Planning method and system and computer equipment

Abstract

The invention relates to a planning method and system and computer equipment. The method comprises the following steps: performing skeletonization processing on a three-dimensional model of an atlas to obtain skeleton lines; determining a first plane and a second plane of the atlas according to the skeleton line; the first plane is a horizontal plane corresponding to a skeleton line, and the second plane is a sagittal plane of the atlas; and according to the first plane and the second plane, determining a planned path of atlas screw placement. By using the planning method provided by the invention, the automatic planning of the atlas screw placement path can be realized.

Description

Technical Field

[0001] The present application relates to the field of planning technology, and in particular to a planning method, system and computer device. Background Art

[0002] In spinal surgery, screw placement is one of the key techniques of the operation. Usually, the path and position of screw placement need to be planned.

[0003] In traditional technology, the automatic planning method of spinal screw placement path usually only focuses on the lumbar and thoracic vertebrae. However, the atlas is completely different from other spinal structures. The automatic planning method of screw placement path for the lumbar or thoracic vertebrae in traditional technology cannot be applied to the atlas, resulting in the lack of automatic planning method for screw placement path for the atlas. Summary of the invention

[0004] Based on this, it is necessary to provide a planning method, system and computer device that can automatically plan the screw insertion path for the atlas in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a planning method, the method comprising:

[0006] The three-dimensional model of the atlas is skeletonized to obtain the skeleton line;

[0007] Determine the first plane and the second plane of the atlas according to the skeleton line; wherein the first plane is the horizontal plane corresponding to the skeleton line, and the second plane is the sagittal plane of the atlas;

[0008] The planned path for atlas screw placement is determined based on the first plane and the second plane.

[0009] In one embodiment, determining the first plane and the second plane of the atlas according to the skeleton line includes:

[0010] Get all nodes on the skeleton line;

[0011] Based on all nodes, a first plane and a second plane are determined.

[0012] In one embodiment, determining the second plane according to all nodes includes:

[0013] Obtaining the distance value of each node; the distance value represents the distance between each node and the boundary of the three-dimensional model of the atlas;

[0014] According to the distance values ​​of all nodes, multiple target sets corresponding to all nodes are determined; each node belongs to a target set; each target set includes the position coordinates of each node belonging to the target set, and the distance value of each node;

[0015] Determine a first lateral mass center point and a second lateral mass center point of the atlas according to a plurality of target sets;

[0016] A second plane is determined according to the first side mass center point and the second side mass center point.

[0017] In one embodiment, multiple target sets corresponding to all nodes are determined according to the distance values ​​of all nodes, including:

[0018] Get the degree of all nodes;

[0019] Determine a node whose degree is a first preset threshold as a target node, traverse other nodes in the neighborhood of the target node, and divide the nodes whose degree is a second preset threshold among other nodes into an initial set until the next target node is traversed;

[0020] The next target node is taken as the new target node, and the steps of traversing other nodes in the neighborhood of the target node are performed until all nodes are traversed to obtain multiple initial sets;

[0021] The distance value of each node in each initial set is added to the corresponding initial set to obtain multiple target sets.

[0022] In one embodiment, determining a first lateral mass center point and a second lateral mass center point of the atlas according to a plurality of target sets comprises:

[0023] According to the distance values ​​of each node in each target set, the target distance value of each target set is determined; the target distance value is the minimum distance value among the distance values;

[0024] Obtaining a maximum distance value among the target distance values, determining that a target set corresponding to the maximum distance value is a first target set, and using a center point of the first target set as a center point of a first side block;

[0025] The second target set is determined based on the center point of the first side block and the center points of the remaining sets except the first target set, and the center point of the second target set is used as the center point of the second side block; the distance between the center point of the second side block and the center point of the first side block exceeds a preset distance threshold.

[0026] In one embodiment, determining the second plane according to the first side mass center point and the second side mass center point includes:

[0027] The plane where the midpoint between the center point of the first side block and the center point of the second side block lies is taken as the second plane; the normal vector of the second plane is the straight line where the center point of the first side block and the center point of the second side block lie.

[0028] In one embodiment, determining a planned path for atlas screw placement based on the first plane and the second plane includes:

[0029] A plane passing through the center point of the first side block and parallel to the second plane is taken as a third plane, and an intersection line of the third plane and the first plane is taken as a first straight line;

[0030] A plane passing through the center point of the second side block and parallel to the second plane is taken as a fourth plane, and an intersection line of the fourth plane and the first plane is taken as a second straight line;

[0031] The planned path for atlas screw placement is determined based on the first straight line and the second straight line.

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

[0033] The first straight line is translated in a first preset direction by a first preset distance to obtain an updated first straight line;

[0034] The second straight line is translated in a second preset direction by a second preset distance to obtain an updated second straight line;

[0035] An updated planned path for atlas screw placement is determined based on the updated first straight line and the updated second straight line.

[0036] In one embodiment, the method further comprises:

[0037] According to the planned path of atlas screw placement and the three-dimensional model of the atlas, the position of the screw entry point corresponding to the atlas is determined.

[0038] In a second aspect, the present application also provides a planning system, the system comprising:

[0039] A processing module, used for skeletonizing the three-dimensional model of the atlas to obtain a skeleton line;

[0040] A determination module, used to determine a first plane and a second plane of the atlas according to the skeleton line; wherein the first plane is a horizontal plane corresponding to the skeleton line, and the second plane is a sagittal plane of the atlas;

[0041] The determination module is also used to determine the screw path for atlas screw placement based on the first plane and the second plane.

[0042] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method provided in the first aspect are implemented.

