A fixed rod bending method and device based on magnetic navigation positioning and electronic equipment

Abstract

The application provides a fixed rod bending method and device based on magnetic navigation positioning and electronic equipment, and relates to the technical field of medicine, and comprises the following steps: acquiring position information and type information of a plurality of magnetic navigation pedicle screws; determining a tail trace fitting curve based on the position information and the type information of the plurality of magnetic navigation pedicle screws; and determining a fixed rod bending scheme based on the tail trace fitting curve. The magnetic navigation technology is used to reduce the instability caused by visual observation and the difference between individuals, so that the rod bending technology can be standardized and simplified, and the operation time and operation complications are reduced.

Description

Technical Field

[0001] This invention relates to the field of medical technology, and in particular to a method, apparatus, and electronic device for bending a fixed rod based on magnetic navigation positioning. Background Technology

[0002] In complex long-segment spinal fixation surgeries, spinal surgeons may need to perform intricate three-dimensional shaping of the fixation rod to accommodate the pedicle screws inserted into the deformed spine. In reality, surgeons often bend the rod visually, requiring multiple cycles of "bending-installing-assessing-removing-readjusting" to achieve a perfect fit with the implanted pedicle screws. This leads to extremely prolonged surgery time, and the repeated shaping of the fixation rod reduces its structural strength, potentially causing adverse outcomes such as surgery failure, pedicle screw pullout, or pedicle fracture.

[0003] Therefore, a fixed rod bending method, device, and electronic device based on magnetic navigation positioning are proposed. Summary of the Invention

[0004] This specification provides a fixed rod bending method, device, and electronic device based on magnetic navigation positioning. It utilizes magnetic navigation technology to reduce the instability caused by visual inspection and the differences between individuals, thereby standardizing the rod bending technology.

[0005] This specification provides a method for bending a fixed rod based on magnetic navigation positioning, including:

[0006] Obtain the location and type information of several magnetically guided pedicle screws;

[0007] The tail trajectory fitting curve is determined based on the position and type information of several magnetic navigation pedicle screws;

[0008] The bending scheme for the fixed rod is determined based on the tail trajectory fitting curve.

[0009] Optionally, determining the tail trajectory fitting curve based on the position and type information of several magnetic navigation pedicle screws includes:

[0010] The equation for the tail trajectory fitting curve in the sagittal plane is determined as follows:

[0011] y α (x)=α0+α1x 1 +α2x 2 +α3x 3 +α4x 4 +α5x 5 +α6x 6 (α is a parameter)

[0012] Determine the parameter α using the least squares model:

[0013]

[0014] The equation for the coronal wake fitting curve is determined as follows:

[0015] y β (x)=β0+β1x 1 +β2x 2 +β3x 3 +β4x 4 +β5x 5 +β6x 6 (β is a parameter)

[0016] Determine the parameter β using the least squares model:

[0017]

[0018] Optionally, determining the bending scheme of the fixed rod based on the wake fitting curve includes:

[0019] The bending length of the fixed rod is determined based on the wake fitting curve, specifically including:

[0020]

[0021] Among them, t max t represents the maximum value of the magnetically guided pedicle screw on the x-axis. min The minimum value of the magnetically guided pedicle screw on the y-axis is obtained, ∫ L f(x,y,z)ds is the bending length of the fixed rod;

[0022] The key bending points and bending angles of the fixed rod are determined based on the trail fitting curve.

[0023] Optionally, determining the key bending points and bending angle of the fixed rod based on the wake fitting curve includes:

[0024] The first derivative of the equation of the tail curve fitting is used to obtain the key bending points.

[0025] The bending angle is determined by stepping on the trail fitting curve based on the bending key points.

[0026] Optionally, determining the bending angle by stepping on the trail fitting curve based on the bending key points includes:

[0027] The key bending points include (x, y);

[0028] Take the second derivative of the trail fitting curve equation, substitute the bending key point into the second derivative of the trail fitting curve equation, and determine the sign of the value of the second derivative of the trail fitting curve equation.

[0029] When the value of the tail fitting curve equation obtained by second-order differentiation is positive, the center of the arc that approximates the curve radii at the key bending point is (x, y+1).

