Screw planning method and rod penetrating navigation method for spinal screw placement surgery

Abstract

The invention relates to a screw planning method and a rod penetrating navigation method for a spinal screw placement operation. The method comprises the steps that initial screw positions are obtained through planning according to a screw planning algorithm, and the initial screw positions comprise the positions of a plurality of screws needing to be set; according to the initial screw position and the screw size, a target screw rod path meeting a preset optimization condition is screened, and a screw rod is used for penetrating through a plurality of screws; and determining the target screw position according to the target screw rod path. The problems that in the prior art, a screw planning algorithm has certain errors, needs to be manually adjusted in an open type operation and is difficult to apply to a minimally invasive screw placement operation are solved.

Description

Technical Field

[0001] The invention relates to the technical field of surgical assistance, and in particular to a screw planning method and a rod insertion navigation method for spinal screw placement surgery. Background Art

[0002] Currently, in spinal screw placement surgery, after screw placement, rod insertion is a very important step. Its purpose is to use the rod to fix multiple screws, so that subsequent manual adjustment operations such as lifting, reduction and pressure can be performed. In open spinal surgery, the operation is relatively easy because the surgical area is visible.

[0003] However, in the currently advocated minimally invasive percutaneous screw placement surgery, the screws are not visible from the body surface after placement, so the rod insertion operation is difficult, especially in the surgery of multiple spinal segments, the rod insertion is time-consuming and labor-intensive, and requires multiple X-ray examinations for confirmation. The existing screw planning algorithm cannot accurately plan the screw position, making it difficult to apply to minimally invasive screw placement surgery.

[0004] There are certain errors in the screw planning algorithm in the related technology, which needs to be manually adjusted in open surgery and is difficult to apply to minimally invasive screw placement surgery. No effective solution has been proposed yet. Summary of the invention

[0005] The present invention provides a screw planning method for spinal screw placement surgery and a rod navigation method, which at least solves the problem that the screw planning algorithm in the related art has certain errors, needs to be manually adjusted in open surgery, and is difficult to apply to minimally invasive screw placement surgery.

[0006] According to one aspect of an embodiment of the present invention, a screw planning method for spinal screw placement surgery is provided, comprising: obtaining an initial screw position according to a screw planning algorithm, wherein the initial screw position includes the positions of multiple screws that need to be set; based on the initial screw position and the screw size, screening a target screw rod path that meets preset preferred conditions, wherein the screw rod is used to pass through multiple screws; and determining a target screw position according to the target screw rod path.

[0007] As an optional embodiment, the initial screw position is obtained according to a screw planning algorithm, including: planning the initial screw position based on screw parameters through a surgical planning system, wherein the initial position of each screw in the initial screw position includes two position points: a screw head endpoint and a screw end point.

[0008] As an optional embodiment, according to the initial screw position and the screw size, a target nail rod path that meets the preset preferred conditions is screened, including: according to the initial screw position and the required screw size, a universal screw of corresponding specifications is selected, wherein the head end of the universal screw is provided with a universal hole, and the universal hole is used to rotate according to the rod insertion requirement, so that the nail rod passes through the universal hole to connect the corresponding screw; according to the top cap length and the active angle of the universal screw, combined with the preset preferred conditions, an optimization model is created, wherein the optimization model includes multiple optimization items, and the optimization items are used to characterize the preferred parameters of the corresponding preset preferred conditions; the optimal path is solved by the optimization model; the optimal path is verified according to the rotation range of each universal screw; when the rotation range of each universal screw meets the length and the active angle, the optimal path is determined as the target nail rod path.

[0009] As an optional embodiment, the optimization model includes three optimization items, which are the distance from the geometric center of the cone to the nail rod, the cone projection value determined by the projection point of the geometric center into the cone, and the vector angle between a first vector pointing from the vertex of the cone to the geometric center and a second vector pointing from the vertex to the projection point.

[0010] As an optional embodiment, verifying the optimal path according to the rotation range of each universal screw includes: when the cone projection value of each universal screw corresponding to the optimal path is less than or equal to zero, determining that the rotation range of each universal screw of the optimal path meets the length and the active angle; when there is a universal screw in the optimal path with a cone projection value greater than zero, determining that the rotation range of each universal screw of the optimal path does not meet the length and the active angle.

