WO2018166124A1 - Method for generating description information about surgical positioning guide apparatus - Google Patents
Method for generating description information about surgical positioning guide apparatus Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 210000001519 tissue Anatomy 0.000 claims abstract description 42
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 12
- 210000004872 soft tissue Anatomy 0.000 claims abstract description 12
- 238000001356 surgical procedure Methods 0.000 claims description 18
- 238000013459 approach Methods 0.000 claims description 15
- 238000011161 development Methods 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 claims description 5
- 238000004080 punching Methods 0.000 claims description 4
- 238000005481 NMR spectroscopy Methods 0.000 claims description 3
- 238000002224 dissection Methods 0.000 claims description 3
- 238000003325 tomography Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 description 7
- 239000007943 implant Substances 0.000 description 5
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 210000005036 nerve Anatomy 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 239000002639 bone cement Substances 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000002316 cosmetic surgery Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000007920 subcutaneous administration Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- the present invention relates to the field of human surgical guides, and in particular to a method for generating description information for a surgical positioning guide.
- the traditional surgical positioning piece is used in the surgical operation.
- the design positioning of the current surgical positioning piece is completely based on the matching implant, and there is no precise consideration for the human body receiving the implant itself, so it is completely adapted to the product, and each person
- the body tissue has individual differences, so the existing surgical positioning piece requires the operator to make temporary adjustment according to the actual situation of the patient, and the requirements for the operator's experience are extremely high, and the human error can not be avoided, so the precision is very low.
- the present invention provides a method for generating description information of a surgical positioning guide.
- the method for generating the description information of the surgical positioning guide provided by the invention effectively avoids the important soft tissue adjacent to the bone tissue to be treated, improves the comfort of the human body, and effectively avoids human error.
- a method for generating description information for a surgical positioning guide comprising the steps of:
- the medical image scanning data in the step S1 comprises data obtained by performing tomographic scanning of the surgical site and its adjacent human tissue by X-rays and/or Or data obtained by tomographic scanning of the surgical site and its adjacent human tissue by nuclear magnetic resonance; the medical image scanning data in step S1 further includes performing a tomography on the surgical site and its adjacent human tissue through three-dimensional scanning of other medical images. Scan one or more of the resulting data.
- step S2 further comprises the following steps:
- the first three-dimensional model of the to-be-surgery site and its adjacent human tissue is respectively established by using the various medical image scan data acquired in step S1;
- the above method for generating description information of a surgical positioning guide, wherein the matching coincidence comprises the following steps:
- S221 arbitrarily select N first three-dimensional models in different first three-dimensional models, and correspondingly obtain outer contour lines of each first three-dimensional model and positions of the feature points;
- the above method for generating description information of a surgical positioning guide wherein the medical image scan data is raw DICOME image data that has not been subjected to any enhanced development.
- step S3 comprises: generating, based on the second three-dimensional model, combining patient individual information and surgical related information of the site to be operated, Descriptive information of the surgical positioning guide corresponding to the site to be operated, wherein the surgical related information includes at least one of the following:
- the above method for generating description information of a surgical positioning guide wherein the surgical access incision information comprises at least one of the following:
- the above method for generating description information of a surgical positioning guide wherein the surgical operation information comprises at least one of the following:
- the surgical positioning guide has cutting operation information.
- the above method for generating description information of a surgical positioning guide wherein the three-dimensional model of the site to be surgically comprises a three-dimensional model of human bone tissue, and the adjacent human tissue of the site to be operated is a human bone Organize adjacent other human tissues, including soft tissue.
- the above method for generating description information of a surgical positioning guide comprises at least one of the following:
- the invention provides a method for generating description information of a surgical positioning guide, which is based on matching coincidence between three-dimensional models established by original DICOME image data obtained by different medical image scanning means to obtain a surgical site and adjacent thereto
- the three-dimensional model of the human body tissue further obtains the scanning information of the surgical positioning guide, and the surgical positioning guide obtained by the method greatly improves the precision of implanting the implant, and effectively avoids the bone tissue to be treated
- the adjacent important soft tissue improves the comfort of the human body and can be applied to any part of the human body.
- the human body implant guide can be customized and designed to avoid human error.