[0030] When the value of the tail fitting curve equation obtained by second-order differentiation is negative, the center of the arc approximating the curve radii at the key bending point is (x, y-1).

[0031] This specification provides a fixed rod bending device based on magnetic navigation positioning, comprising:

[0032] The acquisition module is used to acquire the location and type information of several magnetic navigation pedicle screws;

[0033] The first determining module is used to determine the trail fitting curve based on the position and type information of several magnetic navigation pedicle screws;

[0034] The second determining module is used to determine the bending scheme of the fixed rod based on the tail trajectory fitting curve.

[0035] Optionally, the first determining module includes:

[0036] The equation for the tail trajectory fitting curve in the sagittal plane is determined as follows:

[0037] y α (x)=α0+α1x 1 +α2x 2 +α3x 3 +α4x 4 +α5x 5 +α6x 6 (α is a parameter)

[0038] Determine the parameter α using the least squares model:

[0039]

[0040] The equation for the coronal wake fitting curve is determined as follows:

[0041] y β (x)=β0+β1x 1 +β2x 2 +β3x 3 +β4x 4 +β5x 5 +β6x 6 (β is a parameter)

[0042] Determine the parameter β using the least squares model:

[0043]

[0044] Optionally, determining the bending scheme of the fixed rod based on the wake fitting curve includes:

[0045] The bending length of the fixed rod is determined based on the wake fitting curve, specifically including:

[0046]

[0047] Among them, t max t represents the maximum value of the magnetically guided pedicle screw on the x-axis. min The minimum value of the magnetically guided pedicle screw on the y-axis is obtained, ∫ L f(x,y,z)ds is the bending length of the fixed rod;

[0048] The key bending points and bending angles of the fixed rod are determined based on the trail fitting curve.

[0049] Optionally, the second determining module includes:

[0050] The first derivative of the equation of the tail curve fitting is used to obtain the key bending points.

[0051] The bending angle is determined by stepping on the trail fitting curve based on the bending key points.

[0052] Optionally, determining the bending angle by stepping on the trail fitting curve based on the bending key points includes:

[0053] The key bending points include (x, y);

[0054] Take the second derivative of the trail fitting curve equation, substitute the bending key point into the second derivative of the trail fitting curve equation, and determine the sign of the value of the second derivative of the trail fitting curve equation.

[0055] When the value of the tail fitting curve equation obtained by second-order differentiation is positive, the center of the arc that approximates the curve radii at the key bending point is (x, y+1).

[0056] When the value of the tail fitting curve equation obtained by second-order differentiation is negative, the center of the arc approximating the curve radii at the key bending point is (x, y-1).

[0057] This specification also provides an electronic device, wherein the electronic device includes:

[0058] Processor; and,

[0059] A memory that stores computer-executable instructions, which, when executed, cause the processor to perform any of the methods described above.

[0060] This specification also provides a computer-readable storage medium that stores one or more programs that, when executed by a processor, implement any of the methods described above.

[0061] This manual utilizes magnetic navigation technology to reduce instability caused by visual inspection and individual differences, thus standardizing the rod bending technique. At the same time, the rod bending operation during surgery is more convenient and precise, reducing surgical time and avoiding prolonged surgical time and waste of consumables due to rod bending errors. It also greatly reduces the probability of internal fixation complications caused by forcibly inserting the rod when the rod is not properly shaped. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 A schematic diagram illustrating the principle of a fixed rod bending method based on magnetic navigation positioning provided in the embodiments of this specification;

[0064] Figure 2 A schematic diagram of a fixed rod bending device based on magnetic navigation positioning provided in an embodiment of this specification;

[0065] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification;

[0066] Figure 4 This is a schematic diagram of a computer-readable medium provided for embodiments of this specification. Detailed Implementation

[0067] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0068] The following is in conjunction with the appendix Figure 1-4Exemplary embodiments of the invention will be described more fully here. However, exemplary embodiments can be implemented in many forms and should not be construed as limiting the invention to the embodiments set forth herein. Rather, these exemplary embodiments are provided to make the invention more comprehensive and complete, and to facilitate a full communication of the inventive concept to those skilled in the art. The same reference numerals in the figures denote the same or similar elements, components, or parts, and therefore repeated descriptions of them are omitted.

