CN116370074A - Spinal osteotomy path planning device, method and system - Google Patents

Abstract

The invention discloses a device, a method and a system for planning a spine osteotomy path, and belongs to the technical field of medical appliances. The spine osteotomy planning device can plan an osteotomy path for spine osteotomy operation, and specifically comprises: the device comprises an identification module, an acquisition module and a determination module. The identification module is used for identifying characteristic points of at least two vertebral bodies based on the spine scanning image of the target object. The acquisition module is used for acquiring the size of the focus according to the pathological image of the target object. The determination module is used for determining an osteotomy region on the vertebral body to be osteotomy based on the feature points and the size of the focus.

Description

Spinal osteotomy path planning device, method and system

Technical Field

Relates to the technical field of medical equipment, in particular to a device, a method and a system for planning a spine osteotomy path.

Background

The spine osteotomy is a treatment method for dealing with pathological changes of the spine part, and the spine shape is changed by cutting off partial bone tissues of the spine vertebral body, so as to achieve the treatment effect. Such as posterior longitudinal ligament ossification, requires osteotomy of the vertebral body at the calcified ligament.

With the development and innovation of medical instrument technology, surgical robots have achieved clinical applications. The operation route planning is realized according to pathological features and physiological features of patients, and the operation is implemented according to the planned route. The stability and the accuracy of operation actions are improved by adopting the operation robot.

However, there are few related art techniques involving the use of intelligent systems to implement surgical planning in the field of spinal osteotomies. Therefore, there is a need to develop a surgical planning system in the field of spinal osteotomies.

Disclosure of Invention

The invention aims to overcome the defect that in the prior art, surgical path planning cannot be realized aiming at spine osteotomy, and provides a spine osteotomy path planning device, method and system.

The invention solves the technical problems by the following technical scheme:

in a first aspect, the present invention provides a spinal osteotomy planning device, the device comprising:

the identification module is used for identifying the characteristic points of at least two sections of vertebral bodies based on the spine scanning image of the target object;

the acquisition module is used for acquiring the size of the focus according to the pathological image of the target object;

and the determining module is used for determining an osteotomy region on the vertebral body to be osteotomy based on the feature points and the size of the focus.

In one embodiment, the osteotomy region includes sagittal, transverse and anterior planes that are vertically aligned in pairs; the determining module includes:

the construction unit is used for constructing a longitudinal axis surface of the target object according to the characteristic points of the at least two sections of vertebral bodies;

a first determining unit for determining the sagittal plane based on the longitudinal axis plane and the physiological characteristics of the vertebral body to be osteotomized; and/or

A second determining unit configured to determine the cross section based on the longitudinal axis surface and the feature points; and/or

A third determining unit for determining the leading edge surface based on the longitudinal axis surface and the size of the lesion.

In one embodiment, the first determining unit includes:

the first acquisition subunit is used for acquiring a target image from the tomographic image of the vertebral body to be osteotomy according to the thickness of the vertebral pedicle;

a first determining subunit, configured to determine, in the target image, the sagittal plane based on a positional relationship between the cone hole and the osteotomy restriction area, where the sagittal plane is parallel to the longitudinal axis plane.

In one embodiment, the feature points include a first feature point and a second feature point distributed up and down the vertebral body, and the second determining unit includes:

the second determining subunit is used for determining a first normal according to the projection of the first characteristic point and the second characteristic point on the longitudinal axis surface;

a third determination subunit for determining a first cross section perpendicular to the first normal direction and passing through the first feature point, and a second cross section perpendicular to the first normal direction and passing through the second feature point.

In one embodiment, the feature points further include a third feature point located between the first feature point and the second feature point in the axial direction, and the third determination unit includes:

a fourth determination subunit configured to determine a second normal according to the longitudinal axis plane and the first normal;

and a fifth determination subunit, configured to determine the leading edge surface according to the third feature point and the thickness of the focus, where the leading edge surface is perpendicular to the second normal direction.

In one embodiment, the identification module is specifically configured to identify the feature points based on a spine scan image of the target object through a pre-trained first identification model.

In one embodiment, the acquiring module is specifically configured to acquire the size of the lesion based on the pathology image through a pre-trained second recognition model.

In a second aspect, there is provided a spinal osteotomy planning method, the method comprising:

identifying characteristic points of at least two vertebral bodies based on a spine scanning image of the target object;

acquiring the size of a focus according to the pathological image of the target object;

and determining an osteotomy region on the vertebral body to be osteotomized based on the feature points and the size of the focus.

In a third aspect, there is provided a spinal osteotomy planning system, the system comprising an osteotomy planning apparatus as provided in the first aspect above.

