Data processing method, device, equipment, medium and program product

Abstract

The present application discloses a data processing method, apparatus, equipment, medium and program product, the method comprising: obtaining first posture information of an operating tool and second posture information of a spinous process positioning frame in an intraoperative navigator coordinate system; calculating first position information of the tip of the operating tool in the CT coordinate system and second position information of the top of the operating tool in the CT coordinate system according to the first posture information and the second posture information, as well as the conversion relationship between the spinous process positioning frame coordinate system and the electronic computed tomography (CT) coordinate system; establishing a target nail track coordinate system according to the first position information and the second position information, planning a nail placement channel and determining reference parameters for pedicle fixation based on the target nail track coordinate system; displaying the nail placement channel and the reference parameters, thereby achieving the effect of real-time nail track planning.

Description

Technical Field

[0001] The present application relates to the field of data processing, and in particular to a data processing method, apparatus, device, medium and program product. Background Art

[0002] Pedicle screw fixation is an important procedure to restore spinal stability during spinal surgery. It surrounds the nerves, spinal cord, blood vessels and even internal organs of the spine, making the anatomical structure of the spinal surgical area very complex. Therefore, incorrect screw placement during the operation can cause serious surgical accidents and sequelae for the patient.

[0003] In robotic-assisted surgery, the surgeon plans the screw placement path before surgery and uses navigation equipment to complete the planned screw placement route during surgery. In rare cases, the surgeon may discover that the patient's actual surgical area differs from the planned one. For example, the angle of the needle entry point is too large, thus affecting the precise placement of the bone drill, or there is severe bone spurs near the needle entry point, which affects the planned screw placement route. In these cases, the needle entry path needs to be replanned based on the actual situation. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a data processing method, apparatus, device, medium and program product to achieve the effect of real-time planning of nail paths.

[0005] The technical solution of this application is as follows:

[0006] In a first aspect, a data processing method is provided, the method comprising:

[0007] Obtaining the first posture information of the working tool and the second posture information of the spinous process positioning frame in the intraoperative navigator coordinate system;

[0008] Calculating first position information of the tip of the intraoperative working tool in a computed tomography (CT) coordinate system and second position information of the tip of the working tool in the CT coordinate system based on the first and second position information and a conversion relationship between a spinous process positioning frame coordinate system and a CT coordinate system;

[0009] Establishing a target track coordinate system based on the first position information and the second position information;

[0010] Based on the target screw track coordinate system, planning the screw placement channel and determining reference parameters for pedicle fixation;

[0011] The pin placement channel and the reference parameters are displayed.

[0012] In a second aspect, a data processing device is provided, the device comprising:

[0013] A first acquisition module is used to acquire the first posture information of the operating tool and the second posture information of the spinous process positioning frame in the intraoperative navigator coordinate system;

[0014] a first calculation module, configured to calculate first position information of the tip of the intraoperative working tool in the CT coordinate system and second position information of the tip of the working tool in the CT coordinate system according to the first posture information and the second posture information, and a conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system;

[0015] A first building module is configured to establish a target nail track coordinate system based on the first position information and the second position information;

[0016] A first determination module is configured to plan a screw placement channel and determine reference parameters for pedicle fixation based on the target screw channel coordinate system;

[0017] The first display module is used to display the nail placement channel and the reference parameters.

[0018] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the data processing method described in any one of the embodiments of the present application.

[0019] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the data processing method described in any one of the embodiments of the present application are implemented.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device can perform the steps of the data processing method described in any one of the embodiments of the present application.

[0021] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects:

[0022] In an embodiment of the present application, the first position information of the tip of the working tool in the CT coordinate system and the second position information of the spinous process positioning frame in the intraoperative navigator coordinate system, as well as the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system, are respectively calculated. According to the first position information and the second position information, a target nail track coordinate system is established. Based on the target nail track coordinate system, the nail placement channel is planned and the reference parameters of the pedicle fixation are determined, and the nail placement channel and the reference parameters are displayed. In this way, the screws can be placed along the planned nail placement channel based on the target nail track coordinate system and the reference parameters to complete the pedicle fixation. The solution of the embodiment of the present application can re-plan the target nail track coordinate system in real time based on the actual situation during the operation, and then plan the nail placement channel and determine the reference parameters in real time based on the actual situation during the operation to guide the pedicle fixation, thereby improving the pedicle fixation.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0025] Figure 1 This is a flow chart of a data processing method provided in an embodiment of the present application;

[0026] Figure 2 1 is a flow chart of a method for determining a registration matrix between a spinous process positioning frame coordinate system and a CT coordinate system provided in an embodiment of the present application;

[0027] Figure 3 Schematic diagram of the structure of an acquisition device for acquiring X-ray images provided in an embodiment of the present application;

[0028] FIG4( a ) is a schematic cross-sectional view of a pedicle provided in an embodiment of the present application;

[0029] FIG4( b ) is a schematic diagram of a sagittal plane of a pedicle provided in an embodiment of the present application;

[0030] FIG5( a ) is a schematic cross-sectional view of a pedicle provided in an embodiment of the present application;

[0031] FIG5( b ) is a sagittal schematic diagram of a pedicle provided in an embodiment of the present application;

[0032] FIG6( a ) is a schematic cross-sectional view of a pedicle provided in an embodiment of the present application;

[0033] FIG6( b ) is a schematic diagram of a sagittal plane of a pedicle provided in an embodiment of the present application;

[0034] Figure 7 is a structural diagram of a data processing device provided in an embodiment of the present application;

[0035] Figure 8 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make those of ordinary skill in the art better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0037] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples consistent with certain aspects of the present application as detailed in the appended claims.

[0038] Before introducing the solutions of the embodiments of the present application, the background technology of the present application is first introduced:

[0039] Currently, in robotic-assisted surgery, doctors plan the screw placement path before surgery and complete the planned screw placement route with the assistance of navigation equipment during surgery. In some cases, the surgeon may discover that the patient's actual surgical area differs from the planned one. For example, the angle of the needle entry point is too large, which affects the precise placement of the bone drill, or there is severe bone spurs near the needle entry point, which affects the planned screw placement route. In these cases, the needle entry path needs to be replanned based on the actual situation. Correspondingly, the software must quickly recalculate the relevant surgical parameters based on the replanned screw placement path, which poses certain challenges to the completion of pedicle screw fixation.

[0040] In order to solve the above problems, the embodiments of the present application provide a data processing method, device, equipment, medium and program product, which calculates the first position information of the tip of the working tool in the CT coordinate system and the second position information of the spinous process positioning frame in the intraoperative navigator coordinate system, as well as the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system. According to the first position information and the second position information, a target nail track coordinate system is established. Based on the target nail track coordinate system, the nail placement channel is planned and the reference parameters of the pedicle fixation are determined, and the nail placement channel and reference parameters are displayed. In this way, the screws can be placed along the planned nail placement channel based on the target nail track coordinate system and the reference parameters to complete the pedicle fixation. The solution of the embodiment of the present application can re-plan the target nail track coordinate system in real time based on the actual situation during the operation, and then plan the nail placement channel and determine the reference parameters in real time according to the actual situation during the operation to guide the pedicle fixation, thereby improving the accuracy of the pedicle fixation.

[0041] The data processing method provided in the embodiment of the present application is described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0042] Figure 1 This is a flow chart of a data processing method provided by an embodiment of the present application. Figure 1 As shown, the data processing method provided in the embodiment of the present application may include steps 110 to 150.

[0043] Step 110: Acquire the first posture information of the working tool and the second posture information of the spinous process positioning frame in the intraoperative navigator coordinate system.

[0044] The working tool may be a working tool for performing pedicle fixation, and specifically may be a surgical tool for performing pedicle fixation.

[0045] The first posture information may be the posture information of the working tool in the navigator coordinate system during the operation. The specific determination of the first posture information will be described in detail in subsequent embodiments.

[0046] The second posture information can be the posture information of the spinous process positioning frame in the navigator coordinate system during the operation. The specific determination of the second posture information is as follows:

[0047] It should be noted that the first posture information and the second posture information can be the first posture information of the working tool and the second posture information of the spinous process positioning frame in the navigation coordinate system within a preset period of time during the operation. The preset period of time here can be a pre-set period of time at the beginning of the operation, during which the pedicle surgery is not performed and only the working tool is calibrated using the navigation system. This preset period of time can be set according to user needs and is not limited in the embodiments of this application.

[0048] In some embodiments of the present application, in order to accurately obtain the first pose information and the second pose information, before step 110, the above method may further include:

[0049] Acquire a first pose quaternion set of the working tool and a first position information set of the tip of the working tool in the navigator coordinate system within a preset period of time during the operation, and a second pose quaternion set of the spinous process positioning frame and a second position information set of the tip of the spinous process positioning frame in the navigator coordinate system within the preset period of time;

[0050] Calculating a first average pose quaternion and first average position information of the working tool within a preset time period based on the first pose quaternion set and the first position information set respectively;

[0051] Calculating a second average posture quaternion and a second average position information of the spinous process positioning frame within a preset time period based on the second posture quaternion set and the second position information set respectively;

[0052] The first pose information is obtained according to the first average pose quaternion and the first average position information, and the second pose information is obtained according to the second average pose quaternion and the second average position information.

[0053] Among them, the first pose quaternion set can be a set of pose quaternions of the working tool in the navigator coordinate system within a preset period of time during the operation. Since the pose quaternions of multiple collection points will be collected within the preset period of time, the pose quaternions of each collection point within the preset period of time are collected together to form the first pose quaternion set.

[0054] The first position information set may be a set of position information of the working tool in the navigator coordinate system within a preset period of time during the operation. Since the position information of multiple collection points will be collected within the preset period of time, the position information of each collection point within the preset period of time is collected together to form the first position information set.

[0055] The second posture quaternion set may be a set of posture quaternions of the spinous process positioning frame in the navigator coordinate system within a preset period of time during the operation.

[0056] The second position information set may be a set of position information of the spinous process positioning frame in the navigator coordinate system within a preset period of time during the operation.

[0057] The first average pose quaternion may be an average of all pose quaternions in the first pose quaternion set within a preset time period as the first average pose quaternion. The corresponding second average pose quaternion may be an average of all pose quaternions in the second pose quaternion set within the preset time period as the second average pose quaternion.

[0058] The first average location information may be the average value of each location information in the first location information set within a preset period of time. The corresponding second average location information may be the average value of each location information in the second location information set within a preset period of time.

[0059] In some embodiments of the present application, the first average pose quaternion and the first average position information can be combined together as a first pose matrix, and the second average pose quaternion and the second average position information can be combined together as a second pose matrix.

[0060] In an embodiment of the present application, by respectively obtaining the first pose quaternion set of the working tool in the navigator coordinate system within a preset time period during the operation and the first position information set of the tip of the working tool, as well as the second pose quaternion set of the spinous process positioning frame in the navigator coordinate system within the preset time period and the second position information set of the tip of the spinous process positioning frame, then respectively calculating the first average pose quaternion and the first average position information of the working tool within the preset time period based on the first pose quaternion set and the first position information set, respectively calculating the second average pose quaternion and the second average position information of the spinous process positioning frame within the preset time period based on the second pose quaternion set and the second position information set, obtaining the first pose information based on the first average pose quaternion and the first average position information, and obtaining the second pose information based on the second average pose quaternion and the second average position information, the first pose information and the second pose information can be accurately obtained.

[0061] Step 120: Calculate the first position information of the tip of the intraoperative working tool in the CT coordinate system and the second position information of the tip of the working tool in the CT coordinate system based on the first posture information and the second posture information, as well as the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system.

[0062] The tip of the working tool may be the end of the working tool that contacts the surgical site. Correspondingly, the top of the working tool may be the end corresponding to the tip of the working tool, that is, the end held by the doctor.

[0063] The first position information may be position information of the tip of the working tool in the CT coordinate system during the operation.

[0064] The second position information may be position information of the tip of the working tool in the CT coordinate system during the operation.

[0065] In some embodiments of the present application, the first position information and the second position information may be obtained in real time from an intraoperative database, or may be obtained from a pre-stored database, which is not limited in the embodiments of the present application.

[0066] In some embodiments of the present application, in order to accurately obtain the first location information and the second location information, step 120 may specifically include:

[0067] According to the first posture information, position information of the tip of the working tool is obtained;

[0068] Extending the position information of the tip of the working tool by a first preset length along the axial direction of the working tool to obtain the position information of the top end of the working tool;

[0069] converting the position information of the tip of the working tool into the spinous process positioning frame coordinate system based on the position information and the second posture information of the tip of the working tool to obtain third position information of the tip of the working tool in the spinous process positioning frame coordinate system, and converting the position information of the tip of the working tool into the spinous process positioning frame coordinate system based on the position information and the second posture information of the tip of the working tool to obtain fourth position information of the tip of the working tool in the spinous process positioning frame coordinate system;

[0070] Based on the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system, the third position information and the fourth position information are respectively converted into the CT coordinate system to obtain the first position information and the second position information respectively.

[0071] Among them, the first preset length can be a pre-set length that extends the position information of the tip of the working tool along the axial direction of the working tool. The specific value of the first preset length here can be set according to user needs and is not limited in the embodiment of this application.

[0072] The third position information may be position information of the tip of the working tool in the spinous process positioning frame coordinate system.

[0073] The fourth position information may be position information of the tip of the working tool in the spinous process positioning frame coordinate system.

[0074] In some embodiments of the present application, the first position information of the working tool under the navigator within a preset period of time during the operation can be obtained first. and the second position information of the spinous process positioning frame Then, according to the first posture information, the position information of the tip of the working tool is obtained, that is, the position information of the tip of the working tool at each collection point within the preset time period is obtained. Then the position information of the tip of the working tool is extended along the axis direction of the working tool by a first preset length, such as 5 mm, to obtain the position information of the top of the working tool. Then, based on the position information of the tip of the working tool and the second pose information The position information of the tip of the operating tool during surgery According to the following formula (1), the third position information of the tip of the working tool in the spinous process positioning frame coordinate system is converted to the spinous process positioning frame coordinate system. And according to the position information of the top of the working tool and the second pose information The position information of the tip of the working tool According to the following formula (2), the fourth position information of the top of the working tool in the spinous process positioning frame coordinate system is obtained:

[0075]

[0076]

[0077] Then, based on the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system, the third position information and the fourth position information are converted to the CT coordinate system according to the following formulas (3) and (4), respectively, and the first position information can be obtained respectively. and second location information

[0078]

[0079]

[0080] It should be noted that the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system will be described in detail in subsequent embodiments.

