Vertebral body positioning method, device and equipment and computer readable storage medium
By automatically adjusting the shooting angle in the filming device until the target vertebral image is in absolute right position, the problem of low image acquisition efficiency in vertebral surgery in the prior art is solved, and surgical efficiency and safety are improved.
Patent Information
- Application Number
- CN202411679768.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-22
- Publication Date
- 2025-02-14
AI Technical Summary
The prior art has low efficiency in obtaining absolutely positive vertebral images in vertebral surgery, resulting in low surgical efficiency.
By realizing the vertebral positioning method in the filming device, the vertebral image data is used to determine whether the target vertebral body is in absolute right position. If not, the shooting angle will be automatically adjusted and the filming process will be repeated until the target vertebral body is in absolute right position.
It improves the efficiency of vertebral image acquisition in absolute positive position, improves the efficiency of vertebral surgery, and reduces radiation exposure.
Smart Images
Figure CN119423805A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of medical equipment technology, and in particular to a vertebral positioning method, device, equipment and computer-readable storage medium. Background Art
[0002] With the continuous development of science and technology, in the modern medical field, vertebral surgery is an important means of treating spinal diseases, and its accuracy and safety are crucial to the patient's recovery.
[0003] At present, in actual operation, in order to obtain an absolutely positive vertebral image, it is usually necessary to use a mobile C-arm X-ray machine to take pictures of the vertebrae. In order to ensure that the vertebral image is absolutely positive for accurate puncture operation and avoid harming the health of the patient, the operator needs to manually adjust the angle of the C-arm based on experience and the vertebral images with angle deviations to capture the absolutely positive vertebral images. That is, during the positioning of the mobile C-arm X-ray machine, the operator repeatedly moves the C-arm, resulting in low surgical efficiency.
[0004] Therefore, how to improve the efficiency of acquiring absolutely anteroposterior vertebral images to improve the efficiency of vertebral surgery is a problem that urgently needs to be solved. Summary of the invention
[0005] The main purpose of the present application is to provide a vertebral positioning method, device, equipment and computer-readable storage medium, aiming to improve the efficiency of acquiring absolutely positive vertebral images to improve the efficiency of vertebral surgery.
[0006] To achieve the above-mentioned purpose, the present application provides a vertebral positioning method, which is applied to a radiographic device, and the vertebral positioning method comprises:
[0007] Perform vertebral X-rays on the surgical object to obtain vertebral image data;
[0008] Determining whether the target vertebra to be operated on in the vertebral image data is in an absolutely positive position;
[0009] In the case where the target vertebra in the vertebral image data is not in the absolute positive position, the shooting angle is adjusted based on the imaging morphology of the target vertebra in the vertebral image data, and the step of performing vertebral X-ray of the surgical object to obtain vertebral image data is returned to be executed until the target vertebra in the vertebral image data is in the absolute positive position.
[0010] In one embodiment, the method further comprises:
[0011] In response to a vertebral body selection instruction triggered based on the vertebral body image data, a target vertebral body to be operated on is determined.
[0012] In one embodiment, the step of determining whether the target vertebra to be operated on in the vertebral image data is in an absolutely positive position comprises:
[0013] Matching the imaging morphology of the target vertebra in the vertebra image data with a standard imaging morphology to obtain a matching result, wherein the standard imaging morphology is the imaging morphology of the vertebra when it is in an absolute positive position in the image data;
[0014] When the matching result is consistent, determining that the target vertebra in the vertebra image data is in an absolutely positive position;
[0015] When the matching result is inconsistent, it is determined that the target vertebra in the vertebra image data is not in an absolutely correct position.
[0016] In one embodiment, the method further comprises:
[0017] In the case that the target vertebra in the vertebra image data is in an absolutely positive position, the vertebra image data is determined as target image data, so that an operator can perform surgery based on the target image data.
[0018] In one embodiment, the step of adjusting the shooting angle based on the imaging morphology of the target vertebra in the vertebral image data comprises:
[0019] Determining a morphological deviation between an imaging morphology of the target vertebra in the vertebral image data and a standard imaging morphology;
[0020] The shooting angle is adjusted based on the morphological deviation.