[0069] Subject to the technical concept of this invention, the features, structures, characteristics or other details described in a particular embodiment may be combined in one or more other embodiments in a suitable manner.

[0070] In the description of specific embodiments, the features, structures, characteristics, or other details described in this invention are intended to enable those skilled in the art to fully understand the embodiments. However, it is not excluded that those skilled in the art can practice the technical solutions of this invention without one or more of the specific features, structures, characteristics, or other details.

[0071] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0072] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0073] The terms “and / or” or “and / or” include all combinations of any one or more of the listed items.

[0074] Figure 1 This specification provides a schematic diagram of a fixed rod bending method based on magnetic navigation positioning, which may include:

[0075] S110: Obtain the location and type information of several magnetic navigation pedicle screws;

[0076] In the specific embodiments described in this specification, the magnetic navigation pedicle screw includes a pedicle screw and a magnetic navigation probe. The magnetic navigation probe is placed at the tail of the pedicle screw. The magnetic navigation probe can be a POLHEMUS MICRO SENSOR 1.8, whose head is designed to fit precisely into the groove at the tail of the pedicle screw. The main body is a needle-shaped structure with an outer diameter of 1.8 mm. Its shape can be modified by 3D printing or other means to fit the tail of the pedicle screw.

[0077] The magnetic navigation probe connects to the data compartment via a specific data cable, allowing the data compartment to receive the pedicle screw position information transmitted by the magnetic navigation probe. The data compartment wirelessly transmits the data to the RF module via 2.4GHz radio frequency communication at a sampling frequency of 120Hz. The RF module connects to the computer via a USB interface, and the data transmitted by the data compartment is decrypted and presented using dedicated software.

[0078] The information on magnetically guided pedicle screw types includes universal oscillating screws, unidirectional oscillating screws, and fixed screws.

[0079] Specifically as follows:

[0080] 1) Universal swing screw: Allows the pedicle screw tail slot to swing freely around the screw's long axis within a ±30 degree apex conical range (in actual operation, it is set to ±20 degrees);

[0081] 2) Single-plane oscillating screw: Allows the pedicle screw tail groove to oscillate within a ±30 degree apex angle fan-shaped range along the long axis of the groove in the plane of the groove.

[0082] 3) Fixing screw: The fitted trajectory must be perpendicular to the screw body axis and flush with the tail axis.

[0083] S120: Determine the trail fitting curve based on the position and type information of several magnetic navigation pedicle screws;

[0084] In a specific embodiment of this specification, step S120 includes:

[0085] The equation for the tail trajectory fitting curve in the sagittal plane is determined as follows:

[0086] y α (x)=α0+α1x 1 +α2x 2 +α3x 3 +α4x 4 +α5x 5 +α6x 6 (α is a parameter)

[0087] Determine the parameter α using the least squares model:

[0088]

[0089] The equation for the coronal wake fitting curve is determined as follows:

[0090] y β (x)=β0+β1x 1 +β2x 2 +β3x 3 +β4x 4 +β5x 5 +β6x 6 (β is a parameter)

[0091] Determine the parameter β using the least squares model:

[0092]

[0093] In the specific embodiments described in this specification, the human spinal curve is based on a double S-shape in the sagittal plane, while pedicle screw fixation surgery primarily targets one of the S-shaped components: the surgical approach used for diseases related to the thoracic and lumbar spine. Under the influence of these diseases, the curve exhibits pathological curvature in the coronal plane. Therefore, considering factors such as pedicle screw error and fitting efficiency, a sixth-order polynomial is selected as the equation model, in the form of:

[0094] f(x) = ax 6 +bx 5 +cx 4 +dx 3 +ex 2 +fx+g

[0095] Where a, b, c, d, e, f, and g are parameters.

[0096] Based on statistical analysis of the pedicle screw tail trajectory, since the diameter of the fixation rod fluctuates by approximately 1 cm, and considering the elastic physical properties of the fixation rod, coupled with the degree of freedom at the fixation end of the widely used universal pedicle screw, the fitted curve is allowed to have a certain degree of error. The fixation rod does not need to strictly pass through the pedicle screw tail coordinates. Furthermore, considering the physiological structure of the human spine and the characteristics of related disease cases, the curve curvature is determined to be relatively small. Therefore, the least squares method is used for fitting.