[0043] The above-mentioned planning method, system and computer device obtain a skeleton line by skeletonizing the three-dimensional model of the atlas; determine the first plane and the second plane of the atlas according to the skeleton line; the first plane is the horizontal plane corresponding to the skeleton line, and the second plane is the sagittal plane of the atlas; determine the planning path of the atlas screw placement according to the first plane and the second plane. In this embodiment, the skeleton line is obtained by skeletonizing the acquired three-dimensional model of the atlas; the first plane and the second plane determined according to the skeleton line can realize the planning of the path of the screw inserted into the atlas, which solves the lack of automatic planning method for the screw insertion path of the atlas in the prior art. In addition, compared with the deep learning method, the planning method provided in the embodiment of the present application only needs to perform a series of processing on the three-dimensional model of the atlas to obtain the planning path of the atlas screw placement, without the need for a large amount of training data, the principle is simpler, easy to implement, and can improve the efficiency of determining the planning path of the atlas screw placement. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of a planning method in one embodiment;

[0045] Figure 2 is a schematic diagram of a three-dimensional model of the atlas in one embodiment;

[0046] Figure 3 is a schematic diagram of the skeleton line of the atlas in one embodiment;

[0047] Figure 4 A schematic flow chart of steps of a planning method in another embodiment;

[0048] Figure 5 A schematic flow chart of steps of a planning method in another embodiment;

[0049] Figure 6 is a schematic diagram of a lateral mass of the atlas in one embodiment;

[0050] Figure 7 A schematic flow chart of steps of a planning method in another embodiment;

[0051] Figure 8 A schematic flow chart of steps of a planning method in another embodiment;

[0052] Fig. 9 is a schematic diagram of a first plane, a second plane, a first lateral mass center point, and a second lateral mass center point of the atlas in one embodiment;

[0053] Fig.10 A schematic flow chart of steps of a planning method in another embodiment;

[0054] Fig.11 is a schematic diagram of a third plane and a fourth plane in one embodiment;

[0055] Fig.12 A schematic flow chart of steps of a planning method in another embodiment;

[0056] Fig.13 A schematic flow chart of steps of a planning method in another embodiment;

[0057] Fig.14 A top view of a planning result of atlas screw placement in one embodiment;

[0058] Fig.15 A side view of a planning result of atlas screw placement in one embodiment;

[0059] Fig.16 is a front view of a planning result of atlas screw placement in one embodiment;

[0060] Fig.17 A schematic flow chart of steps of a planning method in another embodiment;

[0061] Fig.18 It is a structural schematic diagram of a planning system in one embodiment;

[0062] Fig.19 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] The serial numbers assigned to the components in this application, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning.

[0065] First, before specifically introducing the technical solutions of the disclosed embodiments of the present application, the background technology or technical evolution context based on the embodiments of the present application is introduced. In spinal surgery, the insertion of screws is one of the key technologies of the operation. Generally, before performing a surgical operation, the path and position of the screw insertion need to be planned. In traditional technology, the automatic planning method of the spinal screw insertion path usually only focuses on the lumbar and thoracic vertebrae. However, the atlas is completely different from other spinal structures. The atlas has no cone and spinous process. It is located at the top of the spine and connected to the occipital bone. Its shape is annular, without vertebral body, and is composed of anterior arch, posterior arch and lateral blocks. When inserting screws in the atlas, it is necessary to avoid the inner spinal cord and the outer vertebral artery. Compared with other vertebrae, the screw insertion tolerance is smaller. The automatic planning method of the spinal screw insertion path for the lumbar or thoracic vertebrae in the traditional technology cannot be applied to the atlas, resulting in a lack of a method for automatic planning of screws for the atlas. In this regard, the present application provides a planning method for the screw insertion path for the atlas.

[0066] The technical solution of the present application and how the technical solution of the present application solves the technical problem are described in detail below with specific embodiments.

[0067] The planning method provided in the present application can be applied to computer equipment, and the computer equipment can be but is not limited to industrial computers, laptops, tablet computers, etc.

[0068] In one embodiment, Figure 1 A planning method is provided, and this embodiment is described by applying the method to a computer device. In this embodiment, the method may include the following steps:

[0069] Step 100: skeletonize the three-dimensional model of the atlas to obtain a skeleton line.

[0070] The computer device obtains a three-dimensional model of the atlas. The three-dimensional model of the atlas can be obtained from a PACS (Picture Archiving and Communication Systems) server; it can also be reconstructed from images collected by devices such as computer tomography or magnetic resonance imaging. This embodiment does not limit the specific method of obtaining the three-dimensional model of the atlas, as long as its function can be achieved.

[0071] After acquiring the three-dimensional model of the atlas, the computer device skeletonizes the three-dimensional model, that is, reduces the three-dimensional model of the atlas to a skeleton with a width of one pixel, and obtains the skeleton line of the atlas. Optionally, the computer device extracts the central pixel contour on the three-dimensional model of the atlas to form a connected area with a width of one pixel, that is, the skeleton line of the atlas.

[0072] In an optional embodiment, the computer device may use a topological refinement method to skeletonize the three-dimensional model of the atlas. That is, the three-dimensional model of the atlas is converted into a distance map, the shortest distance from each pixel in the distance map to the boundary of the distance map is used as a weight, and the Dijkstra algorithm is used to calculate the shortest path on the distance map, and the shortest path is used as the skeleton line.

[0073] In another optional embodiment, the computer device may use an iterative erosion method to skeletonize the three-dimensional model of the atlas. That is, from the periphery to the center of the three-dimensional model of the atlas, the three-dimensional model of the atlas is continuously eroded and refined using the features of a preset pixel window (e.g., a 3*3 pixel window) centered on the pixel to be processed until it is eroded to a single pixel width to obtain a skeleton line.