[0081] In an embodiment of the present application, the position information of the tip of the working tool is obtained based on the first posture information, and the position information of the tip of the working tool is extended by a first preset length along the axial direction of the working tool to obtain the position information of the top of the working tool. According to the position information and the second posture information of the tip of the working tool, the position information of the tip of the working tool is converted to the spinous process positioning frame coordinate system to obtain the third position information of the tip of the working tool in the spinous process positioning frame coordinate system, and according to the position information and the second posture information of the top of the working tool, the position information of the tip of the working tool is converted to the spinous process positioning frame coordinate system to obtain the fourth position information of the top of the working tool in the spinous process positioning frame coordinate system. Based on the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system, the third position information and the fourth position information are respectively converted to the CT coordinate system, and the first position information and the second position information can be accurately obtained respectively.

[0082] The following details how to determine the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system:

[0083] In some embodiments of the present application, the present application also provides a method for determining the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system, such as Figure 2 As shown, the method for determining the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system includes steps 210 to 220.

[0084] Step 210: Acquire an X-ray image and a digitally reconstructed radiography (DRR) image of the spine of the target subject.

[0085] The DRR image may be determined based on a first conversion relationship between the first coordinate system and the second coordinate system. The first conversion relationship here may be a conversion relationship between the first coordinate system and the second coordinate system.

[0086] The above-mentioned first coordinate system may be a CT coordinate system of the spine of the target object before surgery. The first coordinate system here is a three-dimensional coordinate system. The target object here may be an object to undergo minimally invasive spinal surgery, such as a patient.

[0087] The second coordinate system mentioned above may be a spinous process positioning frame coordinate system when taking an X-ray image during surgery. The second coordinate system is a two-dimensional coordinate system.

[0088] In some embodiments of the present application, the first conversion relationship can be customized based on the doctor's prior experience, or it can be a conversion relationship between the first coordinate system and the second coordinate system obtained by aligning a known spine before implementing the solution of the embodiment of the present application. For example, before implementing the solution of the embodiment of the present application, assuming that surgery is performed on the three vertebral segments of the spine L3 to L5, then when doing preoperative planning in the CT image, the coordinate position of the L4 vertebral segment in the CT image can be obtained. This value can be used to calculate the X-axis, Y-axis, and Z-axis offsets between the CT coordinate system and the intraoperative X-ray coordinate system. The X-axis, Y-axis, and Z-axis rotations between the CT coordinate system and the intraoperative X-ray coordinate system are all 0. This is because the patient is in a prone position during minimally invasive spinal surgery. Under normal circumstances, the initial X-axis, Y-axis, and Z-axis rotations are close to 0 and will not exceed 10 degrees. Only when encountering patients with scoliosis or kyphosis will the X-axis, Y-axis, and Z-axis rotations be relatively large. The specific method for obtaining the first conversion relationship can be selected according to user needs and is not limited in the embodiments of the present application.

[0089] It should be noted that the difference information in the following description refers to the difference information of the rotation amount and the translation amount of the X axis, Y axis and Z axis between the first coordinate system and the second coordinate system.

[0090] Step 220: Perform the following steps for different vertebral segments in the X-ray image and the DRR image:

[0091] respectively acquiring first contour information of the target vertebral segment in the X-ray image and second contour information of the target vertebral segment in the DRR image;

[0092] Calculating contour difference information between the first contour information and the second contour information according to the first conversion relationship;

[0093] updating the first conversion relationship according to the contour difference information, returning to execute, calculating the contour difference information between the first contour information and the second contour information according to the first conversion relationship, and selecting the first conversion relationship corresponding to the minimum contour difference information as the second conversion relationship;

[0094] Calculating target difference information between first vertebral segment information of the target vertebral segment in the X-ray image and second vertebral segment information of the target vertebral segment in the DRR image according to the second conversion relationship;

[0095] According to the target difference information, the second transformation relationship is updated, and the step of calculating the target difference information between the first vertebral segment information of the target vertebral segment in the X-ray image and the second vertebral segment information of the target vertebral segment in the DRR image according to the second transformation relationship is returned to execute until the loop stop condition is met, and the target transformation relationship between the first coordinate system and the second coordinate system corresponding to the target vertebral segment is obtained.

[0096] The target vertebral segment may be any vertebral segment of different vertebral segments of the spine.

[0097] The first contour information may be contour information of the target vertebral segment in the X-ray image, specifically, the outer contour of the target vertebral segment, the spinous process contour of the target vertebral segment, and the pedicle contour of the target vertebral segment.

[0098] The second contour information may be contour information of the target vertebral segment in the DRR image, specifically, the outer contour of the target vertebral segment, the spinous process contour of the target vertebral segment, and the pedicle contour of the target vertebral segment.

[0099] The contour difference information may be a difference between the first contour information and the second contour information. The contour difference information may include a difference between an angle and a translation amount between the first contour information and the second contour information.

[0100] The second conversion relationship may be the first conversion relationship that is continuously updated according to the contour difference information, and the first conversion relationship corresponding to the minimum contour difference information is selected.

[0101] The first vertebral segment information may be information of the target vertebral segment in the X-ray image, for example, contour information of the target vertebral segment and / or the grayscale value of the image corresponding to the target vertebral segment.

[0102] The second vertebral segment information may be information of the target vertebral segment in the DRR image, for example, contour information of the target vertebral segment and / or the grayscale value of the image corresponding to the target vertebral segment.

[0103] The target difference information may be the difference between the first vertebral segment information and the second vertebral segment information. The target difference information may include the difference between the angle and translation between the first vertebral segment information and the second vertebral segment information.

[0104] The loop stop condition can be a pre-set stop condition for updating the second conversion relationship. The specific loop stop condition can be that the number of times the second conversion relationship is updated reaches a preset number, or it can be that the difference between the conversion relationship obtained in this round of loop and the conversion relationship obtained in the previous round of loop is less than a certain threshold. The specific loop stop condition can be selected according to user needs and is not limited in the embodiments of this application.

[0105] The target transformation relationship may be a transformation relationship finally determined between the first coordinate system and the second coordinate system.

[0106] In some embodiments of the present application, because the positional relationships between a patient's spinal segments may vary depending on the patient's condition or time of day, during spinal registration, the transformation relationship between each segment (the second coordinate system) and the preoperative CT coordinate system (i.e., the first coordinate system) is calculated. Therefore, the following steps are performed for each segment in the X-ray and DRR images: first, a coarse registration is performed for the target segment, and then the transformation relationship obtained from the coarse registration is used for subsequent fine registration.

[0107] The specific coarse registration process is: the target vertebral segments in the X-ray image and the DRR image are registered by contour registration. Specifically, the first transformation relationship is continuously updated, the contour difference information between the first contour information and the second contour information is calculated, and the first transformation relationship corresponding to the minimum contour difference information is selected as the second transformation relationship. At this time, the coarse registration stage is completed.

[0108] The second transformation relationship obtained in the coarse registration stage is applied to the subsequent fine registration process. The specific fine registration process is: by continuously updating the second transformation relationship, the target difference information between the first vertebral segment information and the second vertebral segment information is calculated until the loop stop condition is met, and the second transformation relationship obtained in the last cycle is determined as the target transformation relationship. At this time, the fine registration stage is completed.

[0109] It should be noted that, in the coarse registration stage, when continuously updating the first conversion relationship, the first conversion relationship may be continuously updated by gradient descent, or by direct search, such as, but not limited to, the optimal Powell method, particle swarm optimization algorithm, and step-size acceleration algorithm. Similarly, in the fine registration stage, when continuously updating the second conversion relationship, the second conversion relationship may be continuously updated by gradient descent, or by direct search. The specific method used to update the first conversion relationship and the second conversion relationship can be selected according to user needs and is not limited in the embodiments of this application.

[0110] In an embodiment of the present application, an X-ray image and a DRR image of the spine of the target object are obtained, and then the contour information of the target vertebral segment is used to perform coarse alignment for different vertebral segments in the X-ray image and the DRR image, and then the conversion relationship between the first coordinate system and the second coordinate system obtained by the coarse alignment is applied to the subsequent fine alignment. Since the DRR image here is determined based on the first conversion relationship between the first coordinate system and the second coordinate system, the first coordinate system is the CT coordinate system of the spine of the target object before surgery, and the second coordinate system is the spinous process positioning frame coordinate system when the X-ray image is taken during surgery, the first coordinate system is a three-dimensional coordinate system, and the second coordinate system is a two-dimensional coordinate system. Therefore, when performing 2D-3D alignment, a coarse alignment is first performed using the contour information of the target vertebral segment, and then the conversion relationship between the first coordinate system and the second coordinate system obtained by the coarse alignment is applied to the subsequent fine alignment, thereby improving the alignment accuracy of the 2D-3D alignment.

[0111] In some embodiments of the present application, since the first vertebral segment information and the second vertebral segment information can be the contour information of the target vertebral segment and / or the grayscale value of the image corresponding to the target vertebral segment, different registration methods can be used in the fine registration stage. For example, the same contour registration method as that in the coarse registration stage can be used. At this time, the vertebral segment information can be the contour information of the target vertebral segment. If the grayscale registration method is used, the vertebral segment information can be the grayscale value of the image corresponding to the target vertebral segment. That is, under the first registration method, the first vertebral segment information and the second vertebral segment information can each include: the contour information of the target vertebral segment. Under the second registration method, the first vertebral segment information and the second vertebral segment information can each include: the first grayscale value of the target vertebral segment in the X-ray image and the second grayscale value in the DRR image. Here, the first grayscale value is the grayscale value of the target vertebral segment region in the X-ray image, and the second grayscale value can be the grayscale value of the target vertebral segment region in the DRR image.

[0112] Therefore, before the fine registration stage, that is, before calculating the target difference information between the first vertebral segment information of the target vertebral segment in the X-ray image and the second vertebral segment information of the target vertebral segment in the DRR image according to the second transformation relationship, the above method may further include:

[0113] Using the first registration method and the second registration method respectively, and continuously updating the second conversion relationship according to the first difference information between the first vertebral segment information and the second vertebral segment information;

[0114] Calculate the conversion relationship difference information between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update corresponding to the candidate registration method;

[0115] determining a target registration mode from the first registration mode and the second registration mode according to the conversion relationship difference information;

[0116] Calculating target difference information between first vertebral segment information of the target vertebral segment in the X-ray image and second vertebral segment information of the target vertebral segment in the DRR image according to the second conversion relationship may specifically include:

[0117] According to the second conversion relationship and in accordance with the target registration method, target difference information between the first vertebral segment information of the target vertebral segment in the X-ray image and the second vertebral segment information of the target vertebral segment in the DRR image is calculated.

[0118] The first registration method may be a contour registration method, and the second registration method may be a grayscale registration method.

[0119] The first difference information may be the difference between the first vertebral segment information and the second vertebral segment information calculated using the first registration method and the second registration method, respectively. Specifically, under the first registration method, the first difference information may be the difference between the contour information of the target vertebral segment in the X-ray image and the contour information of the target vertebral segment in the DRR image. Specifically, it may be the first distance between the target vertebral segment in the X-ray image and the DRR image. Here, the first distance may be the Euclidean distance between the target vertebral segment in the X-ray image and the DRR image. Under the second registration method, the first difference information may be the difference between the first grayscale value of the target vertebral segment in the X-ray image and the second grayscale value of the target vertebral segment in the DRR image. Specifically, the first difference information may be the first similarity between the first grayscale value and the second grayscale value. Here, the first similarity may be the similarity between the first grayscale value and the second grayscale value.

[0120] It should be noted that the difference between the angle and the translation between the first vertebral segment information and the second vertebral segment information is calculated using the first registration method and the second registration method respectively.

[0121] The candidate registration method may be any one of the first registration method and the second registration method.

[0122] For any of the first and second registration methods, the corresponding conversion relationship difference information may be the difference information between the second conversion relationship obtained by the corresponding i-th update and the second conversion relationship obtained by the i-1-th update, where i≥1 and i is a positive integer.

[0123] When i=1, for any of the first registration mode and the second registration mode, the corresponding conversion relationship difference information may be the difference information between the second conversion relationship obtained by the first update and the second conversion relationship obtained by the coarse registration.

[0124] The target registration method may be a registration method ultimately selected from the first registration method and the second registration method for fine registration.

[0125] In some embodiments of the present application, before formally executing the fine registration process, the first registration method and the second registration method can be used to perform at least one registration respectively, and then the target registration method for fine registration is selected from the first registration method and the second registration method based on the conversion relationship difference information between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update.

[0126] Then, in the fine registration stage, according to the second conversion relationship, the target vertebral segments in the X-ray image and the DRR image are registered according to the target registration method, that is, the target difference information between the first vertebral segment information of the target vertebral segment in the X-ray image and the second vertebral segment information of the target vertebral segment in the DRR image is calculated according to the target registration method.

[0127] It should be noted that the second conversion relationship updated according to the first registration method and the second conversion relationship updated according to the second registration method may be the same or different.

[0128] In an embodiment of the present application, before fine registration, the first registration method and the second registration method are respectively used to perform at least one registration, and then based on the conversion relationship difference information between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update, the target registration method for fine registration is selected from the first registration method and the second registration method. In this way, the registration method adopted in the fine registration stage can be accurately determined, thereby improving the registration accuracy of the fine registration stage, and thereby improving the accuracy of spinal registration.