[0021] In one embodiment, the radiographic device comprises a C-shaped arm and an oblique arm, the oblique arm is used to control the rotation of the C-shaped arm, the C-shaped arm is used for radiographic shooting, and the morphological deviation comprises a longitudinal deviation;
[0022] The step of adjusting the shooting angle based on the morphological deviation comprises:
[0023] determining a longitudinal deviation angle between the imaging modality and the standard imaging modality based on the longitudinal deviation;
[0024] Based on the longitudinal deviation angle, the oblique arm is controlled to drive the C-shaped arm to rotate, so as to adjust the shooting angle of the C-shaped arm.
[0025] In one embodiment, the filming device further comprises a cross arm, the cross arm is used to control the forward and backward movement of the C-shaped arm, the C-shaped arm comprises a flat panel detector and a high voltage generator, and the morphological deviation further comprises a lateral deviation;
[0026] The step of adjusting the shooting angle based on the morphological deviation comprises:
[0027] Determining a lateral deviation angle and a lateral deviation distance between the imaging modality and the standard imaging modality based on the lateral deviation;
[0028] The relative positions of the flat panel detector and the high voltage generator are adjusted based on the lateral deviation angle, and the cross arm is controlled to drive the C-shaped arm to move forward and backward based on the lateral deviation distance, so as to adjust the shooting angle of the C-shaped arm.
[0029] In addition, to achieve the above-mentioned purpose, the present application also provides a vertebral positioning device, which is applied to a radiographic device, and the vertebral positioning device comprises:
[0030] The filming module is used to film the vertebrae of the surgical object to obtain vertebrae image data;
[0031] A judgment module, used for judging whether the target vertebra to be operated on in the vertebral image data is in an absolutely positive position;
[0032] An adjustment module is used to adjust the shooting angle based on the imaging morphology of the target vertebra in the vertebral image data when the target vertebra in the vertebral image data is not in an absolute positive position, and return to execute the step of performing vertebral X-ray of the surgical object to obtain vertebral image data until the target vertebra in the vertebral image data is in an absolute positive position.
[0033] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and the computer-readable storage medium stores a program for implementing the vertebral positioning method, and the program for implementing the vertebral positioning method is executed by a processor to implement the steps of the vertebral positioning method as described above.
[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the vertebral positioning method as described above are implemented.
[0035] The present application provides a vertebral positioning method, which is applied to a radiographic device. The present application first performs a vertebral radiograph on a surgical object to obtain vertebral image data, and then determines whether the target vertebra to be operated on in the vertebral image data is in an absolutely positive position. When it is detected that the target vertebra in the vertebral image data is not in an absolutely positive position, the shooting angle is adjusted based on the imaging morphology of the target vertebra in the vertebral image data, and then the vertebral radiograph is performed again on the surgical object according to the adjusted shooting angle to obtain vertebral image data, until the target vertebra in the vertebral image data is in an absolutely positive position.
[0036] In summary, compared to the traditional method that requires manual repeated movement of the C-arm based on experience, which leads to poor surgical communication, the present application determines whether the target vertebra to be operated on in the vertebral image data is in an absolute positive position after the vertebral image data is captured. If not, the shooting angle is automatically adjusted based on the imaging morphology of the target vertebra in the vertebral image data until the target vertebra in the captured vertebral image data is in an absolute positive position. That is, the doctor does not need to manually adjust the shooting angle, which improves the efficiency of acquiring vertebral images in an absolute positive position, thereby improving the efficiency of surgery. BRIEF DESCRIPTION OF THE DRAWINGS
[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.
[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0039] Figure 1 This is a schematic diagram of the flow chart of the first embodiment of the vertebral positioning method of the present application;
[0040] Figure 2 A schematic diagram of a standard imaging form involved in an embodiment of a vertebral positioning method of the present application;
[0041] Figure 3 A schematic diagram of a vertebral positioning process involved in an embodiment of a vertebral positioning method of the present application;
[0042] Figure 4 A schematic diagram of the structure of an imaging device involved in an embodiment of the vertebral positioning method of the present application;
[0043] Figure 5 A schematic diagram of a preset coordinate system involved in an embodiment of the vertebral positioning method of the present application;
[0044] Figure 6 A schematic diagram of a deviated vertebral body involved in an embodiment of a vertebral body positioning method of the present application;
[0045] Figure 7 This is a schematic diagram of the module structure of the vertebral positioning device of the present application;
[0046] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the vertebral positioning method in the embodiment of the present application.