[0074] In an optional embodiment, the three-dimensional model of the atlas is as follows: Figure 2 As shown in Figure 3 shown. Figure 2 The upper region of the atlas is the anterior arch, and the lower region is the posterior arch.

[0075] Step 110: determine a first plane and a second plane of the atlas according to the skeleton line; wherein the first plane is a horizontal plane corresponding to the skeleton line, and the second plane is a sagittal plane of the atlas.

[0076] After obtaining the skeleton line of the atlas, the computer device determines the first plane and the second plane of the atlas according to the skeleton line. The first plane refers to the horizontal plane corresponding to the skeleton line of the atlas. The shape of the atlas is annular, and the plane where the ring is located can be used as the first plane. The second plane refers to the sagittal plane of the atlas. The atlas is cut into left and right parts according to a certain direction, and the left and right sections are the sagittal planes of the atlas. This embodiment does not limit the specific method for determining the first plane and the second plane of the atlas, as long as its function can be achieved.

[0077] Step 120: Determine a planned path for atlas screw placement based on the first plane and the second plane.

[0078] After determining the first plane and the second plane of the atlas, the computer device determines the planned path for atlas screw placement, i.e., the path for screw placement into the atlas, based on the first plane and the second plane. In other words, the computer device can automatically plan the path for screw placement into the atlas based on the first plane and the second plane of the atlas through a related algorithm.

[0079] The planning method provided in the embodiment of the present application obtains a skeleton line by skeletonizing the three-dimensional model of the atlas; determines the first plane and the second plane of the atlas according to the skeleton line; the first plane is the horizontal plane corresponding to the skeleton line, and the second plane is the sagittal plane of the atlas; and determines the planning path of the atlas screw placement according to the first plane and the second plane. In this embodiment, the skeleton line is obtained by skeletonizing the acquired three-dimensional model of the atlas; the first plane and the second plane determined according to the skeleton line can realize the planning of the path of the screw inserted into the atlas, which solves the lack of a method for automatic planning of the screw insertion path for the atlas in the prior art. In addition, compared with the deep learning method, the planning method provided in the embodiment of the present application only needs to perform a series of processing on the three-dimensional model of the atlas to obtain the planning path of the atlas screw placement, without the need for a large amount of training data, the principle is simpler, easy to implement, and can improve the efficiency of determining the planning path of the atlas screw placement.

[0080] In one embodiment, Figure 4 As shown, it is related to an implementation method of determining the first plane and the second plane of the atlas according to the skeleton line, and the steps of the implementation method include:

[0081] Step 400: Get all nodes on the skeleton line.

[0082] The skeleton line is a connected area of ​​a single pixel width on the three-dimensional model of the atlas, and the computer device can use each pixel point on the skeleton line as a node. In other words, the computer device can obtain all the nodes on the skeleton line by obtaining each pixel point on the skeleton line.

[0083] Step 410: Determine the first plane and the second plane according to all nodes.

[0084] After acquiring all the nodes of the skeleton line, the computer device can determine the plane where the ring of the atlas is located, that is, the first plane, according to all the nodes. The sagittal plane of the atlas can also be determined according to all the nodes.

[0085] In this embodiment, the skeleton line is formed by connecting various pixel points, and each pixel point on each skeleton line is used as a node. The first plane and the second plane can be determined based on all the nodes on the skeleton line, which can improve the efficiency of determining the first plane and the second plane, thereby improving the efficiency of determining the planned path for atlas screw placement.

[0086] In one embodiment, an implementation method for determining a first plane according to all nodes is provided, and the steps of the implementation method include:

[0087] According to the position coordinates of all nodes, all nodes are fitted to obtain the first plane.

[0088] The computer device obtains the position coordinates of all nodes on the skeleton line, and the position coordinates can be coordinate values ​​in an anatomical coordinate system. Optionally, the anatomical coordinate system takes the left hand direction of the human body as the positive direction of the X axis, the back direction of the human body as the positive direction of the Y axis, and the head direction of the human body as the positive direction of the Z axis.

[0089] After obtaining the position coordinates of all nodes on the skeleton line of the atlas, the computer device performs fitting processing on all nodes to obtain a plane, which is determined as the first plane. This embodiment does not limit the specific method of the fitting processing, and can be but not limited to the RANSAC (Random Sample Consensus) plane fitting method.

[0090] In this embodiment, all nodes in the skeleton line are near the first plane, and the first plane can be obtained by fitting all nodes. This method of determining the first plane is simple, easy to implement, and highly efficient.

[0091] In one embodiment, Figure 5 As shown, it is related to an implementation method of determining the second plane according to all nodes, and the steps of the implementation method include:

[0092] Step 500: Obtain the distance value of each node; the distance value represents the distance between each node and the boundary of the three-dimensional model of the atlas.

[0093] After acquiring all nodes on the skeleton line, the computer device calculates the distance value of each node, that is, the distance value between each node and the boundary of the three-dimensional model of the atlas. Specifically, the boundary of the three-dimensional model of the atlas is a curve, and the computer device calculates the shortest distance between the node and the boundary of the three-dimensional model of the atlas, that is, the shortest distance between the node and the tangent of the boundary of the three-dimensional model of the atlas, and uses the distance as the distance value of the node.

[0094] Step 510: Determine multiple target sets corresponding to all nodes according to the distance values ​​of all nodes; each node belongs to a target set; each target set includes the position coordinates of each node belonging to the target set and the distance value of each node.