[0129] In some embodiments of the present application, in order to accurately determine the target registration mode, the target registration mode is determined from the first registration mode and the second registration mode according to the conversion relationship difference information, which may specifically include:

[0130] When it is determined that the conversion relationship difference information corresponding to the first target registration method is less than the conversion relationship difference information threshold corresponding to the first target registration method, and the conversion relationship difference information corresponding to the second target registration method is not less than the conversion relationship difference information threshold corresponding to the second target registration method, the first target registration method is determined as the target registration method;

[0131] When it is determined that the conversion relationship difference information corresponding to the first registration method is less than the conversion relationship difference information threshold corresponding to the first registration method, and the conversion relationship difference information corresponding to the second registration method is less than the conversion relationship difference information threshold corresponding to the second registration method, and the difference between the second conversion relationship obtained by the i-th update corresponding to the first target registration method and the second conversion relationship obtained by the i-th update corresponding to the second target registration method is less than the first threshold, the first target registration method is determined to be the target registration method.

[0132] The first target registration method may be the first registration method or the second registration method, and the second target registration method may be another registration method between the first registration method and the second registration method except the first target registration method.

[0133] The first threshold can be a threshold of the difference between the second conversion relationship obtained by the i-th update corresponding to the pre-set first target alignment method and the second conversion relationship obtained by the i-th update corresponding to the second target alignment method. The threshold can be set according to user needs and is not limited in the embodiments of the present application.

[0134] In some embodiments of the present application, when it is determined that the conversion relationship difference information corresponding to one of the first and second registration methods (i.e., the first target registration method) is less than a preset conversion relationship difference information threshold value, and the conversion relationship difference information corresponding to the other registration method (i.e., the second target registration method) is not less than a preset conversion relationship difference information threshold value, the registration method that is less than the preset conversion relationship difference information threshold value is determined as the target registration method.

[0135] In some embodiments of the present application, the degrees of freedom of the transformation relationship obtained by registration can be 6, which are the translation amounts of the X axis, Y axis and Z axis: R x ,R y ,R z , and the rotation of the X, Y, and Z axes: T x ,T y ,T z The conversion relationship of grayscale registration that can be preset here is: R x ,R y ,R z ,T x ,T y ,T z , the conversion relationship of contour registration is: R' x ,R' y ,R' z ,T x ',T y ',T z ', the difference between the two is: ΔR' x ',ΔR' y ',ΔR' z ',ΔT x ”,ΔT y ”,ΔT z ”, set α g and β g They are the angle and translation iteration thresholds of the grayscale registration method (i.e., the angle conversion relationship difference threshold and the translation conversion relationship difference threshold), and set α c and βc are the angle and translation iteration thresholds of the contour registration method (i.e., the angle conversion relationship difference threshold and the translation conversion relationship difference threshold), and θ and δ are set as the angle and translation thresholds in the difference between the grayscale registration method and the contour registration method, respectively. Here, θ and δ are the first thresholds mentioned above.

[0136] In one example, if in the contour registration method (ie, the first registration method), the conversion relationship difference information ΔR′ between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update x ',ΔR' y ',ΔR' z ',ΔT x ”,ΔT y ”,ΔT z " is less than α c and β c , and in the grayscale registration method (ie, the second registration method), the conversion relationship difference information ΔR' between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update x ',ΔR' y ',ΔR' z ',ΔT x ”,ΔT y ”,ΔT z "Greater than or equal to α g and β g , then the contour registration method is determined to be the target registration method.

[0137] If in the grayscale registration method (ie, the second registration method), the conversion relationship difference information ΔR' between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update x ',ΔR' y ',ΔR' z ',ΔT x ”,ΔT y ”,ΔT z " is less than α g and β g , and in the contour registration method (ie, the first registration method), the conversion relationship difference information ΔR' between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update x ',ΔR' y ',ΔR' z ',ΔT x ”,ΔT y ”,ΔT z "Greater than or equal to α c and β c , then the grayscale registration method is determined as the target registration method.

[0138] In some embodiments of the present application, when it is determined that the conversion relationship difference information corresponding to the first registration method and the second registration method are both less than their corresponding conversion relationship difference information thresholds, and the difference between the second conversion relationship obtained by the i-th update corresponding to a certain registration method in the first registration method and the second registration method (i.e., the first target registration method) and the second conversion relationship obtained by the i-th update corresponding to the other registration method (i.e., the second target registration method) is less than the first threshold, the first target registration method is determined to be the target registration method.

[0139] Continuing to refer to the above example, if in the grayscale registration method, the conversion relationship difference information ΔR' between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update x ',ΔR' y ',ΔR' z ',ΔT x ”,ΔT y ”,ΔT z " is less than α g and β g , and in the contour registration method, the conversion relationship difference information ΔR' between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update x ',ΔR' y ',ΔR' z ',ΔT x ”,ΔT y ”,ΔT z " is less than α c and β c If the difference between the second conversion relationship obtained by the i-th update in the grayscale registration method and the second conversion relationship obtained by the i-th update in the contour registration method is less than θ and δ, the grayscale registration method is determined to be the target registration method.

[0140] If in the grayscale registration method, the conversion relationship difference information ΔR' between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update x ',ΔR' y ',ΔR' z ',ΔT x ”,ΔT y ”,ΔT z " is less than α g and β g , and in the contour registration method, the conversion relationship difference information ΔR' between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update x ',ΔR' y ',ΔR' z ',ΔT x”,ΔT y ”,ΔT z " is less than α c and β c If the difference between the second conversion relationship obtained by the i-th update in the contour registration method and the second conversion relationship obtained by the i-th update in the grayscale registration method is less than θ and δ, the contour registration method is determined to be the target registration method.

[0141] It should be noted that the difference information being less than the corresponding threshold means that the translation of the difference information is less than the corresponding translation threshold, and the angle of the difference information is less than the corresponding angle threshold. For example, in the above-mentioned contour registration method, the conversion relationship difference information ΔR' between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update is x ',ΔR' y ',ΔR' z ',ΔT x ”,ΔT y ”,ΔT z " is less than α c and β c In terms of the contour registration method, it means the difference in translation ΔR' between the second transformation relationship obtained by the i-th update and the second transformation relationship obtained by the i-1-th update in the transformation relationship difference information. x ',ΔR' y ',ΔR' z ' is less than its corresponding threshold β c , the angle difference ΔT in the conversion relationship difference information between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update x ”,ΔT y ”,ΔT z " is less than its corresponding threshold α c Similarly, for the grayscale registration method (ie, the second registration method) described above, the conversion relationship difference information ΔR' between the second conversion relationship obtained by the i-th update and the second conversion relationship obtained by the i-1-th update is x ',ΔR' y ',ΔR' z ',ΔT x ”,ΔT y ”,ΔT z " is less than α g and β g, the difference between the second conversion relationship obtained by the i-th update in the contour registration method and the second conversion relationship obtained by the i-th update in the grayscale registration method is less than θ and δ, and the difference between the second conversion relationship obtained by the i-th update in the grayscale registration method and the second conversion relationship obtained by the i-th update in the contour registration method is less than θ and δ, which are consistent with the above meanings and will not be repeated here.

[0142] In an embodiment of the present application, the target registration method can be accurately determined through the relationship between the conversion relationship difference information distribution corresponding to the first registration method and the second registration method and the corresponding conversion relationship difference information threshold, as well as the relationship between the second conversion relationship obtained by the i-th update corresponding to the second target registration method and the difference information of the second conversion relationship obtained by the i-th update corresponding to the second target registration method and the first threshold, thereby improving the accuracy of determining the target registration method.

[0143] In some embodiments of the present application, the above method may further include:

[0144] When it is determined that the conversion relationship difference information corresponding to the first registration method is not less than the conversion relationship difference information threshold corresponding to the first registration method, and the conversion relationship difference information corresponding to the second registration method is not less than the conversion relationship difference information threshold corresponding to the second registration method, return to execute according to the contour difference information, update the first conversion relationship, return to execute according to the first conversion relationship, calculate the contour difference information between the first vertebral segment contour information and the second vertebral segment contour information, and select the first conversion relationship corresponding to the minimum contour difference information as the second conversion relationship.

[0145] In some embodiments of the present application, when it is determined that the conversion relationship difference information corresponding to the first registration method and the second registration method is not less than the corresponding conversion relationship difference information threshold, it is indicated that the second conversion relationship obtained by the rough registration has a problem. This is because if the conversion relationship difference information corresponding to the first registration method and the second registration method is not less than the corresponding conversion relationship difference information threshold, it is indicated that the conversion relationship is not in a normal state. The basis for judging whether the conversion relationship obtained by the registration is in a normal state is: the difference between the conversion relationship obtained by the current registration and the conversion relationship obtained by the previous round of registration is expressed as: ΔR' x ,ΔR' y ,ΔR' z ,ΔT x ',ΔT y ',ΔT z ', when ΔR' x ,ΔR' y ,ΔR' z ,ΔT x ',ΔT y ',ΔT zWhen the following formula (5) is satisfied, the registration iteration is in a normal state:

[0146] ΔR x ≤α…And…ΔR y ≤α…And…ΔR z ≤α (5)

[0147] ΔT x ≤β…And…ΔT y ≤β…And…ΔT z ≤β

[0148] In formula (5), α is the angle iteration threshold, and β is the translation iteration threshold.

[0149] Therefore, when the conversion relationship difference information corresponding to the first registration method and the second registration method is not less than the corresponding conversion relationship difference information threshold, it is necessary to end the fine registration process and reconfirm whether the rough registration result is correct.

[0150] In some embodiments of the present application, when grayscale registration is used for registration, the second conversion relationship corresponding to the maximum value of the first similarity can be determined as the target conversion relationship.

[0151] In some embodiments of the present application, since grayscale registration is highly dependent on initial values, when the patient's scoliosis or deformity is severe, or is affected by soft tissue or liquid, gas, or the uneven imaging quality of C-arms from different manufacturers, the spinal segment imaging information (X-ray image) and the information in the DRR image are quite different, which will affect the grayscale registration accuracy, so a contour registration method can be used.

[0152] In some embodiments of the present application, two registration methods can also be used for registration at the same time. The specific selected registration method can be selected according to user needs and is not limited in the embodiments of the present application.

[0153] In an embodiment of the present application, when it is determined that the conversion relationship difference information corresponding to the first registration method and the second registration method is not less than the corresponding conversion relationship difference information threshold, the result of the coarse registration is returned to be reconfirmed, thereby avoiding problems with the fine registration due to incorrect results of the coarse registration, and then causing problems with the spinal registration.

[0154] In some embodiments of the present application, in order to accurately obtain an X-ray image and a DRR image of the spine of the target object, step 210 may specifically include:

[0155] Acquiring X-ray images of the spine of the target object when the C-arm is rotated at different angles, wherein the X-ray images include a first marker;

[0156] determining fifth position information of the first marker in each X-ray image;

[0157] Calculating, based on the fifth position information, third posture information of the tube in the first coordinate system and fourth posture information of the flat panel detector in the first coordinate system in the X-ray images at different angles of the C-arm;

[0158] Based on the third pose information and the fourth pose information of the C-arm at different angles and the first conversion relationship, the fifth pose information of the tube in the second coordinate system and the sixth pose information of the flat panel detector in the second coordinate system at different angles of the C-arm are calculated respectively;

[0159] Performing DRR imaging of the spine of the target object according to the fifth posture information and the sixth posture information corresponding to the C-arm at different angles to obtain DRR images of the spine of the target object at different C-arm angles;

[0160] The acquiring of first contour information of the target vertebral segment in the X-ray image and second contour information of the target vertebral segment in the DRR image may specifically include:

[0161] First contour information of the target vertebral segment in the X-ray image at the first angle and second contour information of the target vertebral segment in the DRR image are obtained respectively.

[0162] The different angles may be angles of rotation of the C-arm. The difference between the two angles selected here is generally greater than 60 degrees, for example, one angle is selected as 0 degrees and the other angle is selected as 90 degrees.

[0163] It should be noted that the different angles here can be at least two angles, that is, the number of selected angles is not limited in the embodiment of this application, but the difference between different angles must be greater than 60 degrees, so that the depth information of the tube and the flat panel detector can be well extracted from the X-ray image.

[0164] The first marker can be a marker located on the calibration tool, specifically a steel ball, Figure 3 The acquisition device shown is used to acquire X-ray images, which includes a calibration tool 21. The calibration tool 21 includes steel balls 211 arranged in a circular shape. The steel balls can receive X-rays released by the tube 22, which are absorbed by the flat panel detector 23 to obtain an X-ray image.

[0165] It should be noted that the steel balls 211 here are not necessarily distributed in a circular shape, but can also be distributed in a rectangular shape or other shapes, which is not limited here. However, if the steel balls 211 are distributed in a rectangular shape, the edges of the steel balls 211 in the X-ray image presented will be irregular, which will affect subsequent calculations. Therefore, in general, the steel balls 211 are distributed in a circular shape.

[0166] The fifth position information may be position information of the first marker in the X-ray image.

[0167] The third position information may be the position information of the tube in the first coordinate system. The fourth position information may be the position information of the flat panel detector in the first coordinate system.

[0168] The fifth posture information may be the posture information of the tube in the second coordinate system. The sixth posture information may be the posture information of the flat panel detector in the second coordinate system.

[0169] The first angle may be any one of different angles.

[0170] In some embodiments of the present application, taking different angles of 0 degrees and 90 degrees and a first marker being a steel ball as an example, first obtain X-ray images of the spine of the target object when the C-arm is rotated to 0 degrees and 90 degrees, respectively, and then determine the fifth position information of the first marker in each X-ray image, and according to the fifth position information, calculate the third posture information of the tube in the first coordinate system and the fourth posture information of the flat-panel detector in the first coordinate system in the X-ray images of the C-arm at 0 degrees and 90 degrees, and according to the third posture information and the fourth posture information of the C-arm at 0 degrees and 90 degrees, and the first transformation relationship, calculate the fifth posture information of the tube in the second coordinate system and the sixth posture information of the flat-panel detector in the second coordinate system at 0 degrees and 90 degrees, respectively, and according to the C The fifth posture information and the sixth posture information corresponding to the arm at 0 degrees and 90 degrees are used to perform DRR imaging on the spine of the target object, and the spinal DRR images of the target object at the C-arm at 0 degrees and 90 degrees are obtained. That is, two spinal DRR images can be obtained here, which are the DRR images at the C-arm at 0 degrees and 90 degrees respectively. Then, when aligning, the DRR image at any angle can be aligning with the X-ray image at the angle. Because the conversion relationship obtained by aligning at different angles is not much different, the DRR image at any angle can be aligning with the X-ray image at the angle, and the first contour information of the target vertebral segment in the X-ray image at any angle and the second contour information of the target vertebral segment in the DRR image can be obtained respectively.