- a method for generating description information for a surgical positioning guide comprising the steps of:
- the medical image scan data includes data obtained by tomographic scanning of the surgical site and its adjacent human tissue by X-rays and/or treatment of the surgical site and its adjacent human body by nuclear magnetic resonance
- the medical image scan data is raw DICOME image data that has not been subjected to any enhanced development.
- practical applications such as the use of X-ray and magnetic resonance computed tomography data, often in the process of device output data, has been automatically optimized according to the daily needs of the clinical department that requested the requirements, such as plastic surgery and orthopedics will be Bone is fortified and then output data, and oncology and surgery often strengthen the soft tissue and output data.
- Raw DICOME image data without any enhanced development will not neglect any human tissue information of bones or blood vessels.
- the medical image scan data establishing a second three-dimensional model of the to-be-surgery site and the human tissue adjacent thereto;
- the three-dimensional model of the site to be operated includes a three-dimensional model of human bone tissue, and the The adjacent human tissue at the surgical site is other human tissue including soft tissue adjacent to the human bone tissue.
- the first three-dimensional model of the to-be-surgery site and its adjacent human tissue is respectively established by using the various medical image scan data acquired in step S1;
- the above matching coincidence includes the following steps:
- S221 arbitrarily select N first three-dimensional models in different first three-dimensional models, and correspondingly obtain outer contour lines of each first three-dimensional model and positions of the feature points;
- the surgical related information includes at least one of the following: a surgical approach incision information of the to-be-surgical site, tissue structure information of the to-be-surgery site, and surgical operation information of the to-be-surgery site.
- the surgical approach incision information includes at least one of: size information of the surgical approach incision, position information of the surgical access incision, and information on the number of the surgical access incision.
- the surgical operation information includes at least one of the following: a punching operation information of the surgical positioning guide, and cutting operation information of the surgical positioning guide.
- the above surgical positioning guide comprises at least one of the following: a joint surgical positioning guide, a spinal surgery positioning guide, a maxillofacial surgical positioning guide, and an arterial dissection surgical positioning guide.
- the present invention requires the use of raw data that has not undergone any enhanced development to create a three-dimensional model that includes all of the tissue structure within the medical image scan range, and then based on this structure, in conjunction with the need for perforation and/or cutting required by the operator. design.
- the size, position, direction of the surgical approach incision, and multiple separate related incisions, etc., so the surgical positioning guide can be used for small incision minimally invasive surgery, and can also be used for multiple small incision approaches simultaneously to the same Minimally invasive surgery in the target area of surgery.
- the design of the surgical positioning guide fully considers the particularity of the tissue structure and effectively avoids important vascular nerves or other important tissue structures.
- the surgical approach When the method of the invention is applied to artificial knee joint replacement surgery, the surgical approach, the skin incision, the neck dry angle, the camber angle, the external rotation angle, the lower limb force line, the soft tissue thickness, and the actual condition of the bone tissue are considered in the design of the surgical positioning guide. , osteotomy position, osteotomy angle, soft tissue and vascular nerve for osteotomy, position of the implant, angle, external rotation, anterior and posterior tilt, thickness of bone cement, etc.
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Abstract
Disclosed is a method for generating description information about a surgical positioning guide apparatus. The method comprises the following steps: S1. acquiring medical image scanning data regarding a site to be operated on and human body tissue adjacent thereto; S2. according to the medical image scanning data, establishing a second three-dimensional model of the site to be operated on and the human body tissue adjacent thereto; and S3. based on the second three-dimensional model, generating description information about a surgical positioning guide apparatus corresponding to the site to be operated on. The method for generating description information about a surgical positioning guide apparatus effectively avoids important soft tissues adjacent to bone and tissue to be operated on, thereby improving the comfort for a person and effectively preventing personal errors.
Description
本发明涉及人体手术导向器领域，具体涉及一种用于生成手术定位导向器的描述信息的方法。The present invention relates to the field of human surgical guides, and in particular to a method for generating description information for a surgical positioning guide.