[0095] After obtaining the distance values ​​corresponding to all nodes on the skeleton line, the computer device can divide all nodes into multiple target sets according to the distance values. Each target set includes multiple nodes, and each node belongs to one target set, that is, a node belongs to only one target set, and there is no situation where a node belongs to two target sets. Each target set includes the position coordinates of each node belonging to the target set, and the distance values ​​corresponding to each node. This embodiment does not limit the specific method of determining multiple target sets corresponding to all nodes according to the distance values ​​of all nodes, as long as its function can be achieved.

[0096] In an optional embodiment, the computer device may divide nodes with similar distance values ​​into the same target set.

[0097] Step 520: Determine a first lateral mass center point and a second lateral mass center point of the atlas according to multiple target sets.

[0098] After dividing all nodes into multiple target sets, the computer device determines the first lateral mass center point and the second lateral mass center point of the atlas according to the multiple target sets. The first lateral mass and the second lateral mass of the atlas are the thickest structures in the atlas. The first lateral mass center point refers to the center position of the first lateral mass, and the second lateral mass center point refers to the center position of the second lateral mass. The target set includes the distance value of each node, and the distance value can represent the thickness of the atlas. Then, the first lateral mass center point and the second lateral mass center point of the atlas can be determined according to the multiple target sets.

[0099] Step 530: Determine a second plane according to the first side mass center point and the second side mass center point.

[0100] After the computer device determines the first lateral mass center point and the second lateral mass center point of the atlas, the first lateral mass center point and the second lateral mass center point are located on both sides of the anterior arch and the posterior arch of the atlas. The first lateral mass center point and the second lateral mass center point can be used to determine the section that cuts the atlas into two parts, that is, the second plane.

[0101] In one embodiment, an implementation method for determining a second plane according to a first side mass center point and a second side mass center point includes:

[0102] The plane where the midpoint between the center point of the first side block and the center point of the second side block lies is taken as the second plane; the normal vector of the second plane is the straight line where the center point of the first side block and the center point of the second side block lie.

[0103] After obtaining the center point of the first side block and the second side block, the computer device calculates the midpoint between the center point of the first side block and the second side block, and takes a plane passing through the center and taking the straight line where the center point of the first side block and the second side block are located as a normal vector as the second plane.

[0104] In this embodiment, all nodes of the skeleton line are divided into multiple target sets by the distance values ​​of each node on the skeleton line; the first lateral mass center point and the second lateral mass center point of the atlas are determined according to the target set, and the second plane is determined according to the first lateral mass center point and the second lateral mass center point. This method of determining the second plane is quick and easy to implement, and can improve the efficiency of determining the planning path of atlas screw placement according to the first plane and the second plane.

[0105] In one embodiment, the lateral mass of the atlas is Figure 6 As shown, Figure 6 The area indicated by the median straight line is the area with the greatest thickness of the atlas, namely the two lateral masses of the atlas.

[0106] In one embodiment, Figure 7 As shown, it involves determining multiple target sets corresponding to all nodes according to the distance values ​​of all nodes, including:

[0107] Step 700: Get the degrees of all nodes.

[0108] The degree of a node refers to the number of edges associated with the node, that is, the number of nodes connected to the node. After obtaining each node of the skeleton line, the computer device calculates the number of nodes connected to each node to obtain the degree of each node.

[0109] Step 710: determine a node whose degree is a first preset threshold as a target node, traverse other nodes in the neighborhood of the target node, and divide the nodes whose degrees are a second preset threshold among other nodes into an initial set until the next target node is traversed.

[0110] After obtaining the degree of each node in the skeleton line, the computer device obtains a node whose degree is a first preset threshold and determines the node as the target node. Optionally, the first preset threshold is 1 or 3.

[0111] After determining all target nodes, the computer device traverses other nodes in the neighborhood of the target node for a target node, obtains the degrees of other nodes in the neighborhood of the target node, and divides other nodes whose degrees are the second preset threshold into an initial set until the next target node is traversed. Optionally, the second preset threshold is 2. That is to say, after the computer device determines a target node, it obtains the degrees of other nodes in the neighborhood of the target node, and assigns nodes whose degrees are the second preset threshold to the initial set of the target node, that is, the initial set includes the target node and nodes whose degrees in the neighborhood of the target node are the second preset threshold. If another target node is encountered while traversing other nodes in the neighborhood of the target node, it means that the traversal of the nodes included in the initial set corresponding to the target node is completed, and the traversal of other nodes in the neighborhood of another target node begins to determine the initial set corresponding to the other target node; the other target node can belong to the initial set corresponding to the target node, or to the initial set corresponding to another target node.

[0112] Step 720: Take the next target node as the new target node, and execute the step of traversing other nodes in the neighborhood of the target node until all nodes are traversed to obtain multiple initial sets.

[0113] After the computer device determines the next target node, it uses the next target node as the new target node and returns to execute step 710 until all nodes in the skeleton line are traversed to obtain multiple initial sets. Each initial set includes multiple nodes, and each node belongs to only one initial set.

[0114] Step 730: Add the distance value corresponding to each node in each initial set to the corresponding initial set to obtain multiple target sets.

[0115] Each node in each initial set is represented by a position coordinate. After obtaining multiple initial sets, the computer device obtains the distance value of each node in the initial set for each initial set, and adds the distance value of each node to the initial set to obtain the target set corresponding to the initial set.

[0116] In an optional embodiment, each target set also includes a label, and the label is used to distinguish different target sets.

[0117] In this embodiment, the computer device divides all nodes into multiple initial sets according to the degree of each node in the skeleton line, and adds the distance value of each node to the corresponding initial set, so as to obtain multiple target sets. This method of determining the target set is fast and easy to implement.

