Surgical navigation method and system based on lumbosacral intervertebral foramen 3D model, and medium

Abstract

The invention discloses a surgical navigation method and system based on a lumbosacral intervertebral foramen 3D model, and a medium. The method comprises the following steps: obtaining a registered multi-modal image based on an image automatic registration model and a to-be-registered image; obtaining a plurality of segmentation features based on the lumbosacral intervertebral foramen multi-structure automatic segmentation model and the multi-modal image, and constructing and displaying a lumbosacral intervertebral foramen 3D model based on the segmentation features; recording position information of an intervertebral disc protrusion target spot, and simulating, constructing and displaying a plurality of puncture paths; a reference puncture path is selected, and corresponding feature information is rendered in the lumbosacral foramen 3D model; and when the reference puncture path is determined as a target puncture path, generating a target lumbosacral foramen intervertebral 3D model based on the segmented feature image and the reference puncture path, and performing surgical navigation. And performing image segmentation on the registered multi-modal image to obtain feature information of a fine structure, and constructing an accurate 3D model and a puncture path based on the feature information, so that a puncture operation can be rapidly and accurately assisted.

Description

Technical Field

[0001] The present application relates to but is not limited to the field of medical image processing technology, and in particular to a surgical navigation method, system, and medium based on a 3D model of the lumbar intervertebral foramen. Background Art

[0002] Minimally invasive lumbar interventional treatment, including transforaminal epidural injection, radiofrequency ablation of disc herniation targets, and transforaminal endoscopic nucleus pulposus removal, is an important alternative treatment for open surgery for lumbar disc herniation. In the current minimally invasive lumbar interventional surgery, intraoperative C-arm images are mainly used to guide and assist foraminal puncture, but C-arm images cannot provide patients with comprehensive and accurate anatomical information to determine the optimal safe depth, angle, and other important parameters of the puncture. Therefore, doctors need to rely on their own experience to imagine the three-dimensional anatomical relationship of the patient's puncture area, integrate preoperative imaging information, and perform multiple fluoroscopy and punctures to puncture safely and accurately. However, multiple punctures not only increase the fluoroscopy time, operation time, radiation exposure of doctors and patients, but also increase the risk of nerve, dura mater, and vascular damage. Therefore, how to assist doctors to quickly, accurately, and safely locate and puncture the foramen is a difficult problem that urgently needs to be solved for the successful implementation of minimally invasive lumbar interventional treatment. Summary of the invention

[0003] The embodiments of the present application provide a surgical navigation method, system, and medium based on a 3D model of the lumbar intervertebral foramen, which can effectively assist in rapid, accurate, and safe intervertebral foramen positioning and puncture in minimally invasive interventional treatment of the lumbar spine.

[0004] In a first aspect, an embodiment of the present application provides a surgical navigation method based on a 3D model of the lumbar intervertebral foramen, which is applied to a control device of an intervertebral foramen puncture navigation system, wherein the intervertebral foramen puncture navigation system further includes a 3D-C arm imaging system, a superconducting MR machine, a dual-source CT device, and a display, wherein the control device is respectively connected to the 3D-C arm imaging system, the superconducting MR machine, the dual-source CT device, and the display for communication, and the method includes:

[0005] Controlling the superconducting MR machine to acquire a 3D-SPACE MR image of a target object;

[0006] Controlling the dual-source CT device system to acquire a preoperative CT image of a target object;

[0007] Controlling the 3D-C arm imaging system to acquire a 3D-C arm image of a target object;

[0008] Automatically registering and aligning the 3D-SPACE MR image, the 3D-C-arm image, and the preoperative CT image based on a preset image automatic registration model to obtain a registered multimodal image;

[0009] Performing image segmentation processing on the multimodal image based on a preset lumbar intervertebral foramen multi-structure automatic segmentation model to obtain vertebral feature images, intervertebral disc feature images, nerve root feature images, dura mater feature images and intervertebral disc herniation target point images of the lumbar sacral region of the target object;

[0010] constructing a 3D model of the lumbar intervertebral foramen based on the vertebral feature image, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image and the intervertebral disc herniation target image in the lumbar vertebrae region, and displaying the 3D model of the lumbar intervertebral foramen in the display interface of the display;

[0011] In response to a click operation on a disc herniation target point on the lumbar-sacral intervertebral foramen 3D model in the display interface, recording first coordinate information of each disc herniation target point in the lumbar-sacral intervertebral foramen 3D model;

[0012] Simulating and constructing a plurality of puncture paths based on all the first coordinate information, and displaying the plurality of puncture paths on the display interface;

[0013] When any one reference puncture path is selected from the plurality of puncture paths, feature information corresponding to the reference puncture path is rendered in the lumbar intervertebral foramen 3D model;

[0014] When the reference puncture path is determined as the target puncture path, 3D rendering is performed based on the vertebral feature image, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image, the intervertebral disc herniation target image and the reference puncture path in the lumbar vertebrae region to generate a 3D model of the target lumbar sacral foramen, and surgical navigation is performed based on the target lumbar sacral foramen 3D model.

[0015] In some embodiments, before automatically registering and aligning the 3D-SPACE MR image, the 3D-C-arm image, and the preoperative CT image based on a preset image automatic registration model to obtain a registered multimodal image, the method further includes:

[0016] Get preset image preprocessing rules;

[0017] The 3D-SPACE MR image, the 3D-C-arm image and the preoperative CT image are subjected to image preprocessing based on the image preprocessing rule.