[0171] In some embodiments of the present application, the fifth position information of the first marker in the X-ray image can be determined by using an existing calculation method to calculate the fifth position information of the first marker, which belongs to the existing technology and will not be described in detail here.

[0172] In some embodiments of the present application, when there is sufficient contour information, when performing precise alignment, grayscale alignment can be used for one angle and contour alignment can be used for another angle. For example, grayscale alignment can be used at 0 degrees, and contour alignment can be used at 90 degrees (i.e., lateral position) or 60 degrees (i.e., oblique position).

[0173] In an embodiment of the present application, by respectively acquiring X-ray images of the spine of the target object when the C-arm is rotated at different angles, DRR images at different angles can be obtained, so that X-ray images and DRR images can be accurately acquired.

[0174] In some embodiments of the present application, in order to accurately determine the third posture information and the fourth posture information, before calculating, based on the fifth position information, the third posture information of the tube in the first coordinate system and the fourth posture information of the flat panel detector in the first coordinate system in X-ray images of the C-arm at different angles, the above-mentioned method may further include:

[0175] Determine the seventh posture information of the spinous process positioning frame in the navigator coordinate system according to the navigator marker on the spinous process positioning frame;

[0176] Determine the eighth pose information of the tool positioning frame in the navigator coordinate system according to the navigator marker on the tool positioning frame in the calibration tool;

[0177] Based on the seventh posture information and the eighth posture information, calculating the ninth posture information of the tool positioning frame in the spinous process positioning frame coordinate system;

[0178] Determining tenth posture information of the first marker in the spinous process positioning frame coordinate system according to the ninth posture information and the positional relationship between the first marker and the tool positioning frame;

[0179] Calculating, based on the fifth position information, the third position information of the tube in the first coordinate system and the fourth position information of the flat panel detector in the first coordinate system in the X-ray images at different angles of the C-arm may specifically include:

[0180] According to the fifth position information and the tenth posture information, third posture information of the tube in the first coordinate system and fourth posture information of the flat panel detector in the first coordinate system in the X-ray images at different angles of the C-arm are calculated.

[0181] The seventh position information may be the position information of the spinous process positioning frame in the navigator coordinate system. The eighth position information may be the position information of the tool positioning frame in the navigator coordinate system. The ninth position information may be the position information of the tool positioning frame in the spinous process positioning frame coordinate system. The tenth position information may be the position information of the first marker in the spinous process positioning frame coordinate system.

[0182] The spinous process positioning frame coordinate system is the first coordinate system mentioned above, that is, the coordinate system of the surgical site during the patient's operation.

[0183] In some embodiments of the present application, reference is made to Figure 3The spinous process positioning frame 24 can be used to locate the spinous processes of the spine. The spinous process positioning frame 24 is rigidly connected to the patient. The intraoperative surgical site coordinate system of the patient, i.e., the first coordinate system, is established based on the spinous process positioning frame 24. The spinous process positioning frame 24 is mounted with at least three or three navigation system marker balls or marker sheets. These marker balls or marker sheets are used to record the position of the spinous process positioning frame 24 in the navigation system coordinate system, i.e., the seventh position information.

[0184] The calibration tool 21 can be composed of a tool positioning frame 212 and two layers of steel balls 211 arranged in a circular shape. The position relationship between the two rows of steel balls 211 and the tool positioning frame 212 is fixed. At least 3 or 3 navigator marker balls or marker pieces are installed on the tool positioning frame 212. The marker balls or marker pieces are used to record the posture of the tool positioning frame 212 in the navigator coordinate system, that is, the eighth posture information.

[0185] Then, based on the seventh posture information and the eighth posture information, the posture information of the tool positioning frame 212 in the coordinate system of the spinous process positioning frame 24 can be calculated, that is, the ninth posture information.

[0186] Then, based on the ninth posture information and the pre-set positional relationship between the first marker (steel ball 211) and the tool positioning frame 212, the posture information of the first marker (steel ball 211) in the coordinate system of the spinous process positioning frame 24 can be determined, that is, the tenth posture information.

[0187] Then, based on the fifth position information and the tenth posture information, the third posture information of the tube in the X-ray image in the first coordinate system and the fourth posture information of the flat panel detector in the first coordinate system can be calculated when the C-arm is at 0 degrees and 90 degrees.

[0188] In an embodiment of the present application, by pre-constructing a first coordinate system, and then based on the fifth position information of the first marker on the tooling positioning frame in the X-ray image, the third posture information of the tube in the first coordinate system and the fourth posture information of the flat-panel detector in the first coordinate system in the X-ray image at different angles of the C-arm can be accurately determined.

[0189] Step 130: Establish a target track coordinate system based on the first position information and the second position information.

[0190] The target screw track coordinate system may be a coordinate system for screw implantation in pedicle fixation.

[0191] In some embodiments of the present application, in order to accurately determine the target track coordinate system, step 130 may specifically include:

[0192] Calculating an axial direction vector of the working tool based on the first position information and the second position information, and using the axial direction vector of the working tool as a Y-axis direction vector of the target nail track coordinate system;

[0193] According to the X-axis direction vector of the pre-planned nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system, the Z-axis direction vector of the target nail track coordinate system is obtained;

[0194] The X-axis direction vector of the target nail track coordinate system is obtained by using the Z-axis direction vector of the target nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system. The origin of the target nail track coordinate system is the center point of the pedicle isthmus.

[0195] The preset screw track coordinate system may be a screw implantation coordinate system pre-planned before surgery based on the doctor's prior experience or other means.

[0196] In some embodiments of the present application, the Y-axis direction vector of the working tool can be calculated based on the first position information and the second position information. Specifically, the line between the first position information and the second position information can be used as the Y-axis direction vector of the working tool. In this way, the Y-axis direction vector of the working tool can be used as the Y-axis direction vector of the target nail track coordinate system.

[0197] Since the nail track coordinate system is pre-planned before the operation, the Z-axis direction vector of the target nail track coordinate system can be obtained by cross-multiplying the X-axis direction vector of the pre-planned nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system calculated above.

[0198] Then, the Z-axis direction vector of the target nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system can be used to obtain the X-axis direction vector of the target nail track coordinate system. Specifically, the Z-axis direction vector of the target nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system can be used to correct the X-axis direction vector of the nail track coordinate system pre-planned before the operation to obtain the X-axis direction vector of the target nail track coordinate system. This is because the X-axis direction vector of the nail track coordinate system is pre-planned, but the direction may deviate during the operation, so it needs to be adjusted. For example, the Z-axis direction vector of the target nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system can be cross-producted to obtain the X-axis direction vector of the target nail track coordinate system. Then, the target nail track coordinate system is composed of the newly obtained X-axis direction vector of the target nail track coordinate system, the Z-axis direction vector of the target nail track coordinate system calculated in the above steps, and the Y-axis direction vector of the target nail track coordinate system.

[0199] In some embodiments of the present application, the target nail track coordinate system can be normalized and then formed into a 4*4 pose matrix with the tip point of the working tool in the CT coordinate system to replace the preoperatively planned nail track matrix. In this way, the pose information of the tip point of the tool during the operation, that is, the pose information of the needle entry point during the operation, can be accurately obtained. The operation can then be replanned based on the pose information of the needle entry point.

[0200] In an embodiment of the present application, the axial direction vector of the working tool is calculated based on the first position information and the second position information, and the axial direction vector of the working tool is used as the Y-axis direction vector of the target nail track coordinate system. Then, the Z-axis direction vector of the target nail track coordinate system is obtained based on the X-axis direction vector of the nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system planned before the operation. The X-axis direction vector of the target nail track coordinate system is obtained by using the Z-axis direction vector of the target nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system. In this way, the target nail track coordinate system can be accurately obtained.

[0201] In some embodiments of the present application, in order to accurately determine the Z-axis direction vector of the target nail track coordinate system, it is necessary to pre-plan the X-axis direction vector of the nail track coordinate system. Therefore, before obtaining the Z-axis direction vector of the target nail track coordinate system based on the X-axis direction vector of the nail track coordinate system pre-planned before surgery and the Y-axis direction vector of the target nail track coordinate system, the above-mentioned method may further include:

[0202] Construct the initial nail track coordinate system;

[0203] Correcting the X axis of the initial nail track coordinate system using a direction vector that is perpendicular to both the Z axis and the Y axis of the initial nail track coordinate system to obtain a corrected X axis;

[0204] Extending the origin of the initial nail track coordinate system along the Y-axis direction of the initial nail track coordinate system by a second preset length to obtain a corrected origin;

[0205] The preoperatively planned nail track coordinate system is obtained based on the corrected X-axis, the Y-axis of the initial nail track coordinate system, the Z-axis of the initial nail track coordinate system, and the corrected origin.

[0206] The initial nail track coordinate system may be the initially planned nail track coordinate system, the origin of the initial nail track coordinate system may be the center point of the pedicle isthmus, the Y axis of the initial nail track coordinate system may correspond to the anterior-posterior direction of the target object, the X axis of the initial nail track coordinate system may be the X axis of the vertebral coordinate system, and the Z axis of the initial nail track coordinate system may be a direction perpendicular to both the X axis and the Y axis of the initial nail track coordinate system.

[0207] The target object may be a subject to undergo pedicle fixation surgery, such as a patient.

[0208] It is understood that the initial screw track coordinate system constructed above has the center point of the pedicle isthmus as the origin, the vector indicating the patient's anterior (i.e., chest) and posterior (i.e., back) directions as the Y-axis, the X-axis of the vertebral segment coordinate system as the X-axis, and the direction perpendicular to the X-axis and Y-axis as the Z-axis. The specific determination of the vertebral segment coordinate system will be described in detail in subsequent embodiments.

[0209] The second preset length can be a preset length that extends the origin of the initial nail track coordinate system along the Y-axis direction of the initial nail track coordinate system. The specific second preset length can be set according to user needs and is not limited in the embodiment of the present application.

[0210] It should be noted that in some embodiments of the present application, the second preset length here can be half the length of the screw used for pedicle fixation. This is because before the operation, the center of the screw is generally at the origin of the initial screw track coordinate system. The origin of the initial screw track coordinate system is the center point of the pedicle isthmus, which is located inside the pedicle, but the needle entry point is located outside the bone. Therefore, when correcting the origin of the initial screw track coordinate system, it is necessary to extend the origin of the initial screw track coordinate system along the Y-axis direction of the initial screw track coordinate system by half the length of the screw.

[0211] In some embodiments of the present application, referring to Figures 4(a) and 4(b), Figure 4(a) is a schematic cross-sectional view of the pedicle, and Figure 4(b) is a schematic sagittal view of the pedicle. First, an initial nail track coordinate system can be constructed, the origin of which is the center point 41 of the isthmus of the pedicle. Then, the X-axis of the initial nail track coordinate system is corrected using a direction vector that is perpendicular to both the Z-axis and the Y-axis of the initial nail track coordinate system to obtain a corrected X-axis. Then, the origin of the initial nail track coordinate system is extended by a second preset length along the Y-axis direction of the initial nail track coordinate system to obtain a corrected origin. Finally, based on the corrected X-axis, the Y-axis of the initial nail track coordinate system, the Z-axis of the initial nail track coordinate system, and the corrected origin, a pre-operatively planned nail track coordinate system is obtained.

[0212] In an embodiment of the present application, an initial nail track coordinate system is pre-constructed, and then the X-axis of the initial nail track coordinate system is corrected using a direction vector that is perpendicular to both the Z-axis and the Y-axis of the initial nail track coordinate system to obtain a corrected X-axis. Then, the origin of the initial nail track coordinate system is extended by a second preset length along the Y-axis direction of the initial nail track coordinate system to obtain a corrected origin. Finally, based on the corrected X-axis, the Y-axis of the initial nail track coordinate system, the Z-axis of the initial nail track coordinate system and the corrected origin, the pre-operatively planned nail track coordinate system can be accurately obtained.

[0213] In some embodiments of the present application, before constructing the initial nail track coordinate system, it is necessary to first construct a vertebral coordinate system. Therefore, before constructing the initial nail track coordinate system, the above-mentioned method may further include:

[0214] The center of mass of the target vertebra is taken as the origin of the vertebral coordinate system;

[0215] Take the middle plane of the upper and lower lamina of the target vertebra, and use the direction vector parallel to the middle plane as the Y axis of the vertebral coordinate system;

[0216] The up-down direction of the target object is taken as the Z axis of the vertebral coordinate system;

[0217] The direction vector that is perpendicular to both the Y axis and the Z axis of the vertebral coordinate system is taken as the X axis of the vertebral coordinate system.

[0218] The target vertebral segment may be a vertebral segment to be subjected to pedicle fixation.

[0219] In some embodiments of the present application, referring to Figures 5(a) and 5(b), Figure 5(a) is a schematic cross-sectional view of the pedicle, and Figure 5(b) is a schematic sagittal view of the pedicle. The center of mass 51 of the target vertebra can be taken as the origin of the vertebral coordinate system, and then the middle plane of the upper and lower vertebral plates of the target vertebra is taken, and the direction vector parallel to the middle plane is taken as the Y-axis of the vertebral coordinate system, and the positive direction of the Y-axis of the vertebral coordinate system is toward the rear of the target object. The upper and lower directions of the target object are taken as the Z-axis of the vertebral coordinate system, and the positive direction of the Z-axis of the vertebral coordinate system is from the bottom of the target object to the top, as shown in Figure 5(a), and then the direction vector that is perpendicular to both the Y-axis and the Z-axis of the vertebral coordinate system is taken as the X-axis of the vertebral coordinate system.

[0220] In an embodiment of the present application, the center of mass of the target vertebra is taken as the origin of the vertebral coordinate system, the middle plane of the upper and lower vertebral plates of the target vertebra is taken, and the direction vector parallel to the middle plane is taken as the Y axis of the vertebral coordinate system, the upper and lower directions of the target object are taken as the Z axis of the vertebral coordinate system, and the direction vector perpendicular to both the Y axis and the Z axis of the vertebral coordinate system is taken as the X axis of the vertebral coordinate system. In this way, the vertebral coordinate system can be accurately obtained.