[0047] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0048] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.
[0049] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.
[0050] The main solution of the present application is: to perform vertebral X-ray on the surgical object to obtain vertebral image data; to determine whether the target vertebra to be operated on in the vertebral image data is in an absolute positive position; if the target vertebra in the vertebral image data is not in an absolute positive position, to adjust the shooting angle based on the imaging morphology of the target vertebra in the vertebral image data, and to return to the step of performing vertebral X-ray on the surgical object to obtain vertebral image data until the target vertebra in the vertebral image data is in an absolute positive position.
[0051] At present, in actual operation, in order to obtain an absolutely positive vertebral image, it is usually necessary to use a mobile C-arm X-ray machine to take pictures of the vertebrae. In order to ensure that the vertebral image is absolutely positive for accurate puncture operation and avoid harming the health of the patient, the operator needs to manually adjust the angle of the C-arm based on experience and the vertebral images with angle deviations to capture the absolutely positive vertebral images. That is, during the positioning of the mobile C-arm X-ray machine, the operator repeatedly moves the C-arm, resulting in low surgical efficiency.
[0052] Compared with the traditional method that requires manual repeated movement of the C-arm based on experience, resulting in poor surgical communication, the present application determines whether the target vertebra to be operated on in the vertebral image data is in an absolute positive position after the vertebral image data is captured. If not, the shooting angle is automatically adjusted based on the imaging morphology of the target vertebra in the vertebral image data until the target vertebra in the captured vertebral image data is in an absolute positive position. That is, the doctor does not need to manually adjust the shooting angle, thereby improving the efficiency of obtaining vertebral images in an absolute positive position, thereby improving the efficiency of surgery.
[0053] It should be noted that the execution subject of the method in each embodiment of the vertebral positioning method of the present application may be an imaging device, or an imaging device capable of realizing the above functions, etc., and this embodiment does not specifically limit this. The following takes the imaging device as the execution subject as an example to illustrate this embodiment and the following embodiments.
[0054] Based on this, the present application proposes a vertebral positioning method of the first embodiment, please refer to Figure 1The vertebral positioning method includes steps S10 to S30:
[0055] Step S10, taking a vertebral X-ray of the surgical object to obtain vertebral image data;
[0056] In this embodiment, the step S10 may include: in response to the shooting instruction, performing vertebral radiography on the surgical object to obtain vertebral image data. It should be noted that the embodiment of the present application does not limit the triggering method of the shooting instruction, which may be automatically triggered or manually triggered. For example, in a feasible implementation, the filming device automatically adjusts the shooting angle after being turned on, and automatically triggers the shooting instruction after the shooting angle is adjusted, so as to perform the first vertebral radiography on the surgical object in response to the shooting instruction. When it is detected that the target vertebra in the vertebral image data is not in an absolute positive position, the shooting angle is readjusted, and after the shooting angle is adjusted, the shooting instruction is automatically triggered to perform the second vertebral radiography on the surgical object, and so on. For example, in another feasible implementation, the device operator steps on the foot switch of the filming device to trigger the shooting instruction.
[0057] It should be noted that the vertebral positioning method of the present application is applied to a radiographic device. In an embodiment of the present application, the radiographic device is a mobile C-arm X-ray machine.
[0058] Step S20, determining whether the target vertebra to be operated on in the vertebral image data is in an absolutely positive position;
[0059] The vertebra to be operated on in the vertebral image data (hereinafter referred to as the target vertebra for distinction) is determined, and it is identified and judged whether the target vertebra in the vertebral image data is in an absolutely positive position.
[0060] In a specific implementation, the step S20 may include:
[0061] Step S201, matching the imaging morphology of the target vertebra in the vertebra image data with the standard imaging morphology to obtain a matching result, wherein the standard imaging morphology is the imaging morphology of the vertebra when it is in an absolute positive position in the image data;
[0062] Step S202, when the matching result is consistent, determining that the target vertebra in the vertebra image data is in an absolutely positive position;
[0063] Step S203: when the matching result is inconsistent, determining that the target vertebra in the vertebra image data is not in an absolutely correct position.
