between the normal N of the P1 and the normal M of the bone screw is smaller than 90 degrees, the P1 is a screw inlet point; when the angle is larger than 90 degrees, P1 is the nail outlet point.
3) Calculating the insertion condition of the bone nail:
(1) has been inserted: connecting the needle point P with the intersection point P1, if the included angle alpha between the line segment PP1 and the normal N of the line segment P1 is more than 90 degrees, the bone screw is inserted into the bone.
(2) Not inserted: connecting the needle point P with the intersection point P1, if the included angle beta between the line segment PP1 and the normal N of the line segment P1 is smaller than 90 degrees, the entry point is in front of the bone screw, and the bone is not inserted yet.
5) The method for displaying the nail path entry point comprises the following steps:
in the invention, the nail entering point is displayed as a highlighted circular projection on the bone surface, and the nail channel entrance point is predicted and displayed in real time.
(1) And (3) utilizing the parallel computing function of the GPU, and highlighting the bone surface within a certain distance of the nail when the nail is moved to confirm the nail placement position.
(2) And judging the distance according to a line segment formed by the position of the nail tip, the direction of the nail and the length.
(3) The method comprises the steps of judging the two conditions of the surface patch in the inner and outer planes formed by the two end points in the vertical direction of the line segment, when the bone surface patch is in the two plane areas, calculating the three-dimensional space distance between the space coordinate of the center of the surface patch and the point coordinate on the corresponding nail line segment, and judging the highlight range when the calculated result is in a certain range.
The real-time prediction and display of the lane exit point may include:
(1) spatial position of the instrument: the sensor is installed on the surgical instrument to obtain the spatial position of the instrument.
(2) Spatial position of nails: the direction of the staples, as well as the offset of the spatial position of the instrument, are obtained by spatial registration of the navigation system. Thus, a precisely calculated spatial position of the nail as a function of the position of the instrument sensor is calculated, enabling the position of the nail head to be visualized in three dimensions.
(3) Calculating the position of the tail: spatial position of instrument + offset = position of tail.
Referring to fig. 3, the display of the tack way may include: after the tail position, the nail direction, and the nail length are obtained, the nail is visually processed in a real space position by using a virtual nail model.
Display of implantation depth
(1) Implantation depth definition: the distance between the head and the bone surface.
(2) The method for calculating the implantation depth comprises the following steps: the length of the PP1 section is calculated by acquiring the space coordinate positions of the nail tip P and the intersection point P1, the distance is a negative number when the nail tip P and the intersection point P1 are not inserted, the distance is a positive number when the nail tip P and the intersection point P1 are inserted, and the value of the positive number is the bone nail implantation depth.
Referring to fig. 4, to improve the real-time response of the system, the system employs parallel acceleration hardware, such as a GPU. Parallel acceleration hardware systems can be congested with thousands of computation sheets. Each pixel is assigned to a computing unit. Can accelerate by thousands of times.
(1) Optimizing: in the rendering and calculating process, the parallel function of the GPU is used for calculating, and the three-dimensional rendering, the surface rendering, the nail point judgment and the implantation depth calculation based on the voxels are optimized.
(2) The effect is as follows: 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 nail path entry point includes:
when the bone nail is moved to confirm the nail placement position, highlighting the bone surface within a preset distance of the nail;
judging the distance according to a line segment formed by the position of the nail tip of the bone nail, the direction and the length of the bone nail;
when the bone surface patch is in 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, and when the calculated result is in a preset range, the highlight range is judged, and the highlight range is highlighted.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
mounting a sensor on a surgical instrument to obtain the spatial position of the surgical instrument
Obtaining the direction of the bone nail and the offset of the spatial position of the surgical instrument through the space registration of the navigation system, so as to calculate a nail spatial position accurately calculated along with the position change of the instrument sensor, and enable the nail head position to be visualized in a three-dimensional space;
and calculating and displaying the position of the tail of the nail through the sum of the spatial position and the offset of the medical instrument.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
after the tail position, the nail direction, and the nail length are obtained, the nail is visualized in a real spatial position with a virtual nail model.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
and calculating the length of the PP1 section by acquiring the space coordinate positions of the nail tip P and the intersection point P1, and when the distance of the PP1 section is a positive number, representing the length value of the PP1 section as the implantation depth of the bone nail so as to carry out visual display based on the implantation depth.