[0221] Step 140: Based on the target screw channel coordinate system, plan the screw placement channel and determine the reference parameters of the pedicle fixation technique.

[0222] The screw placement channel may be a channel for screw implantation during planned pedicle fixation surgery.

[0223] The reference parameters may be parameters of pedicle fixation, such as information such as the offset, inclination, and depth of the implanted screw and the screw placement channel.

[0224] In some embodiments of the present application, after the target screw track coordinate system is determined, the needle entry point is also determined, and then the screw placement channel can be planned based on the needle entry point and the reference parameters of the pedicle fixation can be replanned. Then, based on the target screw track coordinate system and the reference parameters, the screws are placed along the planned screw placement channel to complete the pedicle fixation.

[0225] In some embodiments of the present application, in order to improve the calculation efficiency of the reference parameters, before step 140, the above method may further include:

[0226] acquiring first image data of a spine;

[0227] Extending the center point of the pedicle isthmus along the positive direction of the Y axis of the target nail track coordinate system by a third preset length to obtain a first center point, and extending the center point of the pedicle isthmus along the negative direction of the Y axis of the target nail track coordinate system by a fourth preset length to obtain a second center point;

[0228] Constructing a first clipping plane based on the first center point and the Y axis of the target nail track coordinate system, and constructing a second clipping plane based on the second center point and the Y axis of the target nail track coordinate system;

[0229] Selecting image data located between the first clipping plane and the second clipping plane from the first image data as second image data;

[0230] Construct a third clipping plane based on the origin of the vertebral coordinate system and the X-axis of the vertebral coordinate system;

[0231] using the second image data located on both sides of the third clipping plane as the image data of the left pedicle and the image data of the right pedicle of the target vertebral segment respectively;

[0232] Planning the nail placement channel based on the target nail track coordinate system may specifically include:

[0233] The screw placement channel of the left pedicle is planned based on the target screw track coordinate system and the image data of the left pedicle, and the screw placement channel of the right pedicle is planned based on the target screw track coordinate system and the image data of the right pedicle.

[0234] The first image data may be image data of the spine, and specifically may be CT image data of the spine.

[0235] The third preset length can be a preset length that extends the center point of the pedicle isthmus along the positive direction of the Y-axis of the target nail track coordinate system, for example, it can be 5 mm. The third preset length can be set according to user needs and is not limited in the embodiment of the present application.

[0236] The first center point may be a point obtained by extending the center point of the pedicle isthmus along the positive direction of the Y axis of the target screw track coordinate system by a third preset length.

[0237] The fourth preset length can be a preset length that extends the center point of the pedicle isthmus along the negative direction of the Y-axis of the target nail track coordinate system, for example, it can be 5 mm. The fourth preset length can be set according to user needs and is not limited in the embodiment of the present application.

[0238] The second center point may be a point obtained by extending the center point of the pedicle isthmus along the negative direction of the Y axis of the target nail track coordinate system by a fourth preset length.

[0239] The first clipping plane can be a plane constructed based on the first center point and the Y axis of the target nail track coordinate system, that is, a plane is constructed according to the point normal method. The specific first clipping plane can be a plane passing through the first center point and with the Y axis of the target nail track coordinate system as the normal vector.

[0240] The second clipping plane can be a plane constructed based on the second center point and the Y axis of the target nail track coordinate system, that is, a plane is constructed according to the point normal method. The specific second clipping plane can be a plane passing through the second center point and with the Y axis of the target nail track coordinate system as the normal vector.

[0241] The second image data may be image data located between the first clipping plane and the second clipping plane selected from the first image data. Specifically, the second image data may be image data containing only the target vertebral segment.

[0242] The third clipping plane can be a clipping plane constructed based on the origin of the vertebral coordinate system and the X-axis of the vertebral coordinate system, that is, a plane is constructed according to the point method. Specifically, the third clipping plane can be a plane that includes the origin of the vertebral coordinate system and is constructed with the X-axis of the vertebral coordinate system as the normal vector.

[0243] In some embodiments of the present application, first, first image data of the spine is acquired, and then the center point of the pedicle isthmus is extended along the positive direction of the Y axis of the target nail track coordinate system by a third preset length to obtain a first center point, and the center point of the pedicle isthmus is extended along the negative direction of the Y axis of the target nail track coordinate system by a fourth preset length to obtain a second center point, a first clipping plane is constructed based on the first center point and the Y axis of the target nail track coordinate system, and a second clipping plane is constructed based on the second center point and the Y axis of the target nail track coordinate system, and then image data located between the first clipping plane and the second clipping plane is selected from the first image data as the second image data, and then the image data is clipped according to the vertebral disc. A third clipping plane is constructed using the origin of the segment coordinate system and the X-axis of the vertebral segment coordinate system, and then the second image data located on both sides of the third clipping plane are used as the image data of the left pedicle and the image data of the right pedicle of the target vertebral segment, respectively. That is, the second image data is separated into left and right sides using the third clipping plane, the second image data located on the left side is the image data of the left pedicle of the target vertebral segment, and the second image data located on the right side is the image data of the right pedicle of the target vertebral segment. Then, the nail placement channel of the left pedicle can be planned based on the image data of the left pedicle and the target nail track coordinate system, and the nail placement channel of the right pedicle can be planned based on the image data of the right pedicle and the target nail track coordinate system.

[0244] In an embodiment of the present application, by clipping the first image data of the spine using a clipping plane, image data of only the target vertebral segment can be obtained. In this way, subsequent calculations can be performed using the image data containing only the target vertebral segment, saving computing power and improving the calculation efficiency of reference parameters.

[0245] In some embodiments of the present application, during spinal screw placement, the surgeon's primary concern is the distance between the screw track and the inner and outer boundaries of the pedicle isthmus as the screw passes through it. The surgeon will attempt to select a track with the greatest margin of distance from the inner and outer walls of the pedicle isthmus as the screw track. Therefore, for any target pedicle, either the left or right pedicle, in order to accurately plan the screw track for the target pedicle and avoid the distance between the screw and the inner and outer walls of the pedicle isthmus exceeding the safety margin during spinal screw placement, thereby preventing spinal cord damage, the planning of the target pedicle's screw track based on the target screw track coordinate system and the image data of the target pedicle may specifically include:

[0246] Extending the center point of the pedicle isthmus along the Y-axis of the target screw track coordinate system in the direction of the target pedicle by a fifth preset length to obtain a collection point set;

[0247] Selecting collection points with a preset step size from the collection point set to obtain a center point set;

[0248] Traversing each acquisition point in the central point set, constructing a first connecting line between the acquisition point and the image data of the target pedicle passing through the X-axis of the target screw track coordinate system;

[0249] For any target section in the transverse and sagittal planes of the target pedicle, for each first connecting line, the first connecting line is projected onto the target section, and the intersection points of the first connecting line in the target section with the inner and outer sides of the target pedicle are obtained, thereby obtaining the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus corresponding to the target section;

[0250] Selecting a target lateral point and a target medial point from the pedicle isthmus lateral point set and the pedicle isthmus medial point set corresponding to the target section respectively;

[0251] The channel enclosed by the target lateral point and the target medial point corresponding to the cross section of the target pedicle, and the target lateral point and the target medial point corresponding to the sagittal plane is used as the screw placement channel of the target pedicle.

[0252] Among them, the fifth preset length can be the length of the pre-set center point of the pedicle isthmus extending along the Y-axis of the target nail track coordinate system toward the target pedicle, for example, it can be 3 mm. The fifth preset length can be set according to user needs and is not limited in the embodiment of this application.

[0253] The collection point set may be a set of collection points within a length obtained by extending the center point of the pedicle isthmus along the Y-axis of the target screw track coordinate system toward the target pedicle by a fifth preset length.

[0254] The preset step size may be a pre-set acquisition step size, such as 0.5 mm.

[0255] The center point set may be a set of collection points selected with a preset step size from the collection point set.

[0256] For each acquisition point in the central point set, the first connecting line may be a line connecting the acquisition point after it passes through the X-axis of the target screw track coordinate system and the image data of the target pedicle. Since the image data of the target pedicle can be a data point used to characterize the target pedicle, similar to a point cloud, the image data of the target pedicle here is a plurality of point cloud data used to characterize the target pedicle. The first connecting line here may be a line connecting the acquisition point after it passes through the X-axis of the target screw track coordinate system and each point cloud data representing the target pedicle, so there are multiple first connecting lines here.

[0257] The lateral point set of the pedicle isthmus can be the set of intersection points between each first connecting line and the lateral side of the target pedicle in the target cross-section when each first connecting line is projected onto the target cross-section. For each first connecting line, if it intersects the lateral side of the target pedicle in the target cross-section after being projected onto the target cross-section, then this intersection point is an element in the lateral point set of the pedicle isthmus. The set of intersection points obtained from each first connecting line constitutes the lateral point set of the pedicle isthmus.

[0258] The medial pedicle isthmus point set can be the set of intersection points between each first connecting line and the medial side of the target pedicle in the target cross-section when each first connecting line is projected onto the target cross-section. For each first connecting line, if it intersects the medial side of the target pedicle in the target cross-section after being projected onto the target cross-section, then this intersection point is an element in the medial pedicle isthmus point set. The set of intersection points obtained from each first connecting line constitutes the medial pedicle isthmus point set.

[0259] The target outer point may be a point selected from a set of outer points of the pedicle isthmus corresponding to the target cross section.

[0260] The target medial point may be a point selected from a set of medial points of the pedicle isthmus corresponding to the target cross section.

[0261] In some embodiments of the present application, for any target pedicle of the left or right pedicles, the center point of the isthmus of the pedicle can be extended along the Y-axis of the target nail track coordinate system toward the target pedicle by a fifth preset length to obtain a set of acquisition points, and then acquisition points are selected from the set of acquisition points with a preset step size to obtain a center point set. Each acquisition point in the center point set is traversed to construct a first connecting line between the acquisition point passing through the X-axis of the target nail track coordinate system and the image data of the target pedicle.

[0262] Then, for any target section in the transverse section and sagittal plane of the target pedicle, for each first connecting line, the first connecting line is projected into the target section, and the intersection points of the first connecting line in the target section with the inner and outer sides of the target pedicle are obtained, and the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus corresponding to the target section are obtained, that is, the left pedicle corresponds to the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus in the transverse section, as well as the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus in the sagittal plane, and the right pedicle also corresponds to the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus in the transverse section, as well as the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus in the sagittal plane.

[0263] Then, the target lateral point and target medial point are selected from the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus corresponding to the target cross-section of each pedicle, that is, the cross-section of the left pedicle corresponds to one target lateral point and one target medial point, the sagittal plane of the left pedicle corresponds to one target lateral point and one target medial point, the cross-section of the right pedicle corresponds to one target lateral point and one target medial point, and the sagittal plane of the right pedicle corresponds to one target lateral point and one target medial point. Then, the target lateral point and target medial point corresponding to the cross-section of the left pedicle, as well as the target lateral point and target medial point corresponding to the sagittal plane are selected. The channel surrounded by the target medial point is used as the screw placement channel for the left pedicle, and the channel surrounded by the target lateral point and target medial point corresponding to the cross-section of the right pedicle, as well as the target lateral point and target medial point corresponding to the sagittal plane, is used as the screw placement channel for the right pedicle. That is, when the screw is implanted in the left pedicle, it must not exceed the target lateral point and target medial point corresponding to the cross-section of the left pedicle, as well as the target lateral point and target medial point corresponding to the sagittal plane. When the screw is implanted in the right pedicle, it must not exceed the target lateral point and target medial point corresponding to the cross-section of the right pedicle, as well as the target lateral point and target medial point corresponding to the sagittal plane.

[0264] In some embodiments of the present application, when selecting a target lateral point and a target medial point from the pedicle isthmus lateral point set and the pedicle isthmus medial point set corresponding to the target cross-section corresponding to the target pedicle, the selection can be performed in the following manner. The following description is made using the selection of the target lateral point and the target medial point from the pedicle isthmus lateral point set and the pedicle isthmus medial point set corresponding to the cross-section of the left pedicle as an example:

[0265] With the Z axis of the target nail track coordinate system as the normal vector and the needle entry point as the origin, construct a plane xoy, project the center point of the pedicle isthmus onto the plane, and then project the points on the projection plane onto the Y axis of the target nail track coordinate system. Obtain the point p projected onto the Y axis of the target nail track coordinate system, traverse the lateral point set of the pedicle isthmus corresponding to the cross section of the left pedicle, and find the point closest to point p, which is the target lateral point. Similarly, traverse the medial point set of the pedicle isthmus corresponding to the cross section of the left pedicle, and find the point closest to point p, which is the target medial point.

[0266] It should be noted that the X-axis, Y-axis, and Z-axis of the coordinate system of the above-mentioned needle entry point are consistent with the X-axis, Y-axis, and Z-axis of the target nail track coordinate system, except that the origin of the target nail track coordinate system is the center point of the isthmus of the pedicle, which is located inside the pedicle, and the needle entry point is located outside the bone, that is, the origin of the needle entry point coordinate system is the point extending from the origin of the target nail track coordinate system along the Y-axis to the bone surface.

[0267] When selecting the target lateral point and target medial point from the pedicle isthmus lateral point set and the pedicle isthmus medial point set corresponding to the sagittal plane of the left pedicle, construct plane yoz with the X-axis of the target nail track coordinate system as the normal vector and the needle entry point as the origin. The following steps are the same as those for selecting the target lateral point and target medial point from the pedicle isthmus lateral point set and the pedicle isthmus medial point set corresponding to the cross-section of the left pedicle.

[0268] Correspondingly, the target lateral point and target medial point are selected from the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus corresponding to the cross-section of the right pedicle, with reference to the scheme of selecting the target lateral point and target medial point from the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus corresponding to the cross-section of the left pedicle. The target lateral point and target medial point are selected from the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus corresponding to the sagittal plane of the right pedicle, with reference to the scheme of selecting the target lateral point and target medial point from the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus corresponding to the sagittal plane of the left pedicle. No further details are given here.

