System for spinal fixation

Abstract

The invention relates to a system for spinal fixation. The system includes a processing module and a measurement assembly including a tissue detection device and an angle measurement device. The tissue detection device includes a probe for inserting a target vertebra of a patient to be stapled along a staple path and acquiring tissue information in the staple path. The processing module is configured to receive tissue information measured in real time when the probe is inserted into a target vertebra of a patient along a current nail path; and based on the received tissue information, determining the tissue type in the current nail path in real time so as to determine whether the current nail path is a safe nail path or not. The angle measuring device is configured to measure an angle of each of the plurality of safety staple paths for determining a spatial relationship between the plurality of safety staple paths. A plurality of safety nail channels can be allowed to be reasonably distributed, so that the damage to the target vertebra structure is reduced, the mounting difficulty of the connecting rod is reduced, and the correction force of the connecting rod mounted between target vertebras is optimized.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to an auxiliary system used in spinal internal fixation surgery. Background Art

[0002] The key points of spinal internal fixation surgery include accurately positioning the entry point of the pedicle screw and the implantation angle of the pedicle screw (for example, the sagittal plane angle and the horizontal plane angle of the screw path), determining a safe pedicle screw path, determining an appropriate screw insertion depth, etc. In previous spinal internal fixation surgeries, doctors often judged the entry point and implantation angle of the pedicle screw based on experience. However, in cases where there are anatomical variations in patients, lack of anatomical landmarks, or complex local structures, implanting pedicle screws based on experience will increase the fixation error. According to literature reports, about 20% of the pedicle screws in traditional implantation methods penetrate the pedicle wall, resulting in damage to nerve roots, spinal cord, and blood vessels. In addition, it may also occur that the mechanical stability decreases due to damage to the pedicle structure, ultimately leading to loosening of the pedicle screw.

[0003] Currently, some people have proposed applying a computer navigation system to spinal surgery to assist in the implantation of pedicle screws. During the surgery, computer technology is used to unify the preoperative or intraoperative imaging data of the patient, the position of the patient during the actual surgery, and the coordinates of the surgical tools. According to the actual surgical needs, the tissues around the surgical tools are displayed accordingly to perform real-time navigation of the surgery. However, although the navigation technology can improve the accuracy and safety of pedicle screw implantation, the navigation technology also has the following disadvantages: (1) The position of the patient during preoperative CT scanning of the patient may be different from the position of the patient during the surgery, which will cause a change in the positional relationship of adjacent vertebrae of the spine, and this situation is more obvious in patients with spinal instability; (2) During the navigation process, in order to track the displacement of the patient or the change in bone structure caused by any reason during the surgery, it is often necessary to implant a tracer, such as fixing the tracer near the patient's surgical bone structure, such as the vertebral spinous process or the iliac crest. However, the fixation of the tracer is an invasive method, which will increase the risk of damaging the vertebral bone quality, injuring important blood vessels and nerves, or causing infection; (3) The registration process of the navigation system is relatively cumbersome and it is difficult to judge the "ideal" registration point, which will significantly extend the implantation time of the pedicle screw; (4) The equipment used in the navigation technology is huge, expensive, and complex to operate, which poses a considerable challenge to the popularization of the navigation technology.

[0004] In addition, a device for establishing a nail path with a real-time monitoring function has also been proposed. It utilizes the characteristic that different biological tissues have different resistances, detects the resistance between electrodes through a resistance measuring component, and medical staff adjust the nail path direction according to the resistance magnitude, so as to ensure the correct establishment of the nail path, avoid misplacement of pedicle screws, reduce additional damage to patients, improve the surgical safety, and save surgical time. However, this nail path establishment device can only give a safety warning for the nail path when determining the nail path, and it cannot solve the problems that may occur during the subsequent installation of the connecting rod between the pedicle screws, such as difficult installation of the connecting rod, change in the direction and magnitude of the correction force of the installed connecting rod, thus affecting the spinal correction effect, etc.

[0005] In summary, it is necessary to improve the existing auxiliary devices or systems for spinal internal fixation to simplify the intraoperative operation of spinal internal fixation and / or improve the postoperative effect. Summary of the Invention

[0006] The technical solution proposed by the present invention aims to solve one or more of the above problems of the existing auxiliary devices or systems for spinal internal fixation.

[0007] In one aspect of the present invention, a system for spinal fixation is provided. The system includes: a measurement component, the measurement component includes: a tissue detection device, including a measurement probe, for inserting into the target vertebra of the patient to be nailed along the nail path and obtaining tissue information in the nail path; and an angle measurement device, the angle measurement device is configured to be detachably connected to the tissue detection device; a processing module, for communicating and coupling with the measurement component and configured to: receive in real time the tissue information obtained by the probe during the process of inserting into the target vertebra of the patient along the current nail path; and based on the received tissue information, determine in real time the tissue type in the current nail path to determine whether the current nail path is a safe nail path; wherein, the angle measurement device is configured to measure the angle of each safe nail path among a plurality of safe nail paths for determining the spatial relationship between the plurality of safe nail paths.

[0008] In at least one embodiment of one aspect of the present invention, the spatial relationship between the plurality of safe nail paths includes the parallelism between a plurality of safe nail paths located on different target vertebrae and the symmetry between a plurality of safe nail paths located on the same target vertebra. When at least one of the following items is satisfied, the plurality of safe nail paths are determined as available nail paths: the parallelism between a plurality of safe nail paths located on different target vertebrae meets the parallelism requirement; the symmetry between a plurality of safe nail paths located on the same target vertebra meets the symmetry requirement.

[0009] In at least one embodiment of one aspect of the present invention, the measurement assembly further includes: a first handle having a first connection portion and a second connection portion, the first connection portion being used to connect the probe to the first handle; and a second handle having a third connection portion and a fourth connection portion, the third connection portion being used to connect the angle measurement device to the first handle, and the fourth connection portion being used to cooperate with the second connection portion of the first handle to rotatably connect the second handle and the first handle together.

[0010] In at least one embodiment of one aspect of the present invention, the measurement assembly further includes a connecting member, a first end of the connecting member is used to be electrically connected to the probe, and a second end is used to be electrically connected to an external circuit, wherein the connecting member has a spring structure at the first end, and the spring structure is configured to: when the probe is operated to rotate, the first end of the connecting member always remains electrically connected to the probe.

[0011] In at least one embodiment of one aspect of the present invention, the system further includes an open drill, one end of the open drill is used to be connected to a power source, and the other end has a drill bit for drilling a pit in a target vertebra of the patient, and the pit is used as an entry point for a nail track.

[0012] In at least one embodiment of one aspect of the present invention, the system further includes an entry point positioning device, and the entry point positioning device includes: a sleeve having a channel therein for accommodating the open drill; a transverse rod having graduations thereon; a longitudinal rod having graduations thereon and one end of which is fixedly connected to the sleeve; and a slider having a first channel and a second channel, the first channel being used to accommodate the transverse rod and allowing the slider to move along the transverse rod, and the second channel being used to accommodate the longitudinal rod and allowing the slider to move along the longitudinal rod.

[0013] In at least one embodiment of one aspect of the present invention, the transverse rod has a positioning portion at the 0 graduation, and the positioning portion is used to be fixed to the lower surface of the spinous process of the target vertebra, and one end of the longitudinal rod near the 0 graduation is fixedly connected to the sleeve.

[0014] In at least one embodiment of an aspect of the present invention, the system further includes a display module, which is communicatively coupled to the measurement component and the processing module and is configured to: receive in real time the tissue type in the corresponding nail track determined by the processing module; display in real time the tissue type in the currently received nail track; receive in real time the angle of each of the plurality of safe nail tracks measured by the angle measuring device; and based on the angles of each of the plurality of safe nail tracks received, display in real time the plurality of safe nail tracks for the operator to view, so as to determine the spatial relationship between the plurality of safe nail tracks.

[0015] In at least one embodiment of an aspect of the present invention, the angle includes a horizontal plane angle and a sagittal plane angle, and the display module is further configured to: display the plurality of safe nail tracks on a cross-sectional image of the patient's spine based on the horizontal plane angle of each of the plurality of safe nail tracks; and display the plurality of safe nail tracks on a lateral radiograph image of the patient's spine based on the sagittal plane angle of each of the plurality of safe nail tracks.

[0016] In at least one embodiment of an aspect of the present invention, the system further includes a developing module, which includes one or more calibration surfaces, and each calibration surface has a pattern with a known geometric shape, and the pattern is filled with a developing material. The developing module is used to be installed near the target vertebra of the patient so as to facilitate obtaining a medical image including the developing module and the target vertebra by using a medical imaging device.

[0017] In at least one embodiment of an aspect of the present invention, the system further includes a camera, which is used to take the medical image including the developing module and the target vertebra to obtain a camera image. The processing module is further configured to: receive the camera image from the camera; determine whether the camera image is distorted based on the pattern in the calibration surface of the developing module in the camera image; and when it is determined that the camera image is distorted, adjust the camera image to eliminate the distortion. The display module is further configured to: receive the adjusted camera image from the processing module; and display the adjusted camera image.

[0018] In at least one embodiment of one aspect of the present invention, the developing module includes a first calibration surface and a second calibration surface, the first calibration surface is perpendicular to the second calibration surface, the medical imaging device is configured to acquire a lateral radiograph medical image including the first calibration surface of the developing module and the target vertebra, and the medical imaging device is configured to acquire an anteroposterior radiograph medical image including the second calibration surface of the developing module and the target vertebra, the camera is configured to capture the lateral radiograph medical image to obtain a lateral radiograph camera image, and the camera is configured to capture the anteroposterior radiograph medical image to obtain an anteroposterior radiograph camera image, and the processing module is further configured to: receive the lateral radiograph camera image and the anteroposterior radiograph camera image from the camera; determine whether the lateral radiograph camera image is distorted based on a pattern in the first calibration surface of the developing module in the lateral radiograph camera image; determine whether the anteroposterior radiograph camera image is distorted based on a pattern in the second calibration surface of the developing module in the anteroposterior radiograph camera image; and when it is determined that the lateral radiograph camera image and / or the anteroposterior radiograph camera image is distorted, adjust the corresponding camera image to eliminate the distortion.