According to a specific implementation of an embodiment of the disclosure, the method further includes:
in the process of rendering and calculating, the parallel function of the GPU is used for calculating, and the three-dimensional rendering, the surface rendering, the nail point judgment and the implantation depth calculation based on the voxels are optimized.
According to a specific implementation manner of the embodiment of the disclosure, the setting system calculates a normal N, wherein the direction is that the inside of the bone surface points outwards, the normal of the bone nail is set as M, and the direction is that the needle point P of the bone nail faces outwards towards the tail of the nail.
Referring to fig. 4, in order to achieve high accuracy of display, a pixel-by-pixel calculation method is adopted. The calculation in the above method embodiment is performed for each pixel on the screen tomb. According to a specific implementation of an embodiment of the disclosure, the method further includes: the visualized image is displayed in a pixel-by-pixel display mode, and the pixel points to be displayed are displayed in a color different from the bone color. For example, for a three-dimensional model of bone depicted in white, the entry point may be represented in a blue highlighting manner and the point may be depicted in a red highlighting circular projection manner. Of course, the setting may be performed according to other colors, so that the visual display portion may be made to show a semitransparent effect by using different colors. The present invention is not particularly limited herein.
Specifically, the system software may define a safe area and a dangerous area according to the positions of the in-point and the out-point and the operation requirement. For the sake of clarity, the operating space and the safety area are displayed. The system employs a pixel-by-pixel display method. There are many ways to display the safe area, such as representing the safe area with a sphere or a square, or by using a labeling. But this method precision has many problems in surgery:
1) The boundary accuracy is not sufficient, the sphere or square is only approximate, and the boundary cannot be accurately displayed. Marking a display boundary which is difficult to clearly display;
2) Because the safe area and the dangerous area are well within the operation range, the added display physics easily causes shielding to the vision of doctors.
The invention provides a scheme for accurately displaying pixel by pixel.
1) The method is characterized in that a safety area and a dangerous area are displayed on an organ operated by an operation, a new finger object is not added, and different areas are displayed by using different gray scales or colors.
2) High precision: and calculating each pixel of the operation organ on the screen, and judging whether the pixel is in a safe area or a dangerous area or not to reach the limit of display precision.
(1) Optimizing: in the rendering and computing process, each pixel is required to compute the depth of the safe area and the depth of the nail, and in order to improve the real-time response of the system, the system adopts parallel acceleration hardware such as a GPU. Parallel acceleration hardware systems can be congested with thousands of computation sheets, each pixel being assigned to a computation unit, which can be accelerated by thousands of times.
(2) The effect is as follows: the frame rate of the whole software reaches more than 25 frames, and a doctor can adjust the scheme in real time in the operation to see the risk and effect of the operation.
Corresponding to the above method embodiments, referring to fig. 5, the presently disclosed embodiments also provide a navigation system visualization system 50 for improving safety of orthopedic stapling operations, comprising:
the acquisition module 501 is configured to acquire a three-dimensional model of a bone to be nailed, where the three-dimensional model is constructed by a CT reconstruction method, 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;
the marking module 502 is configured to obtain an intersection point P1 between a ray formed by the bone nail and a bone surface in the three-dimensional model, mark P1 as a nail-in point when an included angle between a normal line N of the P1 and a normal line M of the bone nail is smaller than 90 °, and mark P1 as a nail-out point when an included angle between the normal line N of the P1 and the normal line M of the bone nail is larger than 90 °;
a determining module 503, configured to connect the positioning needle point P and the intersection point P1 to form a line segment PP1, determine whether the bone nail has been inserted into the bone according to an included angle between the line segment PP1 and a normal N of the line segment P1, and form an insertion state judgment result;
and the display module 504 is configured to predict and visually display a nail path entry point in real time on the three-dimensional model of the bone based on the insertion state determination result, the nail insertion point and the nail extraction point.
The parts of this embodiment, which are not described in detail, are referred to the content described in the above method embodiment, and are not described in detail herein.
Referring to fig. 6, an embodiment of the present disclosure also provides an electronic device 60, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the navigation system visualization method of improving the safety of orthopaedic stapling operations in the foregoing method embodiments.