[0011] As an optional embodiment, the method also includes: when the rotation range of each of the universal screws does not conform to the length and the active angle, re-planning the initial screw position through the screw planning algorithm; re-determining the target nail rod path through the re-planned initial screw position until the rotation range of each of the universal screws of the target nail rod path conforms to the length and the active angle.

[0012] According to another aspect of the embodiments of the present invention, a rod insertion navigation method for spinal screw placement surgery is provided, comprising: determining the target screw position by any of the methods described above; determining the head end coordinates of the nail rod on the rod inserter based on a first positioning target set on the rod inserter; determining the penetration coordinates of the target screw based on a second positioning target installed on the extended tail piece of the target screw currently requiring rod insertion; generating a recut image based on the head end coordinates and the penetration coordinates, wherein the recut image is a medical image of the section formed by the head end coordinates, the penetration coordinates and the position of the rod inserter; and performing rod insertion navigation using the recut image.

[0013] According to another aspect of the present invention, there is provided an electronic device, comprising: a processor, and a memory storing a program, wherein the program comprises instructions, and when the instructions are executed by the processor, the processor executes any one of the above methods.

[0014] According to another aspect of the present invention, a non-transitory machine-readable medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute any of the above methods.

[0015] According to another aspect of the present invention, a computer program product is provided, including a computer program / instruction, and when the computer program / instruction is executed by a processor, any of the above methods is implemented.

[0016] The screw planning method provided by the embodiment of the invention obtains the initial screw position according to the screw planning algorithm, wherein the initial screw position includes the positions of multiple screws that need to be set; based on the initial screw position and the screw size, the target nail rod path that meets the preset preferred conditions is screened, and the target screw position is determined according to the target nail rod path. This ensures that the planned target screw position can be accurately inserted, improves the accuracy of the target screw planning, avoids manual adjustment during surgery, and solves the problem that the screw planning algorithm in the related art has certain errors, needs to be manually adjusted in open surgery, and is difficult to apply to minimally invasive nail placement surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work.

[0018] Figure 1The present invention is a flowchart of a method for screw planning in spinal screw placement surgery according to an embodiment of the present invention.

[0019] Figure 2 The present invention is a flowchart of a rod navigation method for spinal nail placement surgery according to an embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram of a rod threader and an extended tail piece of a rod threading navigation according to an embodiment of the present invention.

[0021] Figure 4 It is a schematic diagram of a re-cut image of an embodiment of the present invention.

[0022] Figure 5 It is a structural schematic diagram of the electronic device created by the present invention. DETAILED DESCRIPTION

[0023] The embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0024] Since the screw planning algorithm in the related art has certain errors and needs to be manually adjusted in open surgery, which makes it difficult to apply to minimally invasive screw placement surgery, an embodiment of the present invention provides a screw planning method for spinal screw placement surgery. Figure 1 Flow chart of a method for screw planning in spinal screw placement surgery according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0025] Step S101, obtaining an initial screw position according to a screw planning algorithm, wherein the initial screw position includes positions of multiple screws that need to be set;

[0026] Step S102, screening a target nail rod path that meets preset preferred conditions according to the initial screw position and screw size, wherein the nail rod is used to pass through multiple screws;

[0027] Step S103, determining the target screw position according to the target nail rod path.

[0028] Among them, the screw planning method provided by the embodiment of the invention obtains the initial screw position according to the screw planning algorithm, wherein the initial screw position includes the positions of multiple screws that need to be set; according to the initial screw position and the screw size, the target nail rod path that meets the preset preferred conditions is screened, and the target screw position is determined according to the target nail rod path. This ensures that the planned target screw position can be accurately inserted, improves the accuracy of the target screw planning, avoids manual adjustment during surgery, and solves the problem that the screw planning algorithm in the related art has certain errors, needs to be manually adjusted in open surgery, and is difficult to apply to minimally invasive nail placement surgery.

[0029] The execution subject of the above steps may be a screw planning system, that is, a computer-assisted surgery planning system (Computer-Assisted Surgery Planning). Specifically, the screw planning system may be run on hardware devices such as a server and a computer.

[0030] The screw planning algorithm can be used to plan screws based on medical imaging data and existing screw planning algorithms, such as machine learning algorithms, deep learning algorithms, etc. The planned initial screw position includes multiple screws that need to be placed and their positions. The initial planned position of the screw can be represented by the first and last points of the screw.

