A vertebral stent placement planning method based on three-view images

Abstract

The present invention discloses a vertebral stent placement planning method based on three-view images, including the following steps: S1, obtaining the slice images of each view in the patient's three-dimensional image and the transformation relationship therebetween; S2, calculating the initial position and posture of the vertebral stent according to the setting combined with S1; S3, planning the vertebral stent to the pedicle isthmus on a certain slice view and transforming it to the image coordinate system, obtaining the position of the end point of the vertebral stent, calculating the axial direction of the vertebral stent in combination with S2, and calculating the axial rotation angle of the vertebral stent according to the initial position and posture of the vertebral stent; S4, the robot navigation system converts the position and posture information of the vertebral stent placed in the vertebral body from the pedicle isthmus in the image to the execution component, that is, obtaining the vertebral stent placement planning information under the robot navigation system. The present invention can complete the precise positioning of the target position and posture of the vertebral stent according to the planning information to ensure the precise entry of the vertebral stent from the pedicle isthmus.

Description

Technical Field

[0001] The invention relates to the technical field of image processing, and in particular to a vertebral stent placement planning method based on three views. Background Art

[0002] Vertebral expansion kyphoplasty is a procedure that places an expandable vertebral stent into the collapsed vertebral body. The vertebral stent is used to expand and restore the height of the vertebral body, correct the kyphosis, and form a cavity, which allows bone cement to be poured under low pressure. In theory, this procedure can significantly reduce the chance of bone cement overflow. This procedure is less invasive and has a quick recovery. It has now been widely used in actual clinical practice.

[0003] In vertebral expansion kyphoplasty surgery, the front and rear end surfaces of the compressive vertebra need to be expanded as much as possible, so a square stent body is used so that the stent body can expand the compressed cone along the cone direction when expanding, which is more conducive to the postoperative recovery of the cone shaping surgery. The stent body needs to be placed in the cone along the pedicle. However, the square stent body is different from the general spherical stent body because the pedicle is a long isthmus structure, and the flat rectangular structure at the end of the stent body makes it difficult to enter from the pedicle isthmus of the cone. Therefore, it is necessary to design a vertebral stent placement planning method to ensure the axial position, direction and rotation angle of the stent body entering the cone. Summary of the invention

[0004] Purpose of the invention: In view of the above-mentioned deficiencies, the present invention proposes a vertebral stent placement planning method based on three-view images, which can convert the information planned by the doctor on the slice view into a three-dimensional image in real time, and can accurately position the target position of the vertebral stent according to the planning information to ensure the accurate entry of the vertebral stent from the isthmus of the pedicle.

[0005] Technical solution:

[0006] The present invention provides a vertebral stent placement planning method based on three views, comprising the steps of:

[0007] S1, obtaining a three-dimensional image of the patient, and obtaining a transformation relationship between a slice image of each view and the three-dimensional image;

[0008] S2, setting the end point of the vertebral support to coincide with the center point of the circumscribed cube of the three-dimensional image, setting the axial direction of the vertebral support to coincide with a certain direction in the orthogonal direction on the cross-sectional slice image of the three-dimensional image, and calculating the initial posture of the vertebral support based on this and combining S1;

[0009] S3, planning the vertebral stent to the isthmus of the pedicle on a certain slice view, transforming to the image coordinate system according to S1, obtaining the position of the end point of the vertebral stent, calculating the axial direction of the vertebral stent in combination with S2, and calculating the axial rotation angle of the vertebral stent according to the initial position of the vertebral stent;

[0010] S4. The robot navigation system converts the posture information of the vertebral stent in the image from the pedicle isthmus into the vertebral body to the execution component, that is, the vertebral stent placement planning information under the robot navigation system is obtained.

[0011] Specifically, in S1, the transformation relationship between the slice image of each view and the three-dimensional image is obtained as follows:

[0012] The dimensions of the patient's three-dimensional image on each coordinate axis of the image coordinate system are obtained, thereby obtaining a cube circumscribed by the three-dimensional image, and taking the center point of the cube circumscribed by the three-dimensional image as the origin, a three-view coordinate system is constructed in the same direction as the coordinate axis of the image coordinate system, and on this basis, the corresponding slice coordinate system and slice image coordinate system of each view are constructed, thereby obtaining the transformation relationship between the slice image coordinate system of each view and the image coordinate system, that is, obtaining the transformation relationship between the slice image of each view and the three-dimensional image.