[0019] In at least one embodiment of one aspect of the present invention, the system further includes a user input device configured to receive a pedicle screw model input by a user, and the display module is communicatively coupled to the user input device and is further configured to: display a cross-sectional image including the target vertebra, the cross-sectional image including a cross-sectional medical image or a cross-sectional camera image, the cross-sectional medical image being acquired by the medical imaging device, the cross-sectional camera image being obtained by the camera capturing the cross-sectional medical image, the cross-sectional camera image being a non-distorted camera image or an adjusted camera image; display a lateral radiograph image including the target vertebra, the lateral radiograph image including a lateral radiograph medical image or a lateral radiograph camera image, the lateral radiograph camera image being a non-distorted camera image or an adjusted camera image; receive the pedicle screw model from the user input device; and superimpose and display the pedicle screw model on the lateral radiograph image including the target vertebra and superimpose and display the pedicle screw model on the cross-sectional image including the target vertebra.

[0020] In at least one embodiment of one aspect of the present invention, the user input device is further configured to receive a horizontal plane angle and a sagittal plane angle of a planned screw path input by the user, and the display module is further configured to: receive the horizontal plane angle and the sagittal plane angle of the planned screw path from the user input device; superimpose and display the planned screw path on the cross-sectional image including the target vertebra based on the horizontal plane angle of the planned screw path; and superimpose and display the planned screw path on the lateral radiograph image including the target vertebra based on the sagittal plane angle of the planned screw path.

[0021] In at least one embodiment of one aspect of the present invention, the system further includes a guiding device, and the guiding device includes: a sleeve having a channel therein for accommodating a canal-expanding member for being inserted into a target vertebra to form a nail canal in the target vertebra; and a mounting portion connected to the sleeve and for mounting the angle measuring device thereon, and the angle measuring device mounted on the mounting portion is configured to measure the horizontal plane angle and the sagittal plane angle of the nail canal to be formed during the process of inserting the canal-expanding member into the target vertebra to form a nail canal, and the display module is further configured to: receive the horizontal plane angle and the sagittal plane angle of the nail canal to be formed from the angle measuring device; based on the received horizontal plane angle of the nail canal to be formed, further superimpose and display the nail canal to be formed on a cross-sectional image including the target vertebra with the planned nail canal superimposed thereon; and based on the received sagittal plane angle of the nail canal to be formed, further superimpose and display the nail canal to be formed on a lateral radiograph camera image including the target vertebra with the planned nail canal superimposed thereon.

[0022] In at least one embodiment of one aspect of the present invention, the current nail canal includes the planned nail canal, and the probe is configured to: measure tissue information in the planned nail canal during the process of inserting the planned nail canal into the target vertebra, and the angle measuring device is configured to: measure an angle during the process of inserting the probe into the target vertebra to determine whether the probe will be inserted into the target vertebra along the planned nail canal.

[0023] In at least one embodiment of one aspect of the present invention, the system further includes a vertebra positioning device, and the vertebra positioning device includes: a vertebra fixing portion for fixing the vertebra positioning device to a vertebra adjacent to the target vertebra of the patient; and a placement portion connected to the vertebra fixing portion and for mounting the imaging module thereon.

[0024] In at least one embodiment of one aspect of the present invention, the system further includes a bedside positioning device, and the bedside positioning device includes: a bed frame fixing portion for fixing the bedside positioning device to a bed frame; a vertical positioning arm connected to the bed frame fixing portion; a horizontal positioning arm connected to the vertical positioning arm; and an assembly portion connected to the horizontal positioning arm and for mounting the imaging module thereon.

[0025] The technical solution proposed by the present invention may have at least one of the following advantages:

[0026] (1) A measurement component that integrates tissue detection function and angle measurement function can measure the angle of the nail track while identifying the tissue type to ensure the safety of the nail track, so as to determine the spatial relationship between multiple safe nail tracks, so as to improve the distribution of multiple safe nail tracks. The reasonable distribution of multiple safe nail tracks can reduce the damage to the target vertebral structure, reduce the installation difficulty of the connecting rod, and optimize the correction force of the connecting rod installed between the target vertebrae;

[0027] (2) By using the display module in cooperation with the angle measurement device, the operator can be allowed to accurately implant the pedicle screw along the planned nail track or safe nail track during the operation, thereby effectively improving the implantation accuracy of the pedicle screw;

[0028] (3) By using the imaging module, the distortion of the camera image including the target vertebra can be significantly reduced, so as to allow the use of the camera image instead of the medical image in spinal surgery, so as to complete the operation at low cost and high convenience without reducing the surgical accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] To further clarify the above and other advantages and features of the embodiments of the present invention, a more specific description of the embodiments of the present invention will be presented with reference to the accompanying drawings. It should be understood that these drawings only depict typical embodiments of the present invention and will not be considered as limiting the scope of the present invention claimed.

[0030] Figure 1 A schematic diagram of a system for spinal fixation according to an embodiment of the present invention is shown.

[0031] Figure 2 A schematic diagram of the structure of a measurement component according to an embodiment of the present invention is shown.

[0032] Figure 3 A partial schematic diagram of the structure of a measurement component according to an embodiment of the present invention is shown.

[0033] Figure 4 A schematic diagram of the structure of an open drill according to an embodiment of the present invention is shown.

[0034] Figure 5 A schematic diagram of the structure of a nail entry point positioning device according to an embodiment of the present invention is shown.

[0035] Figure 6 A schematic diagram of a frontal radiograph image of a patient's spine according to an embodiment of the present invention is shown.

[0036] Figure 7 A nail track planning process according to an embodiment of the present invention is shown.

[0037] Figure 8Shows a schematic structural diagram of a vertebra positioning device according to an embodiment of the present invention.

[0038] Figure 9 Shows a schematic structural diagram of a bedside positioning device according to an embodiment of the present invention.

[0039] Figure 10 Shows a first display interface of a display module according to an embodiment of the present invention.

[0040] Figure 11 Shows a second display interface of a display module according to an embodiment of the present invention.

[0041] Figure 12 Shows a third display interface of a display module according to an embodiment of the present invention.

[0042] Figure 13 Shows a schematic structural diagram of a guiding device according to an embodiment of the present invention.

[0043] Figure 14 Shows a fourth display interface of a display module according to an embodiment of the present invention.

[0044] Figure 15 Shows a fifth display interface of a display module according to an embodiment of the present invention. Detailed implementation manners

[0045] The present invention will be further described below in conjunction with specific embodiments and the accompanying drawings. More details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention is clearly capable of being implemented in many other ways different from this description. Those skilled in the art can make similar generalizations and deductions according to the actual application situation without departing from the connotation of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this specific embodiment.

[0046] This application uses specific terms to describe the embodiments of this application. Such as "one embodiment", "other embodiments", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that the "one embodiment" or "other embodiments" or "some embodiments" mentioned twice or more at different positions in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application can be appropriately combined.

[0047] It should be noted that, in order to simplify the description of the disclosure of the present application and thus help the understanding of one or more embodiments, in the description of the embodiments of the present application in the present disclosure, sometimes multiple features are merged into one embodiment, drawing or description thereof. However, this disclosure method does not mean that the features required by the subject matter of the present application are more than those mentioned in the claims.

[0048] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by terms such as "clockwise", "counterclockwise", "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present disclosure. In the present disclosure, one end close to the operator (such as a clinician) is defined as the rear end and the rear part, and one end close to the surgical patient is defined as the front end and the front part.

[0049] Referring to Figure 1 , Figure 1 FIG. shows a schematic diagram of a system 1 for spinal fixation according to an embodiment of the present invention.

[0050] As Figure 1 shown, the system 1 for spinal fixation may include a measurement component 10 and a processing module 20. The measurement component 10 may include a tissue detection device 11 and an angle measurement device 13. The tissue detection device 11 may include a probe 111 (see Figure 2 ), and the probe 111 can be used to insert into the target vertebra of the patient where the nail is to be placed along the nail track and obtain tissue information in the nail track. In some embodiments, the tissue information obtained by the probe 111 may include one or more of the following: tissue impedance, optical information associated with the tissue (e.g., light reflectivity of the tissue), force information associated with the tissue (e.g., resistance when entering the tissue), etc.

[0051] The angle measurement device 13 can be used to measure the angle of the nail track. For example, the horizontal plane angle and the sagittal plane angle. The horizontal plane angle may include the angle observable when the nail track is projected onto the cross-sectional image of the patient's spine, and the sagittal plane angle may include the angle observable when the nail track is projected onto the lateral view image of the patient's spine. In some embodiments, the angle measurement device 13 may include an inertial sensor.

[0052] The processing module 20 can be communicatively coupled to the measurement component 10 to receive in real time the tissue information obtained from the tissue detection device 11. For example, the tissue information obtained by the probe 111 during the insertion of the probe along the nail track into the target vertebra of the patient, such as tissue impedance, optical information associated with the tissue (e.g., light reflectivity of the tissue), force information associated with the tissue (e.g., resistance encountered when entering the tissue), etc. The processing module 20 can determine in real time the tissue type in the nail track based on the received tissue information so as to determine whether the nail track is a safe nail track. For example, when the tissue type in the nail track includes cortical bone, the processing module 20 can determine that the nail track is not safe. When the tissue type of the entire nail track is cancellous bone, the processing module 20 can determine that the nail track is safe. The processing module 20 can also receive the angles of each nail track in a plurality of nail tracks measured by the angle measurement device 13 and determine the spatial relationship between the plurality of nail tracks based on the angles of each nail track in the received plurality of nail tracks. The spatial relationship between the plurality of nail tracks can include parallelism between a plurality of nail tracks located on different vertebrae respectively, symmetry between a plurality of nail tracks located on the same vertebra, etc. In some embodiments, when the parallelism between a plurality of safe nail tracks located on different vertebrae respectively meets the parallelism requirement, these safe nail tracks that meet the parallelism requirement can be determined as available nail tracks. In other embodiments, when the symmetry between a plurality of nail tracks located on the same vertebra meets the symmetry requirement, these safe nail tracks that meet the symmetry requirement can be determined as available nail tracks. In still other embodiments, when the parallelism between a plurality of safe nail tracks located on different vertebrae respectively meets the parallelism requirement and the symmetry between a plurality of nail tracks located on the same vertebra meets the symmetry requirement, the safe nail tracks that meet both the parallelism requirement and the symmetry requirement can be determined as available nail tracks.

[0053] Generally, each target vertebra in one or more target vertebrae to be nailed can have one available nail track or two available nail tracks (the two available nail tracks can be located on the left and right sides of the target vertebra respectively). In spinal fixation surgery, an operator (e.g., a clinician) can implant pedicle screws into the target vertebra of the patient along the available nail tracks, and then install connecting rods between the pedicle screws implanted into the target vertebra. The implantation of the connecting rods can help stabilize the spinal structure of the patient, correct spinal deformities, protect the nerves and spinal cord in the spine, etc.

