Method for determining parameters of a medical screw and method for implant planning of a medical screw

Abstract

The application relates to a parameter determination method of a medical screw and a placement planning method of the medical screw. The parameter determination method of the medical screw comprises the following steps: acquiring actual vertebra point clouds corresponding to a target vertebra and template vertebra point clouds corresponding to a template vertebra grid model matched with the target vertebra; the target vertebra is a vertebra to be placed with the medical screw in a target object; the template vertebra grid model is placed with a template screw grid model; according to a registration relationship between the actual vertebra point clouds and the template vertebra point clouds, template screw point clouds corresponding to the template screw grid model are adjusted to obtain target screw point clouds matched with the target vertebra; and screw placement parameters corresponding to the target vertebra are determined according to the target screw point clouds. The method can improve the accuracy of the placement parameters of the medical screw.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a method, apparatus, computer equipment, storage medium and computer program product for determining parameters of a medical screw, as well as a method, apparatus, computer equipment, storage medium and computer program product for planning the insertion of a medical screw. Background Technology

[0002] With the development of medical technology, spinal pedicle screw fixation has gradually become a routine procedure in spinal surgery, providing effective and very reliable fixation. The key step is to insert the pedicle screws for fixation through the pedicle and into the vertebral body of the spine.

[0003] In spinal pedicle screw fixation techniques, surgeons develop detailed preoperative plans. However, due to limitations in imaging technology, screw placement parameters need to be measured in a two-dimensional axial view based on the patient's CT (Computed Tomography) images. Yet, the spinal anatomy is complex, and patients often have scoliosis or improper head and neck positioning during image acquisition. This makes it impossible to observe the pedicle anatomy under natural vertebral alignment in the original axial view of the CT images, thus hindering accurate estimation of pedicle screw placement parameters.

[0004] Therefore, the relevant technologies suffer from the problem of low accuracy in the insertion parameters of medical screws. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, computer device, computer-readable storage medium, and computer program product for determining the parameters of a medical screw that can improve the accuracy of the insertion parameters of the medical screw, as well as a method, apparatus, computer device, storage medium, and computer program product for planning the insertion of a medical screw.

[0006] Firstly, this application provides a method for determining the parameters of a medical screw. The method includes:

[0007] Obtain the actual vertebral point cloud corresponding to the target vertebral body, and the template vertebral point cloud corresponding to the template vertebral mesh model that matches the target vertebral body; the target vertebral body is the vertebral body in the target object into which a medical screw is to be inserted; the template vertebral mesh model contains a template screw mesh model;

[0008] Based on the registration relationship between the actual vertebral point cloud and the template vertebral point cloud, the template screw point cloud corresponding to the template screw mesh model is adjusted to obtain a target screw point cloud that matches the target vertebral body.

[0009] The screw insertion parameters corresponding to the target vertebra are determined based on the target screw point cloud.

[0010] In one embodiment, the target screw point cloud is located in the actual vertebral body point cloud corresponding to the target vertebral body; determining the screw insertion parameters corresponding to the target vertebral body based on the target screw point cloud includes:

[0011] Obtain the center line of the candidate screw track corresponding to the target screw point cloud;

[0012] The candidate pin track centerline is adjusted based on the distance between the points on the candidate pin track centerline and the actual vertebral point cloud to obtain the target pin track centerline.

[0013] Based on the center line of the target pin path, determine the screw insertion parameters corresponding to the target vertebra.

[0014] In one embodiment, adjusting the candidate pin track centerline based on the distance between points on the candidate pin track centerline and the actual vertebral point cloud to obtain the target pin track centerline includes:

[0015] Obtain the three-dimensional Cartesian coordinate system corresponding to the three-dimensional space where the actual vertebral point cloud is located;

[0016] Obtain the center point of the candidate spike track centerline in the three-dimensional Cartesian coordinate system;

[0017] Using the center point of the candidate spike track centerline as the origin, the center point of the candidate spike track centerline is offset along each coordinate axis of the three-dimensional rectangular coordinate system, and the angle of the candidate spike track centerline in the three-dimensional space is adjusted to obtain the adjusted candidate spike track centerline.

[0018] When the minimum distance between a point on the adjusted candidate pin track centerline and the actual vertebral point cloud meets the preset adjustment termination condition, the adjusted candidate pin track centerline is taken as the target pin track centerline.

[0019] In one embodiment, determining the screw insertion parameters corresponding to the target vertebra based on the target screw track centerline includes:

[0020] The nail placement direction corresponding to the target vertebra is determined based on the direction of the center line of the target nail path;

[0021] Construct a target cylinder that intersects with the actual vertebral point cloud based on the center line of the target pin track, and determine the pin placement diameter threshold corresponding to the target vertebra based on the diameter of the target cylinder;

[0022] Based on the intersection of the center line of the target pin track and the three-dimensional vertebral mask image corresponding to the target vertebral body, the pin placement length threshold corresponding to the target vertebral body is determined;

[0023] The screw insertion parameters are determined based on the screw placement direction, the screw diameter threshold, and the screw length threshold.

[0024] In one embodiment, the step of constructing a target cylinder intersecting the actual vertebral point cloud based on the target pin track centerline, and determining the pin placement diameter threshold corresponding to the target vertebra based on the diameter of the target cylinder, includes:

[0025] Construct a cylinder to be adjusted, using the center line of the target nail track as the center line;

[0026] Increase the radius of the cylinder to be adjusted. When the cylinder to be adjusted with the increased radius intersects with the actual cone point cloud, the target cylinder is obtained.

[0027] The diameter of the target cylinder is used as the pin placement diameter threshold corresponding to the target cone.

[0028] In one embodiment, determining the pin placement length threshold corresponding to the target vertebra based on the intersection of the center line of the target pin track and the three-dimensional vertebral mask image corresponding to the target vertebra includes:

[0029] The actual vertebral point cloud is converted into a three-dimensional vertebral mask image corresponding to the target vertebra;

[0030] Extend the center line of the target pin track. When the extended center line of the target pin track intersects with the three-dimensional vertebral body mask image, the screw entry point and screw exit point are obtained.

[0031] The screw insertion length threshold corresponding to the target vertebra is determined based on the distance between the screw insertion point and the screw exit point.

[0032] In one embodiment, the method further includes:

[0033] The actual vertebral point cloud is subjected to mesh reconstruction processing to obtain the mesh reconstruction result corresponding to the target vertebral body;

[0034] The mesh reconstruction results and the template vertebral mesh model are respectively subjected to mesh re-division processing to obtain the downsampled actual vertebral point cloud corresponding to the target vertebral body and the downsampled template vertebral point cloud corresponding to the template vertebral mesh model.

[0035] Based on the registration relationship between the downsampled actual vertebral point cloud and the downsampled template vertebral point cloud, the registration relationship between the actual vertebral point cloud and the template vertebral point cloud is determined.