[0064] It should be noted that an imaging form representing the vertebral body in an absolute positive position in the image data is preset, that is, the above-mentioned standard imaging form. Figure 2The figure shows a schematic diagram of the standard imaging morphology. It can be understood that the shooting angle of the filming device is perpendicular to the surface of the vertebral body, so the standard imaging morphology appears as a rectangle.
[0065] The imaging morphology of the target vertebra in the vertebral image data is matched with the standard imaging morphology to obtain a matching result. When the imaging morphology in the vertebral image data is a rectangle, the matching result is determined to be a consistent match, and the target vertebra in the vertebral image data is determined to be in an absolutely positive position; when the imaging morphology in the vertebral image data is not a rectangle, the matching result is determined to be an inconsistent match, and the target vertebra in the vertebral image data is determined not to be in an absolutely positive position.
[0066] In this embodiment, the vertebral positioning method of the present application further includes:
[0067] Step A10: determining a target vertebra to be operated on in response to a vertebra selection instruction triggered based on the vertebra image data.
[0068] It should be noted that the vertebral selection instruction is an instruction triggered by the doctor (i.e., the operator) in the vertebral image data. For example, after taking the first vertebral image data, the doctor triggers the vertebral selection instruction by clicking on a vertebra in the vertebral image data displayed on the display screen of the filming device.
[0069] In response to a vertebral body selection instruction triggered by an operator based on the vertebral body image data, the vertebral body indicated by the vertebral body selection instruction is determined to be a target vertebral body to be operated on.
[0070] Step S30, when the target vertebra in the vertebral image data is not in the absolute positive position, adjust the shooting angle based on the imaging morphology of the target vertebra in the vertebral image data, and return to execute the step of performing vertebral X-ray of the surgical object to obtain vertebral image data until the target vertebra in the vertebral image data is in the absolute positive position.
[0071] When it is detected that the target vertebra in the vertebral image data is not in the absolute positive position, the shooting angle is adjusted based on the imaging morphology of the target vertebra in the vertebral image data. After the shooting angle is adjusted, the vertebral body of the surgical object is photographed again to obtain the vertebral image data until the target vertebra in the captured vertebral image data is in the absolute positive position.
[0072] In this embodiment, the vertebral positioning method of the present application further includes:
[0073] Step B10, when the target vertebra in the vertebra image data is in an absolutely positive position, determining the vertebra image data as target image data, so that an operator can perform surgery based on the target image data.
[0074] When the target vertebra in the vertebra image data is in an absolutely positive position, the vertebra image data is determined as the target image data, so that the operator can obtain the position and angle of the operation based on the target image data, thereby performing the operation. It should be understood that the target image data refers to the vertebra image data in an absolutely positive position.
[0075] For example, Figure 3 The figure shows a schematic diagram of the vertebral positioning process. First, the first vertebral image data is taken by a filming device; then the operator selects the vertebra to be operated on, that is, the target vertebra, from the vertebral image data; identifies whether the target vertebra is absolutely positioned in the vertebral image data; if so, marks the position and angle of the operation based on the vertebral image data; if not, identifies the morphological deviation between the imaging morphology of the target vertebra and the standard imaging morphology in the vertebral image data, adjusts the shooting angle based on the deviation, takes the vertebral image data again, and re-judges whether the target vertebra is absolutely positioned in the newly taken vertebral image data, and repeats this cycle until the target vertebra is absolutely positioned, and obtains the vertebral image data containing the absolutely positioned target vertebra as a surgical reference image.
[0076] The embodiment of the present application determines whether the target vertebra to be operated on in the vertebral image data is in an absolutely positive position after the vertebral image data is captured. If not, the shooting angle is automatically adjusted based on the imaging morphology of the target vertebra in the vertebral image data until the target vertebra in the captured vertebral image data is in an absolutely positive position, that is, the doctor does not need to manually adjust the shooting angle, thereby improving the efficiency of acquiring vertebral images in an absolutely positive position, thereby improving the efficiency of surgery. In addition, the present application also avoids the situation where multiple exposures are required due to the low accuracy of manually placed filming equipment, thereby reducing radiation and improving the safety of doctors and patients.