[0013] More specifically, the slice coordinate system of each view established is as follows:

[0014] The slice coordinate system of the cross-sectional view takes the origin of the three-view coordinate system as its origin, and its coordinate axes are in the same direction as the coordinate axes of the three-view coordinate system;

[0015] The slice coordinate system of the sagittal view takes the origin of the three-view coordinate system as its origin, its x-axis direction is in the same direction as the z-axis direction of the three-view coordinate system, its y-axis direction is in the same direction as the y-axis direction of the three-view coordinate system, and its z-axis direction is opposite to the x-axis direction of the three-view coordinate system;

[0016] The coordinate system of the coronal slice view takes the origin of the three-view coordinate system as its origin, its x-axis direction is the same as the x-axis direction of the three-view coordinate system, its y-axis direction is opposite to the z-axis direction of the three-view coordinate system, and its z-axis direction is the same as the y-axis direction of the coordinate system.

[0017] More specifically, the slice image coordinate system of each view is established as follows:

[0018] The xy plane of the slice coordinate system of each view is used as the slice image, wherein a corner point of the corresponding slice image is used as the origin, and its x and y axis directions are respectively the same as the x and y axis directions of the slice coordinate system of the corresponding view, and the slice image coordinate system of each view is established.

[0019] Specifically, in S1, the transformation relationship between the slice image of each view and the three-dimensional image is:

[0020]

[0021] Where I represents a certain view, which can be T, S, or C, which represent the transverse, sagittal, and coronal views, respectively; P img is a point P in a slice image of a certain view I Transform the coordinates to the image coordinate system; The three-view coordinate system With the image coordinate system C img The transformation relationship between is the slice coordinate system C of a view sliceI With three-view coordinate system The transformation relationship between The slice image coordinate system C of a view imgI The corresponding slice coordinate system C sliceI The transformation relationship between them.

[0022] More specifically, in S3, the end point of the planned vertebral support is assumed to be The point obtained by moving the set length along the direction of the corresponding coordinate axis of the three-view coordinate system is Then the axial vector of the vertebral stent is calculated for:

[0023]

[0024] in:

[0025]

[0026] According to the axial vector of the vertebral support, the vector perpendicular to the axial direction of the vertebral support in the three-view coordinate system in the coronal slice view is calculated as Calculate the angle between the corresponding directions in the coronal slice view corresponding to the initial posture of the vertebral support It is the axial rotation angle of the vertebral support.

[0027] Beneficial effects: The present invention can map the information planned by the doctor on the slice view to the three-dimensional image in real time, and can intuitively obtain the position and axial rotation angle of the vertebral stent, so as to complete the precise positioning of the target position of the vertebral stent according to the planning information, so as to ensure the accurate entry of the vertebral stent from the isthmus of the pedicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are merely embodiments of the present invention, and ordinary technicians in this field can obtain other drawings based on these drawings without creative work.

[0029] Figure 1 It is a flow chart of the vertebral stent placement planning method based on three-view drawings of the present invention;

[0030] Figure 2 An example diagram of the constructed three-view coordinate system and slice coordinate system;

[0031] Figure 3 An example diagram of the correspondence between the established slice image coordinate system and the slice coordinate system;

[0032] Figure 4 The example diagrams are of the initial positions of the vertebral support in each slice view;

[0033] Figure 5 These are sample images of the planning of each slice view and the vertebral support above it. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0035] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. "Include" or "comprising" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0036] Reference Figure 1 The present invention provides a vertebral stent placement planning method based on three-view images, comprising the following steps:

[0037] S1. Acquire a three-dimensional image of the patient, thereby acquiring a transformation relationship between a slice image of each view and the three-dimensional image, thereby transforming a point on the slice image into the three-dimensional image;

[0038] In the present invention, the three-dimensional image of the patient and its size in the image coordinate system are obtained, and its three-view coordinate system is constructed based on this. On this basis, the slice coordinate system and slice image coordinate system of each view are constructed, thereby obtaining the transformation relationship between the slice image coordinate system of each view and the image coordinate system.