[0036] Secondly, this application also provides a method for planning the insertion of a medical screw. The method includes:

[0037] In response to a request to obtain the screw placement surgery planning interface, the screw placement surgery planning interface is displayed;

[0038] In response to a screw placement planning request for a target vertebra, the screw placement surgical planning interface displays the screw placement parameters corresponding to the target vertebra; the target vertebra is the vertebra in the target object into which a medical screw is to be placed; the screw placement parameters are determined by the method according to any one of claims 1 to 7.

[0039] Thirdly, this application also provides a parameter determination device for medical screws. The device includes:

[0040] The acquisition module is used to acquire the actual vertebral point cloud corresponding to the target vertebral body, and the template vertebral point cloud corresponding to the template vertebral mesh model that matches the target vertebral body; the target vertebral body is the vertebral body in the target object into which a medical screw is to be inserted; the template vertebral mesh model contains a template screw mesh model.

[0041] The adjustment module is used to adjust the template screw point cloud corresponding to the template screw mesh model according to the registration relationship between the actual vertebral point cloud and the template vertebral point cloud, so as to obtain a target screw point cloud that matches the target vertebral body.

[0042] The determination module is used to determine the screw insertion parameters corresponding to the target vertebra based on the target screw point cloud.

[0043] Fourthly, this application also provides a medical screw insertion planning device. The device includes:

[0044] The first display module is used to display the screw placement surgery planning interface in response to a request to obtain the screw placement surgery planning interface.

[0045] The second display module is configured to, in response to a screw placement planning request for a target vertebra, display the screw placement parameters corresponding to the target vertebra in the screw placement surgery planning interface; the target vertebra is the vertebra in the target object into which a medical screw is to be placed; the screw placement parameters are determined by the method according to any one of claims 1 to 7.

[0046] Fifthly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement a method for determining the parameters of a medical screw as described in the first aspect or any embodiment of the first aspect, or a method for planning the insertion of a medical screw as described in the second aspect.

[0047] Sixthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the parameter determination method for a medical screw as described in the first aspect or any embodiment of the first aspect, or the insertion planning method for a medical screw as described in the second aspect.

[0048] Seventhly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the parameter determination method for a medical screw as described in the first aspect or any embodiment of the first aspect, or the insertion planning method for a medical screw as described in the second aspect.

[0049] The aforementioned method, apparatus, computer equipment, storage medium, and computer program product for determining the parameters of medical screws acquire the actual vertebral point cloud corresponding to the target vertebral body, and the template vertebral point cloud corresponding to a template vertebral mesh model that matches the target vertebral body. The target vertebral body is the vertebral body in the target object into which the medical screw is to be inserted. The template vertebral mesh model contains a template screw mesh model. Based on the registration relationship between the actual vertebral point cloud and the template vertebral point cloud, the template screw point cloud corresponding to the template screw mesh model is adjusted to obtain the target screw point cloud that matches the target vertebral body. The target vertebral body is then determined based on the target screw point cloud. The corresponding screw placement parameters are obtained. By registering the actual vertebral body point cloud with the template vertebral body point cloud, the screw placement rules of the template vertebral body are applied to the target vertebral body. This allows for accurate prediction of the screw placement result corresponding to the target vertebral body from a three-dimensional perspective, obtaining a target screw point cloud that matches the three-dimensional anatomical structure of the target vertebral body. This enables the prediction of the screw placement parameters corresponding to the target vertebral body in three-dimensional space, solving the problem of inaccurate measurement results caused by the inability to accurately observe the vertebral structure when measuring screw placement parameters based solely on two-dimensional transverse plane measurements of CT images in related technologies. This further improves the accuracy of the screw placement parameters for medical screws. Attached Figure Description

[0050] Figure 1 This is a flowchart illustrating a method for determining the parameters of a medical screw in one embodiment;

[0051] Figure 2 This is a schematic diagram of a candidate spike track centerline and a target spike track centerline in one embodiment;

[0052] Figure 3 This is a schematic diagram of a pin placement diameter threshold and a pin placement length threshold in one embodiment;

[0053] Figure 4This is a flowchart illustrating a method for planning the insertion of a medical screw in one embodiment.

[0054] Figure 5 This is a flowchart illustrating a method for determining the parameters of a medical screw in another embodiment;

[0055] Figure 6(a) is a transverse axial view of a vertebral CT image in one embodiment;

[0056] Figure 6(b) is a sagittal view of a vertebral CT image in one embodiment;

[0057] Figure 6(c) is a coronal view of a vertebral CT image in one embodiment;

[0058] Figure 6(d) shows a three-dimensional vertebral CT image of a target object in one embodiment;

[0059] Figure 7 This is a schematic diagram of a template cone mesh model with a template screw mesh model inserted in one embodiment;

[0060] Figure 8 This is a schematic diagram illustrating a simulated example of pedicle screw placement in a pedicle screw surgery procedure, as shown in one embodiment.

[0061] Figure 9 This is a structural block diagram of a parameter determination device for a medical screw in one embodiment;

[0062] Figure 10 This is a structural block diagram of a medical screw insertion planning device in one embodiment;

[0063] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0065] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0066] In one embodiment, such as Figure 1 As shown, a method for determining the parameters of a medical screw is provided, applied to a computer device. In practical applications, the computer device can be a user terminal, or it can be implemented using a standalone server or a server cluster composed of multiple servers. The user terminal can be, but is not limited to, various personal computers, laptops, tablets, and portable wearable devices. In this embodiment, the method includes the following steps:

[0067] Step S110: Obtain the actual vertebral point cloud corresponding to the target vertebral body, and the template vertebral point cloud corresponding to the template vertebral mesh model that matches the target vertebral body.

[0068] The target vertebra is the vertebra in the target object into which a medical screw is to be inserted, such as the L3, L4, L5, etc.

[0069] Among them, medical screws can be pedicle screws.

[0070] The template cone mesh model contains a template screw mesh model.

[0071] The actual vertebral point cloud corresponding to the target vertebra is obtained based on the three-dimensional vertebral mask image corresponding to the target vertebra.

[0072] The template vertebral mesh model is used to characterize the standard vertebral mesh model corresponding to the target vertebral body.

[0073] The template screw mesh model is used to characterize the standard screw insertion results of the standard vertebral mesh model.

[0074] Among them, the actual vertebral body point cloud, the template vertebral body point cloud, the target screw point cloud, the template vertebral body mesh model, and the template screw mesh model are three-dimensional models.

[0075] Point cloud is a massive collection of points that represent the spatial distribution and surface characteristics of a target in a three-dimensional Cartesian coordinate system.

[0076] The mesh model is composed of mesh surfaces.