[0077] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. On this basis, the step S30 may include:
[0078] Step S301, determining a morphological deviation between an imaging morphology of the target vertebra in the vertebral image data and a standard imaging morphology;
[0079] Step S302: adjusting the shooting angle based on the morphological deviation.
[0080] The deviation between the imaging morphology of the target vertebra in the vertebra image data and the standard imaging morphology (hereinafter referred to as morphology deviation for distinction) is determined, and the shooting angle of the filming device is adjusted based on the morphology deviation.
[0081] In this embodiment, the radiographic device includes a C-shaped arm and an oblique arm, the oblique arm is used to control the rotation of the C-shaped arm, the C-shaped arm is used to take radiographs, the morphological deviation includes a longitudinal deviation, and step S302 may include:
[0082] Step C10, determining a longitudinal deviation angle between the imaging form and the standard imaging form based on the longitudinal deviation;
[0083] Step C20: Based on the longitudinal deviation angle, the oblique arm is controlled to drive the C-shaped arm to rotate, so as to adjust the shooting angle of the C-shaped arm.
[0084] It should be noted that if Figure 4 The figure shows a schematic diagram of the structure of the filming equipment, the filming equipment (i.e., a mobile C-arm X-ray machine) includes a C-arm 1, an oblique arm 2, and a horizontal arm 3, wherein the C-arm 1 is also called a C-ring, and includes a flat-panel detector 11 and a high-voltage generator 12, the C-arm 1 is used to control the angular position of the flat-panel detector 11 and the high-voltage generator 12 by rotation; the oblique arm 2 is used to control the rotation angle position of the C-arm 1; the horizontal arm 3 is used to control the forward and backward movement of the C-arm 1 and the oblique arm 2. In addition, the morphological deviation includes a longitudinal deviation, i.e., a shooting angle deviation in the longitudinal direction in the preset coordinate system, wherein, as Figure 5 The figure shows a schematic diagram of a preset coordinate system. Therefore, it should be understood that the deviation of the vertebral imaging morphology in the X direction can be reduced by controlling the flat panel detector and the high voltage generator to slide on the C-shaped arm and the forward and backward movement of the cross arm. In addition, the C-shaped arm can be driven to rotate by the oblique arm to reduce the deviation of the vertebral imaging morphology in the Y direction. It should be noted that when the cross arm controls the C-shaped arm to move forward, the deviation of the vertebral imaging morphology in the Y direction can be reduced. Figure 4 From the perspective shown, the C-arm moves to the left. In addition, the longitudinal deviation angle between the imaging form determined based on the longitudinal deviation and the standard imaging form represents the difference between the standard shooting angles of the image data of the standard imaging form, and the longitudinal deviation distance can also be determined based on the longitudinal deviation. Specifically, the longitudinal deviation distance between the imaging form determined based on the longitudinal deviation and the standard imaging form represents the longitudinal difference between the midpoint of the standard imaging form and the midpoint of the imaging form in the preset coordinate system, that is, the difference between the longitudinal coordinates of the two points. It should be understood that the patient can be reminded to move based on the longitudinal deviation distance.
[0085] The morphological deviation between the imaging morphology and the standard imaging morphology includes a longitudinal deviation. The longitudinal deviation angle between the imaging morphology and the standard imaging morphology is determined based on the longitudinal deviation, and then the oblique arm is controlled to drive the C-arm to rotate based on the longitudinal deviation angle to adjust the shooting angle of the C-arm, so that the target vertebra in the vertebral image data captured from the adjusted shooting angle is close to the absolute positive position.
[0086] For example, Figure 6 The figure shows a schematic diagram of a deviation vertebra, indicating that the imaging of the vertebra in the vertebral image data has a deviation in the Y direction. By identifying the ellipse a, the deviation angle of the current vertebra is determined, and based on the deviation angle, the inclined arm is controlled to drive the C-arm to rotate in the opposite direction of the Y axis.