[0054] By using the measurement component 10 that integrates the tissue detection function and the angle measurement function, the present application can measure the angle of the safe nail track while identifying the tissue type to ensure the safety of the nail track, so as to determine the spatial relationship between multiple safe nail tracks, thereby improving the distribution of multiple safe nail tracks. A reasonable distribution of multiple safe nail tracks can reduce the installation difficulty of the connecting rod and optimize the correction force of the connecting rod installed between the target vertebrae. In addition, when two pedicle screws are to be implanted in a target vertebra, a reasonable spatial distribution of the nail tracks of the two pedicle screws (for example, the nail tracks of the two pedicle screws meet the symmetry requirements) can reduce the damage to the structure of the target vertebra caused by the implantation of the pedicle screws, and thus improve the stability of the implantation of the pedicle screws.

[0055] See Figure 1 , the system 1 may further include a display module 30. The display module 30 may be communicatively coupled to the measurement component 10 to receive in real time the angle of the nail track measured by the angle measurement device 13. The display module 30 may display the nail track in real time based on the received angle of the nail track. As described above, the angle of the nail track may include the horizontal plane angle and the sagittal plane angle. The display module 30 may display the nail track on the cross-sectional image of the patient's spine based on the horizontal plane angle of the nail track. The display module 30 may display the nail track on the lateral radiograph image of the patient's spine based on the sagittal plane angle of the nail track. The display module 30 may display multiple nail tracks simultaneously. For example, the display module 30 may display multiple nail tracks on the cross-sectional image of the patient's spine based on the horizontal plane angle of each nail track in the multiple nail tracks. The display module 30 may display multiple nail tracks on the lateral radiograph image of the patient's spine based on the sagittal plane angle of each nail track in the multiple nail tracks. The multiple displayed nail tracks are available for the operator to view, so as to facilitate the operator to determine the spatial relationship between the multiple nail tracks. The spatial relationship between the multiple nail tracks may include the parallelism between multiple nail tracks located on different vertebrae, the symmetry between multiple nail tracks located on the same vertebra, etc. The display module 30 may also be communicatively coupled to the processing module 20 to receive and display in real time the tissue type in the nail track determined by the processing module 20. The tissue type in the displayed nail track is available for the operator to view, so as to facilitate the operator to determine whether the nail track is a safe nail track.

[0056] See Figure 1, the system 1 may further include a storage module 40, which can be used to store data or information. The data or information may include image information (e.g., cross-sectional images of the patient's spine, frontal radiograph images of the patient's spine, lateral radiograph images of the patient's spine, etc.); data or information related to the screw channels (e.g., identification information of each screw channel, as well as the angle, tissue information, tissue type, safety, etc. of the corresponding screw channel), or other data or information related to spinal fixation surgery. The storage module 40 may be communicatively coupled to the measurement component 10, and the data measured by the measurement component 10 (e.g., the angle of the screw channel, tissue information, etc.) can be transmitted and stored in the storage module 40. The storage module 40 may also be communicatively coupled to the processing module 20 and / or the display module 30 to allow the processing module 20 and / or the display module 30 to obtain the data or information stored in the storage module 40.

[0057] Although in the Figure 1 illustrated embodiment, the processing module 20, the display module 30, and the storage module 40 are shown as separate and independent components. However, in other embodiments, the processing module 20, the display module 30, and the storage module 40 may be integrated together, such as being integrated in a laptop computer, a tablet computer, a personal computer with a display screen, etc.

[0058] See Figure 2 , Figure 2 shows a schematic structural diagram of the measurement component 10 according to an embodiment of the present invention. As Figure 2 shown, the measurement component 10 may have a tissue detection device 11, a first handle 12, a second handle 14, and an angle measurement device 13. The tissue detection device 11 may have a probe 111, and the probe 111 can be used to insert along the screw channel into the target vertebra of the patient to be implanted with a screw and obtain the tissue information in the screw channel. The tissue information may include one or more of the following: tissue impedance, optical information associated with the tissue (e.g., light reflectivity of the tissue), force information associated with the tissue (e.g., resistance encountered when entering the tissue), etc. In some embodiments, the probe 111 may include an electrode for measuring tissue impedance, and the measured tissue impedance can be used to determine different tissue types. Additionally or alternatively, the probe 111 may include a light sensor for sensing optical information associated with the tissue, e.g., the light reflectivity of the tissue, and the sensed optical information associated with the tissue can be used to determine different tissue types. Additionally or alternatively, the probe 111 may include a force sensor for sensing force information associated with the tissue, e.g., the resistance encountered when entering the tissue, and the sensed force information associated with the tissue can be used to determine different tissue types.

[0059] The first handle 12 may have a first connecting portion 121 and a second connecting portion 123. The first connecting portion 121 may be used to connect to the probe 111 to connect the probe 111 to the first handle 12. The second handle 14 may have a third connecting portion 141 and a fourth connecting portion 143. The third connecting portion 141 may be used to connect to the angle measuring device 13 to connect the angle measuring device 13 to the second handle 14. In some embodiments, the connection between the angle measuring device 13 and the second handle 14 may be a detachable connection. In other embodiments, the angle measuring device 13 may be integrated within the second handle 14. The fourth connecting portion 143 may be used to cooperate with the second connecting portion 123 of the first handle 12 to rotatably connect the second handle 14 and the first handle 12 together. In other words, when fitted and installed together, the first handle 12 and the second handle 14 may rotate relative to each other.

[0060] See Figure 3 , Figure 3 FIG. shows a partial schematic structural view of the measurement assembly 10 according to an embodiment of the present invention. As Figure 3 shown, the measurement assembly 10 may further include a connecting member 16, and the connecting member 16 may be at least partially located within the second handle 14. The first end 161 of the connecting member 16 may be used to electrically connect to the probe 111, and the second end 163 may be electrically connected to an external circuit. For example, when the second handle 14 is connected to the first handle 12, the first end 161 of the connecting member 16 that is at least partially located within the second handle 14 may be electrically connected to the probe 111 connected to the first handle 12. In some embodiments, the connecting member 16 may have a spring structure at the first end 161, and this spring structure may enable the first end 161 of the connecting member 16 to always maintain electrical connection with the probe 111. For example, when the first handle 12 rotates relative to the second handle 14 and thereby drives the probe 111 connected to the first handle 12 to rotate relative to the second handle 14, the first end 161 of the connecting member 16 having the spring structure may always maintain electrical connection with the probe 111 to transmit the signal (such as tissue impedance signal, optical signal, force signal, etc.) acquired by the probe 111 to the external circuit. This external circuit may be used to convert the signal (such as tissue impedance signal, optical signal, force signal, etc.) acquired by the probe 111 into an electrical signal so as to determine the tissue type based on this electrical signal. In some embodiments, this external circuit may be located within the angle measuring device 13, and when the angle measuring device 13 is connected to the second handle 14 via the third connecting portion 141 of the second handle 14, this external circuit may be electrically connected to the second end 163 of the connecting member 16. In other embodiments, this external circuit may be located within the second handle 14 and be electrically connected to the second end 163 of the connecting member 16.

[0061] Return to see Figure 2, when operating the measurement assembly 10, the operator can place the head 113 of the probe 111 on or within the target vertebra and rotate the first handle 12 to drive the rotation of the probe 111, so that the head 113 of the probe 111 can break through the target vertebra. At the same time, the operator applies a force to the measurement assembly 10 along the longitudinal axis L of the probe 111, so that the probe 111 is inserted into the target vertebra and advanced within the target vertebra. The route of the probe 111 advancing within the target vertebra is the nail track. The probe 111 advancing along the nail track can measure the tissue information in the nail track to determine whether the nail track is safe. During the process of the operator rotating the first handle 12, since the connection between the first handle 12 and the second handle 14 is a rotatable connection, the second handle 14 and the angle measuring device 13 connected to the second handle can remain stationary, so as to avoid the measurement accuracy of the angle measuring device 13 being affected by the rotation.

[0062] By using the measurement assembly 10 of the present application, while using the probe 111 to explore a safe nail track within the target vertebra, the angle of the safe nail track can be measured by using the angle measuring device 13 without reducing the measurement accuracy of the angle measuring device 13. When multiple pedicle screws are to be implanted in a patient's spine and a connecting rod is to be installed between the pedicle screws, simultaneously identifying the tissue type in the nail track and the angle of the nail track can not only effectively reduce the operation time, but also improve the spatial distribution of multiple safe nail tracks while ensuring the safety of the nail track, thereby reducing the damage of the pedicle screw to the target vertebra structure, reducing the installation difficulty of the connecting rod, and optimizing the correction force of the connecting rod installed between the vertebrae.

[0063] In addition to Figure 1 the components shown in

[0064] See Figure 4 , Figure 4 shows a schematic structural diagram of the open drill 51 according to an embodiment of the present invention. As Figure 4As shown. The first end 511 of the open drill 51 can be used to connect to a power source (e.g., a motor), and the second end 513 can have a drill bit 514. In operation, the drill bit 514 of the open drill 51 can drill into the target vertebra under the drive of the power source. In some embodiments, the open drill 51 drilled into the target vertebra can be temporarily left on the target vertebra, and a medical imaging device (e.g., an X-ray imaging device (X-ray Imaging, XR), such as a C-arm machine, etc.) can acquire a frontal medical image including the target vertebra and the open drill 51. The frontal medical image or the frontal camera image obtained by taking the frontal medical image can be displayed on the display module 30 for the operator to view, so that the operator can confirm whether the open drill 51 drills into the target vertebra from the nail insertion point. If the open drill 51 does not drill into the target vertebra from the nail insertion point, the position where the open drill 51 drills into the target vertebra can be adjusted until it is confirmed that the open drill 51 drills into the target vertebra from the nail insertion point. The drill bit 514 of the open drill 51 drilled into the target vertebra from the nail insertion point can drill a pit on the target vertebra, and this pit can be used as the nail insertion point of the nail path to facilitate the operator to quickly find the nail insertion point in the subsequent procedure. In addition, since the open drill 51 breaks through the relatively hard cortical bone on the surface of the target vertebra at the nail insertion point, there is no need for the operator to apply too much force in the subsequent process to use other components (such as the probe 111, Kirschner wire, pedicle screw, etc.) to enter the target vertebra from this nail insertion point.