[0118] In an optional embodiment, it is assumed that all nodes include node A, node B, node C, node D, node E and node F, and node A and node E are target nodes. For node A, node B and node C are nodes in the neighborhood of node A, and the degree of node C is the second preset threshold, then node C is divided into the first initial set, node D is a node in the neighborhood of node C with a degree of the second preset threshold, then node D is divided into the first initial set, node E is a node in the neighborhood of node D, but node E is a target node, then the first initial set includes node A, node C and node D. Repeat the above traversal process for node E to determine the second initial set.

[0119] In one embodiment, Figure 8 As shown, it is related to an implementation method of determining the first lateral mass center point and the second lateral mass center point of the atlas according to multiple target sets, and the steps of the implementation method include:

[0120] Step 800: Determine a target distance value of each target set according to the distance value of each node in each target set; the target distance value is the minimum distance value among the distance values.

[0121] After obtaining multiple target sets corresponding to all nodes, the computer device obtains the distance value of each node in each target set, compares the distance values ​​of each node, and takes the smallest distance value as the target distance value of the target set, thereby obtaining the target distance value of each target set.

[0122] Step 810: Obtain the maximum distance value among the target distance values, determine that the target set corresponding to the maximum distance value is the first target set, and use the center point of the first target set as the center point of the first side block.

[0123] After obtaining the target distance values ​​of each target set, the computer device compares the target distance values ​​of each target set, obtains the maximum distance value among the target distance values, and uses the target set corresponding to the maximum distance value as the first target set. If the distance value of each node in the first target set is the largest, it can be indicated that the area where the first target set is located is the area with the largest atlas thickness, that is, the lateral mass area of ​​the atlas.

[0124] After obtaining the first target set, the computer device uses the center point of the first target set as the center point of the first side block, that is, calculates the average value of the position coordinates of each node in the first target set, and uses the point corresponding to the average value as the center point of the first target set, that is, the center point of the first side block.

[0125] Step 820: determine the second target set based on the center point of the first side block and the center points of the remaining sets except the first target set, and use the center point of the second target set as the center point of the second side block; the distance between the center point of the second side block and the center point of the first side block exceeds a preset distance threshold.

[0126] After obtaining the center point of the first side block, the computer device determines the second target set from the remaining sets in the target set except the first target set according to the center point of the first side block, and uses the center point of the second target set as the center point of the second side block. In other words, the computer device calculates the center points of the remaining sets in the target set except the first target set, that is, the average value of the position coordinates of each node in the remaining set; and uses the remaining set with the largest target distance value among the multiple remaining sets corresponding to the center point whose distance between the center point of each remaining set and the center point of the first side block exceeds the preset distance threshold as the second target set. Calculate the average value of the position coordinates of each node in the second target set to obtain the center point of the second target set, that is, the center point of the second side block. Optionally, the preset distance threshold can be but is not limited to 10mm, 15mm and 20mm.

[0127] In an optional embodiment, after determining the target distance value of each target set based on the acquired distance value of each node in each target set, the computer device sorts the target sets in descending order of the target distance value, and uses the first target set after sorting as the first target set, and uses the center point of the first target set as the center point of the first side block; traverses along the sorting direction, and searches the remaining target sets for the target set corresponding to the center point of each node whose distance from the center point of the first side block exceeds a preset distance threshold, and determines the target set as the second target set, and uses the center point of the second target set as the center point of the second side block.

[0128] In this embodiment, the computer device determines the first target set and the second target set from each target set by the distance value of each node in each target set, and uses the center point of the first target set as the first lateral mass center point, and uses the center point of the second target set as the second lateral mass center point. This method of determining the first lateral mass center point and the second lateral mass center point is quick and easy to implement, and can improve the efficiency of determining the planned path for atlas screw placement.

[0129] In one embodiment, the first plane and the second plane of the atlas, and the first lateral mass center point and the second lateral mass center point are as follows: Fig. 9 shown.

[0130] In one embodiment, Fig.10 As shown, it is related to an implementation method of determining a planned path for atlas screw placement according to a first plane and a second plane, and the steps of the implementation method include:

[0131] Step 101: A plane passing through the center point of the first side block and parallel to the second plane is taken as a third plane, and an intersection line of the third plane and the first plane is taken as a first straight line.

[0132] Step 102: A plane passing through the center point of the second side block and parallel to the second plane is taken as a fourth plane, and an intersection line of the fourth plane and the first plane is taken as a second straight line.

[0133] After the computer equipment determines the first plane, the second plane, the center point of the first lateral mass and the center point of the second lateral mass of the atlas, the plane passing through the center point of the first lateral mass and parallel to the second plane is used as the third plane, and the intersection line of the third plane and the first plane is used as the first straight line; the plane passing through the center point of the second lateral mass and parallel to the second plane is used as the fourth plane, and the intersection line of the fourth plane and the first plane is used as the second straight line.

[0134] Step 103: Determine a planned path for atlas screw placement based on the first straight line and the second straight line.

[0135] After determining the first straight line and the second straight line, the computer device uses the first straight line as the planned path of one screw of the atlas and the second straight line as the planned path of another screw of the atlas, thereby determining the planned path for atlas screw placement.

[0136] In this embodiment, a plane passing through the center point of the first lateral mass and parallel to the second plane is used as the third screen, and the intersection line of the third plane and the first plane is used as the first straight line; a plane passing through the center point of the second lateral mass and parallel to the second plane is used as the fourth plane, and the intersection line of the fourth plane and the first plane is used as the second straight line; the planned path for atlas nail placement is determined based on the first straight line and the second straight line; this method for determining the planned path for atlas nail placement is quick and easy to implement, and can improve the efficiency of determining the planned path for atlas nail placement, so that the planning method provided by the embodiment has high practicality.