[0269] Refer to Figures 6(a) and 6(b), where Figure 6(a) is a schematic cross-sectional view of the pedicle, and Figure 6(b) is a schematic sagittal view of the pedicle. In Figures 6(a) and 6(b), the direction indicated by arrow 61 is the screw track direction of the screw implantation, that is, the Y-axis direction of the target screw track coordinate system. Point 62 in Figure 6(a) is the target medial point corresponding to the cross-section, point 63 in Figure 6(a) is the target lateral point corresponding to the cross-section, point 64 in Figure 6(b) is the target medial point corresponding to the sagittal plane, and point 65 in Figure 6(b) is the target lateral point corresponding to the sagittal plane.

[0270] In the embodiment of the present application, by calculating the position points of the isthmus of the pedicle (i.e., the target medial point and the target lateral point), the safe distance between the inner and outer walls during subsequent screw implantation can be accurately determined, thereby ensuring the safety of the spine.

[0271] In some embodiments of the present application, the above-mentioned reference parameters may include: a first offset of the working tool and the planned nail placement channel in the cross-section, and a second offset of the working tool and the planned nail placement channel in the sagittal plane; the first offset here can be the offset of the working tool and the planned nail placement channel in the cross-section, and the second offset can be the offset of the working tool and the planned nail placement channel in the sagittal plane.

[0272] Determining reference parameters for pedicle fixation based on the target screw track coordinate system may specifically include:

[0273] Projecting the tip of the working tool onto the X-axis of the target nail track coordinate system, and determining a first distance from the projection point to the needle entry point as a first offset;

[0274] The tip of the working tool is projected onto the Z axis of the target nail track coordinate system, and a second distance from the projection point to the needle entry point is determined as a second offset.

[0275] The first distance is the distance from the tip projection point to the needle insertion point after the tip of the working tool is projected onto the X-axis of the target nail track coordinate system.

[0276] The second distance is the distance from the tip projection point to the needle insertion point when the tip of the working tool is projected onto the Z axis of the target nail track coordinate system.

[0277] In some embodiments of the present application, the tip of the working tool can be projected onto the X-axis of the target nail channel coordinate system, and then the first distance from the projection point to the needle entry point is determined as the offset between the working tool and the planned nail placement channel in the cross section.

[0278] It should be noted that when the X-axis component of the first distance is greater than 0, the left nail track offset is offset toward the outside of the target object, and the right nail track offset is offset toward the inside of the target object. When the X-axis component of the first distance is less than 0, the left nail track offset is offset toward the inside of the target object, and the right nail track offset is offset toward the outside of the target object.

[0279] In some embodiments of the present application, the tip of the working tool may be projected onto the Z axis of the target nail track coordinate system, and a second distance from the projected point to the needle entry point may be determined as the second offset.

[0280] It should be noted that when the Z-axis component of the second distance is greater than 0, the nail track offset is offset toward the head of the target object; when the Z-axis component of the second distance is less than 0, the nail track offset is offset toward the feet of the target object.

[0281] In an embodiment of the present application, the tip of the working tool is projected onto the X-axis of the target nail track coordinate system, and the first distance from the projection point to the needle entry point is determined as the first offset. The tip of the working tool is projected onto the Z-axis of the target nail track coordinate system, and the second distance from the projection point to the needle entry point is determined as the second offset. In this way, the first offset and the second offset can be accurately determined.

[0282] In some embodiments of the present application, the above-mentioned reference parameters may further include: a first inclination angle of the working tool and the planned nail placement channel in the cross section, where the first inclination angle may be the inclination angle of the working tool and the planned nail placement channel in the cross section.

[0283] Determining reference parameters for pedicle fixation based on the target screw track coordinate system may specifically include:

[0284] Obtaining a first projection point of the tip of the working tool on the XOY plane of the target nail track coordinate system, and a second projection point of the top end of the working tool on the XOY plane of the target nail track coordinate system;

[0285] Calculating a first vector of the working tool on the XOY plane of the target nail track coordinate system based on the position information of the first projection point and the position information of the second projection point;

[0286] The angle between the Y axis of the target track coordinate system and the first vector is determined as a first inclination angle.

[0287] The first projection point may be a projection point of the tip of the working tool on the XOY plane of the target nail track coordinate system.

[0288] The second projection point may be a projection point of the tip of the working tool on the XOY plane of the target track coordinate system.

[0289] The first vector can be a vector of the working tool on the XOY plane of the target nail track coordinate system calculated based on the position information of the first projection point and the position information of the second projection point. Specifically, the position information of the first projection point and the position information of the second projection point can be connected, the distance between the two can be determined as the value of the first vector, and the direction in which the tip of the working tool points to the top can be determined as the direction of the first vector.

[0290] In some embodiments of the present application, a first projection point pro_tool_tip_z of the tip of the working tool on the XOY plane of the target nail track coordinate system and a second projection point pro_tool_head_z of the top of the working tool on the XOY plane of the target nail track coordinate system are obtained, and then based on the position information of the first projection point and the position information of the second projection point, the first vector vTool_z = pro_tool_head_z - pro_tool_tip_z of the working tool on the XOY plane of the target nail track coordinate system can be calculated, and then the angle between the Y axis of the target nail track coordinate system and the first vector is determined as the first inclination angle.

[0291] It should be noted that when the angle between the X-axis of the target screw track coordinate system and the first vector is less than 90°, the inclination angle of the screw placed in the left pedicle is the first inclination angle, that is, when the left screw is selected, the first inclination angle is the inclination angle. When the angle between the X-axis of the target screw track coordinate system and the first vector is greater than 90°, the outclination angle of the screw placed in the left pedicle is the first inclination angle, that is, when the left screw is selected, the first inclination angle is the outclination angle.

[0292] In an embodiment of the present application, by obtaining the first projection point of the tip of the working tool on the XOY plane of the target nail track coordinate system and the second projection point of the top of the working tool on the XOY plane of the target nail track coordinate system, and then calculating the first vector of the working tool on the XOY plane of the target nail track coordinate system based on the position information of the first projection point and the position information of the second projection point, the angle between the Y axis of the target nail track coordinate system and the first vector is determined as the first inclination angle, so that the first inclination angle can be accurately determined.

[0293] In some embodiments of the present application, the above-mentioned reference parameters may further include: a second inclination angle of the working tool and the planned nail placement channel in the sagittal plane, where the second inclination angle may be the inclination angle of the working tool and the planned nail placement channel in the sagittal plane.

[0294] Determining reference parameters for pedicle fixation based on the target screw track coordinate system may specifically include:

[0295] Obtaining a third projection point of the tip of the working tool on the YOZ plane of the target nail track coordinate system, and a fourth projection point of the top of the working tool on the YOZ plane of the target nail track coordinate system;

[0296] Calculating a projection axis vector of the working tool based on the position information of the third projection point and the position information of the fourth projection point;

[0297] The angle between the Y axis of the target track coordinate system and the projection axis vector of the working tool is determined as the second inclination angle.

[0298] The third projection point may be a projection point of the tip of the working tool on the YOZ plane of the target track coordinate system.

[0299] The fourth projection point may be a projection point of the tip of the working tool on the YOZ plane of the target track coordinate system.

[0300] The projection axis vector of the working tool can be the axis vector of the working tool calculated based on the position information of the third projection point and the position information of the fourth projection point. Specifically, the position information of the third projection point and the position information of the fourth projection point can be connected, the distance between the two can be determined as the value of the projection axis vector of the working tool, and the direction of the third projection point pointing to the fourth projection point can be determined as the direction of the projection axis vector of the working tool.

[0301] In some embodiments of the present application, a third projection point pro_tool_tip_x of the tip of the working tool on the YOZ plane of the target nail track coordinate system and a fourth projection point pro_tool_head_x of the top of the working tool on the YOZ plane of the target nail track coordinate system are obtained. Based on the position information of the third projection point and the position information of the fourth projection point, the projection axis vector vTool_x = pro_tool_head_x - pro_tool_tip_x of the working tool is calculated, and the angle between the Y axis of the target nail track coordinate system and the projection axis vector of the working tool is determined as the second inclination angle.

[0302] It should be noted that when the angle between the Z-axis vector of the pre-constructed nail track and the projection axis vector of the working tool is less than 90°, the second inclination angle is the head inclination angle; when the angle between the Z-axis vector of the pre-constructed nail track and the projection axis vector of the working tool is greater than 90°, the second inclination angle is the foot inclination angle.

[0303] The Z-axis vector of the above-mentioned pre-constructed nail channel can be determined based on the extension point of the needle entry point in the positive direction of the Z axis of the target nail channel coordinate system and the needle entry point. Specifically, it can be the Z-axis vector of the pre-constructed nail channel axisz=plan_head_z-plan_tip, where plan_head_z is the extension point of the needle entry point in the positive direction of the Z axis of the target nail channel coordinate system. The specific extension amount of the needle entry point in the positive direction of the Z axis of the target nail channel coordinate system can be set according to user needs and is not limited in the embodiment of the present application. Plan_tip is the needle entry point.

[0304] In an embodiment of the present application, by obtaining the third projection point of the tip of the working tool on the YOZ plane of the target nail track coordinate system, and the fourth projection point of the top of the working tool on the YOZ plane of the target nail track coordinate system, and then calculating the projection axis vector of the working tool based on the position information of the third projection point and the position information of the fourth projection point, the angle between the Y axis of the target nail track coordinate system and the projection axis vector of the working tool is determined as the second inclination angle, so that the second inclination angle can be accurately determined.

[0305] In some embodiments of the present application, the aforementioned reference parameters may further include: depth information of the working tool;

[0306] Determining reference parameters for pedicle fixation based on the target screw track coordinate system may specifically include:

[0307] Obtaining a fifth projection point of the tip of the working tool on the Y axis of the target nail track coordinate system;

[0308] Depth information is obtained based on the distance from the fifth projection point to the needle entry point;

[0309] Construct the preset construction point according to the Y axis of the needle entry point and the target nail track coordinate system;

[0310] Calculating a third distance from the fifth projection point to the preset construction point, and a fourth distance from the needle entry point to the preset construction point;

[0311] When the difference between the third distance and the fourth distance is greater than 0, determining the direction of the depth information of the working tool as the first direction;

[0312] When the difference between the third distance and the fourth distance is less than 0, the direction of the depth information of the working tool is determined to be the second direction.

[0313] The fifth projection point may be a projection point of the tip of the working tool on the Y-axis of the target track coordinate system.

[0314] The preset construction point can be a point constructed based on the needle entry point and the Y axis of the target nail track coordinate system. Specifically, it can be an extension point of the needle entry point in the positive direction of the Y axis of the target nail track coordinate system. For example, the preset construction point end_p = needle entry point - Y*1000, where 1000 means that the needle entry point extends 1000 mm in the positive direction of the Y axis of the target nail track coordinate system. The 1000 here can also be other values, which are not limited here.

[0315] The third distance may be the distance between the fifth projection point and the preset construction point.

[0316] The fourth distance may be the distance from the needle entry point to the preset construction point.

[0317] The first direction may be a direction from the outside to the inside of the target vertebral segment, and the second direction may be a direction from the inside to the outside of the target vertebral segment.

[0318] In some embodiments of the present application, the fifth projection point prop_tip of the tip of the working tool on the Y-axis of the target nail track coordinate system is obtained, and then the depth information deep = (prop_tip-plan_tip) is obtained based on the distance from the fifth projection point to the needle entry point, where plan_tip is the needle entry point. According to the needle entry point and the Y-axis of the target nail track coordinate system, a preset construction point is constructed, and the third distance from the fifth projection point to the preset construction point and the fourth distance from the needle entry point to the preset construction point are calculated. When the difference between the third distance and the fourth distance is greater than 0, the direction of the depth information of the working tool is determined to be the first direction, that is, the depth information of the working tool is a negative value. When the difference between the third distance and the fourth distance is less than 0, the direction of the depth information of the working tool is determined to be the second direction, that is, the depth information of the working tool is a positive value.

[0319] In an embodiment of the present application, by obtaining the fifth projection point of the tip of the working tool on the Y-axis of the target nail track coordinate system, the depth information is obtained according to the distance from the fifth projection point to the needle entry point, so that the depth information of the working tool can be accurately determined. In addition, according to the needle entry point and the Y-axis of the target nail track coordinate system, a preset construction point is constructed, and the third distance from the fifth projection point to the preset construction point and the fourth distance from the needle entry point to the preset construction point are calculated. When the difference between the third distance and the fourth distance is greater than 0, the direction of the depth information of the working tool is determined to be the first direction. When the difference between the third distance and the fourth distance is less than 0, the direction of the depth information of the working tool is determined to be the second direction. In this way, the positive and negative values ​​of the depth information of the working tool can be accurately determined, which facilitates the viewing of the direction of the depth information of the working tool.

[0320] Step 150: Display the pin placement channel and reference parameters.

[0321] In some embodiments of the present application, after obtaining the nail placement channel and reference parameters, the nail placement channel and reference parameters can be displayed, so that the doctor can observe the nail placement channel and reference parameters intuitively in real time, so as to plan and adjust the nail placement channel and reference parameters in real time.

[0322] It should be noted that the data processing method provided in the embodiment of the present application can be executed by a data processing device, or a control module in the data processing device for executing the data processing method.

[0323] Based on the same inventive concept as the above-mentioned data processing method, the present application also provides a data processing device. Figure 7 The data processing device provided in the embodiments of the present application is described in detail.

[0324] Figure 7 The figure is a schematic structural diagram of a data processing device according to an exemplary embodiment.

[0325] like Figure 7 As shown, the data processing device 700 may include:

[0326] A first acquisition module 710 is configured to acquire first posture information of the working tool and second posture information of the spinous process positioning frame in the intraoperative navigator coordinate system;

[0327] a first calculation module 720 configured to calculate, based on the first posture information and the second posture information, and a conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system, first position information of the tip of the working tool during surgery in the CT coordinate system and second position information of the tip of the working tool in the CT coordinate system;

[0328] A first construction module 730 is configured to establish a target track coordinate system based on the first position information and the second position information;

[0329] A first determination module 740 is configured to plan a screw placement channel and determine reference parameters for pedicle fixation based on the target screw channel coordinate system;

[0330] The first display module 750 is used to display the nail placement channel and the reference parameters.