[0065] In addition, in order to facilitate quickly positioning the nail insertion point using the open drill 51, the system 1 may further include a nail insertion point positioning device 52. Figure 5 The structural schematic diagram of the nail insertion point positioning device 52 according to an embodiment of the present invention is shown. As Figure 5 shown, the nail insertion point positioning device 52 may include a sleeve 521, a slider 522, a transverse rod 523, and a longitudinal rod 524. The sleeve 521 may have a channel 525 therein, and the channel 525 can be used to accommodate the open drill 51. The slider 522 may have a first channel and a second channel. The first channel of the slider 522 can be used to accommodate the transverse rod 523 and allow the slider 522 to move along the transverse rod 523, and the second channel can be used to accommodate the longitudinal rod 524 and allow the slider 522 to move along the longitudinal rod 524. As Figure 5 shown, the transverse rod 523 may have scales thereon, and the transverse rod 523 may have an anchoring portion 529 at its 0 scale value, and the anchoring portion 529 can be used to be fixed to the target vertebra of the patient, such as at the lower surface of the spinous process of the target vertebra. The longitudinal rod 524 may also have scales thereon, and the sleeve 521 may be fixedly connected to the longitudinal rod 524 at one end close to the 0 scale of the longitudinal rod 524.

[0066] In operation, the operator can fix the anchoring portion 529 to the target vertebra of the patient (e.g., at the lower surface of the spinous process of the target vertebra). Next, the operator can move the slider 522 along the transverse rod 523 inserted into the first channel of the slider 522 so that the slider 522 moves to the target transverse scale of the transverse rod 523; and move the longitudinal rod 524 in the second channel of the slider 522 so that the slider 522 is located at the target longitudinal scale of the longitudinal rod 524. Next, the operator can insert the open drill 51 into the channel 525 from the rear end 526 of the sleeve 521 and make the open drill 51 extend out of the channel 525 from the front end 528 of the sleeve 521. The open drill 51 extending out of the channel 525 can contact and drill into the target vertebra. As described above, the pit drilled on the target vertebra can be used as the entry point of the nail path. The above-mentioned target transverse scale can indicate the transverse distance of the entry point relative to the lower surface of the spinous process of the target vertebra (i.e., the distance of the entry point from the midline of the target vertebra), and the above-mentioned longitudinal target scale can indicate the longitudinal distance of the entry point relative to the lower surface of the spinous process of the target vertebra. In some embodiments, the transverse distance and the longitudinal distance of the entry point relative to the lower surface of the spinous process of the target vertebra can be measured by the operator in advance in the anteroposterior radiograph image of the patient's spine. Figure 6 FIG. shows a schematic diagram of an anteroposterior radiograph image of a patient's spine according to an embodiment of the present invention. As Figure 6 shown, the entry point A can have a transverse distance D1 relative to the lower surface B of the spinous process of the target vertebra, and the entry point A can have a longitudinal distance D2 relative to the lower surface B of the spinous process of the target vertebra. In some embodiments, Figure 6 the anteroposterior radiograph image shown can include an anteroposterior medical image or an anteroposterior camera image. In the present application, the entry point can be determined or confirmed by obtaining an anteroposterior radiograph image.

[0067] Returning to Figure 5 , Figure 5 FIG. shows a nail entry point positioning device 52 having two sleeves 521, two sliders 522, one transverse rod 523 and two longitudinal rods 524, which can be used to simultaneously position two nail entry points on the left and right sides of the target vertebra. In other embodiments, the nail entry point positioning device 52 can have only one sleeve 521, one slider 522, one transverse rod 523 and one longitudinal rod 524 for positioning a single nail entry point on either side of the target vertebra.

[0068] In spinal surgery, medical images of a patient's spine are usually required. The medical images can be obtained by using a medical imaging device (e.g., an X-ray computed tomography (CT) device, a magnetic resonance imaging (MRI) device, etc., X-ray imaging (XR) devices such as C-arm machines). The medical images obtained by using a medical imaging device usually have a specific medical image format, such as the MINC (Medical Imaging NetCDF) format, the DICOM (Digital Imaging and Communications in Medicine) format, etc. Such a specific medical image format brings many limitations in terms of the compatibility, processing speed, tool support, and application flexibility of medical images. To solve this problem, the present application proposes that when obtaining and displaying a medical image by using a medical imaging device, a camera can be used to capture the medical image. The image captured by the camera is a camera image, which has a common image format (such as the JPG / JPEG format, the PNG format, etc.). Compared with medical images, camera images can have the following advantages: 1. Usually smaller file size, suitable for fast storage and transmission and faster speed in loading, editing, and displaying, suitable for scenarios that require fast processing and real-time display; 2. Higher compatibility, and almost all operating systems, image processing software, and web browsers support camera images, etc. By using camera images instead of medical images in spinal surgery, it is not only possible to allow the display and processing of camera images by using a portable device, but also to reduce the time and cost of intraoperative image processing. However, when using a camera to capture a medical image, due to the problem of the shooting angle, the camera image may be distorted (e.g., the proportion and shape of the vertebral structure in the camera image are distorted), which in turn affects the rationality and accuracy of the operations performed by the operator based on the camera image (e.g., the selection of the pedicle screw model, the planning of the screw path, etc., which will be introduced in detail below). For this reason, the present application further proposes that a developing module (not shown in the figure) is further included in the system 1 for spinal fixation. The developing module can be configured as a polyhedron, such as a cube. The developing module may include one or more calibration surfaces, and each calibration surface may have a pattern with a known geometric shape, such as a circle, a rectangle, a triangle, etc. The pattern in each calibration surface may be filled with a developing material (e.g., lead, zirconia, stainless steel, titanium alloy, tungsten-containing polymer, etc.). The developing module can be installed near the vertebra adjacent to the target vertebra of the patient, so that the developing module is also included in the medical image of the target vertebra obtained by using a medical imaging device. When using a camera to capture a medical image including the target vertebra and the developing module, the obtained camera image may also include the target vertebra and the developing module.Since the calibration surface of the developing module has a pattern with a known geometric shape, when the camera image is distorted, the pattern in the calibration surface of the developing module in the camera image will also be distorted. The processing module 20 can be configured to receive the camera image from the camera and determine whether the camera image is distorted based on the pattern in the calibration surface of the developing module in the camera image. When it is determined that the camera image is distorted, the processing module 20 can adjust the camera image to eliminate the distortion of the camera image. The above determination and adjustment of the distorted camera image can be implemented using the Zhang Zhengyou camera calibration method. The Zhang Zhengyou camera calibration method is a known algorithm and will not be elaborated here.

[0069] In some embodiments, the developing module may include a first calibration surface and a second calibration surface, and the two calibration surfaces may be approximately 90 degrees to each other. When the developing module is installed near the target vertebra of the patient (for example, on or near the vertebra adjacent to the target vertebra of the patient) and lateral and anteroposterior medical images of the patient's spine are respectively acquired using a medical imaging device, the acquired lateral medical image may include the target vertebra and the first calibration surface, and the acquired anteroposterior medical image may include the target vertebra and the second calibration surface. The camera can obtain a lateral camera image including the target vertebra and the first calibration surface by taking a lateral medical image including the target vertebra and the first calibration surface, and obtain an anteroposterior camera image including the target vertebra and the second calibration surface by taking an anteroposterior medical image including the target vertebra and the second calibration surface. The processing module 20 can be further configured to: receive the lateral camera image and the anteroposterior camera image from the camera; determine whether the lateral camera image is distorted based on the pattern in the first calibration surface in the lateral camera image; and determine whether the anteroposterior camera image is distorted based on the pattern in the second calibration surface in the anteroposterior camera image. When it is determined that the lateral camera image and / or the anteroposterior camera image is distorted, the processing module 20 can adjust the corresponding camera image (i.e., the distorted lateral camera image and / or the anteroposterior camera image) to eliminate the distortion of the corresponding camera image. The display module 30 can be configured to: receive the adjusted camera image (for example, the adjusted lateral camera image, the adjusted anteroposterior camera image) from the processing module 20 and display the adjusted camera image.

[0070] Additionally, the developing module may further include a third calibration plane, which may be approximately 90 degrees with respect to the first calibration plane and the second calibration plane. After the developing module is installed near the target vertebra of the patient and the cross-sectional medical image of the patient's spine is acquired using a medical imaging device, the acquired cross-sectional medical image may include the target vertebra and the third calibration plane. The processing module 20 may be further configured to: receive the cross-sectional camera image from the camera; determine whether the cross-sectional camera image is distorted based on the pattern in the third calibration plane in the cross-sectional camera image. When it is determined that the cross-sectional camera image is distorted, the processing module 20 may adjust the cross-sectional camera image to eliminate the distortion of the cross-sectional camera image. The display module 30 may be configured to: receive the adjusted cross-sectional camera image from the processing module 20 and display the adjusted cross-sectional camera image.

[0071] In other embodiments, the developing module may include only one calibration plane. When acquiring the corresponding medical image (e.g., lateral radiograph medical image, anteroposterior radiograph medical image, cross-sectional medical image), the position of the calibration plane of the developing module may be adjusted so that the corresponding medical image includes the calibration plane and the target vertebra. For example, when acquiring a lateral radiograph medical image, the developing module may be placed so that its calibration plane is approximately parallel to the sagittal plane of the patient, so that the acquired lateral radiograph medical image includes the calibration plane and the target vertebra. When acquiring an anteroposterior radiograph medical image, the developing module may be placed so that its calibration plane is approximately parallel to the coronal plane of the patient, so that the acquired anteroposterior radiograph medical image includes the calibration plane and the target vertebra. When acquiring a cross-sectional medical image, the developing module may be placed so that its calibration plane is approximately parallel to the transverse plane of the patient, so that the acquired cross-sectional medical image includes the calibration plane and the target vertebra.

[0072] In this application, in addition to allowing the operator to explore the safe screw path using the probe 111, the operator may also be allowed to plan the screw path on the image displayed by the display module 30 as an alternative or supplement to exploring the safe screw path using the probe 111. Additionally, the operator may also determine the entry point, select a suitable pedicle screw model, etc. on the image displayed by the display module 30. In some embodiments, the images displayed by the display module 30 for determining the entry point, planning the screw path, and / or selecting a suitable pedicle screw model may include lateral radiograph images (e.g., lateral radiograph medical images, lateral radiograph camera images), anteroposterior radiograph images (e.g., anteroposterior radiograph medical images, anteroposterior radiograph camera images), cross-sectional images (e.g., cross-sectional medical images, cross-sectional camera images), etc. of the patient's spine. When using the camera image to determine the entry point, plan the screw path, and / or select a suitable pedicle screw model, the camera image may be a non-distorted camera image or an adjusted camera image to ensure the rationality and accuracy of the entry point determination, screw path planning, and / or pedicle screw model selection.

