Screw planning and rod navigation methods for spinal screw placement surgery

Abstract

The present invention relates to a screw planning method and rod navigation method for spinal screw placement surgery. The method comprises: obtaining an initial screw position according to a screw planning algorithm, wherein the initial screw position includes the positions of multiple screws to be set; selecting a target screw rod path that meets preset preferred conditions based on the initial screw position and screw size, wherein the screw rod is used to pass through multiple screws; and determining a target screw position based on the target screw rod path. This method addresses the problem that screw planning algorithms in related technologies have certain errors, require manual adjustment during open surgery, and are difficult to apply to minimally invasive screw placement surgery.

Description

Technical Field

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

[0002] Currently, during spinal screw placement surgery, rod insertion is a crucial step after screw placement. Its purpose is to use the rod to secure multiple screws, allowing for subsequent manual adjustments such as lifting, reduction, and compression. This is relatively easy to perform during open spinal surgery because the surgical field is visible.

[0003] However, in the currently recommended minimally invasive percutaneous screw placement procedure, rod insertion is difficult because the screws are invisible from the body surface after placement. This is especially time-consuming and labor-intensive in procedures involving multiple spinal segments, and requires multiple X-ray examinations for confirmation. Existing screw planning algorithms cannot accurately plan screw positions, making them difficult to apply to minimally invasive screw placement procedures.

[0004] Regarding the problem that the screw planning algorithm in the related technology has certain errors, needs to be manually adjusted during open surgery, and is difficult to apply to minimally invasive screw placement surgery, no effective solution has been proposed so far. Summary of the Invention

[0005] The present invention provides a screw planning method and rod navigation method for spinal screw placement surgery, which at least solves the problem that the screw planning algorithm in the related art has certain errors, requires manual adjustment 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; screening a target nail rod path that meets preset preferred conditions based on the initial screw position and screw size, wherein the nail rod is used to pass through multiple screws; and determining a target screw position based on the target nail 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: the screw head end point and the screw end point.

[0008] As an optional embodiment, according to the initial screw position and 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 point 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 movable 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 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.

[0010] As an optional embodiment, verifying the optimal path based on 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 in the optimal path conforms to the length and movable 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 in the optimal path does not conform to the length and movable 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 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 in the target nail rod path conforms to the length and active angle.

[0012] According to another aspect 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 perforation 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 re-cut image based on the head end coordinates and the perforation coordinates, wherein the re-cut image is a medical image of the section formed by the head end coordinates, the perforation coordinates and the rod inserter position; and performing rod insertion navigation using the re-cut image.

[0013] According to another aspect of the present invention, an electronic device is provided, 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 one of the above methods.

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

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

[0017] 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 description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without inventive effort.

[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 insertion 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 Schematic diagram of a re-cut image according to 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 following describes embodiments of the present invention in more detail 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 limited to the embodiments described herein. Rather, these embodiments are 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 for illustrative purposes only 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 during 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 This is a flowchart of a method for screw planning for spinal screw placement surgery according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0025] Step S101, obtaining initial screw positions according to a screw planning algorithm, wherein the initial screw positions include positions of multiple screws to be set;

[0026] Step S102, screening a target nail rod path that meets preset optimal conditions based on 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 plans to obtain 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 screw size, the target nail rod path that meets the preset preferred conditions is screened, and the target screw position is determined based on 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, requires manual adjustment during 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, also known as 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 described above can be used to plan screws using medical imaging data based on existing screw planning algorithms, such as machine learning algorithms and deep learning algorithms. The initial screw positions obtained through planning include multiple screws to be placed and their positions. The initial planned screw positions can be represented by the first and last points of the screw.

[0031] An optimization model is then established based on the initial screw position and size, combined with pre-set optimal conditions. By solving the optimization model, a target nail-rod path that meets the pre-set optimal conditions can be selected. The optimization process also involves iteratively replanning the initial screw position to ensure that the final target nail-rod path meets the pre-set optimal conditions.

[0032] The resulting target screw path and the corresponding target screw position can be directly inserted without manual adjustment during surgery. This improves the accuracy of target screw position planning and avoids manual adjustment during minimally invasive surgery.