[0331] In an embodiment of the present application, the first position information of the tip of the working tool in the CT coordinate system and the second position information of the spinous process positioning frame in the intraoperative navigator coordinate system, as well as the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system, are respectively calculated. According to the first position information and the second position information, a target nail track coordinate system is established. Based on the target nail track coordinate system, the nail placement channel is planned and the reference parameters of the pedicle fixation are determined, and the nail placement channel and the reference parameters are displayed. In this way, the screws can be placed along the planned nail placement channel based on the target nail track coordinate system and the reference parameters to complete the pedicle fixation. The solution of the embodiment of the present application can re-plan the target nail track coordinate system in real time based on the actual situation during the operation, and then plan the nail placement channel and determine the reference parameters in real time according to the actual situation during the operation to guide the pedicle fixation, thereby improving the accuracy of the completion of the pedicle fixation.

[0332] In some embodiments of the present application, the first building module 730 may be specifically used to:

[0333] Calculating an axial direction vector of the working tool according to the first position information and the second position information, and using the axial direction vector of the working tool as a Y-axis direction vector of the target track coordinate system;

[0334] Obtaining the Z-axis direction vector of the target nail track coordinate system according to the X-axis direction vector of the pre-planned nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system;

[0335] The X-axis direction vector of the target nail track coordinate system is obtained by using the Z-axis direction vector of the target nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system. The origin of the target nail track coordinate system is the center point of the pedicle isthmus.

[0336] In some embodiments of the present application, the first calculation module 720 may be specifically configured to:

[0337] obtaining position information of the tip of the working tool according to the first posture information;

[0338] Extending the position information of the tip of the working tool by a first preset length along the axial direction of the working tool to obtain the position information of the top end of the working tool;

[0339] converting the position information of the tip of the working tool into a spinous process positioning frame coordinate system based on the position information of the tip of the working tool and the second posture information to obtain third position information of the tip of the working tool in the spinous process positioning frame coordinate system; and converting the position information of the tip of the working tool into a spinous process positioning frame coordinate system based on the position information of the tip of the working tool and the second posture information to obtain fourth position information of the tip of the working tool in the spinous process positioning frame coordinate system;

[0340] Based on the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system, the third position information and the fourth position information are respectively converted into the CT coordinate system to obtain the first position information and the second position information respectively.

[0341] In some embodiments of the present application, the above-mentioned apparatus may further include:

[0342] a second acquisition module, configured to respectively acquire a first pose quaternion set of the working tool and a first position information set of the tip of the working tool in the navigator coordinate system within a preset period of time during the operation, and a second pose quaternion set of the spinous process positioning frame and a second position information set of the tip of the spinous process positioning frame in the navigator coordinate system within the preset period of time during the operation, before executing the acquisition of the first pose information of the working tool and the second pose information of the spinous process positioning frame in the navigator coordinate system during the operation;

[0343] a second calculation module, configured to calculate a first average pose quaternion and first average position information of the working tool within the preset time period based on the first pose quaternion set and the first position information set, respectively;

[0344] a third calculation module, configured to calculate a second average posture quaternion and a second average position information of the spinous process positioning frame within the preset time period based on the second posture quaternion set and the second position information set;

[0345] The second determination module is configured to obtain the first pose information based on the first average pose quaternion and the first average position information, and to obtain the second pose information based on the second average pose quaternion and the second average position information.

[0346] In some embodiments of the present application, the above-mentioned apparatus may further include:

[0347] a second construction module, configured to construct an initial nail track coordinate system before obtaining the Z-axis direction vector of the target nail track coordinate system based on the X-axis direction vector of the pre-planned nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system, wherein the origin of the initial nail track coordinate system is the center point of the pedicle isthmus, the Y-axis of the initial nail track coordinate system corresponds to the anterior-posterior direction of the target object, the X-axis of the initial nail track coordinate system is the X-axis of the vertebral coordinate system, and the Z-axis of the initial nail track coordinate system is perpendicular to both the X-axis and the Y-axis of the initial nail track coordinate system;

[0348] a first correction module, configured to correct the X-axis of the initial nail track coordinate system by using a direction vector that is perpendicular to both the Z-axis and the Y-axis of the initial nail track coordinate system to obtain a corrected X-axis;

[0349] a third determining module, configured to extend the origin of the initial nail track coordinate system by a second preset length along the Y-axis direction of the initial nail track coordinate system to obtain a corrected origin;

[0350] The fourth determining module is configured to obtain a pre-operatively planned nail track coordinate system based on the corrected X-axis, the Y-axis of the initial nail track coordinate system, the Z-axis of the initial nail track coordinate system, and the corrected origin.

[0351] In some embodiments of the present application, the above-mentioned apparatus may further include:

[0352] a fifth determining module, configured to use the center of mass of the target vertebral segment as the origin of the vertebral segment coordinate system before constructing the initial nail track coordinate system;

[0353] a sixth determination module, configured to take a mid-plane between the upper and lower lamina of the target vertebral segment, and use a direction vector parallel to the mid-plane as the Y-axis of the vertebral segment coordinate system, wherein the positive direction of the Y-axis of the vertebral segment coordinate system is toward the rear of the target subject;

[0354] a seventh determination module, configured to take the up-down direction of the target object as the Z axis of the vertebral coordinate system, wherein the positive direction of the Z axis of the vertebral coordinate system points from the bottom of the target object to the top;

[0355] An eighth determining module is configured to use a direction vector that is perpendicular to both the Y axis of the vertebral coordinate system and the Z axis of the vertebral coordinate system as the X axis of the vertebral coordinate system.

[0356] In some embodiments of the present application, the above-mentioned apparatus may further include:

[0357] A third acquisition module is configured to acquire first image data of the spine before planning the nail placement channel based on the target nail channel coordinate system;

[0358] a ninth determining module, configured to extend the center point of the pedicle isthmus along the positive direction of the Y axis of the target nail track coordinate system by a third preset length to obtain a first center point, and to extend the center point of the pedicle isthmus along the negative direction of the Y axis of the target nail track coordinate system by a fourth preset length to obtain a second center point;

[0359] a third construction module, configured to construct a first clipping plane based on the first center point and the Y axis of the target nail track coordinate system, and to construct a second clipping plane based on the second center point and the Y axis of the target nail track coordinate system;

[0360] a tenth determining module, configured to select image data located between the first clipping plane and the second clipping plane from the first image data as second image data;

[0361] a fourth construction module, configured to construct a third clipping plane according to the origin of the vertebral coordinate system and the X-axis of the vertebral coordinate system;

[0362] an eleventh determining module, configured to use the second image data located on both sides of the third clipping plane as image data of a left pedicle and image data of a right pedicle of the target vertebral segment respectively;

[0363] The first determining module 740 may specifically include:

[0364] The first planning unit is configured to plan the screw placement channel of the left pedicle based on the target screw track coordinate system and the image data of the left pedicle, and to plan the screw placement channel of the right pedicle based on the target screw track coordinate system and the image data of the right pedicle.

[0365] In some embodiments of the present application, for any target pedicle of the left pedicle or the right pedicle, planning a screw placement channel for the target pedicle based on the target screw channel coordinate system and image data of the target pedicle may specifically include:

[0366] Extending the center point of the pedicle isthmus along the Y-axis of the target nail track coordinate system in the direction of the target pedicle by a fifth preset length to obtain a collection point set;

[0367] Selecting collection points in the collection point set with a preset step size to obtain a center point set;

[0368] Traversing each acquisition point in the central point set, constructing a first connecting line between the acquisition point and the image data of the target pedicle passing through the X-axis of the target nail track coordinate system;

[0369] For any target section in the transverse and sagittal planes of the target pedicle, for each first connecting line, project the first connecting line onto the target section, obtain the intersection points of the first connecting line with the inner and outer sides of the target pedicle in the target section, and obtain the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus corresponding to the target section;

[0370] Selecting a target lateral point and a target medial point from the pedicle isthmus lateral point set and the pedicle isthmus medial point set corresponding to the target cross section respectively;

[0371] The channel enclosed by the target lateral point and the target medial point corresponding to the cross section of the target pedicle, and the target lateral point and the target medial point corresponding to the sagittal plane is used as the screw placement channel of the target pedicle.

[0372] In some embodiments of the present application, the reference parameters include: a first offset between the working tool and the planned nail placement channel in the transverse plane, and a second offset between the working tool and the planned nail placement channel in the sagittal plane;

[0373] The first determining module 740 may specifically include:

[0374] The first processing unit is configured to project the tip of the working tool onto the X-axis of the target nail track coordinate system, and determine a first distance from the projection point to the needle entry point as the first offset, wherein, when the X-axis component of the first distance is greater than 0, the left nail track offset is offset toward the outside of the target object, and the right nail track offset is offset toward the inside of the target object; when the X-axis component of the first distance is less than 0, the left nail track offset is offset toward the inside of the target object, and the right nail track offset is offset toward the outside of the target object; and project the tip of the working tool onto the Z-axis of the target nail track coordinate system, and determine a second distance from the projection point to the needle entry point as the second offset, wherein, when the Z-axis component of the second distance is greater than 0, the nail track offset is offset toward the head of the target object, and when the Z-axis component of the second distance is less than 0, the nail track offset is offset toward the foot of the target object.

[0375] In some embodiments of the present application, the reference parameters include: a first inclination angle of the working tool and the planned nail placement channel in the cross section;

[0376] The first determining module 740 may specifically include:

[0377] The second processing unit is used to obtain a first projection point of the tip of the working tool on the XOY plane of the target nail track coordinate system, and a second projection point of the top of the working tool on the XOY plane of the target nail track coordinate system; calculate a first vector of the working tool on the XOY plane of the target nail track coordinate system based on the position information of the first projection point and the position information of the second projection point; determine the angle between the Y axis of the target nail track coordinate system and the first vector as a first inclination angle, wherein, when the angle between the X axis of the target nail track coordinate system and the first vector is less than 90°, the inclination angle of the screw placed in the left pedicle is the first inclination angle, and when the angle between the X axis of the target nail track coordinate system and the first vector is greater than 90°, the outward inclination angle of the screw placed in the left pedicle is the first inclination angle.

[0378] In some embodiments of the present application, the reference parameters include: a second inclination angle of the working tool and the planned nail placement channel in the sagittal plane;

[0379] The first determining module 740 may specifically include:

[0380] The third processing unit is used to obtain a third projection point of the tip of the working tool on the YOZ plane of the target nail track coordinate system, and a fourth projection point of the top of the working tool on the YOZ plane of the target nail track coordinate system; calculate the projection axis vector of the working tool according to the position information of the third projection point and the position information of the fourth projection point; determine the angle between the Y axis of the target nail track coordinate system and the projection axis vector of the working tool as a second inclination angle, wherein, when the angle between the Z axis vector of the pre-constructed nail track and the projection axis vector of the working tool is less than 90°, the second inclination angle is the head inclination angle, and when the angle between the Z axis vector of the pre-constructed nail track and the projection axis vector of the working tool is greater than 90°, the second inclination angle is the foot inclination angle, and the Z axis vector of the pre-constructed nail track is determined based on the extension point of the needle entry point in the positive direction of the Z axis of the target nail track coordinate system and the needle entry point.

[0381] In some embodiments of the present application, the reference parameters include: depth information of the working tool;

[0382] The first determining module 740 may specifically include:

[0383] The fourth processing unit is used to obtain the fifth projection point of the tip of the working tool on the Y-axis of the target nail track coordinate system; obtain the depth information according to the distance from the fifth projection point to the needle entry point; construct a preset construction point according to the needle entry point and the Y-axis of the target nail track coordinate system; calculate the third distance from the fifth projection point to the preset construction point, and the fourth distance from the needle entry point to the preset construction point; when the difference between the third distance and the fourth distance is greater than 0, determine the direction of the depth information of the working tool to be the first direction; when the difference between the third distance and the fourth distance is less than 0, determine the direction of the depth information of the working tool to be the second direction, wherein the first direction is the direction from the outside to the inside of the target vertebral segment, and the second direction is the direction from the inside to the outside of the target vertebral segment.

[0384] The data processing device provided in the embodiment of the present application can be used to execute the data processing methods provided in the above-mentioned method embodiments. Its implementation principles and technical effects are similar, and for the sake of simplicity, they will not be repeated here.

[0385] Based on the same inventive concept, an embodiment of the present application also provides an electronic device.

[0386] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 8 As shown, the electronic device may include a processor 801 and a memory 802 storing computer programs or instructions.

[0387] Specifically, the processor 801 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0388] The memory 802 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 802 may include removable or non-removable (or fixed) media. Where appropriate, the memory 802 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 802 is a non-volatile solid-state memory. The memory may include a read-only memory (ROM), a random-access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in the data processing methods provided in the above-mentioned embodiments.

[0389] The processor 801 implements any one of the data processing methods in the above embodiments by reading and executing computer program instructions stored in the memory 802 .

[0390] In one example, the electronic device may further include a communication interface 803 and a bus 810. Figure 8 As shown, the processor 801, the memory 802, and the communication interface 803 are connected via a bus 810 and communicate with each other.

[0391] The communication interface 803 is mainly used to implement communication between various modules, devices, units and / or devices in the embodiment of the present invention.

[0392] Bus 810 comprises hardware, software or both, couples the parts of electronic equipment to each other.For example, and not limitation, bus can comprise accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations.In suitable cases, bus 810 can comprise one or more buses.Although the embodiment of the present invention describes and shows specific bus, the present invention considers any suitable bus or interconnection.

[0393] The electronic device can execute the data processing method in the embodiment of the present invention, thereby achieving Figure 1 Describe the data processing methods.

[0394] In addition, in combination with the data processing method in the above embodiments, the present invention can provide a readable storage medium for implementation. The readable storage medium stores program instructions, which, when executed by a processor, implement any one of the data processing methods in the above embodiments.