[0073] The system 1 for spinal fixation may further include a user input device (not shown in the figure), which can receive the pedicle screw model input by the operator and the horizontal plane angle and sagittal plane angle of the planned screw path input by the operator. The user input device may include a keyboard, a mouse, a touch screen, etc. In an embodiment where the user input device includes a touch screen, the touch screen can also be used as the display module 30 at the same time.

[0074] The following refers to Figure 7 Describe the screw path planning process in spinal fixation surgery. Figure 7 The screw path planning process 700 (hereinafter referred to as process 700) according to an embodiment of the present invention is shown.

[0075] At step 701, the imaging module is installed. In one embodiment, the imaging module can be installed in the patient's body. Specifically, the vertebral positioning device 61 can be installed on the vertebra adjacent to the target vertebra. Figure 8 The structural schematic diagram of the vertebral positioning device 61 according to an embodiment of the present invention is shown. As Figure 8 shown, the vertebral positioning device 61 may include a vertebral fixation part 611 and a placement part 613. The vertebral fixation part 611 can be connected to the placement part 613 and includes screws, which can be used to fix the vertebral positioning device 61 to the vertebra adjacent to the target vertebra of the patient, such as fixed to the spinous process of the vertebra adjacent to the target vertebra. The placement part 613 can be used for the imaging module to be installed thereon. When the vertebral positioning device 61 is fixed to the vertebra adjacent to the target vertebra, the imaging module can be installed near the target vertebra by installing the imaging module on the placement part 613 of the vertebral positioning device 61. In other embodiments, the imaging module can be installed outside the patient's body. Specifically, the bedside positioning device 63 can be installed outside the patient's body. Figure 9 The structural schematic diagram of the bedside positioning device 63 according to an embodiment of the present invention is shown. As Figure 9As shown, the bedside positioning device 63 may include a bed frame fixing part 631, a vertical positioning arm 633, a horizontal positioning arm 635, and an assembly part 637. The bed frame fixing part 631 can be used to fix the bedside positioning device 63 to the patient's bed frame. The vertical positioning arm 633 may be connected to the bed frame fixing part 631. The horizontal positioning arm may be connected to the vertical positioning arm 633. The assembly part 637 may be connected to the horizontal positioning arm 635 and used for mounting the imaging module thereon. The bedside positioning device 63 may further include a vertical adjustment knob 632 and a horizontal adjustment knob 634. The vertical adjustment knob 632 can be used to adjust the vertical distance of the assembly part 637 relative to the bed frame fixing part 631, and the horizontal adjustment knob 634 can be used to adjust the horizontal distance of the assembly part 637 relative to the bed frame fixing part 631. When the bedside positioning device 63 is fixed to the patient's bed frame, the imaging module can be mounted near the target vertebra by mounting the imaging module on the assembly part 637 of the bedside positioning device 63 and optionally adjusting the vertical adjustment knob 632 and / or the horizontal adjustment knob 634.

[0076] At step 703, a cross-sectional image of the patient's spine is acquired. In some embodiments, the cross-sectional image may include a cross-sectional medical image or a cross-sectional camera image. The cross-sectional medical image can be directly acquired by using a second medical imaging device (e.g., a Computed Tomography (CT) device, a Magnetic Resonance Imaging (MRI) device, etc.). The cross-sectional camera image can be obtained by photographing the cross-sectional medical image.

[0077] At step 705, a lateral radiograph image of the patient's spine is acquired. In some embodiments, the lateral radiograph image may include a lateral radiograph medical image or a lateral radiograph camera image. The lateral radiograph medical image can be directly acquired by using a first medical imaging device (e.g., an X-ray Imaging (XR) device, such as a C-arm machine, etc.). The lateral radiograph camera image can be obtained by photographing the lateral radiograph medical image.

[0078] At step 707, a pedicle screw model is selected. In some embodiments, the operator can select the images to be displayed according to their needs. For example, the operator can select to display the lateral radiograph image and the cross-sectional image, and select a suitable pedicle screw model based on the displayed lateral radiograph image and cross-sectional image. Figure 10 A first display interface of the display module 30 according to an embodiment of the present invention is shown. Figure 10The lateral radiograph image is shown on the left side, and the cross-sectional image is shown on the right side. The displayed lateral radiograph image can be a lateral radiograph medical image or a lateral radiograph camera image. The displayed cross-sectional image can be a cross-sectional medical image or a cross-sectional camera image. To ensure that the operator can correctly input or select an appropriate pedicle screw model, the displayed lateral radiograph camera image is an undistorted lateral radiograph camera image or an adjusted lateral radiograph camera image, and the displayed cross-sectional camera image is an undistorted cross-sectional camera image or an adjusted cross-sectional camera image. The operator can, based on the images displayed by the display module 30, use the user input device (e.g., within the box in the upper right of Figure 10 ) to input or select an appropriate pedicle screw model. After inputting or selecting the pedicle screw model, the display module 30 can superimpose and display the pedicle screw model on the displayed images. Figure 11 Shows a second display interface of the display module 30 according to an embodiment of the present invention. Figure 11 The left side of shows a lateral radiograph image superimposed with a pedicle screw model, the right side shows a cross-sectional image superimposed with a pedicle screw model, and the specific information of the input or selected pedicle screw model, such as diameter, length, etc., is shown within the box in the upper right.

[0079] At step 709, the nail path is planned. In some embodiments, the operator can use the user input device to determine the entry point and input the sagittal plane angle and horizontal plane angle of the planned nail path. Figure 12 Shows a third display interface of the display module 30 according to an embodiment of the present invention. After the operator determines the entry point, the operator can directly input the numerical values of the sagittal plane angle and horizontal plane angle of the planned nail path within the box in the upper right of Figure 12 . After inputting the numerical value of the sagittal plane angle of the planned nail path, Figure 12 The pedicle screw model superimposed on the lateral radiograph image shown on the left can rotate around the entry point to adjust the position of the pedicle screw model on the lateral radiograph image so as to correspond to the input sagittal plane angle. After inputting the numerical value of the horizontal plane angle of the planned nail path, Figure 12The pedicle screw model superimposed on the cross-sectional image shown on the right can be rotated around the screw insertion point to adjust the position of the pedicle screw model on the cross-sectional image so that it corresponds to the input horizontal plane angle. The operator can determine whether the planned screw path is appropriate based on the position of the pedicle screw model on the lateral radiograph image and / or the cross-sectional image. For example, when at least a part of the rod of the pedicle screw model is shown to pass through the cortical bone of the target vertebra at other positions outside the screw insertion point, it can be determined that the planned screw path is inappropriate. When the entire rod of the pedicle screw model is shown not to pass through the cortical bone of the target vertebra at other positions outside the screw insertion point, it can be determined that the planned screw path is appropriate. In addition, the operator can input the sagittal plane angle of the planned screw path in the following way: First, select the pedicle screw model superimposed on the lateral radiograph image, and drag or rotate the pedicle screw model to adjust its position on the lateral radiograph image until the adjusted position of the pedicle screw model on the lateral radiograph image meets the expectation. For example, the entire rod of the pedicle screw model is shown not to pass through the cortical bone of the target vertebra at other positions outside the screw insertion point. Similarly, the operator can input the horizontal plane angle of the planned screw path in the following way: First, select the pedicle screw model superimposed on the cross-sectional image, and drag or rotate the pedicle screw model to adjust its position on the cross-sectional image until the adjusted position of the pedicle screw model on the cross-sectional image meets the expectation. For example, the entire rod of the pedicle screw model is shown not to pass through the cortical bone of the target vertebra at other positions outside the screw insertion point. When dragging or rotating the pedicle screw model, Figure 12 the corresponding sagittal plane angle and horizontal plane angle can be displayed in real time in the upper right box of

[0080] At step 711, the screw path planning process 700 ends.

[0081] It should be understood that the above steps of the screw path planning process are all exemplary and are not intended to be limiting. Those skilled in the art can add one or more steps according to their needs, or delete one or more of the above steps, or combine or replace one or more of the above steps, or adjust the order of one or more of the above steps.

[0082] In some embodiments, after completing the screw path planning, the operator can form a screw path in the target vertebra of the patient based on the planned screw path. The operator can use the guiding device 70 to complete the formation of the screw path. Figure 13 The structural schematic diagram of the guiding device 70 according to an embodiment of the present invention is shown. As Figure 13As shown, the guiding device 70 may include a sleeve 71 and a mounting portion 73. A channel may be provided within the sleeve 71, which may be used to accommodate a canal-expanding member (e.g., a Kirschner wire). The canal-expanding member may be used to be inserted into a target vertebra of a patient to form a nail path within the target vertebra. The mounting portion 73 may be connected to the sleeve 71 and be used for mounting the angle measuring device 13 thereon. The angle measuring device 13 mounted to the mounting portion 73 may be used to measure the horizontal plane angle and the sagittal plane angle of the nail path to be formed during the process of inserting the canal-expanding member into the target vertebra to form a nail path.