In a fourth aspect, there is provided various types of spinal osteotomy operating systems, the operating systems comprising:

a processor comprising the spinal osteotomy planning system provided in the third aspect above,

and the execution assembly is used for controlling the osteotomy operation according to the osteotomy region determined by the spine osteotomy planning system by the processor.

The invention has the positive progress effects that:

the spine osteotomy planning device provided by the embodiment of the invention quantitatively plans an osteotomy path based on the spine image and the focus size of the target object. In this way, the controllability of the spine osteotomy is ensured, the human factor error is reduced, and a technical foundation is laid for the surgical robot scheme in the spine osteotomy field.

Drawings

FIG. 1 is a block diagram of a spinal osteotomy planning device, according to an exemplary embodiment;

FIG. 2 is a graph illustrating a distribution of feature points on a segment of a vertebral body according to an exemplary embodiment;

FIG. 3 is a graph illustrating characteristic point profiles of different vertebral bodies on a section of a spinal column according to an exemplary embodiment;

FIG. 4 is a block diagram of a determination module shown in accordance with an exemplary embodiment;

FIG. 5 is a schematic cross-sectional view of a vertebral body shown according to an exemplary embodiment;

FIG. 6 is a block diagram of a first determination unit shown according to an exemplary embodiment;

FIG. 7 is a block diagram of a second determination unit shown according to an exemplary embodiment;

FIG. 8 is a block diagram of a third determination unit shown according to an exemplary embodiment;

FIG. 9 is a lesion field image according to an exemplary embodiment;

fig. 10 is a flow chart of a spinal osteotomy planning method in accordance with an exemplary embodiment.

Detailed Description

The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of the terms "a" or "an" and the like in the description and in the claims do not denote a limitation of quantity, but rather denote the presence of at least one. Unless otherwise indicated, the terms "comprises," "comprising," and the like are intended to cover the presence of elements or articles recited as being "comprising" or "including," and equivalents thereof, without excluding other elements or articles. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

As used in the specification and claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

In addition, in the examples provided in the embodiments of the present invention, the directions of "front", "rear", "upper", "lower", etc. are all with reference to the human body, for example, the human body facing direction is "front", the human body back direction is "rear", the head is "upper", and the feet are "lower". The "longitudinal" refers to the direction in which the human spine extends, and the "transverse" refers to the direction perpendicular to the "longitudinal".

Example 1

In a first aspect, an embodiment of the present invention provides a spinal osteotomy planning device. FIG. 1 is a block diagram illustrating a spinal osteotomy planning device, according to an exemplary embodiment. As shown in fig. 1, the spinal osteotomy planning device includes an identification module 100, an acquisition module 200, and a determination module 300.

The identifying module 100 is configured to identify feature points of at least two vertebral bodies based on a spine scan image of a target object.

In one embodiment, the identification module 100 is specifically configured to identify the feature points based on a spine scan image of the target object through a pre-trained first identification model. Wherein the spine scan image is a tomographic image, such as a CT image, comprising the entire spine or a portion of the vertebral body. The first recognition model can be selected as a deep learning model, and is obtained through iterative training in advance according to a plurality of tomographic image data containing human spinal column.

Optionally, the vertebral body to be osteotomy of the target object comprises the same vertebral body location as the image used in training the first recognition model. For example, if the spine scan image of the target object is a cervical spine image, an image including a cervical spine is used as training data in training the first recognition model. In this way, the recognition accuracy of the recognition module 100 is improved.

The feature points characterize the physiological morphology of the vertebral body. FIG. 2 is a graph illustrating a distribution of feature points on a segment of a vertebral body, according to an exemplary embodiment. As shown in fig. 2, the identification module 100 identifies 9 feature points, including feature points that characterize the protruding structures of the vertebral body. In the embodiment of the present invention, for a segment of a vertebral body, the identification module 100 identifies at least a first feature point P4, a second feature point P9, and a third feature point P8. The first characteristic point P4 is the front side central point of the upper edge of the cone, the second characteristic point P9 is the front side central point of the lower edge of the cone, and the third characteristic point P8 is the front edge central point of the cone.

The identification module 100 identifies feature points of at least two vertebral bodies. FIG. 3 is a graph illustrating a distribution of characteristic points of different vertebral bodies on a section of a spinal column according to an exemplary embodiment. As shown in FIG. 3, the identification module 100 identifies characteristic points of various vertebral bodies on a segment of the spine. The identification module 100 identifies the feature points on at least two vertebrae to construct the longitudinal axis of the target object, thereby providing reliable reference coordinates for accurately planning the osteotomy path. The relevant content of constructing the longitudinal axis will be set forth in the following step information.