[0039] Specifically:

[0040] S11. Obtain the patient's three-dimensional image in the image coordinate system C img The dimensions on each coordinate axis of the 3D image are obtained, and the three-view coordinate system is constructed based on this. The three-view coordinate system With the image coordinate system C img The transformation relationship between It can be expressed as:

[0041]

[0042] Among them, v i (x i ,y i , z i ) represents the three-view coordinate system The coordinate axes of the image coordinate system C img The direction vector under, i takes 0, 1, 2, corresponding to the three-view coordinate system The three coordinate axes of x , p y , p z ) represents the three-view coordinate system The origin of the image coordinate system C img The coordinates below.

[0043] Specifically, the three-view coordinate system The origin is the center point of the cube circumscribing the three-dimensional image, so we know the three-view coordinate system The coordinates of the origin are (l x / 2, l y / 2, l z / 2), l x , l y and l z Represents the patient's three-dimensional image in the image coordinate system C img Dimensions on each coordinate axis; three-view coordinate system The coordinate axis direction and image coordinate system C img The coordinate axes are consistent, so the three-view coordinate system The coordinate axes of the image coordinate system C img The direction vectors are (1, 0, 0), (0, 1, 0), (0, 0, 1), and then the three-view coordinate system can be obtained. With the image coordinate system C img The transformation relationship between The details are as follows:

[0044]

[0045] S12, on the basis of the three-view coordinate system constructed in S11, respectively establish a slice coordinate system of each view, thereby obtaining a transformation relationship between the slice coordinate system of each view and the three-view coordinate system;

[0046] Specifically, since the adjustment of the position and axial angle of the vertebral support is based on the slice image planning, it is necessary to establish the slice coordinate system of each view to connect the slice coordinate system of each view with the three-view coordinate system. Establish association and then transform the planned information on the slice into the image coordinate system C img In this way, the vertebral stent insertion channel planned by the doctor on any slice can be mapped to the three-dimensional space in real time, which is simpler and more efficient than the existing technology.

[0047] Among them, the slice coordinate system of each view is as follows:

[0048] Cross-section coordinate system C sliceT The x, y, z axis directions and the three-view coordinate system The x, y, and z axes are in the same direction, and the origin is the same as the three-view coordinate system. The origin of the cross-section slice coordinate system C can be obtained. sliceT With three-view coordinate system The transformation relationship between

[0049]

[0050] Sagittal slice coordinate system C sliceS The origin and three-view coordinate system The origin coincides with the x-axis direction of the three-view coordinate system. The z-axis direction is the same as the y-axis direction of the three-view coordinate system The y-axis direction is the same as the z-axis direction of the three-view coordinate system The x-axis direction is opposite to that of the sagittal slice coordinate system C sliceS With three-view coordinate system The transformation relationship between

[0051]

[0052] Coronal slice coordinate system C sliceC The origin and three-view coordinate system The origin coincides with the x-axis direction of the three-view coordinate system. The x-axis direction is the same as the y-axis direction of the three views The z-axis direction is opposite to the coordinate system The y-axis direction is the same, and the coronal slice coordinate system C sliceC With three-view coordinate system The transformation relationship between

[0053]

[0054] Slice coordinate system of each view and three-view coordinate system It is fixed as a rigid body, that is, the three-view coordinate system constructed in S1 Based on the cross-sectional slice coordinate system C sliceT , sagittal slice coordinate system C sliceS , coronal slice coordinate system C sliceC Also fixed, such as Figure 2 As shown, the red arrow represents the x-axis, the green arrow represents the y-axis, the blue arrow represents the z-axis, and the dotted line represents the three-view coordinate system The solid lines represent the coordinate axes of the slice coordinate system of each view.