[0018] In some embodiments, the intervertebral foraminal puncture navigation system further includes an NDI optical navigation positioning system and a puncture surgical robot, the control device is respectively connected to the NDI optical navigation positioning system and the puncture surgical robot in communication, the target object is located on the operating table, and surgical navigation is performed based on the target lumbar sacral intervertebral foraminal 3D model, including:

[0019] Acquire first position information and second position information, wherein the first position information is the position information of the target object in the operating room coordinate system, and the second position information is the real-time position information of the puncture surgical robot in the operating room coordinate system;

[0020] Control the NDI optical navigation and positioning system to determine a target relative position relationship based on the first position information, the second position information and the target lumbar intervertebral foramen 3D model, wherein the target relative position relationship is used to characterize the relative position relationship between the target lumbar intervertebral foramen 3D model, the target object, the lesion target and the puncture surgical robot in the operating room coordinate system, wherein the lesion target is the actual puncture target during the operation, and the lesion target has a one-to-one correspondence with the intervertebral disc herniation target corresponding to the target puncture path;

[0021] Surgical navigation is performed based on the target relative position relationship and the target lumbar intervertebral foramen 3D model.

[0022] In some embodiments, the method further comprises:

[0023] Determine the second coordinate information of each of the lesion targets in the target lumbar intervertebral foramen 3D model;

[0024] Calculating the Euclidean distance between the first coordinate information and the first coordinate information corresponding to each other;

[0025] Each of the Euclidean distances is displayed in the display interface.

[0026] In a second aspect, an embodiment of the present application provides a transvertebral foraminal puncture navigation system, including a 3D-C arm imaging system, a superconducting MR machine, a dual-source CT device, a display, and a control device, wherein the control device is respectively connected to the 3D-C arm imaging system, the superconducting MR machine, the dual-source CT device, and the display for communication, and the control device includes:

[0027] A first data acquisition module, used to control the superconducting MR machine to acquire a 3D-SPACE MR image of a target object;

[0028] A second data acquisition module, used to control the dual-source CT device system to acquire a preoperative CT image of the target object;

[0029] A third data acquisition module, used to control the 3D-C arm imaging system to acquire a 3D-C arm image of the target object;

[0030] An image registration module, used for automatically registering and aligning the 3D-SPACE MR image, the 3D-C-arm image and the preoperative CT image based on a preset image automatic registration model to obtain a registered multimodal image;

[0031] An image segmentation module is used to perform image segmentation processing on the multimodal image based on a preset lumbar intervertebral foramen multi-structure automatic segmentation model to obtain a vertebral feature image, an intervertebral disc feature image, a nerve root feature image, a dura mater feature image and an intervertebral disc herniation target point image of the lumbar vertebrae region of the target object;

[0032] a 3D model construction module, for constructing a 3D model of the lumbar intervertebral foramen based on the vertebral feature image, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image and the intervertebral disc herniation target image in the lumbar vertebrae region, and displaying the 3D model of the lumbar intervertebral foramen in the display interface of the display;

[0033] A first data processing module is configured to record first coordinate information of each intervertebral disc herniation target point in the lumbar sacral intervertebral foramen 3D model in response to a click operation on the intervertebral disc herniation target point in the lumbar sacral intervertebral foramen 3D model in the display interface;

[0034] A second data processing module, configured to simulate and construct a plurality of puncture paths based on all of the first coordinate information, and display the plurality of puncture paths in the display interface;

[0035] A third data processing module is used for selecting any one reference puncture path from the plurality of puncture paths and rendering feature information corresponding to the reference puncture path in the lumbar intervertebral foramen 3D model;

[0036] The surgical navigation module is used for, when the reference puncture path is determined as the target puncture path, performing 3D rendering based on the vertebral feature image, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image, the intervertebral disc herniation target image and the reference puncture path, generating a target lumbar sacral intervertebral foramen 3D model, and performing surgical navigation based on the target lumbar sacral intervertebral foramen 3D model.

[0037] In some embodiments, the control device further comprises:

[0038] An image preprocessing rule acquisition module is used to acquire preset image preprocessing rules;

[0039] An image preprocessing module is used to perform image preprocessing on the 3D-SPACE MR image, the 3D-C-arm image and the preoperative CT image based on the image preprocessing rule.

[0040] In some embodiments, the intervertebral foraminal puncture navigation system further includes an NDI optical navigation positioning system and a puncture surgical robot, the control device is respectively connected to the NDI optical navigation positioning system and the puncture surgical robot for communication, and the surgical navigation module includes:

[0041] a fourth data acquisition module, configured to acquire first position information and second position information, wherein the first position information is position information of the target object in the operating room coordinate system, and the second position information is real-time position information of the puncture surgical robot in the operating room coordinate system;

[0042] a fourth data processing module, for controlling the NDI optical navigation and positioning system to determine a target relative position relationship based on the first position information, the second position information and the target lumbar intervertebral foramen 3D model, wherein the target relative position relationship is used to characterize the relative position relationship between the target lumbar intervertebral foramen 3D model, the target object, the lesion target and the puncture surgical robot in the operating room coordinate system, wherein the lesion target is the actual puncture target during the operation, and the lesion target corresponds one-to-one to the intervertebral disc herniation target corresponding to the target puncture path;

[0043] The fifth data processing module is used to perform surgical navigation based on the target relative position relationship and the target lumbar intervertebral foramen 3D model.

[0044] In some embodiments, the control device further comprises:

[0045] A fifth data acquisition module is used to determine the second coordinate information of each of the lesion targets in the target lumbar intervertebral foramen 3D model;

[0046] A sixth data acquisition module, used for calculating the Euclidean distance between the first coordinate information and the first coordinate information corresponding to each other;

[0047] A data display module is used to display each of the Euclidean distances in the display interface.

[0048] In a third aspect, an embodiment of the present application provides an electronic device comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the surgical navigation method based on the lumbar intervertebral foramen 3D model as described in the first aspect.

[0049] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the surgical navigation method based on the lumbar intervertebral foramen 3D model as described in the first aspect.