With continued reference to fig. 1, the acquisition module 200 is configured to acquire a size of a lesion from a pathology image of the target object. Taking posterior longitudinal ligament ossification as an example, the focus is positioned at the posterior ligament of cervical vertebra, and the visualized pathological image of the focus can be obtained by a medical imaging technology (such as an X-ray image acquisition technology). In one embodiment, the obtaining module 200 is specifically configured to obtain, based on the pathology image, a size of the lesion through a pre-trained second recognition model. Wherein the training data of the second recognition model is the same as the type of the lesion.

The determining module 300 is configured to determine an osteotomy region on a vertebral body to be osteotomized based on the feature points and the size of the lesion.

In one embodiment, the osteotomy region includes sagittal, transverse and anterior planes that are vertically aligned in pairs. FIG. 4 is a block diagram of a determination module shown in accordance with an exemplary embodiment. As shown in fig. 4, the determining module 300 includes a constructing unit 310, and the determining module 300 further includes a first determining unit 320, a second determining unit 330, and/or a third determining unit 340.

The construction unit 310 is configured to construct a longitudinal axis surface 510 of the target object according to the feature points of the at least two vertebral bodies. As shown in connection with fig. 3, optionally, the construction unit 310 fits the longitudinal axis 510 using a least squares method based on the feature points of at least two vertebral bodies. The longitudinal axis 510 characterizes the longitudinal center plane of the target object. In the embodiment of the invention, the pose deviation of the target object is avoided by constructing the longitudinal axis surface through the characteristic points of at least two sections of vertebral bodies, and the accuracy of the longitudinal axis surface 510 is improved.

The first determining unit 320 is configured to determine the sagittal plane based on the longitudinal axis plane and the physiological characteristics of the vertebral body to be osteotomy. The sagittal plane is the two sides of the osteotomy region that are parallel to the longitudinal axis plane. Fig. 5 is a schematic cross-sectional view of a vertebral body, according to an exemplary embodiment. As shown in FIG. 5, sagittal plane 520 includes a first sagittal plane 521 and a second sagittal plane 522 that flank longitudinal plane 510.

In one example, fig. 6 is a block diagram of a first determining unit shown according to an exemplary embodiment, and as shown in fig. 6, the first determining unit 320 includes: a first acquisition subunit 321 and a first determination subunit 322. The first acquiring subunit 321 is configured to acquire a target image from the tomographic image of the vertebral body to be osteotomy according to the thickness of the pedicle. The pedicles are the components of the intervertebral foramen, and the thickness of the pedicles at different positions in the longitudinal direction of the vertebral body is different. Thus, the thickness of the pedicles varies from tomographic image to tomographic image. The first acquisition subunit 321 takes a tomographic image in which the pedicle thickness is the thickest as a target image.

The first determining subunit 322 is configured to determine the sagittal plane in the target image based on a positional relationship between the coning hole and the osteotomy restriction area. Referring to fig. 5, the osteotomy confinement regions are left and right arterial holes 541, 542 located below the tapered holes. The first determining subunit 322 needs to combine the relative positions of the cone orifice and the artery orifice in determining the sagittal plane. Taking the example of defining the first sagittal plane 521, a tangential plane is defined at the left edge of the countersink parallel to the longitudinal axis plane 510. If the tangent plane does not intersect the left arterial hole 541 on the left, the tangent plane is defined as the first sagittal plane 521 (e.g., as shown in FIG. 5). If the tangential plane intersects the left arterial hole 541, the first sagittal plane 521 is determined from the right edge of the left arterial hole 541 to ensure that the first sagittal plane 521 does not intersect the left arterial hole. By adopting the mode, the sagittal plane obtained through planning is ensured not to damage other tissues, and the personal safety of patients is ensured.

With continued reference to fig. 4, the second determining unit 330 in the determining module 300 is configured to determine the cross section based on the longitudinal axis plane and the feature points. The cross section is two planes perpendicular to the longitudinal axis plane in the osteotomy region. Fig. 7 is a block diagram of a second determination unit shown according to an exemplary embodiment. As shown in fig. 7, the second determination unit 330 includes: a second determination subunit 331 and a third determination subunit 332.

The second determination subunit 331 is configured to determine a first normal direction according to projections of the first feature point P4 and the second feature point P9 on the longitudinal axis plane. The first normal direction is parallel to the connecting line of the projection points of the first characteristic point P4 and the second characteristic point P9 on the longitudinal axis surface, and the direction of the first normal direction is upward.