目前外科手术中使用的是传统的手术定位片，现在的手术定位片的设计定位完全基于配合植入物，对于接受植入物的人体本身没有精确考量，故此完全是人适应产品，而每个人体组织都有个体差异性，所以现有的手术定位片需要器械操作者根据病人的实际情况进行临时调整，对于器械操作者经验的要求极高，同时人为误差也无法避免，故此精度很低。At present, the traditional surgical positioning piece is used in the surgical operation. The design positioning of the current surgical positioning piece is completely based on the matching implant, and there is no precise consideration for the human body receiving the implant itself, so it is completely adapted to the product, and each person The body tissue has individual differences, so the existing surgical positioning piece requires the operator to make temporary adjustment according to the actual situation of the patient, and the requirements for the operator's experience are extremely high, and the human error can not be avoided, so the precision is very low.
由于这个临时调整的过程往往需要反复来回调试和校正，需要时间较长，并有可能引入不必须的手术操作，而同时接受手术的人在此过程中正在不断失血，也增加了感染以及其他并发症的机会。Since this temporary adjustment process often requires repeated back and forth debugging and calibration, it takes a long time and may introduce unnecessary surgical operations, while the person undergoing surgery is continuously losing blood in the process, and also increases infection and other complications. The chance of illness.
在现在手术的发展趋势中，小切口微创手术越来越普及，现有的手术定位片由于设计思路老旧，完全没有为了小切口微创手术进行优化，必须开大切口才能使用，故此需要全新设计的手术定位导向器来替代老旧产品。In the current development trend of surgery, small incision minimally invasive surgery is becoming more and more popular. The existing surgical positioning piece is old because of the old design. It is not optimized for small incision minimally invasive surgery. It must be opened for large incision. Therefore, it is necessary. A newly designed surgical positioning guide replaces the old product.
发明内容Summary of the invention
为了解决上述问题，本发明提供了一种用于生成手术定位导向器的描述信息的方法。本发明提供的一种用于生成手术定位导向器的描述信息的方法，有效的避开了与待手术骨组织相邻的重要软组织，提高了人体的舒适度，有效避免人为误差。
In order to solve the above problems, the present invention provides a method for generating description information of a surgical positioning guide. The method for generating the description information of the surgical positioning guide provided by the invention effectively avoids the important soft tissue adjacent to the bone tissue to be treated, improves the comfort of the human body, and effectively avoids human error.
本发明采用的技术方案如下：The technical solution adopted by the present invention is as follows:
一种用于生成手术定位导向器的描述信息的方法，包括如下步骤：A method for generating description information for a surgical positioning guide, comprising the steps of:
S1，获取关于待手术部位及与其相邻人体组织的医学影像扫描数据；S1, obtaining medical image scan data about the site to be operated and the human tissue adjacent thereto;
S2，根据所述医学影像扫描数据，建立所述待手术部位及与其相邻的人体组织的第二三维立体模型；S2, according to the medical image scan data, establishing a second three-dimensional model of the to-be-surgical site and the human tissue adjacent thereto;
S3，基于所述第二三维立体模型生成所述待手术部位对应的手术定位导向器的描述信息。S3. Generate, according to the second three-dimensional model, description information of the surgical positioning guide corresponding to the to-be-surgical site.
上述的一种用于生成手术定位导向器的描述信息的方法，其中，所述步骤S1中的医学影像扫描数据包括通过X射线对待手术部位及与其相邻人体组织进行断层扫描得到的数据和/或通过核磁共振对待手术部位及与其相邻人体组织进行断层扫描得到的数据；所述步骤S1中的医学影像扫描数据还包括通过其他医学影像三维扫描方式对待手术部位及与其相邻人体组织进行断层扫描得到的数据中的一种或者多种。The above method for generating description information of a surgical positioning guide, wherein the medical image scanning data in the step S1 comprises data obtained by performing tomographic scanning of the surgical site and its adjacent human tissue by X-rays and/or Or data obtained by tomographic scanning of the surgical site and its adjacent human tissue by nuclear magnetic resonance; the medical image scanning data in step S1 further includes performing a tomography on the surgical site and its adjacent human tissue through three-dimensional scanning of other medical images. Scan one or more of the resulting data.
上述的一种用于生成手术定位导向器的描述信息的方法，其中，所述步骤S2还包括如下步骤：The above method for generating description information of a surgical positioning guide, wherein the step S2 further comprises the following steps:
S21，将步骤S1中获取的各种医学影像扫描数据分别建立所述待手术部位及与其相邻人体组织的第一三维立体模型；S21, the first three-dimensional model of the to-be-surgery site and its adjacent human tissue is respectively established by using the various medical image scan data acquired in step S1;
S22，将不同的所述第一三维立体模型匹配重合，得到待手术部位及与其相邻人体组织的第二三维立体模型。S22, matching different first three-dimensional stereotypes to obtain a second three-dimensional model of the to-be-surgical site and the adjacent human tissue.