[0050] The present application provides a surgical navigation method, system, and medium based on a 3D model of the lumbar intervertebral foramen. The method comprises: controlling the superconducting MR machine to obtain a 3D-SPACE MR image of a target object; controlling the dual-source CT device system to obtain a preoperative CT image of the target object; controlling the 3D-C arm imaging system to obtain a 3D-C arm image of the target object; and automatically registering the 3D-SPACE image based on a preset image registration model. The MR image, the 3D-C-arm image and the preoperative CT image are automatically registered and aligned to obtain a registered multimodal image; the multimodal image is segmented based on a preset lumbar intervertebral foramen multi-structure automatic segmentation model to obtain a vertebral feature image, an intervertebral disc feature image, a nerve root feature image, a dura mater feature image and an intervertebral disc herniation target image of the lumbar vertebrae region of the target object; a lumbar intervertebral foramen 3D model is constructed based on the vertebral feature image, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image and the intervertebral disc herniation target image of the lumbar vertebrae region, and the lumbar intervertebral foramen 3D model is displayed in the display interface of the display; in response to clicking on the lumbar intervertebral foramen 3D model in the display interface, the intervertebral disc herniation target image is displayed. Operation, recording the first coordinate information of each intervertebral disc herniation target point in the lumbar intervertebral foramen 3D model; simulating and constructing multiple puncture paths based on all the first coordinate information, and displaying the multiple puncture paths in the display interface; when selecting any one reference puncture path from the multiple puncture paths, rendering the feature information corresponding to the reference puncture path in the lumbar intervertebral foramen 3D model; when the reference puncture path is determined as the target puncture path, 3D rendering is performed based on the vertebral feature image of the lumbar vertebrae region, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image, the intervertebral disc herniation target point image and the reference puncture path to generate a target lumbar intervertebral foramen 3D model, and surgical navigation is performed based on the target lumbar intervertebral foramen 3D model. According to the solution provided in the embodiment of the present application, fine image segmentation is performed on the multimodal images after image registration to obtain the characteristic information of the fine structure of the lumbar sacral region of the target object, and an accurate 3D model and a precise puncture path are constructed based on the characteristic information. Compared with the solution of guiding the puncture through intraoperative C-arm images, the present application can effectively assist in fast, accurate and safe intervertebral foramen positioning and puncture. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1is a flowchart of the steps of a surgical navigation method based on a 3D model of the lumbar and sacral intervertebral foramen provided by an embodiment of the present application;

[0052] Figure 2 is a flowchart of image preprocessing steps provided by another embodiment of the present application;

[0053] Figure 3 is a flowchart of the steps of performing surgical navigation based on a target lumbar sacral intervertebral foramen 3D model provided by another embodiment of the present application;

[0054] Figure 4 is a flowchart of steps for displaying the Euclidean distance between the lesion target and the intervertebral disc herniation target provided by another embodiment of the present application;

[0055] Figure 5 is a schematic diagram of a module of a transvertebral foraminal puncture navigation system provided by another embodiment of the present application;

[0056] Figure 6 It is a structural diagram of an electronic device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] It is understood that although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flow chart. The terms "first", "second", etc. in the specification, claims or the above drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0059] Minimally invasive lumbar interventional treatment, including transforaminal epidural injection, radiofrequency ablation of disc herniation targets, and transforaminal endoscopic nucleus pulposus removal, is an important alternative treatment for open surgery for lumbar disc herniation. In the current minimally invasive lumbar interventional surgery, intraoperative C-arm images are mainly used to guide and assist foraminal puncture, but C-arm images cannot provide patients with comprehensive and accurate anatomical information to determine the optimal safe depth, angle, and other important parameters of the puncture. Therefore, doctors need to rely on their own experience to imagine the three-dimensional anatomical relationship of the patient's puncture area, integrate preoperative imaging information, and perform multiple fluoroscopy and punctures to puncture safely and accurately. However, multiple punctures not only increase the fluoroscopy time, operation time, radiation exposure of doctors and patients, but also increase the risk of nerve, dura mater, and vascular damage. Therefore, how to assist doctors to quickly, accurately, and safely locate and puncture the foramen is a difficult problem that urgently needs to be solved for the successful implementation of minimally invasive lumbar interventional treatment.

[0060] In order to solve the above-mentioned problems, the embodiment of the present application provides a surgical navigation method, system, and medium based on a 3D model of the lumbar intervertebral foramen, the method comprising: controlling the superconducting MR machine to obtain a 3D-SPACE MR image of the target object; controlling the dual-source CT device system to obtain a preoperative CT image of the target object; controlling the 3D-C arm imaging system to obtain a 3D-C arm image of the target object; and automatically registering the 3D-SPACE MR image of the target object based on a preset image automatic registration model. The MR image, the 3D-C-arm image and the preoperative CT image are automatically registered and aligned to obtain a registered multimodal image; the multimodal image is segmented based on a preset lumbar intervertebral foramen multi-structure automatic segmentation model to obtain a vertebral feature image, an intervertebral disc feature image, a nerve root feature image, a dura mater feature image and an intervertebral disc herniation target image of the lumbar vertebrae region of the target object; a lumbar intervertebral foramen 3D model is constructed based on the vertebral feature image, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image and the intervertebral disc herniation target image of the lumbar vertebrae region, and the lumbar intervertebral foramen 3D model is displayed in the display interface of the display; in response to clicking on the lumbar intervertebral foramen 3D model in the display interface, the intervertebral disc herniation target image is displayed. Operation, recording the first coordinate information of each intervertebral disc herniation target point in the lumbar intervertebral foramen 3D model; simulating and constructing multiple puncture paths based on all the first coordinate information, and displaying the multiple puncture paths in the display interface; when selecting any one reference puncture path from the multiple puncture paths, rendering the feature information corresponding to the reference puncture path in the lumbar intervertebral foramen 3D model; when the reference puncture path is determined as the target puncture path, 3D rendering is performed based on the vertebral feature image of the lumbar vertebrae region, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image, the intervertebral disc herniation target point image and the reference puncture path to generate a target lumbar intervertebral foramen 3D model, and surgical navigation is performed based on the target lumbar intervertebral foramen 3D model. According to the solution provided in the embodiment of the present application, fine image segmentation is performed on the multimodal images after image registration to obtain the characteristic information of the fine structure of the lumbar sacral region of the target object, and an accurate 3D model and a precise puncture path are constructed based on the characteristic information. Compared with the solution of guiding the puncture through intraoperative C-arm images, the present application can effectively assist in fast, accurate and safe intervertebral foramen positioning and puncture.