[0087] In this embodiment, the filming device further includes a cross arm, and the cross arm is used to control the forward and backward movement of the C-shaped arm, the C-shaped arm includes a flat panel detector and a high voltage generator, the morphological deviation further includes a lateral deviation, and the step S30 may include:
[0088] Step D10, determining a lateral deviation angle and a lateral deviation distance between the imaging form and the standard imaging form based on the lateral deviation;
[0089] Step D20, adjusting the relative positions of the flat panel detector and the high voltage generator based on the lateral deviation angle, and controlling the cross arm to drive the C-shaped arm to move forward and backward based on the lateral deviation distance, so as to adjust the shooting angle of the C-shaped arm.
[0090] It should be noted that the filming equipment includes a cross arm, which is used to control the forward and backward movement of the C-shaped arm. The morphological deviation between the imaging form and the standard imaging form also includes a lateral deviation. The lateral deviation angle between the imaging form determined based on the lateral deviation and the standard imaging form represents the difference between the standard shooting angles of the image data of the standard imaging form. The lateral deviation distance between the imaging form determined based on the lateral deviation and the standard imaging form represents the lateral difference between the midpoint of the standard imaging form and the midpoint of the imaging form in the preset coordinate system, that is, the difference between the horizontal coordinates of the two points.
[0091] The lateral deviation angle and lateral deviation distance between the imaging form and the standard imaging form are determined based on the lateral deviation, and the flat-panel detector and the high-voltage generator are controlled to slide on the C-arm based on the lateral deviation angle to adjust the relative positions of the flat-panel detector and the high-voltage generator, and the inclined arm is controlled to drive the C-arm to move forward and backward based on the lateral deviation distance to adjust the shooting angle of the C-arm, so that the target vertebra in the vertebral image data captured from the adjusted shooting angle is close to the absolute positive position.
[0092] In this way, the embodiment of the present application automatically identifies the difference between the vertebral imaging morphology and the standard imaging morphology, calculates the data basis for adjusting the shooting angle, namely the deviation angle and the deviation distance, and adjusts the shooting angle based on these data so that the target vertebra in the vertebral image data captured from the adjusted shooting angle is close to the absolute positive position, that is, the acquisition process of the absolute positive vertebral image is automated, which improves the image acquisition efficiency and thus improves the surgical efficiency.
[0093] The present application also provides a vertebral positioning device, please refer to Figure 7 The vertebral positioning device is applied to a radiographic device, and the vertebral positioning device comprises:
[0094] The filming module 10 is used to film the vertebrae of the surgical object to obtain vertebrae image data;
[0095] A judgment module 20, used to judge whether the target vertebra to be operated on in the vertebral image data is in an absolutely positive position;
[0096] The adjustment module 30 is used to adjust the shooting angle based on the imaging morphology of the target vertebra in the vertebral image data when the target vertebra in the vertebral image data is not in the absolute positive position, and return to execute the step of performing vertebral X-ray of the surgical object to obtain vertebral image data until the target vertebra in the vertebral image data is in the absolute positive position.
[0097] Optionally, the vertebral positioning device further comprises a vertebral selection module, and the vertebral selection module is used to:
[0098] In response to a vertebral body selection instruction triggered based on the vertebral body image data, a target vertebral body to be operated on is determined.
[0099] Optionally, the judging module 20 is further configured to:
[0100] Matching the imaging morphology of the target vertebra in the vertebra image data with a standard imaging morphology to obtain a matching result, wherein the standard imaging morphology is the imaging morphology of the vertebra when it is in an absolute positive position in the image data;
[0101] When the matching result is consistent, determining that the target vertebra in the vertebra image data is in an absolutely positive position;
[0102] When the matching result is inconsistent, it is determined that the target vertebra in the vertebra image data is not in an absolutely correct position.
[0103] Optionally, the vertebral positioning device further comprises a surgical module, wherein the surgical module is used for:
[0104] In the case that the target vertebra in the vertebra image data is in an absolutely positive position, the vertebra image data is determined as target image data, so that an operator can perform surgery based on the target image data.