[0031] Then, according to the initial screw position, screw size, and preset optimal conditions, an optimization model can be established. By solving the optimization model, a target nail rod path that meets the preset optimal conditions can be screened. The optimization process also involves iteratively replanning the initial screw position to make the final target nail rod path meet the above preset optimal conditions.

[0032] The target screw position corresponding to the final target nail-rod path can be directly inserted without manual adjustment during surgery, thereby improving the accuracy of planning the target screw position and avoiding manual adjustment in minimally invasive surgery.

[0033] As an optional embodiment, the initial screw position is obtained according to a screw planning algorithm, including: planning the initial screw position based on screw parameters through a surgical planning system, wherein the initial position of each screw in the initial screw position includes two position points: the screw head endpoint and the screw end point.

[0034] The above surgical planning system can plan the screw target accordingly. The initial position of each screw includes two position points: the end point of the screw head and the end point of the screw. Each position point can be represented by a spatial coordinate system (x, y, z). The line segment formed by the two position points can represent the planned position of the screw.

[0035] In order to facilitate the subsequent nail rod insertion in the related art, the screw can be a universal screw, that is, the hole for inserting the rod is set on a rotatable top cap on the screw, that is, the hole can be rotated to a certain extent according to the rod insertion requirements.

[0036] As an optional embodiment, according to the initial screw position and the screw size, a target nail rod path that meets the preset preferred conditions is screened, including: according to the initial screw position and the required screw size, a universal screw of corresponding specifications is selected, wherein the head end of the universal screw is provided with a universal hole, and the universal hole is used to rotate according to the rod insertion requirement, so that the nail rod passes through the universal hole to connect the corresponding screw; according to the top cap length and the movable angle of the universal screw, combined with the preset preferred conditions, an optimization model is created, wherein the optimization model includes multiple optimization items, and the optimization items are used to characterize the preferred parameters of the corresponding preset preferred conditions; the optimal path is solved by the optimization model; the optimal path is verified according to the rotation range of each universal screw; when the rotation range of each universal screw meets the length and the movable angle, the optimal path is determined as the target nail rod path.

[0037] Based on the initial screw position and the required screw size, which may include the screw diameter and length, and is also the result obtained by the above-mentioned screw planning algorithm, the size of the spinal bone at the screw placement position and the bonding strength are taken into account in the surgical planning system. The screw position planning can be combined with the screw size to obtain the above-mentioned initial screw position.

[0038] According to the screw size and initial screw position, you can choose a universal screw of the corresponding specification. Generally speaking, the universal screws for the same operation have the same specifications to reduce the difficulty of the operation. In some special scenarios, for example, when the strength or size of the spinal bone cannot be met, universal screws of different specifications can also be used.

[0039] As an optional embodiment, the above-mentioned preset preferred conditions may include: 1. The nail rod can pass through the cone corresponding to the universal screw. The cone is a known initial screw position, as well as the length and angle of the movable top cap of the universal screw. Simulation is performed to generate a cone with a clear vertex, the top cap length as the generatrix, and the movable angle as the rotation angle. The adjustable range of the universal screw in the cone is to adapt to the curvature of the relatively regular nail rod, ensuring that the nail rod can pass through the screw.

[0040] Second, the distance from the center point of the cone to the nail rod is the smallest. Third, when each universal screw rotatable component rotates to the fixed position of the nail rod, the rotation angle is the smallest.

[0041] Through the above-mentioned preferred conditions, a nailing path with easier rod insertion and higher fault tolerance can be selected.

[0042] Find the starting coordinate X of the nail rod when the above conditions are met start(x,y,z) and direction vector s(x,y,z), the above optimization model can be:

[0043]

[0044] , where D i The center point X of the cone i The distance to the nail rod; C is the cone model, C i X i Projection point coordinate X to the nail rod iproj Bring in the cone model C i θ i The vertex X of the cone i0 Point to the geometric center X i The first vector The vertex X of the cone i0 Point to the projection point X iproj The second vector Angle.

[0045] As an optional embodiment, the optimization model includes three optimization items, which are: the geometric center X of the cone i Distance to nail bar D i , the projection point X of the geometric center iproj Substitute the conic projection value C determined by the cone C i , and the vertex X of the cone i0 Point to the geometric center X i The first vector With vertex X i0 Point to the projection point X iproj The second vector The vector angle D i and θ i As a penalty term, it can ensure that the rotatable component of the universal screw fixes the nail rod with the minimum displacement and rotation angle; C i It can be ensured that the nail rod can pass through each universal screw.