[0077] In practice, the computer device can perform three-dimensional reconstruction of the vertebral mask image in the cone CT image of the target object, which includes a visualization of the mask image of the corresponding vertebral body, to obtain a three-dimensional vertebral CT image of the target object. Then, it can use a segmentation model (such as a target segmentation model based on deep learning, such as a three-dimensional cone segmentation model) to extract the target vertebral body from the three-dimensional vertebral CT image to obtain the three-dimensional vertebral mask image corresponding to the target vertebral body.

[0078] Then, the computer device can obtain the point cloud corresponding to the target vertebra based on the 3D vertebral mask image, which serves as the actual vertebral point cloud corresponding to the target vertebra. Simultaneously, for the target vertebra (e.g., L3), the computer device can retrieve a template vertebral mesh model matching the target vertebra from a vertebral template library. This template vertebral mesh model contains a template screw mesh model, i.e., the standard vertebral mesh model corresponding to L3, and the standard screw placement result corresponding to this standard vertebral mesh model.

[0079] Computer equipment can convert the template vertebral mesh model corresponding to the target vertebral body into a point cloud, thus obtaining the template vertebral point cloud corresponding to the target vertebral body.

[0080] Step S120: Based on the registration relationship between the actual vertebral point cloud and the template vertebral point cloud, adjust the template screw point cloud corresponding to the template screw mesh model to obtain the target screw point cloud that matches the target vertebral body.

[0081] In practice, the computer equipment can determine the registration relationship between the actual vertebral point cloud corresponding to the target vertebra and the template vertebral point cloud corresponding to the template vertebral mesh model. Simultaneously, the computer equipment can convert the template screw mesh model into a point cloud, obtaining the template screw point cloud corresponding to the template screw mesh model. Then, based on this registration relationship, the template screw point cloud is adjusted to convert it into a point cloud that matches the target vertebra, resulting in the target screw point cloud located within the actual vertebral point cloud, thus determining the initial insertion position of the medical screw corresponding to the target vertebra. It is understandable that this step can be achieved using a pre-trained screw insertion model.

[0082] Step S130: Determine the screw insertion parameters corresponding to the target vertebra based on the target screw point cloud.

[0083] In practice, the computer equipment can calculate the screw insertion parameters corresponding to the target cone based on the target screw point.

[0084] In the above method for determining the parameters of a medical screw, the actual vertebral point cloud corresponding to the target vertebral body and the template vertebral point cloud corresponding to the template vertebral mesh model that matches the target vertebral body are obtained. The target vertebral body is the vertebral body in the target object into which the medical screw is to be inserted. The template vertebral mesh model contains a template screw mesh model. Based on the registration relationship between the actual vertebral point cloud and the template vertebral point cloud, the template screw point cloud corresponding to the template screw mesh model is adjusted to obtain the target screw point cloud that matches the target vertebral body. The screw insertion parameters corresponding to the target vertebral body are determined based on the target screw point cloud. Therefore, by registering the actual vertebral body point cloud with the template vertebral body point cloud, the screw placement rules of the template vertebral body are applied to the target vertebral body. This allows for the accurate acquisition of a target screw point cloud that matches the three-dimensional anatomical structure of the target vertebral body from a three-dimensional perspective, thus accurately predicting the screw placement result corresponding to the target vertebral body. This enables the prediction of screw placement parameters corresponding to the target vertebral body in three-dimensional space, solving the problem of inaccurate measurement results caused by the inability to accurately observe the vertebral body structure when measuring screw placement parameters based solely on two-dimensional transverse plane measurements of CT images in related technologies. Consequently, the accuracy of the placement parameters of medical screws is improved.

[0085] In one embodiment, determining the screw insertion parameters corresponding to the target vertebra based on the target screw point cloud includes: obtaining the candidate screw track centerline corresponding to the target screw point cloud; adjusting the candidate screw track centerline according to the distance between the points on the candidate screw track centerline and the actual vertebra point cloud to obtain the target screw track centerline; and determining the screw insertion parameters corresponding to the target vertebra based on the target screw track centerline.

[0086] Among them, the target screw point cloud is located in the actual vertebral body point cloud corresponding to the target vertebral body, that is, the target screw point cloud is inserted into the actual vertebral body point cloud.

[0087] The candidate spike centerline consists of a set of points.

[0088] In practice, during the process of determining the screw insertion parameters corresponding to the target vertebra based on the target screw point cloud, the computer device can acquire the candidate screw track centerline corresponding to the target screw point cloud. In acquiring the candidate screw track centerline, the computer device can convert the target screw point cloud located in the actual vertebral point cloud into a 3D mask image, obtaining a 3D screw mask image. Then, the computer device can extract the centerline of the target screw point cloud from the 3D screw mask image using a skeletonization algorithm. Finally, the centerline is fitted using a straight line fitting method, and the fitted centerline is used as the candidate screw track centerline corresponding to the target screw point cloud. This candidate screw track centerline consists of a set of points.

[0089] Then, the computer device can adjust the candidate screw track centerline based on the distance between the point on the candidate screw track centerline and the actual vertebral body point cloud. When the distance between the point on the adjusted candidate screw track centerline and the actual vertebral body point cloud meets the preset adjustment end condition, the target screw track centerline is obtained. Thus, the screw insertion parameters corresponding to the target vertebra can be determined based on the target screw track centerline.

[0090] In this embodiment, the target screw point cloud is located within the actual vertebral body point cloud corresponding to the target vertebral body. The candidate screw path centerline corresponding to the target screw point cloud is obtained. Based on the distance between points on the candidate screw path centerline and the actual vertebral body point cloud, the candidate screw path centerline is adjusted to obtain the target screw path centerline. Based on the target screw path centerline, the screw insertion parameters corresponding to the target vertebral body are determined. Thus, after obtaining the target screw point cloud located within the actual vertebral body point cloud and matching the target vertebral body, the initial insertion position corresponding to the target vertebral body into which the medical screw is to be inserted can be determined. Furthermore, by further adjusting the candidate screw path centerline corresponding to the target screw point cloud, the final target screw path centerline can be obtained, achieving further adjustment of the initial insertion position. This allows for further improvement in the accuracy of the medical screw insertion parameters based on the target screw path centerline.

[0091] In one embodiment, the points on the candidate pin track centerline are adjusted based on the distance between the candidate pin track centerline and the actual vertebral body point cloud to obtain the target pin track centerline. This includes: obtaining a three-dimensional Cartesian coordinate system corresponding to the three-dimensional space where the actual vertebral body point cloud is located; obtaining the center point of the candidate pin track centerline in the three-dimensional Cartesian coordinate system; using the center point of the candidate pin track centerline as the origin, offsetting the center point of the candidate pin track centerline in each coordinate axis direction of the three-dimensional Cartesian coordinate system, and adjusting the angle of the candidate pin track centerline in the three-dimensional space to obtain the adjusted candidate pin track centerline; when the minimum distance between the points on the adjusted candidate pin track centerline and the actual vertebral body point cloud meets a preset adjustment termination condition, the adjusted candidate pin track centerline is taken as the target pin track centerline.