[0395] In addition, in combination with the data processing method in the above embodiments, an embodiment of the present invention may provide a computer program product. When the instructions in the computer program product are executed by the processor of an electronic device, the electronic device executes any one of the data processing methods in the above embodiments.

[0396] It should be understood that the present invention is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted. In the above embodiments, several specific steps are described and illustrated as examples. However, the method of the present invention is not limited to the specific steps described and illustrated. Those skilled in the art may make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present invention.

[0397] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in unit, a function card or the like. When implemented in software, the elements of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0398] It should also be noted that the exemplary embodiments described herein describe methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the steps described above. In other words, the steps may be performed in the order described in the embodiments, or in a different order, or several steps may be performed simultaneously.

[0399] Aspects of the present application have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed via the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. This processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or the flowchart and the combination of the boxes in the block diagram and / or the flowchart can also be implemented by the dedicated hardware that performs the specified function or action, or can be implemented by the combination of dedicated hardware and computer instructions.

[0400] The above description is only a specific embodiment of the present invention. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention.

Claims

1. A data processing device, characterized in that: The apparatus is configured to perform the following method: Obtaining the first posture information of the working tool and the second posture information of the spinous process positioning frame in the intraoperative navigator coordinate system; Calculating first position information of the tip of the intraoperative working tool in the CT coordinate system and second position information of the tip of the working tool in the CT coordinate system according to the first posture information and the second posture information, as well as a conversion relationship between the spinous process positioning frame coordinate system and the electronic computed tomography (CT) coordinate system; Establishing a target track coordinate system based on the first position information and the second position information; Based on the target screw track coordinate system, planning the screw placement channel and determining reference parameters for pedicle fixation; Displaying the nail placement channel and the reference parameters; The establishing the target track coordinate system according to the first position information and the second position information includes: Calculating an axial direction vector of the working tool according to the first position information and the second position information, and using the axial direction vector of the working tool as a Y-axis direction vector of the target track coordinate system; Obtaining the Z-axis direction vector of the target nail track coordinate system according to the X-axis direction vector of the nail track coordinate system pre-planned before the operation and the Y-axis direction vector of the target nail track coordinate system; The X-axis direction vector of the target nail track coordinate system is obtained by using the Z-axis direction vector of the target nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system. The origin of the target nail track coordinate system is the center point of the pedicle isthmus.

2. The device according to claim 1, characterized in that Based on the first posture information and the second posture information, and the conversion relationship between the spinous process positioning frame coordinate system and the electronic computed tomography (CT) coordinate system, first position information of the tip of the intraoperative working tool in the electronic computed tomography (CT) coordinate system and second position information of the tip of the working tool in the CT coordinate system are calculated, respectively, including: obtaining position information of the tip of the working tool according to the first posture information; Extending the position information of the tip of the working tool by a first preset length along the axial direction of the working tool to obtain the position information of the top end of the working tool; converting the position information of the tip of the working tool into a spinous process positioning frame coordinate system based on the position information of the tip of the working tool and the second posture information to obtain third position information of the tip of the working tool in the spinous process positioning frame coordinate system; and converting the position information of the tip of the working tool into a spinous process positioning frame coordinate system based on the position information of the tip of the working tool and the second posture information to obtain fourth position information of the tip of the working tool in the spinous process positioning frame coordinate system; Based on the conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system, the third position information and the fourth position information are respectively converted into the CT coordinate system to obtain the first position information and the second position information respectively.

3. The device according to claim 1, characterized in that Before acquiring the first posture information of the working tool and the second posture information of the spinous process positioning frame in the intraoperative navigator coordinate system, the apparatus is further configured to perform the following method: Respectively obtaining a first pose quaternion set of the working tool under the navigator and a first position information set of the tip of the working tool within a preset period of time during the operation, and a second pose quaternion set of the spinous process positioning frame under the navigator and a second position information set of the tip of the spinous process positioning frame within the preset period of time; Calculating a first average pose quaternion and first average position information of the working tool within the preset time period based on the first pose quaternion set and the first position information set respectively; Calculating a second average posture quaternion and a second average position information of the spinous process positioning frame within the preset time period according to the second posture quaternion set and the second position information set respectively; The first pose information is obtained according to the first average pose quaternion and the first average position information, and the second pose information is obtained according to the second average pose quaternion and the second average position information.

4. The device according to claim 1, characterized in that Before obtaining the Z-axis direction vector of the target nail track coordinate system based on the X-axis direction vector of the pre-planned nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system, the apparatus is further configured to perform the following method: Constructing an initial nail track coordinate system, wherein the origin of the initial nail track coordinate system is the center point of the pedicle isthmus, the Y axis of the initial nail track coordinate system corresponds to the anterior-posterior direction of the target object, the X axis of the initial nail track coordinate system is the X axis of the vertebral coordinate system, and the Z axis of the initial nail track coordinate system is perpendicular to both the X axis and the Y axis of the initial nail track coordinate system; Correcting the X axis of the initial nail track coordinate system using a direction vector that is perpendicular to both the Z axis of the initial nail track coordinate system and the Y axis of the initial nail track coordinate system to obtain a corrected X axis; Extending the origin of the initial nail track coordinate system along the Y-axis direction of the initial nail track coordinate system by a second preset length to obtain a corrected origin; The preoperatively planned nail track coordinate system is obtained based on the corrected X-axis, the Y-axis of the initial nail track coordinate system, the Z-axis of the initial nail track coordinate system, and the corrected origin.

5. The device according to claim 4, characterized in that Before constructing the initial nail track coordinate system, the apparatus is further configured to perform the following method: The center of mass of the target vertebral segment is used as the origin of the vertebral segment coordinate system; Taking the middle plane of the upper and lower lamina of the target vertebra, and using the direction vector parallel to the middle plane as the Y axis of the vertebral coordinate system, wherein the positive direction of the Y axis of the vertebral coordinate system is toward the rear of the target object; The up-down direction of the target object is taken as the Z axis of the vertebral coordinate system, wherein the positive direction of the Z axis of the vertebral coordinate system points from the bottom of the target object to the top; The direction vector that is perpendicular to both the Y axis and the Z axis of the vertebral coordinate system is used as the X axis of the vertebral coordinate system.

6. The device according to claim 5, characterized in that Before planning the nail placement channel based on the target nail track coordinate system, the apparatus is further configured to perform the following method: acquiring first image data of a spine; Extending the center point of the pedicle isthmus along the positive direction of the Y axis of the target nail track coordinate system by a third preset length to obtain a first center point, and extending the center point of the pedicle isthmus along the negative direction of the Y axis of the target nail track coordinate system by a fourth preset length to obtain a second center point; constructing a first clipping plane based on the first center point and the Y axis of the target track coordinate system, and constructing a second clipping plane based on the second center point and the Y axis of the target track coordinate system; Selecting image data located between the first clipping plane and the second clipping plane from the first image data as second image data; Constructing a third clipping plane according to the origin of the vertebral coordinate system and the X-axis of the vertebral coordinate system; using the second image data located on both sides of the third clipping plane as image data of the left pedicle and image data of the right pedicle of the target vertebral segment respectively; The step of planning a nail placement channel based on the target nail channel coordinate system includes: Based on the target screw track coordinate system and the image data of the left pedicle, the screw placement channel of the left pedicle is planned; and based on the target screw track coordinate system and the image data of the right pedicle, the screw placement channel of the right pedicle is planned.

7. The device according to claim 6, characterized in that For any target pedicle of the left pedicle or the right pedicle, planning a screw placement channel for the target pedicle based on the target screw channel coordinate system and image data of the target pedicle includes: Extending the center point of the pedicle isthmus along the Y-axis of the target nail track coordinate system in the direction of the target pedicle by a fifth preset length to obtain a collection point set; Selecting collection points in the collection point set with a preset step size to obtain a center point set; Traversing each acquisition point in the central point set, constructing a first connecting line between the acquisition point and the image data of the target pedicle passing through the X-axis of the target nail track coordinate system; For any target section in the transverse and sagittal planes of the target pedicle, for each first connecting line, project the first connecting line onto the target section, obtain the intersection points of the first connecting line with the inner and outer sides of the target pedicle in the target section, and obtain the lateral point set of the pedicle isthmus and the medial point set of the pedicle isthmus corresponding to the target section; Selecting a target lateral point and a target medial point from the pedicle isthmus lateral point set and the pedicle isthmus medial point set corresponding to the target cross section respectively; The channel enclosed by the target lateral point and the target medial point corresponding to the cross section of the target pedicle, and the target lateral point and the target medial point corresponding to the sagittal plane is used as the screw placement channel of the target pedicle.

8. The device according to claim 1, characterized in that The reference parameters include: a first offset between the working tool and the planned nail placement channel in the transverse plane, and a second offset between the working tool and the planned nail placement channel in the sagittal plane; Based on the target screw track coordinate system, reference parameters for pedicle fixation are determined, including: Projecting the tip of the working tool onto the X-axis of the target nail track coordinate system, and determining a first distance from the projection point to the needle entry point as the first offset, wherein when the X-axis component of the first distance is greater than 0, the left nail track offset is offset toward the outside of the target object, and the right nail track offset is offset toward the inside of the target object; when the X-axis component of the first distance is less than 0, the left nail track offset is offset toward the inside of the target object, and the right nail track offset is offset toward the outside of the target object; The tip of the working tool is projected onto the Z-axis of the target nail track coordinate system, and a second distance from the projection point to the needle entry point is determined as the second offset, wherein when the Z-axis component of the second distance is greater than 0, the nail track offset is offset toward the head of the target object; when the Z-axis component of the second distance is less than 0, the nail track offset is offset toward the feet of the target object.

9. The device according to claim 1, characterized in that The reference parameters include: a first inclination angle of the working tool and the planned nail placement channel in the cross section; Based on the target screw track coordinate system, reference parameters for pedicle fixation are determined, including: Acquire a first projection point of the tip of the working tool on the XOY plane of the target nail track coordinate system, and a second projection point of the top end of the working tool on the XOY plane of the target nail track coordinate system; Calculating a first vector of the working tool on an XOY plane of a target nail track coordinate system based on the position information of the first projection point and the position information of the second projection point; The angle between the Y axis of the target nail track coordinate system and the first vector is determined as a first inclination angle, wherein, when the angle between the X axis of the target nail track coordinate system and the first vector is less than 90°, the inclination angle of the screw placed in the left pedicle is the first inclination angle; when the angle between the X axis of the target nail track coordinate system and the first vector is greater than 90°, the outward inclination angle of the screw placed in the left pedicle is the first inclination angle.

10. The device according to claim 1, characterized in that The reference parameters include: a second inclination angle of the working tool and the planned nail placement channel on the sagittal plane; Based on the target screw track coordinate system, reference parameters for pedicle fixation are determined, including: Obtaining a third projection point of the tip of the working tool on the YOZ plane of the target nail track coordinate system, and a fourth projection point of the top end of the working tool on the YOZ plane of the target nail track coordinate system; Calculating a projection axis vector of the working tool according to the position information of the third projection point and the position information of the fourth projection point; The angle between the Y axis of the target nail track coordinate system and the projection axis vector of the working tool is determined as a second inclination angle, wherein, when the angle between the Z axis vector of the pre-constructed nail track and the projection axis vector of the working tool is less than 90°, the second inclination angle is the head inclination angle, and when the angle between the Z axis vector of the pre-constructed nail track and the projection axis vector of the working tool is greater than 90°, the second inclination angle is the foot inclination angle, and the Z axis vector of the pre-constructed nail track is determined based on the extension point of the needle entry point in the positive direction of the Z axis of the target nail track coordinate system and the needle entry point.

11. The device according to claim 1, characterized in that The reference parameters include: depth information of the working tool; Based on the target screw track coordinate system, reference parameters for pedicle fixation are determined, including: Obtaining a fifth projection point of the tip of the working tool on the Y-axis of the target nail track coordinate system; Obtaining the depth information according to the distance from the fifth projection point to the needle entry point; Constructing a preset construction point according to the needle entry point and the Y axis of the target nail track coordinate system; Calculating a third distance from the fifth projection point to the preset construction point, and a fourth distance from the needle entry point to the preset construction point; When the difference between the third distance and the fourth distance is greater than 0, determining the direction of the depth information of the working tool as a first direction; When the difference between the third distance and the fourth distance is less than 0, the direction of the depth information of the working tool is determined to be the second direction, wherein the first direction is the direction from the outside to the inside of the target vertebral segment, and the second direction is the direction from the inside to the outside of the target vertebral segment.

12. A data processing device, characterized in that: The device comprises: A first acquisition module is used to acquire the first posture information of the operating tool and the second posture information of the spinous process positioning frame in the intraoperative navigator coordinate system; a first calculation module, configured to calculate first position information of the tip of the intraoperative working tool in the CT coordinate system and second position information of the tip of the working tool in the CT coordinate system according to the first posture information and the second posture information, and a conversion relationship between the spinous process positioning frame coordinate system and the CT coordinate system; A first building module is configured to establish a target nail track coordinate system based on the first position information and the second position information; A first determination module is configured to plan a screw placement channel and determine reference parameters for pedicle fixation based on the target screw channel coordinate system; A first display module is used to display the nail placement channel and the reference parameters; The first building block is specifically configured to: Calculating an axial direction vector of the working tool according to the first position information and the second position information, and using the axial direction vector of the working tool as a Y-axis direction vector of the target track coordinate system; Obtaining the Z-axis direction vector of the target nail track coordinate system according to the X-axis direction vector of the nail track coordinate system pre-planned before the operation and the Y-axis direction vector of the target nail track coordinate system; The X-axis direction vector of the target nail track coordinate system is obtained by using the Z-axis direction vector of the target nail track coordinate system and the Y-axis direction vector of the target nail track coordinate system. The origin of the target nail track coordinate system is the center point of the pedicle isthmus.

13. An electronic device, characterized in that: The device comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the method steps executed by the data processing device according to any one of claims 1 to 11.

14. A readable storage medium, characterized in that The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the method steps performed by the data processing device according to any one of claims 1 to 11 are implemented.

15. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the method steps performed by the data processing device according to any one of claims 1 to 11.

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