[0083] In operation, the operator may place a canal-expanding member (e.g., a Kirschner wire) within the sleeve 71 of the guiding device 70 and mount the angle measuring device 13 on the mounting portion 73 of the guiding device 70. Subsequently, the operator may align the canal-expanding member protruding from the end 711 of the sleeve 71 with the nail insertion point on the target vertebra of the patient and rotate the guiding device 70 around the nail insertion point until the horizontal plane angle and the sagittal plane angle measured by the angle measuring device 13 mounted on the mounting portion 73 of the guiding device 70 are respectively consistent with the horizontal plane angle and the sagittal plane angle of the planned nail path. During the process of rotating the guiding device 70, the horizontal plane angle and the sagittal plane angle measured by the angle measuring device 13 may be used to indicate the nail path to be formed. The display module 30 may be configured to: receive and display in real time the horizontal plane angle and the sagittal plane angle measured by the angle measuring device 13; based on the received horizontal plane angle, further superimpose and display the nail path to be formed on the cross-sectional medical image or the cross-sectional camera image with the planned nail path superimposed; and based on the received sagittal plane angle, further superimpose and display the nail path to be formed on the lateral camera image with the planned nail path superimposed. Figure 14 The fourth display interface of the display module 30 according to an embodiment of the present invention is shown. Figure 14 On the left side, a lateral image with the planned nail path and the nail path to be formed superimposed is shown. On the right side, a cross-sectional image with the planned nail path and the nail path to be formed superimposed is shown. In the upper right corner, the sagittal plane angle and the horizontal plane angle of the planned nail path are shown. In the lower right corner, the sagittal plane angle and the horizontal plane angle of the nail path to be formed are shown. In Figure 14 the embodiment, the icon for displaying the nail path (e.g., the planned nail path, the nail path to be formed) is shown as a pedicle screw model including a head and a screw portion, wherein the screw portion of the pedicle screw model is used to display the position of the nail path within the target vertebra. In other embodiments, the nail path may be displayed by other types of icons (e.g., an icon having only a screw portion similar to the above). When the sagittal plane angle and the horizontal plane angle of the nail path to be formed measured by the angle measuring device 13 are respectively consistent with the sagittal plane angle and the horizontal plane angle of the planned nail path, in Figure 14In the lateral radiograph image and cross-sectional image shown, the nail track to be formed overlaps with the planned nail track. At this time, the operator can insert the channel expander into the target vertebra of the patient to form a nail track. Subsequently, the operator can remove the channel expander and implant a pedicle screw along the nail track formed by the channel expander.

[0084] In other embodiments, after completing the nail track planning, the operator can use the measurement assembly 10 to confirm whether the planned nail track is safe. Specifically, the operator can align the probe 111 with the nail insertion point and rotate the measurement assembly 10 around the nail insertion point until the angle measured by the angle measurement device 13 is consistent with the angle of the planned nail track. At this time, the operator can advance the probe 111 along the planned nail track. During the rotation of the measurement assembly 10, the display module 30 can show a display interface similar to Figure 14 to facilitate the operator to determine whether the probe 111 will be inserted into the target vertebra along the planned nail track. During the process of advancing the probe 111 along the planned nail track, the probe 111 can obtain tissue information in the planned nail track. Based on the obtained tissue information in the planned nail track, it can be confirmed whether the planned nail track is safe. For example, when the tissue information measured during the process of advancing the probe 111 to the target depth (for example, the target depth can be consistent with the nail part length of the pedicle screw) all indicates safety, it can be confirmed that the planned nail track is safe. When it is confirmed that the planned nail track is safe, the operator can form a nail track in the target vertebra of the patient based on this planned nail track. When the tissue information measured during the process of advancing the probe 111 indicates insecurity, the operator can adjust the advancement of the probe 111 in real time, thereby determining a safe nail track and obtaining the sagittal plane angle and horizontal plane angle of this safe nail track using the angle measurement device 13.

[0085] Additionally, in an embodiment where multiple pedicle screws will be implanted in the patient's spine, before using a channel expander (such as a Kirschner wire) to form corresponding nail tracks, the spatial relationship between multiple planned nail tracks or multiple safe nail tracks can be determined. Figure 15 Shows a fifth display interface of the display module 30 according to an embodiment of the present invention. Figure 15 The left side of shows a lateral radiograph image with multiple ( Figure 15 shown as 3 in ) planned nail tracks or multiple safe nail tracks superimposed, and the right side shows a cross-sectional image with multiple ( Figure 15 shown as 2 in ) planned nail tracks or multiple safe nail tracks superimposed. Based on Figure 15 the shown lateral radiograph image with multiple planned nail tracks or multiple safe nail tracks superimposed, the parallelism between multiple planned nail tracks or multiple safe nail tracks can be determined. Based on Figure 15From the cross-sectional images showing multiple planned nail tracks or multiple safety nail tracks, the symmetry between the multiple planned nail tracks or multiple safety nail tracks can be determined. When the spatial relationship between the multiple planned nail tracks or multiple safety nail tracks meets the corresponding requirements (e.g., parallelism requirement, symmetry requirement), an expanding member can be used to form the corresponding nail track. The formed nail track can be used to guide the implantation of pedicle screws.

[0086] One or more modules in various embodiments of the present disclosure (e.g., the processing module 20, the display module 30) can be implemented by hardware. For example, it can be implemented by using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, micro-processors, and electrical units for performing other functions.

[0087] Certain parts of various embodiments of the present disclosure can be provided as a computer program product, which can include a computer-readable medium having computer program instructions stored thereon. The computer program instructions can be used to program a computer (or other electronic devices) to be executed by one or more processors to perform a process according to certain embodiments. The computer-readable medium can include, but is not limited to, magnetic disks, optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic cards or optical cards, flash memory, or other types of computer-readable media suitable for storing electronic instructions. In addition, the embodiments can also be downloaded as a computer program product, where the program can be transferred from a remote computer to the requesting computer. In some embodiments, the non-transitory computer-readable storage medium has data representing an instruction sequence stored thereon, and the instruction sequence, when executed by a processor, causes the processor to perform certain operations, such as one or more steps in the process 700 described above in conjunction with Figure 7 the process 700 described above.

[0088] The following is a list of additional non-limiting examples that can be based on one or more technologies of the present disclosure.

[0089] Example A1. A system for spinal fixation, the system comprising:

[0090] A developing module, the developing module including one or more calibration surfaces, each calibration surface having a pattern with a known geometry, the pattern being filled with a developing material, the developing module being for installation near a target vertebra of a patient so as to facilitate obtaining a medical image including the developing module and the target vertebra by means of a medical imaging device;

[0091] A camera, the camera being for photographing the medical image including the developing module and the target vertebra to obtain a camera image;

[0092] A processing module, the processing module being configured to:

[0093] Receive the camera image from the camera;

[0094] Based on the pattern in the calibration surface of the developing module in the camera image, determine whether the camera image is distorted; and

[0095] When it is determined that the camera image is distorted, adjust the camera image to eliminate the distortion;

[0096] A display module, the display module being configured to:

[0097] Receive the adjusted camera image from the processing module; and

[0098] Display the adjusted camera image.

[0099] Example A2. The system according to Example A1, wherein the developing module includes a first calibration surface and a second calibration surface, the first calibration surface being perpendicular to the second calibration surface,

[0100] The medical imaging device is for obtaining a lateral radiograph medical image including the first calibration surface of the developing module and the target vertebra, and the medical imaging device is for obtaining an anteroposterior radiograph medical image including the second calibration surface of the developing module and the target vertebra,

[0101] The camera is for photographing the lateral radiograph medical image to obtain a lateral radiograph camera image, and the camera is for photographing the anteroposterior radiograph medical image to obtain an anteroposterior radiograph camera image,

[0102] The processing module is further configured to:

[0103] Receive the lateral radiograph camera image and the anteroposterior radiograph camera image from the camera;

[0104] Determine whether the lateral radiograph camera image is distorted based on the pattern in the first calibration plane of the developing module in the lateral radiograph camera image;

[0105] Determine whether the anteroposterior radiograph camera image is distorted based on the pattern in the second calibration plane of the developing module in the anteroposterior radiograph camera image; and

[0106] When it is determined that the lateral radiograph camera image and / or the anteroposterior radiograph camera image is distorted, adjust the corresponding camera image to eliminate the distortion.

[0107] Example A3. The system as described in Example A2, the system further includes a user input device for receiving a pedicle screw model input by the user,

[0108] The display module is communicatively coupled to the user input device and is further configured to:

[0109] Display a cross-sectional image including the target vertebra, the cross-sectional image including a cross-sectional medical image or a cross-sectional camera image, the cross-sectional medical image being acquired by the medical imaging device, the cross-sectional camera image being obtained by photographing the cross-sectional medical image with the camera, the cross-sectional camera image being a non-distorted camera image or an adjusted camera image;

[0110] Display a lateral radiograph image including the target vertebra, the lateral radiograph image including a lateral radiograph medical image or a lateral radiograph camera image, the lateral radiograph camera image being a non-distorted camera image or an adjusted camera image;

[0111] Receive the pedicle screw model from the user input device;

[0112] Overlay and display the pedicle screw model on the lateral radiograph image including the target vertebra and overlay and display the pedicle screw model on the cross-sectional image including the target vertebra.

[0113] Example A4. The system as described in Example A3, the user input device is further configured to receive the horizontal plane angle and sagittal plane angle of the planned screw path input by the user,

[0114] The display module is further configured to:

[0115] Receive the horizontal plane angle and sagittal plane angle of the planned screw path from the user input device;

[0116] Based on the horizontal plane angle of the planned screw path, overlay and display the planned screw path on the cross-sectional image including the target vertebra; and

[0117] Based on the sagittal plane angle of the planned nail path, the planned nail path is superimposed and displayed on the lateral radiograph image including the target vertebra.

[0118] Example A5. The system as described in Example A4, the system further includes a guiding device, and the guiding device includes:

[0119] A cannula having a channel therein for accommodating a canal expander for insertion into the target vertebra to form a nail path in the target vertebra; and

[0120] A mounting portion connected to the cannula and for mounting an angle measuring device thereon, and the angle measuring device mounted to the mounting portion is configured to measure the horizontal plane angle and the sagittal plane angle of the nail path to be formed during the insertion of the canal expander into the target vertebra to form a nail path.

[0121] The display module is further configured to:

[0122] Receive the horizontal plane angle and the sagittal plane angle of the nail path to be formed from the angle measuring device;

[0123] Based on the received horizontal plane angle of the nail path to be formed, further superimpose and display the nail path to be formed on the cross-sectional image including the target vertebra on which the planned nail path is superimposed; and

[0124] Based on the received sagittal plane angle of the nail path to be formed, further superimpose and display the nail path to be formed on the lateral radiograph camera image including the target vertebra on which the planned nail path is superimposed.

[0125] Example A6. The system as described in Example A1, the system further includes a vertebra positioning device, and the vertebra positioning device includes:

[0126] A vertebra fixing portion for fixing the vertebra positioning device to a vertebra adjacent to the target vertebra of the patient;

[0127] A placement portion connected to the vertebra fixing portion and for mounting the imaging module thereon.

[0128] Example A7. The system as described in Example A1, the system further includes a bedside positioning device, and the bedside positioning device includes:

[0129] A bed frame fixing portion for fixing the bedside positioning device to the bed frame;

[0130] A vertical positioning arm connected to the bed frame fixing portion;

[0131] A horizontal positioning arm connected to the vertical positioning arm; and

[0132] An assembly unit, which is connected to the horizontal positioning arm and is used for mounting the developing module thereon.