上述的一种用于生成手术定位导向器的描述信息的方法，其中，所述匹配重合包括如下步骤：The above method for generating description information of a surgical positioning guide, wherein the matching coincidence comprises the following steps:
S221，在不同的所述第一三维立体模型中任意选取N个第一三维立体模型，对应获取每个第一三维立体模型的外轮廓线以及特征点的位置；
S221: arbitrarily select N first three-dimensional models in different first three-dimensional models, and correspondingly obtain outer contour lines of each first three-dimensional model and positions of the feature points;
S222，将N个所述第一三维立体模型分别对应的外轮廓线以及特征点两两对应，调整并确定待手术部位及与其相邻人体组织的第二三维立体模型。S222, correspondingly corresponding outer contour lines and feature points of the N first three-dimensional stereo models are corresponding to each other, and the second three-dimensional model of the to-be-surgical site and the adjacent human tissue is adjusted and determined.
上述的一种用于生成手术定位导向器的描述信息的方法，其中，所述医学影像扫描数据为未经过任何强化显影的原始DICOME图像数据。The above method for generating description information of a surgical positioning guide, wherein the medical image scan data is raw DICOME image data that has not been subjected to any enhanced development.
上述的一种用于生成手术定位导向器的描述信息的方法，其中，所述步骤S3包括：基于所述第二三维立体模型，结合患者个体信息以及所述待手术部位的手术相关信息，生成所述待手术部位对应的手术定位导向器的描述信息，其中，所述手术相关信息包括以下至少任一项：The above method for generating description information of a surgical positioning guide, wherein the step S3 comprises: generating, based on the second three-dimensional model, combining patient individual information and surgical related information of the site to be operated, Descriptive information of the surgical positioning guide corresponding to the site to be operated, wherein the surgical related information includes at least one of the following:
所述待手术部位的手术入路切口信息；The surgical approach incision information of the site to be operated;
所述待手术部位的组织结构信息；Tissue structure information of the site to be treated;
所述待手术部位的手术操作信息。Surgical operation information of the site to be operated.
上述的一种用于生成手术定位导向器的描述信息的方法，其中，所述手术入路切口信息包括以下至少任一项：The above method for generating description information of a surgical positioning guide, wherein the surgical access incision information comprises at least one of the following:
所述手术入路切口的大小信息；The size information of the surgical approach incision;
所述手术入路切口的位置信息；Position information of the surgical approach incision;
所述手术入路切口的数量信息。Information on the number of surgical approach incisions.
上述的一种用于生成手术定位导向器的描述信息的方法，其中，所述手术操作信息包括以下至少任一项：The above method for generating description information of a surgical positioning guide, wherein the surgical operation information comprises at least one of the following:
所述手术定位导向器的打孔操作信息；Punching operation information of the surgical positioning guide;
所述手术定位导向器的切割操作信息。The surgical positioning guide has cutting operation information.
上述的一种用于生成手术定位导向器的描述信息的方法，其中，所述待手术部位的三维立体模型包括人体骨组织三维立体模型，所述待手术部位的相邻人体组织为与人体骨组织相邻的包括软组织在内的其他人体组织。
The above method for generating description information of a surgical positioning guide, wherein the three-dimensional model of the site to be surgically comprises a three-dimensional model of human bone tissue, and the adjacent human tissue of the site to be operated is a human bone Organize adjacent other human tissues, including soft tissue.
上述的一种用于生成手术定位导向器的描述信息的方法，其中，所述手术定位导向器包括以下至少任一项：The above method for generating description information of a surgical positioning guide, wherein the surgical positioning guide comprises at least one of the following:
关节手术定位导向器；Joint surgical positioning guide;
脊柱手术定位导向器；Spinal surgery positioning guide;
颌面手术定位导向器；Maxillofacial surgery positioning guide;
动脉夹层手术定位导向器。Arterial dissection surgery positioning guide.