[0061] The embodiments of the present application are further described below in conjunction with the accompanying drawings.

[0062] refer to Figure 1 , Figure 1Yes, the embodiment of the present application provides a surgical navigation method based on a 3D model of the lumbar intervertebral foramen, the method is applied to a control device of an intervertebral foramen puncture navigation system, the intervertebral foramen puncture navigation system also includes a 3D-C arm imaging system, a superconducting MR machine, a dual-source CT device and a display, the control device is respectively connected to the 3D-C arm imaging system, the superconducting MR machine, the dual-source CT device and the display, the method includes but is not limited to the following steps:

[0063] Step S101, controlling a superconducting MR machine to acquire a 3D-SPACE MR image of a target object;

[0064] Step S102, controlling the dual-source CT device system to acquire a preoperative CT image of the target object;

[0065] Step S103, controlling the 3D-C arm imaging system to acquire a 3D-C arm image of the target object;

[0066] Step S104, automatically registering and aligning the 3D-SPACE MR image, the 3D-C-arm image, and the preoperative CT image based on a preset image automatic registration model to obtain a registered multimodal image;

[0067] Step S105, performing image segmentation processing on the multimodal image based on a preset lumbar intervertebral foramen multi-structure automatic segmentation model to obtain a vertebral feature image, an intervertebral disc feature image, a nerve root feature image, a dura mater feature image, and an intervertebral disc herniation target point image of the lumbar vertebrae region of the target object;

[0068] Step S106, constructing a 3D model of the lumbar sacral intervertebral foramen based on the vertebral feature image, intervertebral disc feature image, nerve root feature image, dura mater feature image and intervertebral disc herniation target image in the lumbar sacral region, and displaying the 3D model of the lumbar sacral intervertebral foramen in a display interface of the display;

[0069] Step S107, in response to the operation of clicking on the intervertebral disc herniation target point on the lumbar-sacral intervertebral foramen 3D model in the display interface, recording the first coordinate information of each intervertebral disc herniation target point in the lumbar-sacral intervertebral foramen 3D model;

[0070] Step S108, simulating and constructing a plurality of puncture paths based on all the first coordinate information, and displaying the plurality of puncture paths in a display interface;

[0071] Step S109, when a reference puncture path is selected from the multiple puncture paths, feature information corresponding to the reference puncture path is rendered on the lumbar intervertebral foramen 3D model;

[0072] Step S110, when the reference puncture path is determined as the target puncture path, 3D rendering is performed based on the vertebral feature image, intervertebral disc feature image, nerve root feature image, dura mater feature image, intervertebral disc herniation target image and the reference puncture path in the lumbar vertebral area to generate a 3D model of the target lumbar sacral intervertebral foramen, and surgical navigation is performed based on the 3D model of the target lumbar sacral intervertebral foramen.

[0073] It should be noted that the embodiments of the present application do not limit the specific process of controlling the superconducting MR machine to obtain the 3D-SPACE MR image of the target object. The scanning parameters of the superconducting MR machine can be set first, and the superconducting MR machine is controlled to scan the target object based on the scanning parameters to obtain the corresponding 3D-SPACE MR image. The specific scanning range is the L4-S1 lumbar segment of the target object. During the scanning, the direction perpendicular to the long axis of the target object is determined as the scanning baseline. The specific parameters of the 3D-SPACE sequence are: repetition time / echo time is 2800.0ms / 189.0ms, flip angle is 45 degrees, field of view is 240×240mm, matrix size is 320×320, layer thickness is 0.8mm, bandwidth is 579kHz, and the image resolution of the final 3D-SPACE MR image is 0.8×0.8×0.8mm.

[0074] It should be noted that the embodiment of the present application does not limit the specific parameters of the dual-source CT device, and can be a dual-source 128-layer or dynamic 800-layer dual-source CT device. At the same time, the present embodiment does not limit the specific process of controlling the dual-source CT device to obtain the preoperative CT image of the target object. It can be that the direction perpendicular to the long axis of the target object is used as the scanning baseline, and the target object is scanned layer by layer without intervals. The scanning field of view is 180mm, the layer thickness is 1mm, the cross-sectional CT imaging data of the target object is collected, and the preoperative CT image is exported in DICOM format.

[0075] It should be noted that the imaging methods for the target object in this embodiment are all implemented when the target object is in a supine position.

[0076] It should be noted that the embodiments of the present application do not limit the specific process of controlling the 3D-C-arm imaging system to obtain the 3D-C-arm image of the target object. It can be to first determine the standard lumbar spine AP and lateral perspective images (the spinous process in the AP image is located in the center of the pedicle line, the vertebral end plates in the lateral image are parallel to each other, and the surgical segment is located in the center of the perspective image), and then control the 3D scan to obtain the 3D-C-arm image of the L4-S1 lumbar spine segment of the target object, and export it in DICOM format.