[0092] The candidate spike centerline consists of a set of points.

[0093] The preset adjustment termination condition can be the maximum minimum distance between the point on the center line of the adjusted candidate pin track and the actual vertebral point cloud.

[0094] In practice, the computer device adjusts the candidate screw track centerline based on the distance between points on the candidate screw track centerline and the actual vertebral body point cloud to obtain the target screw track centerline. During this process, the computer device can acquire the three-dimensional Cartesian coordinate system corresponding to the three-dimensional space where the actual vertebral body point cloud is located. Simultaneously, since the candidate screw track centerline consists of a set of points, the computer device can obtain the center point of the candidate screw track centerline in the three-dimensional Cartesian coordinate system. Using the center point of the candidate screw track centerline as the origin, the computer device offsets the center point of the candidate screw track centerline along each coordinate axis of the three-dimensional Cartesian coordinate system—that is, it offsets the center point of the candidate screw track centerline along the x, y, and z axes, respectively, and adjusts the angle of the candidate screw track centerline in three-dimensional space to obtain the adjusted candidate screw track centerline. When the minimum distance between points on the adjusted candidate screw track centerline and the actual vertebral body point cloud meets a preset adjustment termination condition—that is, when this minimum distance is the largest among the minimum distances corresponding to each adjustment—then the adjusted candidate screw track centerline is taken as the target screw track centerline, thus obtaining the most suitable position of the medical screw in the target vertebral body. Specifically, each adjusted candidate spike centerline corresponds to a minimum distance. When the minimum distance of a certain adjusted candidate spike centerline is the largest among all possible adjusted candidate spike centerlines, the adjusted candidate spike centerline is taken as the target spike centerline.

[0095] For the ease of understanding of those skilled in the art, Figure 2 A schematic diagram of the candidate spike centerline and the target spike centerline is provided. (See diagram below.) Figure 2 As shown, the center point of the candidate spike path is the center point of the candidate spike path centerline; the center point of the target spike path is the center point of the target spike path centerline.

[0096] The technical solution of this embodiment obtains a three-dimensional rectangular coordinate system corresponding to the three-dimensional space where the actual vertebral body point cloud is located; obtains the center point of the candidate screw track centerline in the three-dimensional rectangular coordinate system; takes the center point of the candidate screw track centerline as the origin, offsets the center point of the candidate screw track centerline in each coordinate axis direction of the three-dimensional rectangular coordinate system, and adjusts the angle of the candidate screw track centerline in the three-dimensional space to obtain the adjusted candidate screw track centerline; when the minimum distance between the point on the adjusted candidate screw track centerline and the actual vertebral body point cloud meets the preset adjustment end condition, the adjusted candidate screw track centerline is taken as the target screw track centerline; in this way, by adaptively positioning and adjusting the candidate screw track centerline corresponding to the target screw point cloud in the actual vertebral body point cloud corresponding to the target vertebra, the target screw track centerline most adapted to the three-dimensional anatomical structure of the target vertebra can be obtained, thereby determining the screw insertion parameters that best match the three-dimensional anatomical structure of the target vertebra based on the target screw track centerline.

[0097] In one embodiment, determining the screw insertion parameters corresponding to the target vertebra based on the target pin track centerline includes: determining the pin insertion direction corresponding to the target vertebra based on the direction of the target pin track centerline; constructing a target cylinder intersecting with the actual vertebral point cloud based on the target pin track centerline, and determining the pin insertion diameter threshold corresponding to the target vertebra based on the diameter of the target cylinder; determining the pin insertion length threshold corresponding to the target vertebra based on the intersection point of the target pin track centerline and the three-dimensional vertebral mask image corresponding to the target vertebra; and determining the screw insertion parameters based on the pin insertion direction, the pin insertion diameter threshold, and the pin insertion length threshold.

[0098] The pin placement direction is used to determine the target angle.

[0099] The target angle is the angle between the center line of the target nail track and the vertical direction of the cross section of the target vertebral body; and this angle is an acute angle.

[0100] In practice, when the computer device determines the screw insertion parameters corresponding to the target vertebra based on the center line of the target screw track, the computer device can determine the screw insertion direction corresponding to the target vertebra to which the medical screw is to be inserted based on the direction of the center line of the target screw track.

[0101] Simultaneously, the computer equipment can construct a target cylinder intersecting with the actual vertebral body point cloud based on the target screw track centerline, thereby determining the screw placement diameter threshold corresponding to the target vertebral body based on the diameter of the target cylinder. Furthermore, the computer equipment can determine the screw placement length threshold corresponding to the target vertebral body based on the intersection point of the target screw track centerline and the corresponding 3D vertebral body mask image. Finally, the computer equipment can determine the screw insertion parameters based on the screw placement direction, screw diameter threshold, and screw length threshold. These screw insertion parameters include the direction, diameter, and length parameters of the medical screw.

[0102] In practical applications, the target angle can be determined based on the screw placement direction, that is, the angle between the center line of the target screw path and the vertical longitudinal direction of the cross section of the target vertebral body, thus obtaining the directional parameters of the medical screw; wherein, the angle is an acute angle.

[0103] For the ease of understanding of those skilled in the art, Figure 3 A schematic diagram is provided showing the pin diameter threshold and the pin length threshold. Figure 3 In this context, the pin diameter threshold, i.e., the upper limit of the pin track diameter, is 7.36 millimeters (mm), and the pin length threshold, i.e., the upper limit of the pin track length, is 8.12 centimeters (cm).

[0104] The technical solution of this embodiment determines the screw placement direction corresponding to the target vertebra based on the direction of the target screw track centerline; constructs a target cylinder intersecting with the actual vertebral point cloud based on the target screw track centerline, and determines the screw placement diameter threshold corresponding to the target vertebra based on the diameter of the target cylinder; determines the screw placement length threshold corresponding to the target vertebra based on the intersection point of the target screw track centerline and the three-dimensional vertebral mask image corresponding to the target vertebra; and determines the screw insertion parameters based on the screw placement direction, screw placement diameter threshold, and screw placement length threshold. Thus, the screw insertion parameters determined based on the target screw track centerline, the actual vertebral point cloud corresponding to the target vertebra, and the three-dimensional vertebral mask image corresponding to the target vertebra can be adapted to the three-dimensional anatomical structure of the target vertebra, realizing the simulation of the insertion effect of medical screws in the target vertebra from a three-dimensional perspective, thereby improving the accuracy of the medical screw insertion parameters.

[0105] In one embodiment, a target cylinder is constructed based on the centerline of the target pin track, intersecting with the actual vertebral point cloud. The pin placement diameter threshold corresponding to the target vertebra is determined based on the diameter of the target cylinder. This includes: constructing a cylinder to be adjusted with the centerline of the target pin track as the centerline; increasing the radius of the cylinder to be adjusted; obtaining the target cylinder when the increased radius intersects with the actual vertebral point cloud; and using the diameter of the target cylinder as the pin placement diameter threshold corresponding to the target vertebra.