本发明提供的一种用于生成手术定位导向器的描述信息的方法，基于不同的医学影像扫描手段得到的原始DICOME图像数据建立的三维立体模型之间的匹配重合获得待手术部位及与其相邻的人体组织的三维立体模型，进一步的得到手术定位导向器的扫描信息，基于该方法得到的手术定位导向器使置入植入物的精度大大提高，并且有效的避开了与待手术骨组织相邻的重要软组织，提高了人体的舒适度，可适用于人体任意部位，可个性化定制化设计人体植入物导向器，有效避免人为误差。The invention provides a method for generating description information of a surgical positioning guide, which is based on matching coincidence between three-dimensional models established by original DICOME image data obtained by different medical image scanning means to obtain a surgical site and adjacent thereto The three-dimensional model of the human body tissue further obtains the scanning information of the surgical positioning guide, and the surgical positioning guide obtained by the method greatly improves the precision of implanting the implant, and effectively avoids the bone tissue to be treated The adjacent important soft tissue improves the comfort of the human body and can be applied to any part of the human body. The human body implant guide can be customized and designed to avoid human error.
下面对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described below. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
实施例Example
一种用于生成手术定位导向器的描述信息的方法，包括如下步骤：A method for generating description information for a surgical positioning guide, comprising the steps of:
S1，获取关于待手术部位及与其相邻人体组织的医学影像扫描数据；S1, obtaining medical image scan data about the site to be operated and the human tissue adjacent thereto;
所述医学影像扫描数据包括通过X射线对待手术部位及与其相邻人体组织进行断层扫描得到的数据和/或通过核磁共振对待手术部位及与其相邻人体组
织进行断层扫描得到的数据和/或通过其他医学影像三维扫描方式对待手术部位及与其相邻人体组织进行断层扫描得到的数据中的一种或者多种。The medical image scan data includes data obtained by tomographic scanning of the surgical site and its adjacent human tissue by X-rays and/or treatment of the surgical site and its adjacent human body by nuclear magnetic resonance
The data obtained by performing the tomographic scan and/or one or more of the data obtained by performing the tomographic scan of the surgical site and the adjacent human tissue by three-dimensional scanning of other medical images.
所述医学影像扫描数据为未经过任何强化显影的原始DICOME图像数据。在实际应用中，如使用X射线以及磁共振计算机断层扫描数据，往往在设备输出数据的过程中，已经自动根据提出需求的临床科室的日常需求进行了优化，比如整形外科和骨科等就会对骨骼进行强化显影然后输出数据，肿瘤科和外科等往往对软组织进行强化显影然后输出数据。而未经过任何强化显影的原始DICOME图像数据不会相对忽略骨骼或者血管的任意人体组织信息。The medical image scan data is raw DICOME image data that has not been subjected to any enhanced development. In practical applications, such as the use of X-ray and magnetic resonance computed tomography data, often in the process of device output data, has been automatically optimized according to the daily needs of the clinical department that requested the requirements, such as plastic surgery and orthopedics will be Bone is fortified and then output data, and oncology and surgery often strengthen the soft tissue and output data. Raw DICOME image data without any enhanced development will not neglect any human tissue information of bones or blood vessels.
S2，根据所述医学影像扫描数据，建立所述待手术部位及与其相邻的人体组织的第二三维立体模型；所述待手术部位的三维立体模型包括人体骨组织三维立体模型，所述待手术部位的相邻人体组织为与人体骨组织相邻的包括软组织在内的其他人体组织。S2, according to the medical image scan data, establishing a second three-dimensional model of the to-be-surgery site and the human tissue adjacent thereto; the three-dimensional model of the site to be operated includes a three-dimensional model of human bone tissue, and the The adjacent human tissue at the surgical site is other human tissue including soft tissue adjacent to the human bone tissue.
S21，将步骤S1中获取的各种医学影像扫描数据分别建立所述待手术部位及与其相邻人体组织的第一三维立体模型；S21, the first three-dimensional model of the to-be-surgery site and its adjacent human tissue is respectively established by using the various medical image scan data acquired in step S1;
上述匹配重合包括如下步骤：The above matching coincidence includes the following steps:
S221，在不同的所述第一三维立体模型中任意选取N个第一三维立体模型，对应获取每个第一三维立体模型的外轮廓线以及特征点的位置；S221: arbitrarily select N first three-dimensional models in different first three-dimensional models, and correspondingly obtain outer contour lines of each first three-dimensional model and positions of the feature points;
S222，将N个所述第一三维立体模型分别对应的外轮廓线以及特征点两两对应，调整并确定待手术部位及与其相邻人体组织的第二三维立体模型。S222, correspondingly corresponding outer contour lines and feature points of the N first three-dimensional stereo models are corresponding to each other, and the second three-dimensional model of the to-be-surgical site and the adjacent human tissue is adjusted and determined.