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

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

[0035] In order to facilitate the subsequent nail rod insertion in the related art, the above-mentioned screw can be a universal screw, that is, the through hole for inserting the rod is set on a rotatable top cap on the screw, that is, the through 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 point of the universal screw is provided with a universal hole, and the universal hole is used to rotate according to the rod threading 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 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, the screw size may include the screw diameter and length, which is also the result obtained by the above-mentioned screw planning algorithm. In the surgical planning system, the spinal bone size at the screw placement position and the bonding strength are taken into consideration. The screw position planning can be combined with the screw size to obtain the above-mentioned initial screw position.

[0038] Based on the screw size and initial screw position, a universal screw of the corresponding specification can be selected. Generally, universal screws of the same specification are used for the same surgery to reduce surgical difficulty. In some special cases, such as when strength or spinal bone size cannot meet the requirements, universal screws of different specifications can 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. A simulation is performed to generate a cone with a clear vertex, the top cap length as the main line, and the movable angle as the rotation angle. The cone has an adjustable range of the universal screw to adapt to the curvature of the relatively regular nail rod, ensuring that the nail rod can pass through the screw.

[0040] 2. The distance between the center point of the cone and the nail rod is the smallest. 3. 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 optimal 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 X coordinate of the projection point to the nail rod iproj Bring in the cone model C i θ i Represents the vertex X of the cone i0 Point to the geometric center X i The first vector and 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 rod 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 cone's vertex X 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 This ensures that the nail rod can pass through each universal screw.

[0046] As an optional embodiment, verifying the optimal path based on 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 in the optimal path conforms to the length and 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 in the optimal path does not conform to the length and active angle.

[0047] During the solution process, the conic projection value C iIt can be determined whether the obtained optimal path meets the universal screw length and movable angle. 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 in the optimal path meets the length and movable angle. The optimal path can be determined as the target nail rod path, and the corresponding starting point coordinates and direction vector can be output. The projection coordinates of the starting point coordinates to the nail rod can also be output. This 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 in 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 conform to the length and 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 universal screw in the target nail rod path conforms to the length and active angle.

[0050] The embodiment of the present invention also provides a rod insertion navigation method for spinal nail placement surgery, which is applied to intraoperative navigation in minimally invasive nail placement surgery. Figure 2 This is a flow chart of a rod 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 tip end of the nail rod on the nail rod threader based on a first positioning target set on the nail rod threader;

[0053] Step S203, determining the drilling coordinates of the target screw based on the second positioning target installed on the extended tail piece of the target screw currently requiring drilling;

[0054] Step S204, generating a re-cut image based on 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;

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

[0056] The above-mentioned rod insertion navigation method provided by the embodiment of the present invention provides an accurate screw position that can effectively insert the rod according to the above-mentioned screw planning method. During the operation, the first positioning target is set on the rod insertion 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 re-cut image is generated to accurately display the nail rod head end position and perforation position required for rod insertion, and then intuitively show whether the nail rod head end and perforation are aligned. After alignment, accurate rod insertion is performed, thereby ensuring intraoperative navigation of minimally invasive nail placement surgery, accurately inserting 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] During preoperative screw planning, the initial screw positions are first planned using existing surgical planning systems. Planning is typically based on 3D imaging data such as CT, MRI, or ultrasound images. The planned initial screw positions are each composed of two points, each represented by (x, y, z). These two points represent the screw head and screw end points, respectively. A line formed by these two points represents the planned screw position.

[0059] Since screw placement surgery typically involves the insertion of a rod, which must pass through the planned screw tips, rods are typically cylindrical in shape to conform to the curve of the human spine. Therefore, after planning the screws, a rod's shape can be simulated based on the planned screw tip connection points. Since the screws are not always aligned, conventional rods may not be able to pass through all screw tips without adjustment.

[0060] Many screws currently used in clinical practice are universal screws. Therefore, 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 proceed to nail rod planning by initially planning the screws as follows:

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

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

[0064] c) Given the number of target vertebrae, n, the number of screws to be implanted unilaterally, and the screw-rod model, the optimal screw-rod planning must 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 Represents a 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 fits 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 a 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 expression: cotθ 2 ·(x 2 +y 2 )-z 2 =0; the projection coordinates are

[0076] Substitute it and we get C i =C(X iproj ).