[0077] It should be noted that the present embodiment does not limit the specific structure of the image automatic registration model, which may include a diffusion model module, a multi-affine matrix estimation module, an affine elastic fusion module and a local rigid constraint module connected in sequence. Based on this structure, in the embodiment of the present application, the 3D-SPACE MR image, the 3D-C-arm image and the preoperative CT image are automatically registered and aligned based on the image automatic registration model. The specific method for obtaining the registered multimodal image may be to input the 3D-C-arm image, the preoperative CT image, the first mask and the second mask into the diffusion model module for forward denoising and reverse denoising to obtain a high-resolution CT image and a third mask, wherein the first mask is a two-dimensional mask corresponding to the 3D-C-arm image for each vertebral structure and each soft tissue structure in the lumbar sacral region, the second mask is a two-dimensional mask corresponding to the preoperative CT image for each vertebral structure and each soft tissue structure in the lumbar sacral region, and the third mask is a two-dimensional mask corresponding to the high-resolution CT image for each vertebral structure and each soft tissue structure in the lumbar sacral region; the high-resolution CT image and the target 3D-SPACE The MR image is input into the multi-affine matrix estimation module for feature extraction to obtain a multi-scale feature image; the multi-scale feature image is input into the affine elastic fusion module for image stitching processing to obtain the first rigid deformation field and the first elastic deformation field; the first rigid deformation field and the first elastic deformation field are input into the local rigid constraint module to obtain the multi-modal image after registration. That is to say, the 3D-C-arm image is first subjected to the forward denoising and reverse denoising process of the diffusion model module to remove artifacts and other noise in the 3D-C-arm image and improve the imaging quality of the bone structure, thereby synthesizing the 3D-C-arm image into a high-resolution CT image; then the image to be registered (that is, the high-resolution CT image synthesized in the above steps and the 3D-SPACE The multi-scale image features of the MRI image are obtained by using the rigid transformation estimation parameters, and the initial deformation fields of each scale in the image to be registered (i.e., the corresponding vertebral structures and soft tissue structures in the image to be registered) are obtained. Then, the image features of each scale are spliced ​​with the initial deformation fields of each structure obtained by the rigid transformation estimation through the affine elastic fusion module, the rigid / elastic deformation field is calculated, and the registered multi-modal image is output. In addition, the local rigid constraint module of the present application can perform strict local rigid constraints on the vertebral structure corresponding to each feature image in the model operation process, so as to reduce the possibility of unreasonable elastic deformation of the vertebral structure during the image registration process, thereby effectively ensuring the accuracy of the multi-modal image after registration and providing an effective data basis for subsequent fine image segmentation.

[0078] It should be noted that the embodiment of the present application does not limit the specific process of performing image segmentation processing on the multimodal image based on the lumbar sacral intervertebral foramen multi-structure automatic segmentation model to obtain the vertebral feature image, intervertebral disc feature image, nerve root feature image, dura mater feature image and intervertebral disc herniation target image of the lumbar sacral region of the target object. It can be to use a coarse segmentation network to perform preliminary segmentation on the multimodal image to obtain a fourth mask, wherein the fourth mask includes multiple target position information, each target position information is used to characterize the position information of each human body structure in the lumbar sacral region in the fourth mask; based on the multi-scale scaling and cropping strategy, the multimodal image is respectively segmented. The modal image and the fourth mask are scaled and cropped to obtain multiple first intermediate images and multiple second intermediate images; the first intermediate image and the second intermediate image are input into the fine segmentation network of the 3D attention mechanism to obtain an intermediate mask; the intermediate mask is repaired based on the mask repair strategy to obtain the vertebral feature image, intervertebral disc feature image, nerve root feature image, dura mater feature image and intervertebral disc herniation target image of the lumbar vertebrae region of the target object, and the precise segmentation of the fine small target structure in the lumbar vertebrae region of the target object is completed, providing an effective data basis for the subsequent generation of an accurate 3D model of the lumbar sacral foramen.

[0079] It should be noted that, after a lumbar-sacral intervertebral foramen 3D model is constructed based on the vertebral feature images, the intervertebral disc feature images, the nerve root feature images, the dura mater feature images and the intervertebral disc herniation target images, and displayed on the display interface of the display, the surgeon can click and mark the intervertebral disc herniation target on the lumbar-sacral intervertebral foramen 3D model. After the surgeon performs the marking operation on the display interface, the control device responds to the click operation on the intervertebral disc herniation target on the lumbar-sacral intervertebral foramen 3D model in the display interface, records the first coordinate information of each intervertebral disc herniation target in the lumbar-sacral intervertebral foramen 3D model, simulates and constructs multiple puncture paths based on all the first coordinate information, and displays the multiple puncture paths in the display interface, so that the surgeon can select from the multiple puncture paths. When the surgeon selects from the multiple puncture paths, the control device records the first coordinate information of each intervertebral disc herniation target in the lumbar-sacral intervertebral foramen 3D model in response to the click operation on the intervertebral disc herniation target on the display interface. Select any reference puncture path, and render the feature information corresponding to the reference puncture path in the lumbar intervertebral foramen 3D model, that is, select a reference puncture path in the display interface, and simulate and display the reference puncture path in the current lumbar intervertebral foramen 3D model. The surgeon selects the target puncture path from the simulated display effects of multiple different puncture paths. After the surgeon determines the reference puncture path as the target puncture path, 3D rendering is performed based on the vertebral feature image, intervertebral disc feature image, nerve root feature image, dura mater feature image, intervertebral disc herniation target image and reference puncture path in the lumbar vertebrae area to generate a target lumbar intervertebral foramen 3D model, and surgical navigation is performed based on the target lumbar intervertebral foramen 3D model to assist the surgeon in accurately and safely positioning and puncturing the intervertebral foramen.

[0080] In addition, refer to Figure 2 In some embodiments, when executing Figure 1 Before step S103, the surgical navigation method based on the lumbar intervertebral foramen 3D model of this embodiment includes but is not limited to the following steps:

[0081] Step S210, obtaining preset image preprocessing rules;

[0082] Step S220 , performing image preprocessing on the 3D-SPACE MR image, the 3D-C-arm image and the preoperative CT image based on the image preprocessing rules.

[0083] It should be noted that this embodiment does not limit the image preprocessing rules for 3D-C-arm images, 3D-SPACE MR images and preoperative CT images. This embodiment can be to perform preprocessing operations such as N4 algorithm to remove offset field, grayscale normalization, etc. on all 3D-SPACE MR images, 3D-C-arm images and preoperative CT images, which can effectively improve the quality and consistency of the image and provide an accurate and reliable data basis for subsequent image registration processing.