The disclosed embodiments also provide a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the navigation system visualization method of the foregoing method embodiments that improves the safety of orthopedic stapling operations.
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 of the foregoing method embodiments for improving the safety of orthopaedic stapling operations.
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., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 6 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
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, which may perform various appropriate actions and processes according to 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 device 60 are also stored. The processing device 601, the ROM602, and the RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
In general, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic 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 an electronic device 60 having various means is shown, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to 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 shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 609, or from storage means 608, or from ROM 602. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 601.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any 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 context of this 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 the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also 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, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated 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 an internet protocol address from the at least two internet protocol addresses and returns the internet protocol address; receiving an Internet protocol address returned by the node evaluation equipment; wherein the acquired internet protocol address indicates an edge node in the content distribution network.
Alternatively, the computer-readable medium carries one or more programs that, 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 of the present disclosure may be written in 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 case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts 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 involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring 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 foregoing is merely specific embodiments of the disclosure, but the protection scope of the 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 disclosure are intended to be covered by the protection scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (5)
1. A navigation system visualization system for improving safety of orthopedic nail placement operation, comprising:
the acquisition module is used for acquiring a three-dimensional model of the bone needing nail placement operation, and the three-dimensional model is constructed in a CT reconstruction mode so as to 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;
the marking module is used for obtaining an intersection point P1 of a ray formed by the bone nail and a bone surface in the three-dimensional model, marking the P1 as a nail inlet point when the included angle between the normal N of the P1 and the normal M of the bone nail is smaller than 90 degrees, and marking the P1 as a nail outlet point when the included angle between the normal N of the 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, determining whether the bone nail is inserted into the bone or not through the included angle between the line segment PP1 and the normal N of the line segment P1, and forming an insertion state judging result;
the display module is used for predicting and visually displaying the nail channel entry point in real time on the three-dimensional model of the bone based on the insertion state judgment result, the nail entering point and the nail exiting point; wherein the method comprises the steps of
The real-time prediction and display of the nail path outlet point comprises the following steps: installing a sensor on the surgical instrument to obtain the spatial position of the surgical instrument; obtaining the direction of the bone nail and the offset of the spatial position of the surgical instrument through the space registration of the navigation system, so as to calculate a nail spatial position accurately calculated along with the position change of the instrument sensor, and enable the nail head position to be visualized in a three-dimensional space; calculating and displaying the position of the tail of the nail through the sum of the spatial position and the offset of the medical instrument;
the displaying of the tack way includes: after the tail position, the bone screw direction and the bone screw length are obtained, a virtual bone screw model is used for carrying out visualization treatment on the bone screw at a real space position;
the setting system calculates a normal N in the direction of the inside of the bone surface pointing outwards, sets the normal of the bone screw as M, and sets the direction of the needle point P of the bone screw to the outside of the tail.
2. The system of claim 1, wherein the real-time predictive and visual display of the lane entry point comprises:
when the bone nail is moved to confirm the nail placement position, highlighting the bone surface within a preset distance of the nail;
judging the distance according to a line segment formed by the position of the nail tip of the bone nail, the direction and the length of the bone nail;
when the bone surface patch is in 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, and when the calculated result is in a preset range, the highlight range is judged, and the highlight range is highlighted.
3. The system of claim 1, wherein the system is further configured to:
and calculating the length of the PP1 section by acquiring the space coordinate positions of the nail tip P and the intersection point P1, and when the distance of the PP1 section is a positive number, representing the length value of the PP1 section as the implantation depth of the bone nail so as to carry out visual display based on the implantation depth.
4. A system according to claim 3, wherein the system is further configured to:
in the process of rendering and calculating, the parallel function of the GPU is used for calculating, and the three-dimensional rendering, the surface rendering, the nail point judgment and the implantation depth calculation based on the voxels are optimized.
5. The system of claim 4, wherein the system is further configured to:
for the visually displayed images, a pixel-by-pixel display mode is adopted for display, a safety area and a dangerous area are displayed on an organ of operation, and different areas are displayed by using different gray scales or colors;
calculating each pixel of the operation organ on the screen, 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 area where the pixel is positioned and the depth of the 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.
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