S22，将不同的所述第一三维立体模型匹配重合，得到待手术部位及与其相邻人体组织的第二三维立体模型。S22, matching different first three-dimensional stereotypes to obtain a second three-dimensional model of the to-be-surgical site and the adjacent human tissue.
S3，基于所述第二三维立体模型，结合患者个体信息以及所述待手术部位的手术相关信息，生成所述待手术部位对应的手术定位导向器的描述信息。
S3, based on the second three-dimensional model, combining the patient individual information and the surgical related information of the to-be-surgical site, generating description information of the surgical positioning guide corresponding to the to-be-surgical site.
所述手术相关信息包括以下至少任一项：所述待手术部位的手术入路切口信息、所述待手术部位的组织结构信息、所述待手术部位的手术操作信息。The surgical related information includes at least one of the following: a surgical approach incision information of the to-be-surgical site, tissue structure information of the to-be-surgery site, and surgical operation information of the to-be-surgery site.
所述手术入路切口信息包括以下至少任一项：所述手术入路切口的大小信息、所述手术入路切口的位置信息、所述手术入路切口的数量信息。The surgical approach incision information includes at least one of: size information of the surgical approach incision, position information of the surgical access incision, and information on the number of the surgical access incision.
所述手术操作信息包括以下至少任一项：所述手术定位导向器的打孔操作信息、所述手术定位导向器的切割操作信息。The surgical operation information includes at least one of the following: a punching operation information of the surgical positioning guide, and cutting operation information of the surgical positioning guide.
上述手术定位导向器包括以下至少任一项：关节手术定位导向器、脊柱手术定位导向器、颌面手术定位导向器、动脉夹层手术定位导向器。The above surgical positioning guide comprises at least one of the following: a joint surgical positioning guide, a spinal surgery positioning guide, a maxillofacial surgical positioning guide, and an arterial dissection surgical positioning guide.
本发明要求采用未经过任何强化显影的原始数据，建立三维立体模型，其中包含医学影像扫描范围内的全部组织结构，然后基于此结构，结合手术者所需要的打孔和/或切割的需要进行设计。The present invention requires the use of raw data that has not undergone any enhanced development to create a three-dimensional model that includes all of the tissue structure within the medical image scan range, and then based on this structure, in conjunction with the need for perforation and/or cutting required by the operator. design.
由于医学影像扫描范围内已经包括了皮肤和皮下软组织以及整个手术入路途径中的全部组织结构，故此在设计时可以通盘考虑以下几个方面：Since the medical imaging scan has included all the tissue structures in the skin and subcutaneous soft tissue and the entire surgical approach, the following aspects can be considered in the design:
1.手术入路切口的大小、位置、方向、多个分离的相关切口等细节，所以该手术定位导向器可使用于小切口微创手术，也可用于多个小切口入路同时通达同一个手术目标区域的微创手术。1. The size, position, direction of the surgical approach incision, and multiple separate related incisions, etc., so the surgical positioning guide can be used for small incision minimally invasive surgery, and can also be used for multiple small incision approaches simultaneously to the same Minimally invasive surgery in the target area of surgery.
2.手术定位导向器的设计充分考虑组织结构的特殊性，有效避开重要血管神经或其他重要组织结构。2. The design of the surgical positioning guide fully considers the particularity of the tissue structure and effectively avoids important vascular nerves or other important tissue structures.