[0097] The most important application of the least squares method, also known as the least squares method, is in curve fitting. It means minimizing the error between the actual data and the fitted result; in this specification, it means minimizing the distance between the fitted fixation rod curve and the tail of the pedicle screw.

[0098] In this specification, considering that the expected curve shape is mainly tortuous in the coronal and sagittal planes, the equations between x and y values ​​and x and z values ​​can be fitted side by side, that is, the fitted curve is a two-dimensional projection curve in the coronal and sagittal planes.

[0099] In the XOY plane (i.e., the sagittal plane), let the polynomial of the fitted fixed rod equation curve be:

[0100] y α (x)=α0+α1x 1 +α2x 2 +α3x 3 +α4x 4 +α5x 5 +α6x 6 (α is a parameter)

[0101] According to the principle of least squares, find a set of α such that...

[0102]

[0103] minimize.

[0104] Similarly, in the XOZ plane (i.e., the coronal plane), let the fitted fixed-bar equation curve polynomial be:

[0105] y β (x)=β0+β1x 1 +β2x 2 +β3x 3 +β4x 4 +β5x 5 +β6x 6 (β is a parameter)

[0106] According to the principle of least squares, find a set of β such that...

[0107]

[0108] minimize.

[0109] S130: Determine the bending scheme of the fixed rod based on the tail trajectory fitting curve.

[0110] In a specific embodiment of this specification, step S130 includes:

[0111] The bending length of the fixed rod is determined based on the wake fitting curve, specifically including:

[0112]

[0113] Among them, t max t represents the maximum value of the magnetically guided pedicle screw on the x-axis. min The minimum value of the magnetically guided pedicle screw on the y-axis is obtained, ∫ L f(x,y,z)ds is the bending length of the fixed rod;

[0114] The key bending points and bending angles of the fixed rod are determined based on the trail fitting curve.

[0115] In the specific implementation of this specification, a conventional bending machine is required in actual use. Therefore, the trail fitting curve with continuously changing curvature needs to be adjusted to a multi-center point fitting curve with discontinuous curvature changes in order to obtain an internal fixed rod shape that is closest to the fitting curve in less than 10 bending operations and output the fixed rod bending scheme.

[0116] After obtaining the equation of the target curve trajectory, the first step in the fixed rod bending scheme is to cut a straight rod so that the length of the cut straight rod matches the length of the fixed rod curve required for bending. For the obtained curve, its first-type line integral can be calculated, thus obtaining the required fixed rod bending length.

[0117] Based on the tail-fitted curve equation, let the obtained three-dimensional curve parametric equation be expressed as:

[0118]

[0119] The formula for the bending length of the fixed rod is:

[0120]

[0121] Among them, t max t represents the maximum value of the magnetically guided pedicle screw on the x-axis. min The minimum value of the magnetically guided pedicle screw on the y-axis is obtained, ∫ L f(x,y,z)ds is the bending length of the fixed rod.

[0122] In a specific embodiment of this specification, determining the key bending points and bending angle of the fixed rod based on the wake fitting curve includes:

[0123] The first derivative of the equation of the tail curve fitting is used to obtain the key bending points.

[0124] The bending angle is determined by stepping on the trail fitting curve based on the bending key points.

[0125] In the specific implementation of this specification, the key bending points include curve stationary points. A curve stationary point is a characteristic point where the first derivative of the function is zero, also known as a critical point or stable point, and its tangent is parallel to the x-axis. At this point, a point that plays an important role in the bending direction of a segment of curve with the same concavity and convexity can be obtained. By solving for the stationary points on the projection curve equations of the curves, these points can serve as guiding bending points for the bent rod.

[0126] In a specific embodiment of this specification, determining the bending angle by stepping on the trail fitting curve based on the bending key points includes:

[0127] The key bending points include (x, y);

[0128] Take the second derivative of the trail fitting curve equation, substitute the bending key point into the second derivative of the trail fitting curve equation, and determine the sign of the value of the second derivative of the trail fitting curve equation.