[0137] In an optional embodiment, the third plane and the fourth plane are as follows Fig.11 shown.

[0138] In one embodiment, after the computer device determines the planned path for atlas screw placement according to the first straight line and the second straight line, the computer device may also update the planned path, such as Fig.12 As shown, when the planned path of atlas screw placement is updated, the steps of the planning method also include:

[0139] Step 121: translate the first straight line in a first preset direction by a first preset distance to obtain an updated first straight line.

[0140] The first preset direction and the first preset distance may be preset by a user and stored in a computer device. Optionally, the first preset direction is the Z-axis direction corresponding to the center point of the first side block through which the first straight line passes, and the first preset distance may be, but is not limited to, 2 mm.

[0141] The computer device translates the obtained first straight line in a first preset direction by a first preset distance to obtain an updated first straight line.

[0142] Step 122: translating the second straight line in a second preset direction by a second preset distance to obtain an updated second straight line;

[0143] The second preset direction and the second preset distance may be preset by a user and stored in a computer device. Optionally, the second preset direction is the Z-axis direction corresponding to the center point of the second side block through which the second straight line passes, and the second preset distance may be the same as or different from the first preset distance.

[0144] The computer device translates the obtained second straight line in a second preset direction by a second preset distance to obtain an updated second straight line.

[0145] Step 123: Determine an updated planned path for atlas screw placement according to the updated first straight line and the updated second straight line.

[0146] After obtaining the updated first straight line, the computer device uses the updated first straight line as the planned path of one screw of the atlas and the updated second straight line as the planned path of another screw of the atlas, thereby determining the updated planned path for atlas screw placement.

[0147] In this embodiment, an updated first straight line and an updated second straight line are obtained by translating the first straight line in a first preset direction by a first preset distance and translating the second straight line in a second preset direction by a second preset distance; a more accurate planned path for atlas screw placement can be determined based on the updated first straight line and the updated second straight line.

[0148] In one embodiment, the steps of the planning method further include:

[0149] According to the planned path of atlas screw placement and the three-dimensional model of the atlas, the position of the screw entry point corresponding to the atlas is determined.

[0150] After determining the planned path for atlas screw placement, the computer device determines the position of the screw entry point on the three-dimensional model of the atlas based on the three-dimensional model of the atlas and the planned path, that is, the position of the screw entry point on the surface of the atlas when the screw is placed into the atlas according to the planned path.

[0151] In this embodiment, after determining the planned path for atlas screw placement, the position of the screw entry point corresponding to the atlas is determined based on the planned path and the three-dimensional model of the atlas, which can improve the practicality of the planning method provided in the embodiment.

[0152] In one embodiment, Fig.13 As shown, it is related to an implementation method of determining the position of the nail entry point corresponding to the atlas according to the planned path of the atlas nail placement and the three-dimensional model of the atlas, and the steps of the implementation method include:

[0153] Step 131: Establish a boundary model corresponding to the atlas based on the three-dimensional model of the atlas.

[0154] The computer device establishes a boundary model corresponding to the atlas, that is, a model of the surface of the atlas, based on the acquired three-dimensional model of the atlas. This embodiment does not limit the specific method of establishing the boundary model corresponding to the atlas, as long as its function can be achieved.

[0155] Step 132: Determine the position of the nail insertion point according to the intersection between the planned path of the atlas nail placement and the boundary model corresponding to the atlas.

[0156] After determining the boundary model corresponding to the atlas, the computer device determines whether the planned path of the atlas nail placement intersects with the boundary model corresponding to the atlas. If so, the position of the nail insertion point is determined according to the intersection point.

[0157] In an optional embodiment, the boundary model corresponding to the atlas established based on the three-dimensional model of the atlas is a triangular mesh model, and the planned path of the atlas screw is calculated, that is, whether the first straight line and the second straight line intersect with each triangular face in the triangular mesh model; if the first straight line or the second straight line intersects with the triangular face and has only one intersection point, the position of the intersection point is determined as the position of the nail entry point; if the first straight line or the second straight line intersects with the triangular face and has multiple intersection points, the position of the intersection point is calculated, and the positions of all the intersection points are sorted from large to small according to the size of the Y-axis coordinate, and the position of the largest intersection point is determined as the position of the nail entry point.

[0158] In this embodiment, the computer equipment establishes a boundary model corresponding to the atlas based on the three-dimensional model of the atlas. The position of the nail entry point can be determined according to the intersection between the planned path of the atlas nail placement and the boundary model. This method of determining the position of the nail entry point is quick and can improve the practicability of the planning method.

[0159] In an optional embodiment, the length and diameter of the screw used for atlas screw placement can be set according to the needs of the user. The length of the screw can be but not limited to 30mm, 35mm, 40mm, and the diameter of the screw can be but not limited to 3.5mm, 4.0mm. When the length of the screw is 35mm and the diameter is 3.5mm, the top view of the planning result of atlas screw placement is as follows: Fig.14 As shown, the side view is Fig.15 As shown, the front view is as Fig.16 shown.