[0106] The screw placement diameter threshold is the maximum screw placement diameter corresponding to the target vertebral body into which the medical screw is to be placed. In practical applications, the diameter parameter of the medical screw must be less than or equal to this maximum screw placement diameter.

[0107] In the specific implementation, during the process of constructing a target cylinder that intersects with the actual vertebral point cloud based on the center line of the target pin track, and determining the pin placement diameter threshold corresponding to the target vertebra based on the diameter of the target cylinder, the computer device can construct the cylinder to be adjusted using the center line of the target pin track as the center line; then, the computer device can increase the radius of the cylinder to be adjusted, and when the cylinder to be adjusted with the increased radius intersects with the actual vertebral point cloud, the target cylinder is obtained; finally, the computer device can determine the diameter of the target cylinder as the pin placement diameter threshold corresponding to the target vertebra.

[0108] The technical solution of this implementation involves constructing a cylinder to be adjusted with the center line of the target screw track as the center line; increasing the radius of the cylinder to be adjusted until it intersects with the actual vertebral body point cloud to obtain the target cylinder; and using the diameter of the target cylinder as the screw placement diameter threshold corresponding to the target vertebral body. Thus, by constructing a cylinder with the center line of the target screw track as the center line in the direction of the target screw track, and when the cylinder to be adjusted with the increased radius intersects with the actual vertebral body point cloud, the screw placement diameter threshold corresponding to the target vertebral body in the direction of the target screw track center line can be accurately determined. This allows for the accurate determination of the maximum screw placement diameter corresponding to the target vertebral body into which the medical screw is to be inserted, making the screw placement diameter threshold compatible with the three-dimensional anatomical structure of the target vertebral body, thereby accurately determining the diameter parameters of the medical screw.

[0109] In one embodiment, determining the screw placement length threshold corresponding to the target vertebra based on the intersection of the target screw track centerline and the three-dimensional vertebral body mask image corresponding to the target vertebra includes: converting the actual vertebral body point cloud into a three-dimensional vertebral body mask image corresponding to the target vertebra; extending the target screw track centerline, and obtaining the screw entry point and screw exit point when the extended target screw track centerline intersects the three-dimensional vertebral body mask image; and determining the screw placement length threshold corresponding to the target vertebra based on the distance between the screw entry point and the screw exit point.

[0110] The screw placement length threshold is the maximum screw placement length corresponding to the target vertebral body into which the medical screw is to be placed. In practical applications, the length parameter of the medical screw must be less than or equal to this maximum screw placement length.

[0111] In practice, when determining the screw placement length threshold for the target vertebra based on the intersection of the target screw track centerline and the corresponding 3D vertebral body mask image, the computer device can convert the actual vertebral body point cloud into a 3D vertebral body mask image. Then, the computer device can extend the target screw track centerline. When the extended target screw track centerline intersects the 3D vertebral body mask image, that is, when the extended target screw track centerline touches the vertebral cortex and lamina cortex corresponding to the target vertebra in the 3D vertebral body mask image, two contact points can be obtained, which serve as the screw insertion point and the screw exit point. The computer device can determine the screw placement length threshold for the target vertebra based on the distance between the screw insertion point and the screw exit point.

[0112] The technical solution of this embodiment converts the actual vertebral body point cloud into a three-dimensional vertebral body mask image corresponding to the target vertebral body; extends the center line of the target screw track, and when the extended center line of the target screw track intersects with the three-dimensional vertebral body mask image, the screw insertion point and screw exit point are obtained; the screw placement length threshold corresponding to the target vertebral body is determined based on the distance between the screw insertion point and the screw exit point; thus, the actual vertebral body point cloud corresponding to the target vertebral body is obtained based on the three-dimensional vertebral body mask image corresponding to the target vertebral body. After determining the center line of the target screw track, the screw insertion point and screw exit point can be directly determined through the two contact points where the center line of the target screw track intersects with the three-dimensional vertebral body mask image, so as to efficiently determine the screw placement length threshold corresponding to the target vertebral body, thereby improving the efficiency of determining the length parameters of medical screws.

[0113] In one embodiment, the method further includes: performing mesh reconstruction processing on the actual vertebral point cloud to obtain the mesh reconstruction result corresponding to the target vertebra; performing mesh re-division processing on the mesh reconstruction result and the template vertebral mesh model respectively to obtain the downsampled actual vertebral point cloud corresponding to the target vertebra and the downsampled template vertebral point cloud corresponding to the template vertebral mesh model; and determining the registration relationship between the actual vertebral point cloud and the template vertebral point cloud based on the registration relationship between the downsampled actual vertebral point cloud and the downsampled template vertebral point cloud.

[0114] In practical applications, the actual vertebral point cloud can be named the original vertebral dense point cloud.

[0115] In practical applications, the template cone point cloud can be named the original template dense point cloud.

[0116] Among them, the actual vertebral point cloud of downsampling and the vertebral point cloud of downsampling template are three-dimensional models.

[0117] In practical implementation, after acquiring the actual vertebral point cloud corresponding to the template vertebra, the computer device can perform mesh reconstruction on the actual vertebral point cloud to obtain the reconstructed result of the actual vertebral point cloud, which serves as the mesh reconstruction result for the target vertebra. The computer device can further perform remesh processing on the mesh reconstruction result to reduce the size of the points in the actual vertebral point cloud, resulting in a smaller point cloud, i.e., the downsampled actual vertebral point cloud corresponding to the target vertebra. Simultaneously, the computer device can also perform remesh processing on the template vertebral mesh model to reduce the size of the points in the template vertebral point cloud, resulting in a smaller point cloud, i.e., the downsampled template vertebral point cloud corresponding to the template vertebral mesh model. In practical applications, the downsampled template vertebral point cloud can be reduced by an order of magnitude compared to the actual template vertebral point cloud; the downsampled actual vertebral point cloud can also be reduced by an order of magnitude compared to the actual vertebral point cloud.

[0118] Then, the computer device can use a point cloud registration method (such as CPD (Coherent Point Drift) point cloud registration method) to determine the registration relationship between the downsampled actual vertebral point cloud and the downsampled template vertebral point cloud. Thus, the registration relationship between the downsampled actual vertebral point cloud and the downsampled template vertebral point cloud can be used as the registration relationship between the actual vertebral point cloud (i.e., the original dense vertebral point cloud) and the template vertebral point cloud (i.e., the original dense template point cloud), so as to efficiently obtain the registration relationship between the actual vertebral point cloud (i.e., the original dense vertebral point cloud) and the template vertebral point cloud (i.e., the original dense template point cloud).

[0119] In practical applications, computer equipment can also use the registration relationship between the downsampled actual vertebral point cloud and the downsampled template vertebral point cloud to calculate the registration relationship between the actual vertebral point cloud (i.e., the original dense vertebral point cloud) and the template vertebral point cloud (i.e., the original dense template point cloud), so as to accurately obtain the registration relationship between the actual vertebral point cloud and the template vertebral point cloud.