[0129] When the value of the tail fitting curve equation obtained by second-order differentiation is positive, the center of the arc that approximates the curve radii at the key bending point is (x, y+1).

[0130] When the value of the tail fitting curve equation obtained by second-order differentiation is negative, the center of the arc approximating the curve radii at the key bending point is (x, y-1).

[0131] In the specific implementation of this specification, the set of midpoints of the stationary points and inflection points obtained from the projection curves of the curve in the coronal plane (XOZ) and sagittal plane (XOY) are the key points of the curve that need to be bent using bending rods, i.e., the bending key points. In addition to the key points obtained by the above method, an interface can be provided for doctors to input the bending prompts they want to obtain, and doctors can set them as bending key points themselves.

[0132] After obtaining the key bending points, the final step is to determine the range of the central angle of the bending pliers at each key point on different projection planes. To bend the fixed rod using pliers of a specified radius, the bending arc must be approximated by using the pliers to fix the bent arc within the vicinity of the bending point.

[0133] It is known that the radius of the arc bent by commonly used bending forceps in clinical practice is 1cm, the central angle ranges from 0-115°, and the maximum bendable arc corresponds to a chord length of approximately L = 1.81cm. The first step is to determine the position of the center of the arc at the bending point.

[0134] At the stationary point, the first derivative is 0, and the normal at that point is a straight line perpendicular to the x-axis. Therefore, let the coordinates of the stationary point be (x, y). Determine the sign of the second derivative at that point. If the second derivative is positive, the center of the arc approximating the curvature of the curve at that point is (x, y+1); if the second derivative is negative, the center of the arc approximating the curvature of the curve at that point is (x, y-1).

[0135] At the midpoint of the inflection point and at the doctor's self-selected point, the reciprocal of the first derivative at that point is the slope of the normal line. Substituting this value into the normal line equation yields the equation for that point. Using this equation as the coordinates of the center point, we solve for the solution on the normal line that is 1 unit away from the midpoint of the inflection point. This will yield two solutions. If the second derivative at that point is greater than 0, the solution with a y-value greater than that at the midpoint of the inflection point is considered the final solution. Conversely, if the second derivative at that point is less than 0, the solution with a y-value less than that at the midpoint of the inflection point is considered the final solution.

[0136] After determining the range of the center, the bending angle of the target bending pliers at that point needs to be calculated. Using the maximum bendable radius of the bending pliers as the limit, and with a step unit of L / 50, the stepping is performed within the x-axis range from the key point to the key point + L. It is known that, except in special cases, the radius of the target curve cannot coincide with the radius of the bending pliers, and the diameter of the fixed rod ranges from 0.8cm to 1cm, so d = 0.2 is set as the acceptable deviation range. During the stepping process on the curve, the distance from each point on the curve to the center is calculated until the distance exceeds 1.2cm or is less than 0.8cm. At this point, the stepping stops, and the angle between the line connecting that point to the center and the line connecting the key point to the center is calculated. This angle is the required bending angle of the bending pliers.

[0137] Finally, the above results need to be presented as a bending scheme that doctors can understand. For key bending points, their positions on the fixed rod are determined by calculating the length of the straight section of the fixed rod, and these positions are marked. Combined with the corresponding bending angles in different projection plane directions, this constitutes the bending scheme presented in the interactive software.

[0138] This manual utilizes magnetic navigation technology to reduce instability caused by visual inspection and individual differences, thus standardizing the rod bending technique. At the same time, the rod bending operation during surgery is more convenient and precise, reducing surgical time and avoiding prolonged surgical time and waste of consumables due to rod bending errors. It also greatly reduces the probability of internal fixation complications caused by forcibly inserting the rod when the rod is not properly shaped.

[0139] Figure 2 This specification provides a schematic diagram of a fixed rod bending device based on magnetic navigation positioning, which may include:

[0140] Module 10 is used to acquire the position and type information of several magnetic navigation pedicle screws;

[0141] The first determining module 20 is used to determine the trail fitting curve based on the position and type information of several magnetic navigation pedicle screws;

[0142] The second determining module 30 is used to determine the bending scheme of the fixed rod based on the trail fitting curve.