[0133] Example A8. The system as described in Example A1, further comprising an open drill, one end of the open drill is used for connecting to a power source, and the other end has a drill bit for drilling a pit on the target vertebra of the patient, and the pit is used as the nail insertion point of the nail track.

[0134] Example A9. The system as described in Example A8, further comprising a nail insertion point positioning device, and the nail insertion point positioning device includes:

[0135] A sleeve, which has a channel therein, and the channel is used for accommodating the open drill;

[0136] A transverse rod, which has scales thereon;

[0137] A longitudinal rod, which has scales thereon and one end of which is fixedly connected to the sleeve; and

[0138] A slider, which has a first channel and a second channel, the first channel is used for accommodating the transverse rod and allowing the slider to move along the transverse rod, and the second channel is used for accommodating the longitudinal rod and allowing the slider to move along the longitudinal rod.

[0139] Example A10. The system as described in Example A6, the transverse rod has a positioning portion at the 0 scale, and the positioning portion is used for being fixed to the lower surface of the spinous process of the target vertebra.

[0140] One end of the longitudinal rod close to the 0 scale is fixedly connected to the sleeve.

[0141] Example B1. A system for spinal fixation, the system includes:

[0142] A measurement assembly, and the measurement assembly includes:

[0143] A tissue detection device, including a probe, for inserting along a nail track into a target vertebra of a patient to be implanted with a nail and obtaining tissue information in the nail track; and

[0144] An angle measurement device, which is configured to be detachably connected to the tissue detection device;

[0145] A processing module, for being communicatively coupled to the measurement assembly and being configured to:

[0146] Receiving in real time the tissue information obtained by the probe during the process of inserting along the current nail track into the target vertebra of the patient; and

[0147] Based on the received tissue information, determine the tissue type in the current nail track in real time, so as to determine whether the current nail track is a safe nail track; and

[0148] wherein, the angle measuring device is configured to measure the angle of each safe nail track in a plurality of safe nail tracks for determining the spatial relationship between the plurality of safe nail tracks.

[0149] Example B2. The system according to Example B1, wherein the spatial relationship between the plurality of safe nail tracks includes parallelism between a plurality of safe nail tracks located on different target vertebrae and symmetry between a plurality of safe nail tracks located on the same target vertebra.

[0150] When at least one of the following is satisfied, determine the plurality of safe nail tracks as available nail tracks:

[0151] The parallelism between a plurality of safe nail tracks located on different target vertebrae meets the parallelism requirement;

[0152] The symmetry between a plurality of safe nail tracks located on the same target vertebra meets the symmetry requirement.

[0153] Example B3. The system according to Example B1, wherein the measuring assembly further comprises:

[0154] A first handle having a first connecting portion and a second connecting portion, the first connecting portion being used to connect the probe to the first handle; and

[0155] A second handle having a third connecting portion and a fourth connecting portion, the third connecting portion being used to connect the angle measuring device to the first handle, and the fourth connecting portion being used to cooperate with the second connecting portion of the first handle to rotatably connect the second handle and the first handle together.

[0156] Example B4. The system according to Example B3, wherein the measuring assembly further comprises a connecting member, a first end of the connecting member is used for electrical connection with the probe, and a second end is used for electrical connection with an external circuit,

[0157] wherein the connecting member has a spring structure at the first end, and the spring structure is configured to: when the probe is operated to rotate, the first end of the connecting member always maintains electrical connection with the probe.

[0158] Example B5. The system according to Example B1, wherein the system further comprises an open drill, one end of the open drill is used for connection to a power source, and the other end has a drill bit for drilling a pit on the target vertebra of the patient, and the pit is used as an entry point for the nail track.

[0159] Example B6. The system as described in Example B5, the system further comprising a nail insertion point positioning device, the nail insertion point positioning device comprising:

[0160] A sleeve having a channel therein for receiving the open drill;

[0161] A transverse rod having graduations thereon;

[0162] A longitudinal rod having graduations thereon and having one end fixedly connected to the sleeve; and

[0163] A slider having a first channel and a second channel, the first channel for receiving the transverse rod and allowing the slider to move along the transverse rod, the second channel for receiving the longitudinal rod and allowing the slider to move along the longitudinal rod.

[0164] Example B7. The system as described in Example B6, the transverse rod having a positioning portion at the 0 graduation for fixing to the lower surface of the spinous process of the target vertebra,

[0165] One end of the longitudinal rod near the 0 graduation is fixedly connected to the sleeve.

[0166] Example B8. The system as described in any one of Examples B1 - B7, the system further comprising a display module for communicatively coupling with the measurement component and the processing module and configured to:

[0167] Receive in real time the tissue type in the corresponding nail track determined by the processing module;

[0168] Display in real time the tissue type in the currently received nail track;

[0169] Receive in real time the angle of each of the plurality of safe nail tracks measured by the angle measuring device; and

[0170] Based on the angle of each of the plurality of safe nail tracks received, display the plurality of safe nail tracks in real time for the operator to view, so as to determine the spatial relationship between the plurality of safe nail tracks.

[0171] Example B9. The system as described in Example B8, the angle including a horizontal plane angle and a sagittal plane angle, the display module being further configured to:

[0172] Based on the horizontal plane angle of each of the plurality of safe nail tracks, display the plurality of safe nail tracks on a cross-sectional image of the patient's spine; and

[0173] Based on the sagittal plane angle of each of the plurality of safe nail tracks, display the plurality of safe nail tracks on a lateral radiograph image of the patient's spine.

[0174] Example B10. The system as described in Example B8, the system further includes a developing module, the developing module includes one or more calibration surfaces, each calibration surface has a pattern with a known geometric shape, and the pattern is filled with a developing material.

[0175] The developing module is configured to be installed near the target vertebra of the patient, so as to facilitate obtaining a medical image including the developing module and the target vertebra by using a medical imaging device.

[0176] Example B11. The system as described in Example B10, the system further includes a camera, the camera is configured to capture the medical image including the developing module and the target vertebra to obtain a camera image.

[0177] The processing module is further configured to:

[0178] Receive the camera image from the camera;

[0179] Based on the pattern in the calibration surface of the developing module in the camera image, determine whether the camera image is distorted; and

[0180] When it is determined that the camera image is distorted, adjust the camera image to eliminate the distortion.

[0181] The display module is further configured to:

[0182] Receive the adjusted camera image from the processing module; and

[0183] Display the adjusted camera image.

[0184] Example B12. The system as described in Example B11, the developing module includes a first calibration surface and a second calibration surface, and the first calibration surface is perpendicular to the second calibration surface.

[0185] The medical imaging device is configured to obtain a lateral medical image including the first calibration surface of the developing module and the target vertebra, and the medical imaging device is configured to obtain an anteroposterior medical image including the second calibration surface of the developing module and the target vertebra.

[0186] The camera is configured to capture the lateral medical image to obtain a lateral camera image, and the camera is configured to capture the anteroposterior medical image to obtain an anteroposterior camera image.

[0187] The processing module is further configured to:

[0188] Receive the lateral camera image and the anteroposterior camera image from the camera;

[0189] Based on the pattern in the first calibration plane of the developing module in the lateral radiograph camera image, determine whether the lateral radiograph camera image is distorted;

[0190] Based on the pattern in the second calibration plane of the developing module in the anteroposterior radiograph camera image, determine whether the anteroposterior radiograph camera image is distorted; and

[0191] When it is determined that the lateral radiograph camera image and / or the anteroposterior radiograph camera image is distorted, adjust the corresponding camera image to eliminate the distortion.

[0192] Example B13. The system according to Example B12, the system further includes a user input device for receiving a pedicle screw model input by the user,

[0193] The display module is communicatively coupled to the user input device and is further configured to:

[0194] Display a cross-sectional image of the target vertebra, the cross-sectional image including a cross-sectional medical image or a cross-sectional camera image, the cross-sectional medical image being acquired by the medical imaging device, the cross-sectional camera image being obtained by photographing the cross-sectional medical image with the camera, and the cross-sectional camera image being a non-distorted camera image or an adjusted camera image;

[0195] Display a lateral radiograph image of the target vertebra, the lateral radiograph image including a lateral radiograph medical image or a lateral radiograph camera image, and the lateral radiograph camera image being a non-distorted camera image or an adjusted camera image;

[0196] Receive the pedicle screw model from the user input device;

[0197] Overlay and display the pedicle screw model on the lateral radiograph image of the target vertebra and overlay and display the pedicle screw model on the cross-sectional image of the target vertebra.

[0198] Example B14. The system according to Example B13, the user input device is further configured to receive the horizontal plane angle and the sagittal plane angle of the planned screw path input by the user,

[0199] The display module is further configured to:

[0200] Receive the horizontal plane angle and the sagittal plane angle of the planned screw path from the user input device;

[0201] Based on the horizontal plane angle of the planned screw path, overlay and display the planned screw path on the cross-sectional image of the target vertebra; and

[0202] Based on the sagittal plane angle of the planned nail track, the planned nail track is superimposed and displayed on the lateral radiograph image including the target vertebra.

[0203] Example B15. The system as described in Example B14, the system further includes a guiding device, and the guiding device includes:

[0204] A cannula having a channel therein for accommodating a canal expander for insertion into the target vertebra to form a nail track in the target vertebra; and

[0205] A mounting portion connected to the cannula and for mounting the angle measuring device thereon, and the angle measuring device mounted on the mounting portion is configured to measure the horizontal plane angle and the sagittal plane angle of the nail track to be formed during the insertion of the canal expander into the target vertebra to form a nail track.

[0206] The display module is further configured to:

[0207] Receive the horizontal plane angle and the sagittal plane angle of the nail track to be formed from the angle measuring device;

[0208] Based on the received horizontal plane angle of the nail track to be formed, the nail track to be formed is further superimposed and displayed on the cross-sectional image including the target vertebra on which the planned nail track is superimposed; and

[0209] Based on the received sagittal plane angle of the nail track to be formed, the nail track to be formed is further superimposed and displayed on the lateral radiograph camera image including the target vertebra on which the planned nail track is superimposed.

[0210] Example B16. The system as described in Example B14, the current nail track includes the planned nail track,

[0211] The probe is configured to: acquire tissue information in the planned nail track during the insertion into the target vertebra along the planned nail track.