[0046] As an optional embodiment, verifying the optimal path according to the rotation range of each universal screw includes: when the cone projection value of each universal screw corresponding to the optimal path is less than or equal to zero, determining that the rotation range of each universal screw of the optimal path meets the length and the active angle; when there is a universal screw in the optimal path with a cone projection value greater than zero, determining that the rotation range of each universal screw of the optimal path does not meet the length and the active angle.

[0047] In the solution process, the conic projection value C iIt can be determined whether the optimal path obtained is in accordance with the length and movable angle of the universal screw. Specifically, if the cone projection value of each universal screw corresponding to the optimal path is less than or equal to zero, it is determined that the rotation range of each universal screw of the optimal path is in accordance with the length and movable angle, and the optimal path can be determined as the target nail rod path, and the corresponding starting point coordinates and direction vector can be output, and the projection coordinates of the starting point coordinates to the nail rod can also be output. It is used to subsequently determine the positions of each target nail rod.

[0048] When the cone projection value of a universal screw in the optimal path is greater than zero, it is determined that the rotation range of each universal screw of the optimal path does not meet the length and active angle. In this case, it is necessary to replan the initial screw position and replan the target nail rod path until the target nail rod path meets the above requirements.

[0049] As an optional embodiment, the method also includes: when the rotation range of each universal screw does not meet the length and active angle, re-planning the initial screw position through a screw planning algorithm; re-determining the target nail rod path through the re-planned initial screw position until the rotation range of each universal screw of the target nail rod path meets the length and active angle.

[0050] The embodiment of the invention also provides a rod insertion navigation method for spinal screw placement surgery, which is applied to intraoperative navigation in minimally invasive screw placement surgery. Figure 2 FIG. 1 is a flow chart of a rod insertion navigation method for spinal nail placement surgery according to an embodiment of the present invention. Figure 2 As shown, the method includes:

[0051] Step S201, determining the target screw position by any of the above methods;

[0052] Step S202, determining the coordinates of the head end of the nail rod on the nail rod threading device based on a first positioning target set on the nail rod threading device;

[0053] Step S203, determining the perforation coordinates of the target screw based on the second positioning target installed on the extended tail piece of the target screw that currently needs to be perforated;

[0054] Step S204, generating a re-cut image according to the head end coordinates and the perforation coordinates, wherein the re-cut image is a medical image of a section formed by the head end coordinates, the perforation coordinates and the position of the rod-piercing device;

[0055] Step S205: performing rod navigation using the re-cut image.

[0056] The rod-penetrating navigation method provided by the embodiment of the invention provides an accurate screw position that can effectively penetrate the rod according to the screw planning method. During the operation, the first positioning target is set on the rod-penetrating device, and the extended tail piece is set on the target screw and the second positioning target is installed to accurately detect the head end coordinates and perforation coordinates of the nail rod. Based on the head end coordinates and perforation coordinates, a recut image is generated to accurately display the head end position and perforation position of the nail rod required for the rod penetration, and then intuitively display whether the head end of the nail rod and the perforation are aligned. After alignment, accurate rod penetration is performed, thereby ensuring the intraoperative navigation of minimally invasive nail placement surgery, accurately penetrating the rod, improving the accuracy of intraoperative navigation, and avoiding manual adjustment during surgery.

[0057] It should be noted that this embodiment also provides an optional implementation, which is described in detail below. This implementation provides a preoperative screw planning method for minimally invasive screw placement surgery, and a corresponding intraoperative navigation method. The details are as follows.

[0058] When planning screws before surgery, the existing surgical planning system is first used to plan the initial screw position accordingly. Generally, planning can be based on 3D imaging data such as CT, MRI or ultrasound images. The planning result of each screw in the planned initial screw position is 2 points, each point is represented by (x, y, z). The two points represent the end point of the screw head and the end point of the screw, respectively. The two points form a line segment to represent the planned position of the screw.

[0059] Since the nail placement surgery usually includes the placement of a nail rod, which needs to pass through the head end of the planned screw. The shape of the nail rod is usually a cylinder that fits the curve of the human spine. Therefore, after planning the screw, the shape of the rod can be simulated according to the head end connection point of the planned screw position. Since the screw position is not necessarily completely in a straight line, the shape of the conventional rod may not be able to pass through all the screw tips without adjustment.