[0120] In addition, computer equipment can also directly determine the registration relationship between the actual vertebral point cloud (i.e., the original dense vertebral point cloud) and the template vertebral point cloud (i.e., the original dense template point cloud) through point cloud registration methods, so as to obtain the registration relationship between the actual vertebral point cloud and the template vertebral point cloud more accurately.

[0121] The technical solution of this embodiment obtains the mesh reconstruction result corresponding to the target vertebra by performing mesh reconstruction processing on the actual vertebral body point cloud; then, it performs mesh re-division processing on the mesh reconstruction result and the template vertebral body mesh model to obtain the downsampled actual vertebral body point cloud corresponding to the target vertebral body, and the downsampled template vertebral body point cloud corresponding to the template vertebral body mesh model; based on the registration relationship between the downsampled actual vertebral body point cloud and the downsampled template vertebral body point cloud, it determines the registration relationship between the actual vertebral body point cloud and the template vertebral body point cloud; thus, by reducing the scale of the points in the actual vertebral body point cloud and the template vertebral body point cloud, the downsampled actual vertebral body point cloud and the downsampled template vertebral body point cloud are obtained, thereby quickly determining the registration relationship between the downsampled actual vertebral body point cloud and the downsampled template vertebral body point cloud, thereby improving the efficiency of obtaining the registration relationship and further improving the efficiency of obtaining the insertion parameters of the medical screw.

[0122] In one embodiment, such as Figure 4 As shown, a method for planning the insertion of medical screws is provided. Taking the application of this method to computer equipment as an example, the method includes the following steps:

[0123] Step S410: In response to the request to obtain the screw placement surgery planning interface, the screw placement surgery planning interface is displayed.

[0124] In practice, users can perform operations to obtain the screw placement surgery planning interface on a computer device. For example, users can trigger the interface acquisition control corresponding to the screw placement surgery planning interface so that the computer device can obtain the acquisition request for the screw placement surgery planning interface and respond to the acquisition request to display the screw placement surgery planning interface.

[0125] Step S420: In response to the screw placement planning request for the target vertebral body, the screw placement parameters corresponding to the target vertebral body are displayed in the screw placement surgery planning interface.

[0126] The target vertebra is the vertebra in the target object into which a medical screw is to be inserted.

[0127] Among them, medical screws can be pedicle screws.

[0128] The screw insertion parameters are obtained according to the above-mentioned method for determining the parameters of a medical screw.

[0129] In practice, users can obtain screw placement plans for the target vertebra on the screw placement surgery planning interface. For example, users can trigger the planning control corresponding to the target vertebra in the screw placement surgery planning interface so that the computer device can obtain the screw placement planning request for the target vertebra and respond to the screw placement planning request by displaying the screw placement parameters corresponding to the target vertebra in the screw placement surgery planning interface.

[0130] In practical applications, users can also modify the screw insertion parameters corresponding to the target vertebra on the screw placement surgery planning interface. For example, the screw placement surgery planning interface can also include parameter adjustment controls for screw insertion parameters; users can trigger these controls, and the computer device, in response, generates a parameter adjustment window for the screw insertion parameters in the screw placement surgery planning interface. The computer device can respond to the user's parameter adjustment operation in the adjustment window, determine the target parameter for screw insertion parameter modification, obtain the modified screw insertion parameters, and update the screw insertion parameters corresponding to the target vertebra.

[0131] The technical solution of this embodiment displays the screw placement surgery planning interface in response to a request to obtain the interface; in response to a request for screw placement planning for a target vertebra, the screw placement parameters corresponding to the target vertebra are displayed in the screw placement surgery planning interface; the target vertebra is the vertebra in the target object into which a medical screw is to be placed; the screw placement parameters are determined according to the above-mentioned method for determining the parameters of a medical screw; thus, the screw placement plan corresponding to the target vertebra can be visually displayed, allowing users to more intuitively and accurately determine the screw placement parameters corresponding to the target vertebra, thereby improving the efficiency of obtaining the screw placement plan corresponding to the target vertebra.

[0132] In another embodiment, such as Figure 5 As shown, a method for determining the parameters of a medical screw is provided. Taking the application of this method to computer equipment as an example, the method includes the following steps:

[0133] Step S510: Obtain the actual vertebral point cloud corresponding to the target vertebral body, and the template vertebral point cloud corresponding to the template vertebral mesh model that matches the target vertebral body.

[0134] In the process of obtaining the actual vertebral point cloud based on the three-dimensional vertebral mask image corresponding to the target vertebra, in order to facilitate understanding by those skilled in the art, Figure 6(a) provides a transverse axial view of a vertebral CT image, including a visualization of the corresponding vertebral mask image; Figure 6(b) provides a sagittal view of a cone CT image, including a visualization of the corresponding vertebral mask image; Figure 6(c) provides a coronal view of a cone CT image, including a visualization of the corresponding vertebral mask image; and Figure 6(d) provides a three-dimensional vertebral CT image of the target object.

[0135] In obtaining the template vertebral mesh model that matches the target vertebral body, for the convenience of those skilled in the art, Figure 7 A schematic diagram of a template cone mesh model with a template screw mesh model inserted is provided.

[0136] Step S520: Perform mesh reconstruction processing on the actual vertebral point cloud to obtain the mesh reconstruction result corresponding to the target vertebra.

[0137] Step S530: Perform mesh re-division processing on the mesh reconstruction results and the template vertebral mesh model respectively to obtain the downsampled actual vertebral point cloud corresponding to the target vertebral body and the downsampled template vertebral point cloud corresponding to the template vertebral mesh model.

[0138] Step S540: Based on the registration relationship between the downsampled actual vertebral point cloud and the downsampled template vertebral point cloud, adjust the template screw point cloud corresponding to the template screw mesh model to obtain the target screw point cloud that matches the target vertebra.

[0139] In order to facilitate understanding by those skilled in the art, Figure 8 This document provides a schematic diagram illustrating a simulated pedicle screw placement example for pedicle screw surgery. (Example:) Figure 8 As shown, the computer equipment can acquire the actual vertebral point cloud corresponding to the target vertebra to be surgically planned, as well as the template vertebral mesh model with the template screw mesh model inserted. Through the screw insertion model, the surgical planning result is obtained: simulated screw insertion (i.e., the actual vertebral point cloud with the target screw point cloud inserted), and the result is compared with the clinical screw placement result corresponding to the target vertebra.

[0140] Step S550: Determine the screw placement direction corresponding to the target cone body based on the direction of the target screw path centerline corresponding to the target screw point cloud.

[0141] Step S560: Construct a target cylinder that intersects with the actual vertebral point cloud based on the center line of the target pin path, and determine the pin placement diameter threshold corresponding to the target vertebra based on the diameter of the target cylinder.