[0077] θ i Represents a 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 the value 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 and iteratively plan the nail rod trajectory. The screw position is adjusted using the re-planned nail rod trajectory and the nail rod trajectory is optimized 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 posture 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 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 adapt to the needs of this operation. Therefore, in the traditional sense, it is difficult to navigate the nail rod 2 with an uncertain shape.

[0085] At this time, the position of interest is determined by calibrating the head end of the nail rod 2. The specific method is to install the nail rod 2 on the rod threader 3, and when the first positioning target 5 is guided, the head end of the nail rod 2 is placed in a fixed calibration position and rotated. Through the relative fixed position of the rod threader 3 and the first positioning target 5, the different positions obtained by rotating the nail rod 2 at different angles can ultimately determine the relative displacement of the head end position of the nail rod 2 relative to the reference point of the rod threader 3.

[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 worry 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 required, 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] During 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 based on the target position of the rod inserter, the reference position of the rod inserter, and the section formed by the end of the rod inserter. The re-cut image is usually an image close to the sagittal position.

[0089] In this re-cut image, the rod-piercing tool model and the nail rod model 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 shape of the currently installed nail rod, such as Figure 4 As shown, Figure 4 This is a schematic diagram of a re-cut image of an embodiment of the present invention. The model may differ from the actual 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 prompts according to the distance of its projection from the image slice.

[0091] For example, if the tail piece 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 horizontal distance from near to far. When the front of the nail rod is adjusted to pass through the position of the tail piece 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 through the tail position of the corresponding screw based on the relative relationship between the screw projection and the rod in the re-cut 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 insertion of all screws under the guidance of navigation.

[0095] An embodiment of the present invention further provides 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 perform the method of the embodiment 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] An embodiment of the present invention further provides an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor. The memory stores a computer program executable by the at least one processor, wherein the computer program, when executed by the at least one processor, causes the electronic device to perform the method of an embodiment of the present invention.

[0098] refer to Figure 5, a structural block diagram of an electronic device that can be used as a server or client of an embodiment of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, 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 present 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. Various programs and data required for the operation of the electronic device can also be stored in the RAM 503. 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 within 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 capable of inputting information into the electronic device. The input unit 506 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 507 can be any type of device capable of presenting 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 magnetic disk or an optical disk. The communication unit 509 allows the electronic device to exchange information / data with other devices via 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 can be various 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 for 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 can 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 can be loaded and / or installed on an electronic device via ROM 502 and / or communication unit 509. In some embodiments, the computing unit 501 can be configured to perform the above-mentioned method in any other appropriate manner (e.g., by means of firmware).

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

[0103] In the context of the present invention, a machine-readable medium can be a tangible medium that can contain or store a program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A 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 foregoing. 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 foregoing.

[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 "at least partially based 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 the context clearly indicates otherwise, they 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 may 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 present 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 or similar parts between the various embodiments are referenced 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 merely represent several implementation methods of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of protection. It should be noted that a person of ordinary skill in the art would be able to make various modifications and improvements without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A screw planning method for spinal screw placement surgery, characterized in that: include: Obtaining initial screw positions according to a screw planning algorithm, wherein the initial screw positions include positions of multiple screws that need to be set; 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; determining a target screw position according to the target nail rod path; Wherein, according to the initial screw position and screw size, a target nail rod path that meets the preset preferred conditions is screened, including: selecting a universal screw of corresponding specifications according to the initial screw position and the required screw size, wherein the head end point 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 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; solving the optimal path by 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 movable angle, the optimal path is determined as the target nail rod path; The optimization model includes three optimization items, namely, 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 of the cone's vertex pointing to the geometric center and the second vector of the cone's vertex pointing to the projection point; the cone is a cone with a known initial screw position and the length and angle of the movable top cap of the universal screw, and is simulated to generate a cone with a clear vertex, the top cap length as the main line, and the movable angle as the rotation angle.

2. The method according to claim 1, characterized in that The initial screw position is planned 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: a screw head end point and a screw end point.

3. The method according to claim 1, characterized in that 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 movable angle; In the case that 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 movable angle.

4. The method according to claim 1, wherein The method further comprises: In the case that the rotation range of each universal screw does not conform to the length and the movable 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 in the target nail rod path meets the length and active angle.

5. 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 4.

6. 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 4.

7. 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 4 is implemented.

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