[0084] In addition, refer to Figure 3 In some embodiments, the intervertebral foraminal puncture navigation system further includes an NDI optical navigation positioning system and a puncture surgical robot, and the control device is respectively connected to the NDI optical navigation positioning system and the puncture surgical robot for communication. Figure 1 Step S110 includes but is not limited to the following steps:

[0085] Step S310, obtaining first position information and second position information, wherein the first position information is the position information of the target object in the operating room coordinate system, and the second position information is the real-time position information of the puncture surgical robot in the operating room coordinate system;

[0086] Step S320, controlling the NDI optical navigation positioning system to determine the target relative position relationship based on the first position information, the second position information and the target lumbar intervertebral foramen 3D model, wherein the target relative position relationship is used to characterize the relative position relationship between the target lumbar intervertebral foramen 3D model, the target object, the lesion target and the puncture surgical robot in the operating room coordinate system, wherein the lesion target is the actual puncture target during the operation, and the lesion target corresponds to the intervertebral disc herniation target corresponding to the target puncture path in a one-to-one manner;

[0087] Step S330, performing surgical navigation based on the target relative position relationship and the target lumbar intervertebral foramen 3D model.

[0088] It can be understood that, after obtaining the position information of the target object in the operating room coordinate system, i.e., the first position information, and the real-time position information of the puncture surgical robot in the operating room coordinate system, i.e., the second position information, this embodiment controls the NDI optical navigation positioning system to determine the target relative position relationship based on the first position information, the second position information and the target lumbar intervertebral foramen 3D model, i.e., determine the relative position relationship between the target lumbar intervertebral foramen 3D model, the target object, the lesion target and the puncture surgical robot in the operating room coordinate system, the lesion target is the actual puncture target during the operation, and the lesion target corresponds one-to-one to the intervertebral disc herniation target corresponding to the target puncture path. Based on the target relative position relationship and the target lumbar intervertebral foramen 3D model, the current actual puncture target, the actual puncture path, and the ideal puncture path (i.e., the target puncture path) calculated above can be displayed on the target lumbar intervertebral foramen 3D model, effectively assisting the surgeon to quickly, accurately and safely perform intervertebral foramen positioning and puncture.

[0089] In addition, refer to Figure 4 In some embodiments, the surgical navigation method based on the lumbar intervertebral foramen 3D model of this embodiment includes but is not limited to the following steps:

[0090] Step S410, determining the second coordinate information of each lesion target point in the target lumbar sacral intervertebral foramen 3D model;

[0091] Step S420, calculating the Euclidean distance between the first coordinate information and the first coordinate information corresponding to each other;

[0092] Step S430, displaying each Euclidean distance in a display interface.

[0093] It can be understood that by determining the second coordinate information of each lesion target in the target lumbar intervertebral foramen 3D model, calculating the Euclidean distance between the corresponding first coordinate information and the first coordinate information, and using the Euclidean distance as the puncture error, each Euclidean distance is displayed in the display interface, which enables the surgeon to know the error of the actual puncture target in real time, thereby providing effective guarantee for accurate and safe intervertebral foramen positioning and puncture.

[0094] In addition, refer to Figure 5 The embodiment of the present application further provides a foraminal puncture navigation system 500, which includes a 3D-C arm imaging system 510, a superconducting MR machine 520, a dual-source CT device 530, a display 540, and a control device 570. The control device 570 is respectively connected to the 3D-C arm imaging system 510, the superconducting MR machine 520, the dual-source CT device 530, and the display 540 for communication. The control device 570 includes:

[0095] The first data acquisition module 5701 is used to control the superconducting MR machine 520 to acquire a 3D-SPACE MR image of the target object;

[0096] The second data acquisition module 5702 is used to control the 3D-C arm imaging system 510 to acquire a 3D-C arm image of the target object;

[0097] The third data acquisition module 5703 is used to control the dual-source CT device 530 system to acquire a preoperative CT image of the target object;

[0098] An image registration module 5704 is used to automatically register and align the 3D-SPACE MR image, the 3D-C-arm image and the preoperative CT image based on a preset image automatic registration model to obtain a registered multimodal image;

[0099] The image segmentation module 5705 is used to perform image segmentation processing on the multimodal image based on the preset lumbar intervertebral foramen multi-structure automatic segmentation model to obtain the vertebral feature image, intervertebral disc feature image, nerve root feature image, dura mater feature image and intervertebral disc herniation target point image of the lumbar sacral region of the target object;

[0100] The 3D model construction module 5706 is used to construct a 3D model of the lumbar intervertebral foramen based on the vertebral feature image, intervertebral disc feature image, nerve root feature image, dura mater feature image and intervertebral disc herniation target image in the lumbar vertebrae region, and display the 3D model of the lumbar intervertebral foramen in the display interface of the display 540;

[0101] The first data processing module 5707 is used to record the first coordinate information of each intervertebral disc herniation target point in the lumbar sacral intervertebral foramen 3D model in response to the click operation of the intervertebral disc herniation target point on the lumbar sacral intervertebral foramen 3D model in the display interface;

[0102] The second data processing module 5708 is used to simulate and construct multiple puncture paths based on all the first coordinate information, and display the multiple puncture paths in the display interface;

[0103] The third data processing module 5709 is used for selecting a reference puncture path from multiple puncture paths and rendering feature information corresponding to the reference puncture path on the lumbar intervertebral foramen 3D model;

[0104] The surgical navigation module 5710 is used to perform 3D rendering based on the vertebral feature images, intervertebral disc feature images, nerve root feature images, dura mater feature images, intervertebral disc herniation target images and the reference puncture path in the lumbar vertebrae area when the reference puncture path is determined as the target puncture path, generate a 3D model of the target lumbar sacral intervertebral foramen, and perform surgical navigation based on the 3D model of the target lumbar sacral intervertebral foramen.