[0160] See also Fig.17 An embodiment of the present application provides a planning method, the steps of which include:

[0161] Step 171, skeletonize the three-dimensional model of the atlas to obtain a skeleton line; and obtain all nodes on the skeleton line;

[0162] Step 172: Fit all nodes according to their position coordinates to obtain a first plane of the atlas; the first plane is a horizontal plane corresponding to the skeleton line;

[0163] Step 173, obtaining the distance value and degree of each node; the distance value represents the distance between each node and the boundary of the three-dimensional model of the atlas;

[0164] Step 174: determine a node whose degree is a first preset threshold as a target node, traverse other nodes in the neighborhood of the target node, and divide the nodes whose degrees are a second preset threshold among other nodes into an initial set until the next target node is traversed;

[0165] Step 175: take the next target node as the new target node, and return to execute the step of traversing other nodes in the neighborhood of the target node in step 174 until all nodes are traversed to obtain multiple initial sets;

[0166] Step 176: Add the distance value of each node in each initial set to the corresponding initial set to obtain multiple target sets;

[0167] Step 177: Determine a target distance value of each target set according to the distance value of each node in each target set; the target distance value is the minimum distance value among the distance values;

[0168] Step 178, obtaining the maximum distance value among the target distance values, determining the target set corresponding to the maximum distance value as the first target set, and taking the center point of the first target set as the center point of the first side block;

[0169] Step 179: determine a second target set according to the center point of the first side block and the center points of the remaining sets except the first target set, and use the center point of the second target set as the center point of the second side block; the distance between the center point of the second side block and the center point of the first side block exceeds a preset distance threshold;

[0170] Step 180: The plane where the midpoint between the center point of the first side block and the center point of the second side block is located is taken as the second plane; the normal vector of the second plane is the straight line where the center point of the first side block and the center point of the second side block are located;

[0171] Step 181: a plane passing through the center point of the first side block and parallel to the second plane is taken as a third plane, and an intersection line of the third plane and the first plane is taken as a first straight line;

[0172] Step 182: taking a plane passing through the center point of the second side block and parallel to the second plane as a fourth plane, and taking an intersection line of the fourth plane and the first plane as a second straight line;

[0173] Step 183: Determine a planned path for atlas screw placement based on the first straight line and the second straight line.

[0174] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0175] Based on the same inventive concept, the embodiment of the present application also provides a planning system for implementing the planning method involved above. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more planning system embodiments provided below can refer to the limitations on the planning method above, and will not be repeated here.

[0176] In one embodiment, Fig.18 As shown, a planning system 10 is provided, comprising: a processing module 11 and a determination module 12, wherein:

[0177] The processing module 11 is used to perform skeleton processing on the three-dimensional model of the atlas to obtain a skeleton line.

[0178] The determination module 12 is used to determine the first plane and the second plane of the atlas according to the skeleton line; wherein the first plane is the horizontal plane corresponding to the skeleton line, and the second plane is the sagittal plane of the atlas.

[0179] The determination module 12 is further used to determine a screw path for atlas screw placement according to the first plane and the second plane.

[0180] In one embodiment, the determination module 12 includes an acquisition unit and a determination unit. The acquisition unit is used to acquire all nodes on the skeleton line; and the determination unit is used to determine the first plane and the second plane according to all nodes.

[0181] In one embodiment, the determination unit is specifically configured to perform fitting processing on all nodes according to the position coordinates of all nodes to obtain the first plane.

[0182] In one embodiment, the determination unit includes an acquisition subunit and a determination subunit. The acquisition subunit is used to acquire the distance value of each node; the distance value represents the distance between each node and the boundary of the three-dimensional model of the atlas; the determination subunit determines multiple target sets corresponding to all nodes according to the distance values ​​of all nodes; each node belongs to a target set; each target set includes the position coordinates of each node belonging to the target set, and the distance value of each node; according to the multiple target sets, the first lateral mass center point and the second lateral mass center point of the atlas are determined; the second plane is determined according to the first lateral mass center point and the second lateral mass center point.

[0183] In one embodiment, the determination subunit is specifically used to obtain the degree of all nodes; a node whose degree is a first preset threshold is determined as a target node, other nodes in the neighborhood of the target node are traversed, and the nodes in other nodes whose degree is a second preset threshold are divided into an initial set until the next target node is traversed; the next target node is used as a new target node, and the step of traversing other nodes in the neighborhood of the target node is executed until all nodes are traversed to obtain multiple initial sets; the distance value of each node in each initial set is added to the corresponding initial set to obtain multiple target sets.

[0184] In one embodiment, the determination subunit is specifically used to determine the target distance value of each target set based on the distance value of each node in each target set; the target distance value is the minimum distance value among the distance values; the maximum distance value among the target distance values ​​is obtained, and the target set corresponding to the maximum distance value is determined to be the first target set, and the center point of the first target set is used as the center point of the first side block; the second target set is determined based on the center point of the first side block and the center points of the remaining sets except the first target set, and the center point of the second target set is used as the center point of the second side block; the distance between the center point of the second side block and the center point of the first side block exceeds a preset distance threshold.

[0185] In one embodiment, the determination subunit is further used to take the plane where the midpoint between the first side block center point and the second side block center point is located as the second plane; the normal vector of the second plane is the straight line where the first side block center point and the second side block center point are located.

[0186] In one embodiment, the determination module is specifically used to use a plane passing through the center point of the first lateral mass and parallel to the second plane as the third plane, and an intersection line of the third plane and the first plane as the first straight line; use a plane passing through the center point of the second lateral mass and parallel to the second plane as the fourth plane, and an intersection line of the fourth plane and the first plane as the second straight line; determine the planned path for atlas screw placement based on the first straight line and the second straight line.

[0187] In one embodiment, the planning system further includes an updating module. The updating module is used to translate the first straight line in a first preset direction by a first preset distance to obtain an updated first straight line; translate the second straight line in a second preset direction by a second preset distance to obtain an updated second straight line; and determine an updated planned path for atlas screw placement based on the updated first straight line and the updated second straight line.

[0188] In one embodiment, the determination module is further used to determine the position of the nail insertion point corresponding to the atlas according to the planned nail placement path of the atlas and the three-dimensional model of the atlas.