[0142] Step S570: Determine the pin placement length threshold corresponding to the target vertebra based on the intersection of the target pin track centerline and the three-dimensional vertebral mask image corresponding to the target vertebra.

[0143] Step S580: Determine the screw insertion parameters corresponding to the target vertebra based on the screw placement direction, screw diameter threshold, and screw length threshold.

[0144] It should be noted that the specific limitations of the above steps can be found in the specific limitations of the parameter determination method for a medical screw described above.

[0145] Thus, by acquiring the downsampled actual vertebral point cloud corresponding to the target vertebral body and the downsampled template vertebral point cloud corresponding to the template vertebral mesh model, the registration relationship between the downsampled actual vertebral point cloud and the downsampled template vertebral point cloud can be efficiently determined due to the small size of the point cloud. Based on this registration relationship, the target screw point cloud matching the target vertebral body can be obtained, thereby improving the acquisition efficiency of the target screw point cloud.

[0146] Meanwhile, by determining the screw insertion parameters based on the target screw point cloud corresponding to the target screw channel centerline, the actual vertebral point cloud corresponding to the target vertebral body, and the three-dimensional vertebral mask image corresponding to the target vertebral body, the screw insertion parameters can be adapted to the three-dimensional anatomical structure of the target vertebral body. This achieves the simulation of the insertion effect of medical screws in the target vertebral body from a three-dimensional perspective, thereby improving the accuracy of the medical screw insertion parameters.

[0147] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0148] Based on the same inventive concept, this application also provides a medical screw parameter determination device for implementing the above-described method for determining the parameters of a medical screw. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more medical screw parameter determination device embodiments provided below can be found in the limitations of the medical screw parameter determination method described above, and will not be repeated here.

[0149] In one embodiment, such as Figure 9 As shown, a parameter determination device for a medical screw is provided, comprising: an acquisition module 910, an adjustment module 920, and a determination module 930, wherein:

[0150] The acquisition module 910 is used to acquire the actual vertebral point cloud corresponding to the target vertebral body, and the template vertebral point cloud corresponding to the template vertebral mesh model that matches the target vertebral body; the target vertebral body is the vertebral body in the target object into which a medical screw is to be inserted; the template vertebral mesh model contains a template screw mesh model.

[0151] The adjustment module 920 is used to adjust the template screw point cloud corresponding to the template screw mesh model according to the registration relationship between the actual vertebral point cloud and the template vertebral point cloud, so as to obtain the target screw point cloud that matches the target vertebral body.

[0152] The determination module 930 is used to determine the screw insertion parameters corresponding to the target vertebra based on the target screw point cloud.

[0153] In one embodiment, the target screw point cloud is located in the actual vertebral point cloud corresponding to the target vertebral body; the determining module 930 is specifically used to obtain the candidate screw track centerline corresponding to the target screw point cloud; adjust the candidate screw track centerline according to the distance between the points on the candidate screw track centerline and the actual vertebral point cloud to obtain the target screw track centerline; and determine the screw insertion parameters corresponding to the target vertebral body according to the target screw track centerline.

[0154] In one embodiment, the adjustment module 920 is specifically used to obtain a three-dimensional rectangular coordinate system corresponding to the three-dimensional space where the actual vertebral point cloud is located; obtain the center point of the candidate pin track centerline in the three-dimensional rectangular coordinate system; take the center point of the candidate pin track centerline as the origin, offset the center point of the candidate pin track centerline in each coordinate axis direction of the three-dimensional rectangular coordinate system respectively, and adjust the angle of the candidate pin track centerline in the three-dimensional space to obtain the adjusted candidate pin track centerline; when the minimum distance between the point on the adjusted candidate pin track centerline and the actual vertebral point cloud meets the preset adjustment end condition, the adjusted candidate pin track centerline is taken as the target pin track centerline.

[0155] In one embodiment, the determining module 930 is specifically configured to: determine the screw placement direction corresponding to the target vertebra based on the direction of the target screw track centerline; construct a target cylinder intersecting the actual vertebral point cloud based on the target screw track centerline, and determine the screw placement diameter threshold corresponding to the target vertebra based on the diameter of the target cylinder; determine the screw placement length threshold corresponding to the target vertebra based on the intersection point of the target screw track centerline and the three-dimensional vertebral mask image corresponding to the target vertebra; and determine the screw insertion parameters based on the screw placement direction, the screw placement diameter threshold, and the screw placement length threshold.

[0156] In one embodiment, the determining module 930 is specifically used to construct a cylinder to be adjusted with the center line of the target pin track as the center line; increase the radius of the cylinder to be adjusted, and when the cylinder to be adjusted with the increased radius intersects with the actual vertebral point cloud, the target cylinder is obtained; and use the diameter of the target cylinder as the pin placement diameter threshold corresponding to the target vertebra.

[0157] In one embodiment, the determining module 930 is specifically used to convert the actual vertebral point cloud into a three-dimensional vertebral mask image corresponding to the target vertebra; extend the center line of the target pin track, and when the extended center line of the target pin track intersects with the three-dimensional vertebral mask image, obtain the screw entry point and the screw exit point; and determine the pin placement length threshold corresponding to the target vertebra based on the distance between the screw entry point and the screw exit point.

[0158] In one embodiment, the apparatus further includes: a reconstruction module, used to perform mesh reconstruction processing on the actual vertebral point cloud to obtain a mesh reconstruction result corresponding to the target vertebra; a re-partitioning processing module, used to perform mesh re-partitioning processing on the mesh reconstruction result and the template vertebral mesh model respectively to obtain a downsampled actual vertebral point cloud corresponding to the target vertebra and a downsampled template vertebral point cloud corresponding to the template vertebral mesh model; and a relationship determination module, used to determine the registration relationship between the actual vertebral point cloud and the template vertebral point cloud based on the registration relationship between the downsampled actual vertebral point cloud and the downsampled template vertebral point cloud.

[0159] The various modules in the aforementioned medical screw parameter determination device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0160] In one embodiment, such as Figure 10 As shown, a medical screw insertion planning device is provided, comprising: a first display module 1010 and a second display module 1020, wherein:

[0161] The first display module 1010 is used to display the screw placement surgery planning interface in response to a request to obtain the screw placement surgery planning interface.

[0162] The second display module 1020 is configured to display screw placement parameters corresponding to the target vertebra in the screw placement surgery planning interface in response to a screw placement planning request for the target vertebra; the target vertebra is the vertebra in the target object into which a medical screw is to be placed; the screw placement parameters are determined by the method according to any one of claims 1 to 7.

[0163] The various modules in the aforementioned medical screw insertion planning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0164] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 11As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for determining the parameters of a medical screw and a method for planning the insertion of a medical screw. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device casing, or an external keyboard, touchpad, or mouse.