3.手术定位导向器的摆放位置的唯一性和相应接受部位的软组织准备工作的细节等。由于定位导向器和人体组织是三维立体匹配，故此摆放位置唯一，同时由于设计中已经参考了软组织的实际情况，故此手术准备工作难度有效降低，工作量有效下降，手术时间可明显缩短，手术风险也极大地降低；
3. The uniqueness of the placement of the surgical positioning guide and the details of the soft tissue preparation work of the corresponding receiving site. Since the positioning guide and the human body are three-dimensionally matched, the placement position is unique, and since the design has already referred to the actual situation of the soft tissue, the difficulty of the surgical preparation work is effectively reduced, the workload is effectively reduced, and the operation time can be significantly shortened. The risk is also greatly reduced;
4.手术定位导向器的打孔、切割的位置/方向/角度/范围和为了目标采用多个分离操作的细节等，定位导向器的精度比传统产品明显提高，并可保证多个手术定位器可以相互有效精确配合完成同一手术目标。4. Surgical positioning guide punching, cutting position / direction / angle / range and details of the use of multiple separation operations for the target, the positioning guide accuracy is significantly improved than the traditional products, and can guarantee multiple surgical positioners The same surgical goal can be accomplished with effective and precise cooperation with each other.
本发明方法应用于人工膝关节置换手术时，该手术定位导向器设计中考虑了手术入路，皮肤切口，颈干角，外倾角，外旋角，下肢力线，软组织厚度，骨组织实际情况，截骨位置，截骨角度，截骨避让的软组织和血管神经，植入物的位置，角度，外旋，前后倾，骨水泥的厚度等等。When the method of the invention is applied to artificial knee joint replacement surgery, the surgical approach, the skin incision, the neck dry angle, the camber angle, the external rotation angle, the lower limb force line, the soft tissue thickness, and the actual condition of the bone tissue are considered in the design of the surgical positioning guide. , osteotomy position, osteotomy angle, soft tissue and vascular nerve for osteotomy, position of the implant, angle, external rotation, anterior and posterior tilt, thickness of bone cement, etc.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., which are included in the spirit and scope of the present invention, should be included in the present invention. Within the scope of protection.
Claims (10)
- 一种用于生成手术定位导向器的描述信息的方法，其特征在于，包括如下步骤：A method for generating description information of a surgical positioning guide, comprising the steps of:S1，获取关于待手术部位及与其相邻人体组织的医学影像扫描数据；S1, obtaining medical image scan data about the site to be operated and the human tissue adjacent thereto;S2，根据所述医学影像扫描数据，建立所述待手术部位及与其相邻的人体组织的第二三维立体模型；S2, according to the medical image scan data, establishing a second three-dimensional model of the to-be-surgical site and the human tissue adjacent thereto;S3，基于所述第二三维立体模型生成所述待手术部位对应的手术定位导向器的描述信息。S3. Generate, according to the second three-dimensional model, description information of the surgical positioning guide corresponding to the to-be-surgical site.
- 根据权利要求1所述的一种用于生成手术定位导向器的描述信息的方法，其特征在于，所述步骤S1中的医学影像扫描数据包括通过X射线对待手术部位及与其相邻人体组织进行断层扫描得到的数据和/或通过核磁共振对待手术部位及与其相邻人体组织进行断层扫描得到的数据；所述步骤S1中的医学影像扫描数据还包括通过其他医学影像三维扫描方式对待手术部位及与其相邻人体组织进行断层扫描得到的数据中的一种或者多种。A method for generating description information of a surgical positioning guide according to claim 1, wherein the medical image scanning data in the step S1 comprises performing the X-ray treatment on the surgical site and the adjacent human tissue. Data obtained by tomography and/or data obtained by tomographic scanning of the surgical site and its adjacent human tissue by nuclear magnetic resonance; the medical image scanning data in step S1 further includes treating the surgical site by three-dimensional scanning of other medical images and One or more of the data obtained by tomographic scanning with its adjacent human tissue.
- 根据权利要求2所述的一种用于生成手术定位导向器的描述信息的方法，其特征在于，所述步骤S2还包括如下步骤：The method for generating description information of a surgical positioning guide according to claim 2, wherein the step S2 further comprises the following steps:S21，将步骤S1中获取的各种医学影像扫描数据分别建立所述待手术部位及与其相邻人体组织的第一三维立体模型；S21, the first three-dimensional model of the to-be-surgery site and its adjacent human tissue is respectively established by using the various medical image scan data acquired in step S1;S22，将不同的所述第一三维立体模型匹配重合，得到待手术部位及与其相邻人体组织的第二三维立体模型。S22, matching different first three-dimensional stereotypes to obtain a second three-dimensional model of the to-be-surgical site and the adjacent human tissue.