[0212] The angle measuring device is configured to: measure an angle during the insertion of the probe into the target vertebra to determine whether the probe will be inserted into the target vertebra along the planned nail track.

[0213] Example B17. The system as described in Example B10, the system further includes a vertebra positioning device, and the vertebra positioning device includes:

[0214] A vertebra fixing portion for fixing the vertebra positioning device to a vertebra adjacent to the target vertebra of the patient;

[0215] A placement part, which is connected to the vertebral fixation part and is used for mounting the imaging module thereon.

[0216] Example B18. The system according to Example B10, the system further includes a bedside positioning device, the bedside positioning device includes:

[0217] A bed frame fixation part, which is used for fixing the bedside positioning device to the bed frame;

[0218] A vertical positioning arm, which is connected to the bed frame fixation part;

[0219] A horizontal positioning arm, which is connected to the vertical positioning arm; and

[0220] An assembly part, which is connected to the horizontal positioning arm and is used for mounting the imaging module thereon.

[0221] Although the present invention has been described in accordance with the preferred embodiments of the present disclosure, it is not intended to be limited thereto, but only limited by the scope set forth in the appended claims. Those skilled in the art should understand that various modifications and changes can be made to the embodiments described herein without departing from the broader spirit and scope of the present invention as set forth in the appended claims.

Claims

1. A system for spinal fixation, characterized in that, The system includes: A measurement component, the measurement component includes: A tissue detection device, including a probe, for inserting along a nail track into a target vertebra of a patient to be nailed and obtaining tissue information in the nail track; and An angle measurement device, the angle measurement device being configured to be detachably connected to the tissue detection device; A processing module, for communicating and coupling with the measurement component and being configured to: Receive in real time the tissue information obtained by the probe during the process of inserting along the current nail track into the target vertebra of the patient; and Based on the received tissue information, determine in real time the tissue type in the current nail track so as to determine whether the current nail track is a safe nail track; Wherein, the angle measurement device is configured to measure the angle of each of a plurality of safe nail tracks for determining the spatial relationship between the plurality of safe nail tracks.

2. The system according to claim 1, characterized in that, The spatial relationship between the plurality of safe nail tracks includes the parallelism between a plurality of safe nail tracks located on different target vertebrae and the symmetry between a plurality of safe nail tracks located on the same target vertebra, When at least one of the following items is satisfied, the plurality of safe nail tracks are determined as available nail tracks: The parallelism between a plurality of safe nail tracks located on different target vertebrae meets the parallelism requirement; The symmetry between a plurality of safe nail tracks located on the same target vertebra meets the symmetry requirement.

3. The system according to claim 1, wherein The measurement component further includes: A first handle, which has a first connection part and a second connection part, the first connection part being used to connect the probe to the first handle; and A second handle, which has a third connection part and a fourth connection part, the third connection part being used to connect the angle measurement device to the first handle, and the fourth connection part being used to cooperate with the second connection part of the first handle to rotatably connect the second handle and the first handle together.

4. The system according to claim 3, wherein The measurement component further includes a connecting piece, a first end of the connecting piece is used to be electrically connected to the probe, and a second end is used to be electrically connected to an external circuit, Wherein the connecting piece has a spring structure at the first end, and the spring structure is configured to: when the probe is operated to rotate, the first end of the connecting piece always remains electrically connected to the probe.

5. The system according to claim 1, wherein The system further includes an open drill, one end of the open drill is used to be connected to a power source, and the other end has a drill bit for drilling a pit on the target vertebra of the patient, and the pit is used as the nail entry point of the nail track.

6. The system according to claim 5, wherein The system further includes a nail entry point positioning device, the nail entry point positioning device includes: A sleeve, which has a channel inside, and the channel is used to accommodate the open drill; A transverse rod, which has scales thereon; A longitudinal rod, which has scales thereon and one end of which is fixedly connected to the sleeve; and A slider, the slider has a first channel and a second channel, the first channel is used to accommodate the transverse rod and allow the slider to move along the transverse rod, and the second channel is used to accommodate the longitudinal rod and allow the slider to move along the longitudinal rod.

7. The system according to claim 6, wherein The transverse rod has a positioning part at the 0 scale, and the positioning part is used to be fixed to the lower surface of the spinous process of the target vertebra, One end of the longitudinal rod near the 0 scale is fixedly connected to the sleeve.

8. The system according to any one of claims 1-7, characterized in that, The system further includes a display module, which is communicatively coupled to the measurement component and the processing module and is configured to: Receive in real time the tissue type in the corresponding nail track determined by the processing module; Display in real time the tissue type in the currently received nail track; Receive in real time the angle of each of the plurality of safe nail tracks measured by the angle measuring device; and Based on the angle of each of the plurality of safe nail tracks received, display the plurality of safe nail tracks in real time for the operator to view, so as to determine the spatial relationship between the plurality of safe nail tracks.

9. The system according to claim 8, wherein The angle includes a horizontal plane angle and a sagittal plane angle, and the display module is further configured to: Based on the horizontal plane angle of each of the plurality of safe nail tracks, display the plurality of safe nail tracks on a cross-sectional image of the patient's spine; and Based on the sagittal plane angle of each of the plurality of safe nail tracks, display the plurality of safe nail tracks on a lateral radiograph image of the patient's spine.

10. The system according to claim 8, wherein The system further includes a developing module, which includes one or more calibration surfaces, and each calibration surface has a pattern with a known geometric shape, and the pattern is filled with a developing material. The developing module is used to be installed near the target vertebra of the patient, so as to facilitate obtaining a medical image including the developing module and the target vertebra by using a medical imaging device.

11. The system according to claim 10, wherein, The system further includes a camera, which is used to take the medical image including the developing module and the target vertebra to obtain a camera image. The processing module is further configured to: Receive the camera image from the camera; Based on the pattern in the calibration surface of the developing module in the camera image, determine whether the camera image is distorted; and When it is determined that the camera image is distorted, adjust the camera image to eliminate the distortion. The display module is further configured to: Receive the adjusted camera image from the processing module; and Display the adjusted camera image.

12. The system according to claim 11, wherein The developing module includes a first calibration surface and a second calibration surface, and the first calibration surface is perpendicular to the second calibration surface. The medical imaging device is used to obtain a lateral radiograph medical image including the first calibration surface of the developing module and the target vertebra, and the medical imaging device is used to obtain a frontal radiograph medical image including the second calibration surface of the developing module and the target vertebra. The camera is used to take the lateral radiograph medical image to obtain a lateral radiograph camera image, and the camera is used to take the frontal radiograph medical image to obtain a frontal radiograph camera image. The processing module is further configured to: Receive the lateral radiograph camera image and the frontal radiograph camera image from the camera; Based on the pattern in the first calibration surface of the developing module in the lateral radiograph camera image, determine whether the lateral radiograph camera image is distorted; Based on the pattern in the second calibration surface of the developing module in the frontal radiograph camera image, determine whether the frontal radiograph camera image is distorted; and When it is determined that the lateral radiograph camera image and / or the anteroposterior radiograph camera image is distorted, adjust the corresponding camera image to eliminate the distortion.

13. The system according to claim 12, wherein The system further includes a user input device for receiving a pedicle screw model input by the user. The display module is communicatively coupled to the user input device and is further configured to: Display a cross-sectional image of the target vertebra, the cross-sectional image including a cross-sectional medical image or a cross-sectional camera image, the cross-sectional medical image being acquired by the medical imaging device, the cross-sectional camera image being obtained by photographing the cross-sectional medical image with the camera, and the cross-sectional camera image being a distortion-free camera image or an adjusted camera image; Display a lateral radiograph image of the target vertebra, the lateral radiograph image including a lateral radiograph medical image or a lateral radiograph camera image, the lateral radiograph camera image being a distortion-free camera image or an adjusted camera image; Receive the pedicle screw model from the user input device; Superimpose and display the pedicle screw model on the lateral radiograph image of the target vertebra and superimpose and display the pedicle screw model on the cross-sectional image of the target vertebra.

14. The system according to claim 13, wherein, The user input device is further configured to receive the horizontal plane angle and the sagittal plane angle of the planned screw path input by the user. The display module is further configured to: Receive the horizontal plane angle and the sagittal plane angle of the planned screw path from the user input device; Based on the horizontal plane angle of the planned screw path, superimpose and display the planned screw path on the cross-sectional image of the target vertebra; and Based on the sagittal plane angle of the planned screw path, superimpose and display the planned screw path on the lateral radiograph image of the target vertebra.

15. The system according to claim 14, wherein The system further includes a guiding device, the guiding device including: A cannula having a channel therein for accommodating a reamer, the reamer being configured to be inserted into the target vertebra to form a screw path in the target vertebra; and A mounting portion connected to the cannula and for mounting the angle measuring device thereon, the angle measuring device mounted to the mounting portion being configured to measure the horizontal plane angle and the sagittal plane angle of the screw path to be formed during the insertion of the reamer into the target vertebra to form the screw path. The display module is further configured to: Receive the horizontal plane angle and the sagittal plane angle of the screw path to be formed from the angle measuring device; Based on the received horizontal plane angle of the screw path to be formed, further superimpose and display the screw path to be formed on the cross-sectional image of the target vertebra on which the planned screw path is superimposed; and Based on the received sagittal plane angle of the screw path to be formed, further superimpose and display the screw path to be formed on the lateral radiograph camera image of the target vertebra on which the planned screw path is superimposed.

16. The system according to claim 14, wherein The current screw path includes the planned screw path. The probe is configured to: measure tissue information in the planned screw path during the insertion of the probe into the target vertebra along the planned screw path. The angle measuring device is configured to measure an angle during insertion of the probe into the target vertebra to determine whether the probe will be inserted into the target vertebra along the planned nail path.

17. The system according to claim 10, wherein The system further includes a vertebra positioning device, and the vertebra positioning device includes: a vertebra fixing part for fixing the vertebra positioning device to a vertebra adjacent to the target vertebra of the patient; a placement part connected to the vertebra fixing part and for mounting the developing module thereon.

18. The system according to claim 10, wherein The system further includes a bedside positioning device, and the bedside positioning device includes: a bed frame fixing part for fixing the bedside positioning device to the bed frame; a vertical positioning arm connected to the bed frame fixing part; a horizontal positioning arm connected to the vertical positioning arm; and a fitting part connected to the horizontal positioning arm and for mounting the developing module thereon.

Images