[0143] Optionally, the first determining module 20 includes:

[0144] The equation for the tail trajectory fitting curve in the sagittal plane is determined as follows:

[0145] y α (x)=α0+α1x 1 +α2x 2 +α3x 3 +α4x 4 +α5x 5 +α6x 6 (α is a parameter)

[0146] Determine the parameter α using the least squares model:

[0147]

[0148] The equation for the coronal wake fitting curve is determined as follows:

[0149] y β (x)=β0+β1x 1 +β2x 2 +β3x 3 +β4x 4 +β5x 5 +β6x 6 (β is a parameter)

[0150] Determine the parameter β using the least squares model:

[0151]

[0152] Optionally, determining the bending scheme of the fixed rod based on the wake fitting curve includes:

[0153] The bending length of the fixed rod is determined based on the wake fitting curve, specifically including:

[0154]

[0155] Among them, t max t represents the maximum value of the magnetically guided pedicle screw on the x-axis. min The minimum value of the magnetically guided pedicle screw on the y-axis is obtained, ∫ L f(x,y,z)ds is the bending length of the fixed rod;

[0156] The key bending points and bending angles of the fixed rod are determined based on the trail fitting curve.

[0157] Optionally, the second determining module 30 includes:

[0158] The first derivative of the equation of the tail curve fitting is used to obtain the key bending points.

[0159] The bending angle is determined by stepping on the trail fitting curve based on the bending key points.

[0160] Optionally, determining the bending angle by stepping on the trail fitting curve based on the bending key points includes:

[0161] The key bending points include (x, y);

[0162] Take the second derivative of the trail fitting curve equation, substitute the bending key point into the second derivative of the trail fitting curve equation, and determine the sign of the value of the second derivative of the trail fitting curve equation.

[0163] When the value of the tail fitting curve equation obtained by second-order differentiation is positive, the center of the arc that approximates the curve radii at the key bending point is (x, y+1).

[0164] When the value of the tail fitting curve equation obtained by second-order differentiation is negative, the center of the arc approximating the curve radii at the key bending point is (x, y-1).

[0165] The functions of the apparatus in this embodiment have been described in the above method embodiments. Therefore, for any parts not detailed in this embodiment, please refer to the relevant descriptions in the foregoing embodiments, which will not be repeated here.

[0166] Based on the same inventive concept, embodiments of this specification also provide an electronic device.

[0167] The following describes embodiments of the electronic device of the present invention, which can be considered as specific implementations of the methods and apparatus embodiments of the present invention described above. Details described in the embodiments of the electronic device of the present invention should be considered as supplements to the methods or apparatus embodiments described above; details not disclosed in the embodiments of the electronic device of the present invention can be implemented with reference to the methods or apparatus embodiments described above.

[0168] Figure 3 This is a schematic diagram of an electronic device provided as an embodiment of this specification. Refer to the following... Figure 3 The electronic device 300 according to this embodiment of the present invention will be described. Figure 3 The electronic device 300 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0169] like Figure 3 As shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one processing unit 310, at least one storage unit 320, a bus 330 connecting different system components (including storage unit 320 and processing unit 310), a display unit 340, etc.

[0170] The storage unit stores program code that can be executed by the processing unit 310, causing the processing unit 310 to perform the steps described in the processing method section of this specification according to various exemplary embodiments of the present invention. For example, the processing unit 310 can perform, for example... Figure 1 The steps are shown.

[0171] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 3201 and / or a cache storage unit 3202, and may further include a read-only memory unit (ROM) 3203.

[0172] The storage unit 320 may also include a program / utility 3204 having a set (at least one) program module 3205, such program module 3205 including but not limited to: an operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0173] Bus 330 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0174] Electronic device 300 can also communicate with one or more external devices 400 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with the electronic device 300, and / or with any device that enables the electronic device 300 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 350. Furthermore, electronic device 300 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 360. Network adapter 360 can communicate with other modules of electronic device 300 via bus 330. It should be understood that, although... Figure 3 As not shown, other hardware and / or software modules may be used in conjunction with electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0175] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described in this invention can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this invention can be embodied in the form of a software product, which can be stored in a computer-readable storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the above-described method according to this invention. When the computer program is executed by a data processing device, it enables the computer-readable medium to implement the above-described method of this invention, i.e.: as... Figure 1 The method shown.