[0055] S13, based on the slice coordinate system of each view established in S12, establishing a slice image coordinate system of each view, thereby obtaining a transformation relationship between the slice image coordinate system of each view and its corresponding slice coordinate system;

[0056] Specifically, the xy plane of the slice coordinate system of each view is to cut out 2D slice images from the three-dimensional image for planning. Corresponding to each view, the cut 2D slice images are transverse images, sagittal images and coronal images. The relationship between them and the slice coordinate system is as follows: Figure 3 As shown, the x-axis and y-axis directions of the corresponding slice image coordinate system are in the same direction as the x-axis and y-axis directions of the slice coordinate system of the corresponding view, and the origin is a corner point of the corresponding slice image. In the present invention, it is set to the upper left corner point of the corresponding slice image. It can be seen that the origin position between the slice image coordinate system and the slice coordinate system of the corresponding view differs by a fixed offset. If the resolution of a certain slice image is r x and r y , the pixel size is c x and c y , then the established slice image coordinate system differs from its corresponding slice coordinate system by a fixed transformation, and the transformation relationship between the slice image coordinate system corresponding to each view and its corresponding slice coordinate system can be obtained respectively:

[0057]

[0058]

[0059] in, C is the cross-sectional image coordinate system imgT and the cross-section slice coordinate system C sliceT The transformation relationship between Sagittal slice image coordinate system C imgS With the sagittal slice coordinate system C sliceS The transformation relationship between is the coronal slice image coordinate system C imgC With the coronal slice coordinate system C sliceC The transformation relationship between them.

[0060] S14: Based on the transformation relationship between the three-view coordinate system and the image coordinate system obtained in S11, the transformation relationship between the slice coordinate system of each view and the three-view coordinate system obtained in S12, and the transformation relationship between the slice image coordinate system of each view and its corresponding slice coordinate system obtained in S13, a point P in the slice image of a certain view can be transformed into I , transformed to the image coordinate system, as follows:

[0061]

[0062] Where I represents a certain view, which can be T, S, or C, which means transverse, sagittal, and coronal views, respectively; P img is a point P in a slice image of a certain view I The coordinates are transformed to the image coordinate system.

[0063] S2, setting the end point of the vertebral support to coincide with the center point of the circumscribed cube of the three-dimensional image, setting the axial direction of the vertebral support to coincide with a certain direction in the orthogonal direction of the cross-sectional slice image of the patient's three-dimensional image, and based on this and the transformation relationship obtained in S1, calculating the initial posture of the vertebral support;

[0064] Specifically, for the convenience of planning, the end point of the vertebral support coincides with the center point of the circumscribed cube of the three-dimensional image, and the axial direction of the vertebral support is set to coincide with the front-back direction or left-right direction of the patient in the three-dimensional image of the patient, as follows:

[0065] (1) In the three-dimensional image, the end point P of the vertebral support d Coincident with the origin of the three-view coordinate system;

[0066] (2) The axial direction of the vertebral support coincides with the x-axis or y-axis of the three-view coordinate system; in this embodiment, the axial direction of the vertebral support coincides with the y-axis of the three-view coordinate system;

[0067] Then the rotation angle of the three-view coordinate system around the corresponding coincident coordinate axis is the axial rotation angle θ of the vertebral stent. Initially, the axial rotation angle θ of the vertebral stent is 0. Therefore, the initial position of the vertebral stent is as follows:

[0068]

[0069] Among them, V d Indicates the direction vector corresponding to the axial direction of the vertebral support;