- 根据权利要求3所述的一种用于生成手术定位导向器的描述信息的方法，其特征在于，所述匹配重合包括如下步骤：A method for generating description information of a surgical positioning guide according to claim 3, wherein said matching coincidence comprises the following steps:S221，在不同的所述第一三维立体模型中任意选取N个第一三维立体模型， 对应获取每个第一三维立体模型的外轮廓线以及特征点的位置；S221, arbitrarily selecting N first three-dimensional models in different first three-dimensional models, Corresponding to obtaining an outer contour line of each first three-dimensional model and a position of the feature point;S222，将N个所述第一三维立体模型分别对应的外轮廓线以及特征点两两对应，调整并确定待手术部位及与其相邻人体组织的第二三维立体模型。S222, correspondingly corresponding outer contour lines and feature points of the N first three-dimensional stereo models are corresponding to each other, and the second three-dimensional model of the to-be-surgical site and the adjacent human tissue is adjusted and determined.
- 根据权利要求1-4任意一项所述的一种用于生成手术定位导向器的描述信息的方法，其特征在于，所述医学影像扫描数据为未经过任何强化显影的原始DICOME图像数据。A method for generating description information of a surgical positioning guide according to any one of claims 1 to 4, wherein the medical image scanning data is raw DICOME image data that has not been subjected to any enhanced development.
- 根据权利要求5所述的一种用于生成手术定位导向器的描述信息的方法，其特征在于，所述步骤S3包括：基于所述第二三维立体模型，结合患者个体信息以及所述待手术部位的手术相关信息，生成所述待手术部位对应的手术定位导向器的描述信息，其中，所述手术相关信息包括以下至少任一项：A method for generating description information of a surgical positioning guide according to claim 5, wherein said step S3 comprises: combining patient individual information and said to be operated based on said second three-dimensional model The operation-related information of the part is generated, and the description information of the surgical positioning guide corresponding to the part to be operated is generated, wherein the operation-related information includes at least one of the following:所述待手术部位的手术入路切口信息；The surgical approach incision information of the site to be operated;所述待手术部位的组织结构信息；Tissue structure information of the site to be treated;所述待手术部位的手术操作信息。Surgical operation information of the site to be operated.
- 根据权利要求6所述的一种用于生成手术定位导向器的描述信息的方法，其特征在于，所述手术入路切口信息包括以下至少任一项：A method for generating descriptive information for a surgical positioning guide according to claim 6, wherein the surgical access incision information comprises at least one of the following:所述手术入路切口的大小信息；The size information of the surgical approach incision;所述手术入路切口的位置信息；Position information of the surgical approach incision;所述手术入路切口的数量信息。Information on the number of surgical approach incisions.
- 根据权利要求6或7所述的一种用于生成手术定位导向器的描述信息的方法，其特征在于，所述手术操作信息包括以下至少任一项：A method for generating description information of a surgical positioning guide according to claim 6 or 7, wherein the surgical operation information comprises at least one of the following:所述手术定位导向器的打孔操作信息；Punching operation information of the surgical positioning guide;所述手术定位导向器的切割操作信息。The surgical positioning guide has cutting operation information.
- 根据权利要求8所述的一种用于生成手术定位导向器的描述信息的方法， 其特征在于，所述待手术部位的三维立体模型包括人体骨组织三维立体模型，所述待手术部位的相邻人体组织为与人体骨组织相邻的包括软组织在内的其他人体组织。A method for generating description information of a surgical positioning guide according to claim 8 The three-dimensional model of the site to be surgically comprises a three-dimensional model of human bone tissue, and the adjacent human tissue of the site to be surgically is other human tissue including soft tissue adjacent to the human bone tissue.
- 根据权利要求1-9任意一项所述的一种用于生成手术定位导向器的描述信息的方法，其特征在于，所述手术定位导向器包括以下至少任一项：A method for generating descriptive information for a surgical positioning guide according to any one of claims 1-9, wherein the surgical positioning guide comprises at least one of the following:关节手术定位导向器；Joint surgical positioning guide;脊柱手术定位导向器；Spinal surgery positioning guide;颌面手术定位导向器；Maxillofacial surgery positioning guide;动脉夹层手术定位导向器。 Arterial dissection surgery positioning guide.
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