The third determination subunit 332 is configured to determine a first cross section perpendicular to the first normal direction and passing through the first feature point P4, and a second cross section perpendicular to the first normal direction and passing through the second feature point P9.

With continued reference to fig. 4, a third determining unit 340 in the determining module 300 is configured to determine the leading edge surface based on the longitudinal axis surface and the size of the lesion. Fig. 8 is a block diagram of a third determination unit shown according to an exemplary embodiment, and as shown in fig. 8, the third determination unit 340 includes: a fourth determination subunit 341 and a fifth determination subunit 342.

The fourth determination subunit 341 is configured to determine the second normal according to the longitudinal axis and the first normal. Optionally, the second normal is a cross of the first normal with a normal to the longitudinal axis. Based on the above, a three-dimensional coordinate space is constructed through the first normal direction, the second normal direction and the normal direction of the longitudinal axis surface, and the three-dimensional coordinate space is the reference coordinate of the osteotomy region.

The fifth determining subunit 342 is configured to determine the leading edge surface according to the third feature point and the thickness of the lesion, where the leading edge surface is perpendicular to the second normal direction. Fig. 9 is an image of a lesion area according to an exemplary embodiment, and the orientation shown in fig. 9 is a cross-section parallel to a longitudinal axis plane. Alternatively, in connection with fig. 9, the thickness d of the lesion area is obtained by means of image recognition. The fifth determining subunit 342 is configured to determine a reference plane 901 perpendicular to the second normal direction according to the third feature point P8, and further determine a plane behind the reference plane 901 by a distance d as a leading edge surface 902. The leading edge 902 corresponds to the bottom surface of the slot formed in the vertebral body by the osteotomy region.

In summary, the spine osteotomy planning device provided by the embodiment of the invention quantitatively plans the osteotomy path based on the spine image and the focus size of the target object. In this way, the controllability of the spine osteotomy is ensured, the human factor error is reduced, and a technical foundation is laid for the surgical robot scheme in the spine osteotomy field.

Example 2

In a second aspect, an embodiment of the present invention provides a spinal osteotomy planning method, and fig. 10 is a flowchart of a spinal osteotomy planning method in accordance with an exemplary embodiment. As shown in fig. 10, the method includes:

step S101, identifying characteristic points of at least two sections of vertebral bodies based on the spine scanning image of the target object.

Step S102, the size of the focus is obtained according to the pathological image of the target object.

Step S103, determining an osteotomy region on the vertebral body to be osteotomy based on the feature points and the size of the focus.

In one embodiment, the osteotomy region includes sagittal, transverse and anterior planes that are vertically aligned in pairs; step S103 includes:

constructing a longitudinal axis surface of the target object according to the characteristic points of the at least two sections of vertebral bodies;

determining the sagittal plane based on the longitudinal axis plane and the physiological characteristics of the vertebral body to be osteotomized; and/or

Determining the cross section based on the longitudinal axis plane and the feature points; and/or

The leading edge surface is determined based on the longitudinal axis surface and the size of the lesion.

In one embodiment, the determining the sagittal plane based on the longitudinal axis plane and the physiological characteristics of the vertebral body to be osteotomized comprises:

acquiring a target image from the tomographic image of the vertebral body to be osteotomy according to the thickness of the vertebral pedicle;

the sagittal plane is determined in the target image based on the positional relationship of the pyramid hole and the osteotomy restriction region, the sagittal plane being parallel to the longitudinal axis plane.

In one embodiment, the feature points include first and second feature points distributed up and down the vertebral body, and the determining the cross section based on the longitudinal axis plane and the feature points includes:

and determining a first normal according to the projection of the first characteristic point and the second characteristic point on the longitudinal axis surface.

A first cross section perpendicular to the first normal and passing through the first feature point and a second cross section perpendicular to the first normal and passing through the second feature point are determined.

In one embodiment, the feature points further include a third feature point axially between the first feature point and the second feature point, the determining the leading edge surface based on the longitudinal axis surface and the size of the lesion includes:

a second normal is determined from the longitudinal axis and the first normal.

And determining the front edge surface according to the third characteristic point and the thickness of the focus, wherein the front edge surface is perpendicular to the second normal direction.

In one embodiment, step S101 includes identifying the feature points based on a spine scan image of the target object by a pre-trained first identification model.

In one embodiment, step S102 includes obtaining the size of the lesion based on the pathology image by a pre-trained second recognition model.

In summary, the spine osteotomy planning method provided by the embodiment of the invention quantitatively plans the osteotomy path based on the spine image and the focus size of the target object. In this way, the controllability of the spine osteotomy is ensured, the human factor error is reduced, and a technical foundation is laid for the surgical robot scheme in the spine osteotomy field.