[0070] like Figure 4 As shown, in this embodiment, the axial direction of the vertebral support coincides with the y-axis of the three-view coordinate system as an example, wherein sliceX, sliceY, and sliceZ represent the coordinate axes of the three-view coordinate system, respectively, and P represents the end point of the vertebral support. The axial direction of the vertebral support is marked with a dotted arrow in the transverse slice view and the vector slice view, and the rotation angle information of the vertebral support along the axial direction is bound to the sliceY coordinate axis of the three-view coordinate system in the coronal slice view, so that the rotation angle information of the vertebral support along the axial direction can be obtained through the rotation angle information of the sliceX coordinate axis of the three-view coordinate system, and the axial rotation information of the support body at the front end of the vertebral support is marked with a dotted rectangular frame. S and C in the transverse slice view respectively identify the positions of the sagittal slice view and the coronary slice view in the transverse slice view, and the corresponding cross-sectional images are the images displayed by the sagittal slice view and the coronary slice view. Similarly, the position C of the coronal slice view in the sagittal slice view and the position T of the transverse slice view, and the position T of the transverse slice view in the coronal slice view and the position S of the sagittal slice view can be obtained. In the transverse slice view, the origin position of the three-view coordinate system and the rotation angle around the sliceZ coordinate axis of the three-view coordinate system can be adjusted, that is, the position of the end point of the vertebral support and the rotation angle of the vertebral support around the sliceZ coordinate axis of the three-view coordinate system can be adjusted, and the position and posture of the vertebral support can be obtained by combining the two; in the sagittal slice view, the origin position of the three-view coordinate system and the rotation angle along the sliceX coordinate axis of the three-view coordinate system can be adjusted, that is, the position of the end point of the vertebral support and the rotation angle of the vertebral support around the sliceX coordinate axis of the three-view coordinate system can be adjusted, and the position and posture of the vertebral support can be obtained by combining the two; in the coronal slice view, the origin position of the three-view coordinate system and the rotation angle along the sliceY coordinate axis of the three-view coordinate system can be adjusted, that is, the position of the end point of the vertebral support and the rotation angle of the vertebral support around the sliceY coordinate axis of the three-view coordinate system can be adjusted, this rotation angle is the rotation angle of the vertebral support around its axial direction, and it can be combined with the position of the end point of the vertebral support to obtain the position and posture of the vertebral support.

[0071] S3, planning the vertebral stent to the isthmus of the pedicle on a certain slice view, transforming it to the image coordinate system according to the transformation relationship obtained in S1, obtaining the position of the end point of the vertebral stent, combining S2 to calculate the axial direction of the vertebral stent, and then calculating the axial rotation angle of the vertebral stent;

[0072] Thus, the position of the end point of the vertebral support on the slice view and the rotation angle of the vertebral support around the coordinate axis corresponding to the three-view coordinate system are obtained, that is, the current posture of the vertebral support is obtained. According to the corresponding relationship between the posture of the vertebral support obtained by S2 and each view, the origin position of the three-view coordinate system on the slice view and the rotation angle along the coordinate axis corresponding to the three-view coordinate system can be obtained, so that the axial vector and axial rotation angle of the vertebral support can be calculated respectively;

[0073] For example, Figure 5 As shown, assume that the end point of the planned vertebral support is Then we can get the point obtained by moving the set length along the sliceY coordinate axis direction of the three-view coordinate system: In the present invention, the length is set to 1, and the vector in the sliceY coordinate axis direction of the three-view coordinate system on the cross-sectional slice view can be obtained. for:

[0074]

[0075] in:

[0076]

[0077] The vector It is the axial vector of the vertebral stent;

[0078] According to the axial vector of the vertebral support obtained above, the vector in the direction of the sliceX coordinate axis of the three-view coordinate system in the coronal slice view is: The angle between it and the positive direction of the sliceX coordinate axis of the three-view coordinate system in the initial coronal slice view is the axial rotation angle of the vertebral support, which can be expressed as

[0079] Based on the above, the current position information of the vertebral stent inserted into the vertebral body from the pedicle isthmus can be obtained, including its end point position, axial direction and axial rotation angle, which is

[0080] S4. The robot navigation system converts the posture information of the vertebral stent inserted into the vertebral body from the pedicle isthmus in the imaging coordinate system to the actuator coordinate system, thereby obtaining the vertebral stent insertion planning information under the robot navigation system, and can control the actuator and the directional device to move to the target position of the patient, thereby completing the precise positioning of the expander's target posture according to the planning information.

[0081] The present invention can convert the information planned by the doctor on the slice view to the three-dimensional image in real time by acquiring the transformation relationship between the slice image and the three-dimensional image, and can calculate the position of the vertebral stent and its axial vector according to the relationship between the set posture of the vertebral stent and the three-view image, and can also calculate the axial rotation angle compared with its initial posture, so as to complete the accurate positioning of the target posture of the vertebral stent according to the planning information, so as to ensure the accurate entry of the vertebral stent from the isthmus of the pedicle.

[0082] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0083] The embodiments of the present invention are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the present invention.