[0105] Optionally, the adjustment module 30 is further used for:
[0106] Determining a morphological deviation between an imaging morphology of the target vertebra in the vertebral image data and a standard imaging morphology;
[0107] The shooting angle is adjusted based on the morphological deviation.
[0108] Optionally, the radiographic device includes a C-shaped arm and an oblique arm, the oblique arm is used to control the rotation of the C-shaped arm, the C-shaped arm is used for radiographic shooting, the morphological deviation includes a longitudinal deviation, and the adjustment module 30 is further used to:
[0109] determining a longitudinal deviation angle between the imaging modality and the standard imaging modality based on the longitudinal deviation;
[0110] Based on the longitudinal deviation angle, the oblique arm is controlled to drive the C-shaped arm to rotate, so as to adjust the shooting angle of the C-shaped arm.
[0111] Optionally, the filming device further includes a cross arm, the cross arm is used to control the forward and backward movement of the C-shaped arm, the C-shaped arm includes a flat panel detector and a high voltage generator, the morphological deviation further includes a lateral deviation, and the adjustment module 30 is further used to:
[0112] Determining a lateral deviation angle and a lateral deviation distance between the imaging modality and the standard imaging modality based on the lateral deviation;
[0113] The relative positions of the flat panel detector and the high voltage generator are adjusted based on the lateral deviation angle, and the cross arm is controlled to drive the C-shaped arm to move forward and backward based on the lateral deviation distance, so as to adjust the shooting angle of the C-shaped arm.
[0114] The vertebral positioning device provided in the embodiment of the present application adopts the vertebral positioning method in the above embodiment, which can solve the technical problem of how to improve the efficiency of obtaining vertebral images in an absolutely positive position to improve the efficiency of vertebral surgery. Compared with the prior art, the beneficial effects of the vertebral positioning device provided in the embodiment of the present application are the same as the beneficial effects of the vertebral positioning method provided in the above embodiment, and other technical features in the vertebral positioning device are the same as the features disclosed in the above embodiment method, which will not be repeated here.
[0115] The present application provides an imaging device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vertebral positioning method in the above-mentioned embodiment 1.
[0116] Reference below Figure 8 , which shows a schematic structural diagram of a filming device suitable for implementing an embodiment of the present application. Figure 8 The filming device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.
[0117] like Figure 8 As shown, the filming device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the filming device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the filming device to communicate with other devices wirelessly or wired to exchange data. Although the figure shows a filming device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.
[0118] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.
[0119] The radiographic device provided by the present application adopts the vertebral positioning method in the above embodiment, which can solve the technical problem of how to improve the efficiency of obtaining absolutely positive vertebral images to improve the efficiency of vertebral surgery. Compared with the prior art, the beneficial effects of the radiographic device provided by the present application are the same as the beneficial effects of the vertebral positioning method provided by the above embodiment, and the other technical features of the radiographic device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.
[0120] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.
[0121] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
[0122] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer program) stored thereon, and the computer-readable program instructions are used to execute the vertebral positioning method in the above-mentioned embodiment.
[0123] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.
[0124] The computer-readable storage medium may be included in the filming device; or may exist independently without being installed in the filming device.
[0125] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the radiographic device, the radiographic device: performs vertebral radiography on the surgical object to obtain vertebral image data; determines whether the target vertebra to be operated on in the vertebral image data is in an absolute positive position; if the target vertebra in the vertebral image data is not in an absolute positive position, adjusts the shooting angle based on the imaging morphology of the target vertebra in the vertebral image data, and returns to execute the step of performing vertebral radiography on the surgical object to obtain vertebral image data until the target vertebra in the vertebral image data is in an absolute positive position.
[0126] Computer program code for performing the operations of the present application may be written in one or more programming languages or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0127] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
[0128] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.
[0129] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vertebral positioning method, and can solve the technical problem of how to improve the efficiency of acquiring absolutely positive vertebral images to improve the efficiency of vertebral surgery. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the vertebral positioning method provided in the above-mentioned embodiment, and will not be repeated here.
[0130] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the above-mentioned vertebral positioning method when executed by a processor.