[0060] Many of the screws currently used in clinical practice are universal screws, so a planning algorithm can be used to adjust the head of the universal screw accordingly so that a relatively regular rod can pass through the top of the screw.

[0061] Then the nail rod planning is carried out through the initial planning screw, as follows:

[0062] a) Based on the initial screw position obtained by the above surgical planning system, which may include the three-dimensional coordinate X0 of the (universal screw) top cap, the screw length and radius, a universal screw of corresponding specifications is selected.

[0063] b) Given the nail cap coordinate X0, the movable cap length L and angle θ0 of the universal screw, a cone with X0 as the vertex can be simulated. L is the generatrix, and θ0 is the rotation angle. The adjustable range of the universal screw in the cone is to adapt to the curvature of the relatively regular nail rod, ensuring that the nail rod can pass through the screw.

[0064] c) The number of target vertebrae n, the number of unilaterally implanted screws n, and the screw-rod model are known. The optimal screw-rod planning needs to meet the following conditions:

[0065] i, nail rod passes through X i0 is the vertex, the top hat length is L i is the busbar, θ i0 n cones with a rotation angle Ω i .

[0066] ii. The center point X of the cone i (x i ,y i ,z i ) to the nail rod is the smallest.

[0067] iii. When each screw rotatable assembly rotates to a fixed position of the nail rod, the rotation angle θ is minimum.

[0068] d) Find the starting coordinate X of the nail rod when the above conditions are met start (x,y,z) and direction vector s(x,y,z), the optimization model is as follows:

[0069]

[0070] , where D i The center point X of the cone i The distance to the nail rod; C is the cone model, C i X i Projection coordinate X to the nail rod iproj Bring in the cone model C i θ i Representation vector and The penalty term D i and θ i Ensure that the rotatable component of the universal screw fixes the nail rod with minimum displacement and rotation angle; C i Make sure the nail bar can pass through each screw.

[0071] The specific meanings of the above optimization items are as follows:

[0072] D i The center point X of the cone i The distance to the nail bar is calculated as follows:

[0073]

[0074] C is the cone model, C i X i Projection coordinate X to the nail rod iproj Bring in the cone model C i , calculated as follows:

[0075] Cone C analytical formula: cotθ 2 ·(x 2 +y 2 )-z 2 =0; the projection coordinates are

[0076] Substitute it into, C i =C(X iproj ).

[0077] θ i Representation vector and The angle is calculated as follows:

[0078]

[0079] If C i Less than or equal to zero indicates that the nail rod trajectory is within the rotation range of the universal screw, and the optimization result returns the starting coordinate X of the nail rod. start , direction vector s and X i Projection coordinate X to the nail rod iproj .

[0080] If C i If it is greater than zero, it means that the nail rod trajectory exceeds the rotation range of the universal screw. It is necessary to re-plan the initial screw position, iterate the nail rod trajectory, and use the re-planned nail rod trajectory to adjust the screw position and optimize the nail rod trajectory until the result that meets the above conditions is obtained.

[0081] According to the final nail rod trajectory, adjust the nail head coordinates of each universal screw to X iproj and robot pose to X start to ensure that the robot can insert the nail rod in the appropriate position and pass through each screw.

[0082] This completes the accurate planning of the target screw position before surgery. The following is a detailed description of the intraoperative navigation method.

[0083] When inserting the rod during surgery, the rod insertion can be guided and supported with the support of an optical navigation camera. The specific method is to add a corresponding optical tracking target at the rear end of the rod inserter 3, that is, the first positioning target 5 mentioned above, such as Figure 3 As shown, Figure 3It is a schematic diagram of a rod threader and an extended tail piece of a rod threading navigation according to an embodiment of the present invention.

[0084] Since the length and curvature of the nail rod 2 are different, in order to adapt to the physiological curvature of the human spine, the nail rod 2 is often manually bent during surgery to meet the needs of this surgery. Therefore, it is difficult to navigate the nail rod 2 with an uncertain shape in the traditional sense.