[0105] In addition, refer to Figure 5 , the control device 570 further includes:

[0106] An image preprocessing rule acquisition module 5717 is used to acquire preset image preprocessing rules;

[0107] The image preprocessing module 5718 is used to perform image preprocessing on 3D-SPACE MR images, 3D-C-arm images and preoperative CT images based on image preprocessing rules.

[0108] In addition, the intervertebral foraminal puncture navigation system 500 also includes an NDI optical navigation positioning system 550 and a puncture surgical robot 560. The control device 570 is respectively connected to the NDI optical navigation positioning system 550 and the puncture surgical robot 560 for communication. The surgical navigation module 5710 includes:

[0109] The fourth data acquisition module 5711 is used to acquire first position information and second position information, where the first position information is the position information of the target object in the operating room coordinate system, and the second position information is the real-time position information of the puncture surgery robot 560 in the operating room coordinate system;

[0110] The fourth data processing module 5712 is used to control the NDI optical navigation positioning system 550 to determine the target relative position relationship based on the first position information, the second position information and the target lumbar intervertebral foramen 3D model, wherein the target relative position relationship is used to characterize the relative position relationship between the target lumbar intervertebral foramen 3D model, the target object, the lesion target and the puncture surgical robot 560 in the operating room coordinate system, wherein the lesion target is the actual puncture target during the operation, and the lesion target corresponds to the intervertebral disc herniation target corresponding to the target puncture path in a one-to-one manner;

[0111] The fifth data processing module 5713 is used to perform surgical navigation based on the target relative position relationship and the target lumbar intervertebral foramen 3D model.

[0112] In addition, refer to Figure 5 , the control device 570 further includes:

[0113] A fifth data acquisition module 5714 is used to determine the second coordinate information of each lesion target point in the target lumbar sacral intervertebral foramen 3D model;

[0114] A sixth data acquisition module 5715, used to calculate the Euclidean distance between the first coordinate information and the first coordinate information corresponding to each other;

[0115] The data display module 5716 is used to display each Euclidean distance in the display interface.

[0116] It should be noted that the specific implementation of the intervertebral foraminal puncture navigation system 500 is basically the same as the specific implementation of the surgical navigation method based on the lumbar sacral intervertebral foraminal 3D model described above, and will not be repeated here.

[0117] like Figure 6 As shown, Figure 6 600 is a structural diagram of an electronic device provided by an embodiment of the present application. The present invention also provides an electronic device 600, including:

[0118] The processor 610 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0119] The memory 620 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 620 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 620, and the processor 610 calls and executes the surgical navigation method based on the lumbar intervertebral foramen 3D model of the embodiment of this application;

[0120] Input / output interface 630, used to implement information input and output;

[0121] Communication interface 640, used to realize communication interaction between the present apparatus and other devices, which can be realized by wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.);

[0122] bus 650 , which transmits information between the various components of the device (e.g., processor 610 , memory 620 , input / output interface 630 , and communication interface 640 );

[0123] The processor 610 , the memory 620 , the input / output interface 630 , and the communication interface 640 are connected to each other in communication within the device via a bus 650 .

[0124] In addition, an embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the surgical navigation method based on the lumbar intervertebral foramen 3D model is implemented.

[0125] As a non-transient computer-readable storage medium, the memory can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and are implemented to be located in one place, or may also be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0126] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0127] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A surgical navigation method based on a 3D model of the lumbar intervertebral foramen, characterized in that: A control device applied to a foraminal puncture navigation system, wherein the foraminal puncture navigation system further comprises a 3D-C arm imaging system, a superconducting MR machine, a dual-source CT device and a display, wherein the control device is respectively connected to the 3D-C arm imaging system, the superconducting MR machine, the dual-source CT device and the display for communication, and the method comprises: Controlling the superconducting MR machine to acquire a 3D-SPACE MR image of a target object; Controlling the dual-source CT device system to acquire a preoperative CT image of a target object; Controlling the 3D-C arm imaging system to acquire a 3D-C arm image of a target object; Automatically registering and aligning the 3D-SPACE MR image, the 3D-C-arm image, and the preoperative CT image based on a preset image automatic registration model to obtain a registered multimodal image; Performing image segmentation processing on the multimodal image based on a preset lumbar intervertebral foramen multi-structure automatic segmentation model to obtain vertebral feature images, intervertebral disc feature images, nerve root feature images, dura mater feature images and intervertebral disc herniation target point images of the lumbar sacral region of the target object; constructing a 3D model of the lumbar intervertebral foramen based on the vertebral feature image, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image and the intervertebral disc herniation target image in the lumbar vertebrae region, and displaying the 3D model of the lumbar intervertebral foramen in the display interface of the display; In response to a click operation on a disc herniation target point on the lumbar-sacral intervertebral foramen 3D model in the display interface, recording first coordinate information of each disc herniation target point in the lumbar-sacral intervertebral foramen 3D model; Simulating and constructing a plurality of puncture paths based on all the first coordinate information, and displaying the plurality of puncture paths on the display interface; When any one reference puncture path is selected from the plurality of puncture paths, feature information corresponding to the reference puncture path is rendered in the lumbar intervertebral foramen 3D model; When the reference puncture path is determined as the target puncture path, 3D rendering is performed based on the vertebral feature image, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image, the intervertebral disc herniation target image and the reference puncture path in the lumbar vertebrae region to generate a 3D model of the target lumbar sacral foramen, and surgical navigation is performed based on the target lumbar sacral foramen 3D model.

2. The surgical navigation method based on the lumbar intervertebral foramen 3D model according to claim 1, characterized in that: Before automatically registering and aligning the 3D-SPACE MR image, the 3D-C-arm image, and the preoperative CT image based on a preset image automatic registration model to obtain a registered multimodal image, the method further includes: Get preset image preprocessing rules; The 3D-SPACE MR image, the 3D-C-arm image and the preoperative CT image are subjected to image preprocessing based on the image preprocessing rule.