[0189] In one embodiment, the determination module is further used to establish a boundary model corresponding to the atlas according to the three-dimensional model of the atlas; and determine the position of the nail insertion point according to the intersection between the planned path of the atlas nail placement and the boundary model corresponding to the atlas.

[0190] Each module in the above planning system can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0191] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.19As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a planning method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, a trackball or a touch pad set on the computer device housing, or an external keyboard, touch pad or mouse, etc.

[0192] Those skilled in the art will understand that Fig.19 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0193] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0194] The three-dimensional model of the atlas is skeletonized to obtain the skeleton line;

[0195] Determine a first plane and a second plane of the atlas according to the skeleton line; wherein the first plane is a horizontal plane corresponding to the skeleton line, and the second plane is a sagittal plane of the atlas;

[0196] The planned path for atlas screw placement is determined based on the first plane and the second plane.

[0197] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0198] The three-dimensional model of the atlas is skeletonized to obtain the skeleton line;

[0199] Determine a first plane and a second plane of the atlas according to the skeleton line; wherein the first plane is a horizontal plane corresponding to the skeleton line, and the second plane is a sagittal plane of the atlas;

[0200] The planned path for atlas screw placement is determined based on the first plane and the second plane.

[0201] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0202] The three-dimensional model of the atlas is skeletonized to obtain the skeleton line;

[0203] Determine a first plane and a second plane of the atlas according to the skeleton line; wherein the first plane is a horizontal plane corresponding to the skeleton line, and the second plane is a sagittal plane of the atlas;

[0204] The planned path for atlas screw placement is determined based on the first plane and the second plane.

[0205] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0206] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0207] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A planning method, characterized in that: The method comprises: The three-dimensional model of the atlas is skeletonized to obtain the skeleton line; Determine a first plane and a second plane of the atlas according to the skeleton line; wherein the first plane is a horizontal plane corresponding to the skeleton line, and the second plane is a sagittal plane of the atlas; The planned path for the atlas screw placement is determined according to the first plane and the second plane.

2. The method according to claim 1, characterized in that The determining the first plane and the second plane of the atlas according to the skeleton line comprises: Get all nodes on the skeleton line; The first plane and the second plane are determined according to all the nodes.

3. The method according to claim 2, characterized in that Determining the second plane according to all the nodes includes: Acquire a distance value of each of the nodes; the distance value represents the distance between each of the nodes and the boundary of the three-dimensional model of the atlas; According to the distance values ​​of all the nodes, a plurality of target sets corresponding to all the nodes are determined; each of the nodes belongs to one of the target sets; each of the target sets includes the position coordinates of each of the nodes belonging to the target set, and the distance values ​​of each of the nodes; Determining a first lateral mass center point and a second lateral mass center point of the atlas according to the multiple target sets; The second plane is determined according to the first side mass center point and the second side mass center point.

4. The method according to claim 3, characterized in that The step of determining, according to the distance values ​​of all the nodes, a plurality of target sets corresponding to all the nodes comprises: Get the degrees of all the nodes; Determine the node whose degree is the first preset threshold as the target node, traverse other nodes in the neighborhood of the target node, and divide the nodes whose degree is the second preset threshold among the other nodes into an initial set until the next target node is traversed; Taking the next target node as a new target node, executing the step of traversing other nodes in the neighborhood of the target node until all the nodes are traversed to obtain the multiple initial sets; The distance value of each node in each of the initial sets is added to the corresponding initial set to obtain the multiple target sets.

5. The method according to claim 3, characterized in that: Determining the first lateral mass center point and the second lateral mass center point of the atlas according to the multiple target sets includes: Determine a target distance value of each target set according to the distance value of each node in each target set; the target distance value is the minimum distance value among the distance values; Acquire a maximum distance value among the target distance values, determine that a target set corresponding to the maximum distance value is a first target set, and use a center point of the first target set as a center point of the first side block; A second target set is determined based on the center point of the first side block and the center points of the remaining sets except the first target set, and the center point of the second target set is used as the center point of the second side block; the distance between the center point of the second side block and the center point of the first side block exceeds a preset distance threshold.

6. The method according to claim 3, characterized in that: The determining the second plane according to the first side mass center point and the second side mass center point comprises: The plane where the midpoint between the first side block center point and the second side block center point is located is taken as the second plane; the normal vector of the second plane is the straight line where the first side block center point and the second side block center point are located.

7. The method according to claim 3, characterized in that Determining the planned path of atlas screw placement according to the first plane and the second plane includes: A plane passing through the center point of the first side block and parallel to the second plane is used as a third plane, and an intersection line of the third plane and the first plane is used as a first straight line; A plane passing through the center point of the second side block and parallel to the second plane is used as a fourth plane, and an intersection line of the fourth plane and the first plane is used as a second straight line; The planned path for the atlas screw placement is determined according to the first straight line and the second straight line.

8. The method according to claim 7, characterized in that The method further comprises: translating the first straight line in a first preset direction by a first preset distance to obtain an updated first straight line; The second straight line is translated in a second preset direction by a second preset distance to obtain an updated second straight line; An updated planned path for atlas screw placement is determined based on the updated first straight line and the updated second straight line.

9. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: The position of the nail insertion point corresponding to the atlas is determined according to the planned path of the atlas nail placement and the three-dimensional model of the atlas.

10. A planning system, characterized in that: The system comprises: A processing module, used for skeletonizing the three-dimensional model of the atlas to obtain a skeleton line; A determination module, configured to determine a first plane and a second plane of the atlas according to the skeleton line; wherein the first plane is a horizontal plane corresponding to the skeleton line, and the second plane is a sagittal plane of the atlas; The determination module is also used to determine the screw path of the atlas screw placement according to the first plane and the second plane.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

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