[0085] At this time, the head end of the nail rod 2 is calibrated to determine its position of interest. The specific method is to install the nail rod 2 on the rod threader 3, and put the head end of the nail rod 2 into a fixed calibration position for rotation under the state that the first positioning target 5 can guide. Through the relative fixed position of the rod threader 3 and the first positioning target 5, and the different positions obtained by rotating the nail rod 2 at different angles, the relative displacement of the head end position of the nail rod 2 relative to the reference point of the rod threader 3 can be finally determined.

[0086] During the rod insertion process guided by optical navigation, only the marked head end position of the nail rod 2 can be focused on to determine whether the nail rod has entered the corresponding screw 1, without having to care about the specific posture and angle of the entire nail rod 2.

[0087] After completing the calibration of the rod inserter 3, in order to complete the rod inserting navigation, an optical target that can be attached to the screw extension tail piece 4 is needed, that is, the second positioning target 6. In minimally invasive nail placement surgery, the extension tail piece 4 can usually be exposed above the skin. The second positioning target 6 can be flexibly disassembled and assembled on the screw extension tail piece 4, and can also be installed on other tools. The tool can be placed in the screw 1 extension tail piece 4 for fixation, so as to facilitate tracking of the nail tail position of different screws 1.

[0088] In the actual navigation process, the rod insertion guidance is completed by using the first positioning target 5 and the second positioning target 6. First, a re-cut image of the image data is generated according to the target position of the rod inserter, the reference position of the rod inserter and the section formed by the head end of the nail rod. The re-cut image is usually an image close to the sagittal position.

[0089] In this re-cut image, the model of the rod-piercing tool and the model of the nail rod are displayed simultaneously. Because the shape of the nail rod is actually unknown, an arc is generated by connecting the front end of the rod-piercing tool and the head end of the nail rod to simulate the guess of the shape of the currently installed nail rod, such as Figure 4 As shown, Figure 4 Schematic diagram of the re-cut image of the embodiment of the invention. The model may be different from the real nail rod shape, but since the head end position is consistent, it does not affect the actual effect of the rod penetration.

[0090] According to the screw position of the current installation target and the position and posture reflected by the second positioning target of the tail sheet, the corresponding screw is projected into the re-cut image to reflect the relative distance between the current nail rod head position and the screw tail sheet. Different colors can be used for prompting according to the distance of its projection from the image slice.

[0091] For example, if the tail page of the screw is within the current forward direction of the nail rod, it will be displayed in green. If it is not in the current forward range, the color will change from yellow to red according to its lateral distance from near to far. When the front of the nail rod is adjusted to pass through the position of the tail page of the screw, a sound prompt can be given to guide the actual operation.

[0092] While holding the rod-threading tool, the user adjusts the direction of the screw tail target at the same time, and guides the rod-threading tool to pass through the tail position of the corresponding screw based on the screw projection and the relative relationship between the screw and the rod in the recut image.

[0093] After completing the threading of a screw, remove the target at the tail end of the corresponding screw and install it on the tail end of the next screw that needs to be threaded, and then thread the next screw.

[0094] Repeat the above steps to complete the threading of all screws under the guidance of navigation.

[0095] The embodiments of the present invention also provide a non-transitory machine-readable medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute the method of the embodiments of the present invention.

[0096] The embodiments of the present invention further provide a computer program product, including a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute the method of the embodiments of the present invention.

[0097] The embodiment of the invention also provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication. The memory stores a computer program that can be executed by the at least one processor, and the computer program is used to enable the electronic device to perform the method of the embodiment of the invention when executed by the at least one processor.

[0098] refer to Figure 5, a block diagram of an electronic device that can be used as a server or client of an embodiment of the invention will now be described, which is an example of hardware devices that can be applied to various aspects of the invention. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or required herein.

[0099] like Figure 5 As shown, the electronic device includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0100] Multiple components in the electronic device are connected to the I / O interface 505, including: an input unit 506, an output unit 507, a storage unit 508, and a communication unit 509. The input unit 506 can be any type of device that can input information to the electronic device, and the input unit 506 can receive input digital or character information, and generate key signal input related to user settings and / or function control of the electronic device. The output unit 507 can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 508 can include but is not limited to a disk, an optical disk. The communication unit 509 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, and / or a wireless communication transceiver, such as a Bluetooth device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0101] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a CPU, a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above. For example, in some embodiments, the method embodiments created by the present invention may be implemented as a computer program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via a ROM 502 and / or a communication unit 509. In some embodiments, the computing unit 501 may be configured to perform the above-described method in any other appropriate manner (e.g., by means of firmware).