Claims

1. A vertebral stent placement planning method based on three-view images, characterized in that: Includes steps: S1. Obtain a three-dimensional image of the patient, and obtain the transformation relationship between the slice image of each view and the three-dimensional image, specifically: The dimensions of the patient's three-dimensional image on each coordinate axis of the image coordinate system are obtained, thereby obtaining a cube circumscribed by the three-dimensional image, and a three-view coordinate system is constructed in the same direction as the coordinate axis of the image coordinate system with the center point of the cube circumscribed by the three-dimensional image as the origin, and on this basis, a slice coordinate system and a slice image coordinate system of each corresponding view are constructed, thereby obtaining a transformation relationship between the slice image coordinate system of each view and the image coordinate system, that is, obtaining a transformation relationship between the slice image of each view and the three-dimensional image; S2, setting the end point of the vertebral support to coincide with the center point of the circumscribed cube of the three-dimensional image, setting the axial direction of the vertebral support to coincide with a certain direction in the orthogonal direction on the cross-sectional slice image of the three-dimensional image, and calculating the initial posture of the vertebral support based on this and combining S1; S3, planning the vertebral stent to the isthmus of the pedicle on a certain slice view, transforming to the image coordinate system according to S1, obtaining the position of the end point of the vertebral stent, calculating the axial direction of the vertebral stent in combination with S2, and calculating the axial rotation angle of the vertebral stent according to the initial position of the vertebral stent; S4. The robot navigation system converts the posture information of the vertebral stent in the image from the pedicle isthmus into the vertebral body to the execution component, that is, the vertebral stent placement planning information under the robot navigation system is obtained.

2. The vertebral stent placement planning method according to claim 1, characterized in that: Construct the slice coordinate system of each corresponding view as follows: The slice coordinate system of the cross-sectional view takes the origin of the three-view coordinate system as its origin, and its coordinate axes are in the same direction as the coordinate axes of the three-view coordinate system; The slice coordinate system of the sagittal view takes the origin of the three-view coordinate system as its origin, its x-axis direction is in the same direction as the z-axis direction of the three-view coordinate system, its y-axis direction is in the same direction as the y-axis direction of the three-view coordinate system, and its z-axis direction is opposite to the x-axis direction of the three-view coordinate system; The coordinate system of the coronal slice view takes the origin of the three-view coordinate system as its origin, its x-axis direction is the same as the x-axis direction of the three-view coordinate system, its y-axis direction is opposite to the z-axis direction of the three-view coordinate system, and its z-axis direction is the same as the y-axis direction of the coordinate system.

3. The vertebral stent placement planning method according to claim 1, characterized in that: Construct the slice image coordinate system of each corresponding view, specifically: The xy plane of the slice coordinate system of each view is used as the slice image, wherein a corner point of the corresponding slice image is used as the origin, and its x and y axis directions are respectively the same as the x and y axis directions of the slice coordinate system of the corresponding view, and the slice image coordinate system of each view is established.

4. The vertebral stent placement planning method according to claim 1, characterized in that: In S1, the transformation relationship between the slice image of each view and the three-dimensional image is specifically: Where I represents a certain view, which can be T, S, or C, which represent the transverse, sagittal, and coronal views, respectively; P img is a point P in a slice image of a certain view I Transform the coordinates to the image coordinate system; The three-view coordinate system With the image coordinate system C img The transformation relationship between is the slice coordinate system C of a view sliceI With three-view coordinate system The transformation relationship between The slice image coordinate system C of a view imgI The corresponding slice coordinate system C sliceI The transformation relationship between them.

5. The vertebral stent placement planning method according to claim 4, characterized in that: In S3, the end point of the planned vertebral support is assumed to be The point obtained by moving the set length along the direction of the corresponding coordinate axis of the three-view coordinate system is Then the axial vector of the vertebral stent is calculated for: in: According to the axial vector of the vertebral support, the vector perpendicular to the axial direction of the vertebral support in the three-view coordinate system in the coronal slice view is calculated as Calculate the angle between the corresponding directions in the coronal slice view corresponding to the initial posture of the vertebral support It is the axial rotation angle of the vertebral support.

Images