Example 3

In a third aspect, an embodiment of the present invention provides a spinal osteotomy planning system, the system including the osteotomy planning apparatus provided in embodiment 2 above. Optionally, the system is used in conjunction with a physician diagnostic system for planning spinal osteotomy procedures. Optionally, the system is used in conjunction with a surgical operating system for providing osteotomy path planning for the surgical operating system.

According to the spine osteotomy planning system provided by the embodiment of the invention, an osteotomy path is planned quantitatively based on the spine image and the focus size of the target object. In this way, the controllability of the spine osteotomy is ensured, the human factor error is reduced, and a technical foundation is laid for the surgical robot scheme in the spine osteotomy field.

Example 4

In a fourth aspect, embodiments of the present invention provide a spinal osteotomy system, the system comprising: a processor and an execution component. The processor includes the spinal osteotomy planning system provided in embodiment 3 above. The execution component is used for being controlled by the processor to perform osteotomy according to the osteotomy region determined by the spine osteotomy planning system.

According to the spine osteotomy operating system provided by the embodiment of the invention, the osteotomy path is quantitatively planned based on the spine image and the focus size of the target object. In this way, the controllability of the spine osteotomy is ensured, human factor errors are reduced, and the surgical robot scheme in the field of spine osteotomy is realized.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims (10)

1. A spinal osteotomy planning device, the device comprising:

the identification module is used for identifying the characteristic points of at least two sections of vertebral bodies based on the spine scanning image of the target object;

the acquisition module is used for acquiring the size of the focus according to the pathological image of the target object;

and the determining module is used for determining an osteotomy region on the vertebral body to be osteotomy based on the feature points and the size of the focus.

2. The device of claim 1, wherein the osteotomy region includes sagittal, transverse and anterior faces in a pairwise perpendicular arrangement; the determining module includes:

the construction unit is used for constructing a longitudinal axis surface of the target object according to the characteristic points of the at least two sections of vertebral bodies;

a first determining unit for determining the sagittal plane based on the longitudinal axis plane and the physiological characteristics of the vertebral body to be osteotomized; and/or

A second determining unit configured to determine the cross section based on the longitudinal axis surface and the feature points; and/or

A third determining unit for determining the leading edge surface based on the longitudinal axis surface and the size of the lesion.

3. The apparatus according to claim 2, wherein the first determining unit includes:

the first acquisition subunit is used for acquiring a target image from the tomographic image of the vertebral body to be osteotomy according to the thickness of the vertebral pedicle;

a first determining subunit, configured to determine, in the target image, the sagittal plane based on a positional relationship between the cone hole and the osteotomy restriction area, where the sagittal plane is parallel to the longitudinal axis plane.

4. The apparatus according to claim 2, wherein the feature points include first feature points and second feature points distributed up and down the vertebral body, and the second determining unit includes:

the second determining subunit is used for determining a first normal according to the projection of the first characteristic point and the second characteristic point on the longitudinal axis surface;

a third determination subunit for determining a first cross section perpendicular to the first normal direction and passing through the first feature point, and a second cross section perpendicular to the first normal direction and passing through the second feature point.

5. The apparatus according to claim 4, wherein the feature points further include a third feature point located axially between the first feature point and the second feature point, the third determination unit includes:

a fourth determination subunit configured to determine a second normal according to the longitudinal axis plane and the first normal;

and a fifth determination subunit, configured to determine the leading edge surface according to the third feature point and the thickness of the focus, where the leading edge surface is perpendicular to the second normal direction.

6. The apparatus according to any one of claims 1 to 5, wherein the identification module is specifically configured to identify the feature points based on a spine scan image of the target object by means of a pre-trained first identification model.

7. The apparatus according to any one of claims 1 to 5, wherein the acquisition module is specifically configured to acquire the size of the lesion based on the pathology image by means of a second recognition model trained beforehand.

8. A method of spinal osteotomy planning, the method comprising:

identifying characteristic points of at least two vertebral bodies based on a spine scanning image of the target object;

acquiring the size of a focus according to the pathological image of the target object;

and determining an osteotomy region on the vertebral body to be osteotomized based on the feature points and the size of the focus.

9. A spinal osteotomy planning system, the system comprising an osteotomy planning device of any of claims 1 to 7.

10. A spinal osteotomy procedure system, the procedure system comprising:

a processor comprising the spinal osteotomy planning system of claim 9,

and the execution assembly is used for controlling the osteotomy operation according to the osteotomy region determined by the spine osteotomy planning system by the processor.

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