[0165] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0166] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0167] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0168] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0169] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0170] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0171] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for determining the parameters of a medical screw, characterized in that, The method includes: Obtain the actual vertebral point cloud corresponding to the target vertebral body, and the template vertebral point cloud corresponding to the template vertebral mesh model that matches the target vertebral body; the target vertebral body is the vertebral body in the target object into which a medical screw is to be inserted; the template vertebral mesh model contains a template screw mesh model; Based on the registration relationship between the actual vertebral point cloud and the template vertebral point cloud, the template screw point cloud corresponding to the template screw mesh model is adjusted to obtain a target screw point cloud that matches the target vertebral body; the target screw point cloud is located in the actual vertebral point cloud corresponding to the target vertebral body. Determining screw insertion parameters corresponding to the target vertebra based on the target screw point cloud includes: acquiring candidate screw path centerlines corresponding to the target screw point cloud; adjusting the candidate screw path centerlines based on the distance between points on the candidate screw path centerlines and the actual vertebral point cloud to obtain the target screw path centerline; determining screw insertion parameters corresponding to the target vertebra based on the target screw path centerline, including: determining the screw placement direction corresponding to the target vertebra based on the direction of the target screw path centerline; constructing a target cylinder intersecting the actual vertebral point cloud based on the target screw path centerline, and determining a screw placement diameter threshold corresponding to the target vertebra based on the diameter of the target cylinder; determining a screw placement length threshold corresponding to the target vertebra based on the intersection of the target screw path centerline and the three-dimensional vertebral mask image corresponding to the target vertebra; and determining the screw insertion parameters based on the screw placement direction, the screw placement diameter threshold, and the screw placement length threshold.

2. The method according to claim 1, characterized in that, The step of adjusting the candidate pin track centerline based on the distance between points on the candidate pin track centerline and the actual vertebral point cloud to obtain the target pin track centerline includes: Obtain the three-dimensional Cartesian coordinate system corresponding to the three-dimensional space where the actual vertebral point cloud is located; Obtain the center point of the candidate spike track centerline in the three-dimensional Cartesian coordinate system; Using the center point of the candidate spike track centerline as the origin, the center point of the candidate spike track centerline is offset along each coordinate axis of the three-dimensional rectangular coordinate system, and the angle of the candidate spike track centerline in the three-dimensional space is adjusted to obtain the adjusted candidate spike track centerline. When the minimum distance between a point on the adjusted candidate pin track centerline and the actual vertebral point cloud meets the preset adjustment termination condition, the adjusted candidate pin track centerline is taken as the target pin track centerline.

3. The method according to claim 1, characterized in that, The step of constructing a target cylinder intersecting the actual vertebral point cloud based on the centerline of the target pin path, and determining the pin placement diameter threshold corresponding to the target vertebra based on the diameter of the target cylinder, includes: Construct a cylinder to be adjusted, using the center line of the target nail track as the center line; Increase the radius of the cylinder to be adjusted. When the cylinder to be adjusted with the increased radius intersects with the actual cone point cloud, the target cylinder is obtained. The diameter of the target cylinder is used as the pin placement diameter threshold corresponding to the target cone.

4. The method according to claim 1, characterized in that, The step of determining the pin placement length threshold corresponding to the target vertebra based on the intersection of the center line of the target pin track and the three-dimensional vertebral mask image corresponding to the target vertebra includes: The actual vertebral point cloud is converted into a three-dimensional vertebral mask image corresponding to the target vertebra; Extend the center line of the target pin track. When the extended center line of the target pin track intersects with the three-dimensional vertebral body mask image, the screw entry point and screw exit point are obtained. The screw insertion length threshold corresponding to the target vertebra is determined based on the distance between the screw insertion point and the screw exit point.

5. The method according to claim 1, characterized in that, The method further includes: The actual vertebral point cloud is subjected to mesh reconstruction processing to obtain the mesh reconstruction result corresponding to the target vertebral body; The mesh reconstruction results and the template vertebral mesh model are respectively subjected to mesh re-division processing to obtain the downsampled actual vertebral point cloud corresponding to the target vertebral body and the downsampled template vertebral point cloud corresponding to the template vertebral mesh model. Based on the registration relationship between the downsampled actual vertebral point cloud and the downsampled template vertebral point cloud, the registration relationship between the actual vertebral point cloud and the template vertebral point cloud is determined.

6. A method for planning the insertion of a medical screw, characterized in that, The method includes: In response to a request to obtain the screw placement surgery planning interface, the screw placement surgery planning interface is displayed; In response to a screw placement planning request for a target vertebra, the screw placement surgical planning interface displays the screw placement parameters corresponding to the target vertebra; the target vertebra is the vertebra in the target object into which a medical screw is to be placed; the screw placement parameters are determined by the method according to any one of claims 1 to 5.

7. A parameter determining device for a medical screw, characterized in that, The device includes: The acquisition module is used to acquire the actual vertebral point cloud corresponding to the target vertebral body, and the template vertebral point cloud corresponding to the template vertebral mesh model that matches the target vertebral body; the target vertebral body is the vertebral body in the target object into which a medical screw is to be inserted; the template vertebral mesh model contains a template screw mesh model. The adjustment module is used to adjust the template screw point cloud corresponding to the template screw mesh model according to the registration relationship between the actual vertebral point cloud and the template vertebral point cloud, so as to obtain a target screw point cloud that matches the target vertebral body; the target screw point cloud is located in the actual vertebral point cloud corresponding to the target vertebral body. The determination module is used to determine the screw insertion parameters corresponding to the target vertebra based on the target screw point cloud; The determining module is specifically used to obtain the candidate screw track centerline corresponding to the target screw point cloud; adjust the candidate screw track centerline according to the distance between the points on the candidate screw track centerline and the actual vertebral body point cloud to obtain the target screw track centerline; and determine the screw insertion parameters corresponding to the target vertebral body according to the target screw track centerline. The determining module is specifically used to determine the screw placement direction corresponding to the target vertebra based on the direction of the target screw track centerline; construct a target cylinder intersecting with the actual vertebral point cloud based on the target screw track centerline, and determine the screw placement diameter threshold corresponding to the target vertebra based on the diameter of the target cylinder; determine the screw placement length threshold corresponding to the target vertebra based on the intersection point of the target screw track centerline and the three-dimensional vertebral mask image corresponding to the target vertebra; and determine the screw insertion parameters based on the screw placement direction, the screw placement diameter threshold, and the screw placement length threshold.

8. A device for inserting a medical screw, characterized in that, The device includes: The first display module is used to display the screw placement surgery planning interface in response to a request to obtain the screw placement surgery planning interface. The second display module is configured to, in response to a screw placement planning request for a target vertebra, display the screw placement parameters corresponding to the target vertebra in the screw placement surgery planning interface; the target vertebra is the vertebra in the target object into which a medical screw is to be placed; the screw placement parameters are determined by the method according to any one of claims 1 to 5.

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