[0131] The computer program product provided in this application can improve the efficiency of obtaining absolutely anteroposterior vertebral images, so as to improve the efficiency of vertebral surgery. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiment of this application are the same as the beneficial effects of the vertebral positioning method provided in the above embodiment, which will not be described in detail here.
[0132] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.
Claims
1. A vertebral positioning method, characterized in that: The vertebral positioning method is applied to a radiographic device, and the vertebral positioning method comprises: Perform vertebral X-rays on the surgical object to obtain vertebral image data; Determining whether the target vertebra to be operated on in the vertebral image data is in an absolutely positive position; In the case where the target vertebra in the vertebral image data is not in the absolute positive position, the shooting angle is adjusted based on the imaging morphology of the target vertebra in the vertebral image data, and the step of performing vertebral X-ray of the surgical object to obtain vertebral image data is returned to be executed until the target vertebra in the vertebral image data is in the absolute positive position.
2. The method according to claim 1, characterized in that The method further comprises: In response to a vertebral body selection instruction triggered based on the vertebral body image data, a target vertebral body to be operated on is determined.
3. The method according to claim 1, characterized in that The step of judging whether the target vertebra to be operated on in the vertebral image data is in an absolutely positive position comprises: Matching the imaging morphology of the target vertebra in the vertebra image data with a standard imaging morphology to obtain a matching result, wherein the standard imaging morphology is the imaging morphology of the vertebra when it is in an absolute positive position in the image data; When the matching result is consistent, determining that the target vertebra in the vertebra image data is in an absolutely positive position; When the matching result is inconsistent, it is determined that the target vertebra in the vertebra image data is not in an absolutely correct position.
4. The method according to claim 3, characterized in that The method further comprises: In the case that the target vertebra in the vertebra image data is in an absolutely positive position, the vertebra image data is determined as target image data, so that an operator can perform surgery based on the target image data.
5. The method according to claim 1, characterized in that The step of adjusting the shooting angle based on the imaging morphology of the target vertebra in the vertebral image data comprises: Determining a morphological deviation between an imaging morphology of the target vertebra in the vertebral image data and a standard imaging morphology; The shooting angle is adjusted based on the morphological deviation.
6. The method according to claim 5, characterized in that The filming device comprises a C-shaped arm and an oblique arm, the oblique arm is used to control the rotation of the C-shaped arm, the C-shaped arm is used for filming, and the morphological deviation comprises a longitudinal deviation; The step of adjusting the shooting angle based on the morphological deviation comprises: determining a longitudinal deviation angle between the imaging modality and the standard imaging modality based on the longitudinal deviation; Based on the longitudinal deviation angle, the oblique arm is controlled to drive the C-shaped arm to rotate, so as to adjust the shooting angle of the C-shaped arm.
7. The method according to claim 6, characterized in that The filming device further includes a cross arm, the cross arm is used to control the forward and backward movement of the C-shaped arm, the C-shaped arm includes a flat panel detector and a high voltage generator, and the morphological deviation further includes a lateral deviation; The step of adjusting the shooting angle based on the morphological deviation comprises: Determining a lateral deviation angle and a lateral deviation distance between the imaging modality and the standard imaging modality based on the lateral deviation; The relative positions of the flat panel detector and the high voltage generator are adjusted based on the lateral deviation angle, and the cross arm is controlled to drive the C-shaped arm to move forward and backward based on the lateral deviation distance, so as to adjust the shooting angle of the C-shaped arm.
8. A vertebral positioning device, characterized in that: The vertebral positioning device is applied to a radiographic device, and the vertebral positioning device comprises: The filming module is used to film the vertebrae of the surgical object to obtain vertebrae image data; A judgment module, used for judging whether the target vertebra to be operated on in the vertebral image data is in an absolutely positive position; An adjustment module is used to adjust the shooting angle based on the imaging morphology of the target vertebra in the vertebral image data when the target vertebra in the vertebral image data is not in an absolute positive position, and return to execute the step of performing vertebral X-ray of the surgical object to obtain vertebral image data until the target vertebra in the vertebral image data is in an absolute positive position.
9. A filming device, characterized in that: The filming device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vertebral positioning method according to any one of claims 1 to 7.
10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the vertebral positioning method according to any one of claims 1 to 7 are implemented.