[0176] Figure 4 This is a schematic diagram of a computer-readable medium provided for embodiments of this specification.

[0177] accomplish Figure 1 The computer program of the method shown can be stored on one or more computer-readable media. A computer-readable medium can be a readable signal medium or a readable storage medium. A readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0178] The computer-readable storage medium may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0179] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0180] In summary, this invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that in practice, general-purpose data processing devices such as microprocessors or digital signal processors (DSPs) can be used to implement some or all of the functions of some or all of the components according to the embodiments of the invention. The invention can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such programs implementing the invention can be stored on a computer-readable medium or can take the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0181] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the present invention is not inherently related to any specific computer, virtual device, or electronic device, and various general-purpose devices can also implement the present invention. The above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0182] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0183] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A method for bending a fixed rod based on magnetic navigation positioning, characterized in that, include: Obtain the location and type information of several magnetically guided pedicle screws; The tail trajectory fitting curve is determined based on the position and type information of several magnetic navigation pedicle screws, including: The equation for the tail trajectory fitting curve in the sagittal plane is determined as follows: , For parameters; The equation for the coronal wake fitting curve is determined as follows: , For parameters; The bending length of the fixed rod is determined based on the wake fitting curve, specifically including: Among them, t max t represents the maximum value of the magnetically guided pedicle screw on the x-axis. min The minimum value of the magnetically guided pedicle screw on the y-axis is obtained. The bending length of the fixed rod; The first derivative of the equation of the tail curve fitting is used to obtain the key bending points. The bending angle is determined by stepping on the trail fitting curve based on the bending key points.

2. The fixed rod bending method based on magnetic navigation positioning as described in claim 1, characterized in that, The method of determining the tail trajectory fitting curve based on the position and type information of several magnetic navigation pedicle screws also includes: Determining parameters using the least squares model : ; Determining parameters using the least squares model : .

3. The fixed rod bending method based on magnetic navigation positioning as described in claim 2, characterized in that, The step of determining the bending angle based on the bending key points on the trail fitting curve includes: The key bending points include (x, y); Take the second derivative of the trail fitting curve equation, substitute the bending key point into the second derivative of the trail fitting curve equation, and determine the sign of the value of the second derivative of the trail fitting curve equation. When the value of the tail fitting curve equation obtained by second-order differentiation is positive, the center of the arc that approximates the curve radius at the key bending point is (x, y+1). When the value of the tail fitting curve equation obtained by second-order differentiation is negative, the center of the arc approximating the curve radii at the key bending point is (x, y-1).

4. A fixed rod bending device based on magnetic navigation positioning, characterized in that, include: The acquisition module is used to acquire the location and type information of several magnetic navigation pedicle screws; The first determining module is used to determine the trail fitting curve based on the position and type information of several magnetic navigation pedicle screws, including: The equation for the tail trajectory fitting curve in the sagittal plane is determined as follows: , For parameters; The equation for the coronal wake fitting curve is determined as follows: , For parameters; The second determining module is used to determine the bending length of the fixed rod based on the wake fitting curve, specifically including: Among them, t max t represents the maximum value of the magnetically guided pedicle screw on the x-axis. min The minimum value of the magnetically guided pedicle screw on the y-axis is obtained. The bending length of the fixed rod; The first derivative of the equation of the tail curve fitting is used to obtain the key bending points. The bending angle is determined by stepping on the trail fitting curve based on the bending key points.

5. The fixed rod bending device based on magnetic navigation positioning as described in claim 4, characterized in that, The first determining module further includes: Determining parameters using the least squares model : ; Determining parameters using the least squares model : .

6. An electronic device, wherein, The electronic device includes: A processor; and a memory storing computer-executable instructions, which, when executed, cause the processor to perform the method according to any one of claims 1-3.

7. A computer-readable storage medium, wherein, The computer-readable storage medium stores one or more programs that, when executed by a processor, implement the method of any one of claims 1-3.

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