3. The surgical navigation method based on the lumbar intervertebral foramen 3D model according to claim 1, characterized in that: The intervertebral foramen puncture navigation system further includes an NDI optical navigation positioning system and a puncture surgical robot. The control device is respectively connected to the NDI optical navigation positioning system and the puncture surgical robot for communication, and performs surgical navigation based on the target lumbar sacral intervertebral foramen 3D model, including: Acquire first position information and second position information, wherein the first position information is the position information of the target object in the operating room coordinate system, and the second position information is the real-time position information of the puncture surgical robot in the operating room coordinate system; Control the NDI optical navigation and positioning system to determine a target relative position relationship based on the first position information, the second position information and the target lumbar intervertebral foramen 3D model, wherein the target relative position relationship is used to characterize the relative position relationship between the target lumbar intervertebral foramen 3D model, the target object, the lesion target and the puncture surgical robot in the operating room coordinate system, wherein the lesion target is the actual puncture target during the operation, and the lesion target has a one-to-one correspondence with the intervertebral disc herniation target corresponding to the target puncture path; Surgical navigation is performed based on the target relative position relationship and the target lumbar intervertebral foramen 3D model.

4. The surgical navigation method based on the lumbar intervertebral foramen 3D model according to claim 3, characterized in that: The method further comprises: Determine the second coordinate information of each of the lesion targets in the target lumbar intervertebral foramen 3D model; Calculating the Euclidean distance between the first coordinate information and the first coordinate information corresponding to each other; Each of the Euclidean distances is displayed in the display interface.

5. A transvertebral foraminal puncture navigation system, characterized in that: It includes a 3D-C arm imaging system, a superconducting MR machine, a dual-source CT device, a display and a control device, wherein the control device is respectively connected to the 3D-C arm imaging system, the superconducting MR machine, the dual-source CT device and the display for communication, and the control device includes: A first data acquisition module, used to control the superconducting MR machine to acquire a 3D-SPACE MR image of a target object; A second data acquisition module, used to control the dual-source CT device system to acquire a preoperative CT image of the target object; A third data acquisition module, used to control the 3D-C arm imaging system to acquire a 3D-C arm image of the target object; An image registration module, used for automatically registering and aligning the 3D-SPACE MR image, the 3D-C-arm image and the preoperative CT image based on a preset image automatic registration model to obtain a registered multimodal image; An image segmentation module is used to perform image segmentation processing on the multimodal image based on a preset lumbar intervertebral foramen multi-structure automatic segmentation model to obtain a vertebral feature image, an intervertebral disc feature image, a nerve root feature image, a dura mater feature image and an intervertebral disc herniation target point image of the lumbar vertebrae region of the target object; a 3D model construction module, for constructing a 3D model of the lumbar intervertebral foramen based on the vertebral feature image, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image and the intervertebral disc herniation target image in the lumbar vertebrae region, and displaying the 3D model of the lumbar intervertebral foramen in the display interface of the display; A first data processing module is configured to record first coordinate information of each intervertebral disc herniation target point in the lumbar sacral intervertebral foramen 3D model in response to a click operation on the intervertebral disc herniation target point in the lumbar sacral intervertebral foramen 3D model in the display interface; A second data processing module, configured to simulate and construct a plurality of puncture paths based on all of the first coordinate information, and display the plurality of puncture paths in the display interface; A third data processing module is used for selecting any one reference puncture path from the plurality of puncture paths and rendering feature information corresponding to the reference puncture path in the lumbar intervertebral foramen 3D model; The surgical navigation module is used for, when the reference puncture path is determined as the target puncture path, performing 3D rendering based on the vertebral feature image, the intervertebral disc feature image, the nerve root feature image, the dura mater feature image, the intervertebral disc herniation target image and the reference puncture path, generating a target lumbar sacral intervertebral foramen 3D model, and performing surgical navigation based on the target lumbar sacral intervertebral foramen 3D model.

6. The intervertebral foraminal puncture navigation system according to claim 5, characterized in that: The control device also includes: An image preprocessing rule acquisition module is used to acquire preset image preprocessing rules; An image preprocessing module is used to perform image preprocessing on the 3D-SPACE MR image, the 3D-C-arm image and the preoperative CT image based on the image preprocessing rule.

7. The intervertebral foraminal puncture navigation system according to claim 5, characterized in that: The intervertebral foraminal puncture navigation system also includes an NDI optical navigation positioning system and a puncture surgical robot. The control device is respectively connected to the NDI optical navigation positioning system and the puncture surgical robot for communication. The surgical navigation module includes: a fourth data acquisition module, configured to acquire first position information and second position information, wherein the first position information is position information of the target object in the operating room coordinate system, and the second position information is real-time position information of the puncture surgical robot in the operating room coordinate system; a fourth data processing module, for controlling the NDI optical navigation and positioning system to determine a target relative position relationship based on the first position information, the second position information and the target lumbar intervertebral foramen 3D model, wherein the target relative position relationship is used to characterize the relative position relationship between the target lumbar intervertebral foramen 3D model, the target object, the lesion target and the puncture surgical robot in the operating room coordinate system, wherein the lesion target is the actual puncture target during the operation, and the lesion target corresponds one-to-one to the intervertebral disc herniation target corresponding to the target puncture path; The fifth data processing module is used to perform surgical navigation based on the target relative position relationship and the target lumbar intervertebral foramen 3D model.

8. The intervertebral foraminal puncture navigation system according to claim 7, characterized in that: The control device also includes: A fifth data acquisition module is used to determine the second coordinate information of each of the lesion targets in the target lumbar intervertebral foramen 3D model; A sixth data acquisition module, used for calculating the Euclidean distance between the first coordinate information and the first coordinate information corresponding to each other; A data display module is used to display each of the Euclidean distances in the display interface.

9. A transvertebral foraminal puncture navigation system, characterized in that: It includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the surgical navigation method based on the lumbar intervertebral foramen 3D model as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the surgical navigation method based on the lumbar-sacral intervertebral foramen 3D model as described in any one of claims 1 to 4.

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