[0102] The computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the computer program, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The computer program can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0103] In the context of the present invention, the machine-readable medium can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. The machine-readable signal medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic or infrared systems, devices or equipment, or any suitable combination of the above. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, 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.

[0104] It should be noted that the term "including" and its variations used in the embodiments of the present invention are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "multiple" mentioned in the embodiments of the present invention are illustrative and not restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0105] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments created by the present invention are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0106] The various steps described in the method implementation methods provided by the embodiments of the present invention can be performed in different orders and / or in parallel. In addition, the method implementation methods may include additional steps and / or omit the steps shown. The scope of protection of the present invention is not limited in this respect.

[0107] The term "embodiment" in this specification refers to specific features, structures or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. The various embodiments in this specification are described in a related manner, and the same and similar parts between the various embodiments refer to each other. In particular, for the device, equipment, and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts refer to the partial description of the method embodiment.

[0108] The above-described embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of protection. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the attached claims.

Claims

1. A method for screw planning in spinal screw placement surgery, characterized in that: include: Obtaining an initial screw position according to a screw planning algorithm, wherein the initial screw position includes positions of multiple screws that need to be set; According to the initial screw position and screw size, a target nail rod path that meets the preset preferred conditions is selected, wherein the nail rod is used to pass through a plurality of screws; The target screw position is determined according to the target nail rod path.

2. The method according to claim 1, characterized in that: The initial screw position is obtained according to the screw planning algorithm, including: The initial screw positions are planned based on screw parameters by a surgical planning system, wherein the initial position of each screw in the initial screw positions includes two position points, namely, a screw head end point and a screw end point.

3. The method according to claim 1, characterized in that: According to the initial screw position and screw size, a target nail-rod path that meets the preset optimal conditions is selected, including: According to the initial screw position and the required screw size, a universal screw of corresponding specifications is selected, wherein the head end of the universal screw is provided with a universal hole, and the universal hole is used to rotate according to the rod insertion requirement, so that the nail rod passes through the universal hole to connect the corresponding screw; According to the top cap length and the active angle of the universal screw, combined with the preset optimal conditions, an optimization model is created, wherein the optimization model includes a plurality of optimization items, and the optimization items are used to characterize the optimal parameters of the corresponding preset optimal conditions; By solving the optimal path of the optimization model; Verifying the optimal path according to the rotation range of each universal screw; When the rotation range of each universal screw meets the length and the active angle, the optimal path is determined as the target nail rod path.

4. The method according to claim 3, characterized in that The optimization model includes three optimization items, which are the distance from the geometric center of the cone to the nail rod, the cone projection value determined by the projection point of the geometric center into the cone, and the vector angle between the first vector pointing from the vertex of the cone to the geometric center and the second vector pointing from the vertex to the projection point.

5. The method according to claim 4, characterized in that Verification of the optimal path according to the rotation range of each universal screw includes: When the cone projection value of each universal screw corresponding to the optimal path is less than or equal to zero, determining that the rotation range of each universal screw of the optimal path meets the length and the active angle; In the case where there are universal screws in the optimal path whose cone projection values ​​are greater than zero, it is determined that the rotation ranges of the universal screws in the optimal path do not conform to the length and the active angle.

6. The method according to claim 3, characterized in that The method further comprises: When the rotation range of each universal screw does not meet the length and the active angle, the initial screw position is re-planned by the screw planning algorithm; The target nail rod path is re-determined by re-planning the initial screw positions until the rotation range of each universal screw of the target nail rod path meets the length and active angle.

7. A rod insertion navigation method for spinal nail placement surgery, characterized in that: include: Determining a target screw position by the method of any one of claims 1 to 6; Determining the coordinates of the head end of the nail rod on the nail rod piercing device based on a first positioning target set on the nail rod piercing device; Determine the perforation coordinates of the target screw based on a second positioning target installed on the extended tail piece of the target screw that currently needs to be perforated; Generate a recut image according to the head end coordinates and the perforation coordinates, wherein the recut image is a medical image of a section formed by the head end coordinates, the perforation coordinates and the position of the rod piercer; The recut image is used for rod navigation.

8. An electronic device comprising: A processor and a memory storing a program, wherein the program comprises instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 7.

9. A non-transitory machine-readable medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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