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

Abstract

The present application discloses a surgical navigation method, system, and medium based on a 3D model of the lumbar intervertebral foramen. The method includes: obtaining a registered multimodal image based on an automatic image registration model and an image to be registered; obtaining multiple segmentation features based on a multi-structure automatic segmentation model of the lumbar intervertebral foramen and the multimodal image, and constructing and displaying a 3D model of the lumbar intervertebral foramen based on the segmentation features; recording the position information of the target point of the intervertebral disc herniation and simulating and displaying multiple puncture paths; selecting a reference puncture path and rendering the corresponding feature information on the 3D model of the lumbar intervertebral foramen; when the reference puncture path is determined as the target puncture path, generating a target 3D model of the lumbar intervertebral foramen based on the segmentation feature image and the reference puncture path and performing surgical navigation. Image segmentation is performed on the registered multimodal image to obtain feature information of the fine structure and construct an accurate 3D model and puncture path based on the feature information, which can quickly and accurately assist puncture surgery.

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 treatments, including transforaminal epidural injections, radiofrequency ablation of disc herniation targets, and transforaminal endoscopic nucleus pulposus removal, are important alternative treatments to open surgery for lumbar disc herniation. Current minimally invasive lumbar interventional procedures primarily rely on intraoperative C-arm images to guide and assist with foraminal puncture. However, C-arm images cannot provide comprehensive and accurate anatomical information about the patient to determine the optimal safe depth, angle, and other important parameters for the puncture. Therefore, physicians must rely on their own experience to visualize the patient's three-dimensional anatomical relationship in the puncture area and integrate preoperative imaging information. Multiple fluoroscopy and punctures are required for safe and accurate puncture. However, multiple punctures not only increase fluoroscopy time, surgical time, and radiation exposure for both physicians and patients, but also increase the risk of nerve, dura mater, and vascular damage. Therefore, assisting physicians in quickly, accurately, and safely performing foraminal positioning and puncture 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 during 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 foraminal puncture navigation system. The intervertebral foraminal 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 communicatively connected to the 3D-C-arm imaging system, the superconducting MR machine, the dual-source CT device, and the display, respectively. 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 the 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 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 sacral region of the target object;

[0010] constructing a 3D model of the lumbar-sacral 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-sacral region, and displaying the 3D model of the lumbar-sacral intervertebral foramen on a display interface of the display;

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

[0012] Simulating and constructing a plurality of puncture paths based on all of 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 vertebral region to generate a 3D model of the target lumbar sacral foramen, and surgical navigation is performed based on the 3D model of the target lumbar sacral foramen.

[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 the preset image preprocessing rules;

[0017] Image preprocessing is performed on the 3D-SPACE MR image, the 3D-C-arm image, and the preoperative CT image 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 communicatively connected to the NDI optical navigation positioning system and the puncture surgical robot, respectively, the target object is located on the operating table, and surgical navigation is performed based on the target lumbar intervertebral foramen 3D model, including:

[0019] 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;

[0020] 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 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 target points 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, comprising 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 communicatively connected to the 3D-C-arm imaging system, the superconducting MR machine, the dual-source CT device, and the display, respectively, and the control device comprises:

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

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

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

[0030] An image registration module 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;

[0031] an image segmentation module, configured 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 sacral region of the target object;

[0032] a 3D model construction module, configured to construct a 3D model of the lumbar-sacral 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-sacral region, and display the 3D model of the lumbar-sacral intervertebral foramen on a display interface of the display;

[0033] a first data processing module 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 an 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 on the display interface;

[0035] a third data processing module, configured to select a reference puncture path from the plurality of puncture paths and render feature information corresponding to the reference puncture path in the lumbar intervertebral foramen 3D model;

[0036] A surgical navigation module is used to, when the reference puncture path is determined as the target puncture path, perform 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, generate a target lumbar-sacral intervertebral foramen 3D model, and perform 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 rules.

[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 communicatively connected to the NDI optical navigation positioning system and the puncture surgical robot, respectively, 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, configured to 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;

[0043] A fifth data processing module is configured 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 configured to determine second coordinate information of each of the lesion targets in the target lumbar intervertebral foramen 3D model;

[0046] a sixth data acquisition module, configured to calculate a 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 that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor to perform 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-sacral intervertebral foramen 3D model as described in the first aspect.

[0050] The present invention 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 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 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-sacral 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-sacral vertebra region of the target object; a lumbar-sacral 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-sacral vertebra region, and the lumbar-sacral intervertebral foramen 3D model is displayed in the display interface of the display; in response to clicking on the lumbar-sacral intervertebral foramen 3D model in the display interface, an 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 sacral 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 performing surgical navigation 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 the rapid, accurate and safe positioning and puncture of the intervertebral foramen. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1This is a flowchart of the steps of a surgical navigation method based on a 3D model of the lumbar and sacral intervertebral foramen provided by one 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 This is a flowchart of the steps for performing surgical navigation based on a 3D model of the target lumbar intervertebral foramen, provided by another embodiment of the present application;

[0054] Figure 4 is a flowchart of steps for displaying the Euclidean distance between a lesion target and an 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 This 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 solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0058] It is understood that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. The terms "first," "second," and the like in the specification, claims, or accompanying drawings are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0059] Minimally invasive lumbar interventional treatments, including transforaminal epidural injections, radiofrequency ablation of disc herniation targets, and transforaminal endoscopic nucleus pulposus removal, are important alternative treatments to open surgery for lumbar disc herniation. Current minimally invasive lumbar interventional procedures primarily rely on intraoperative C-arm images to guide and assist with foraminal puncture. However, C-arm images cannot provide comprehensive and accurate anatomical information about the patient to determine the optimal safe depth, angle, and other important parameters for the puncture. Therefore, physicians must rely on their own experience to visualize the patient's three-dimensional anatomical relationship in the puncture area and integrate preoperative imaging information. Multiple fluoroscopy and punctures are required for safe and accurate puncture. However, multiple punctures not only increase fluoroscopy time, surgical time, and radiation exposure for both physicians and patients, but also increase the risk of nerve, dura mater, and vascular damage. Therefore, assisting physicians in quickly, accurately, and safely performing foraminal positioning and puncture is a difficult problem that urgently needs to be solved for the successful implementation of minimally invasive lumbar interventional treatment.

[0060] To solve the above-mentioned problems, the present invention 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 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 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-sacral 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-sacral vertebra region of the target object; a lumbar-sacral 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-sacral vertebra region, and the lumbar-sacral intervertebral foramen 3D model is displayed in the display interface of the display; in response to clicking on the lumbar-sacral intervertebral foramen 3D model in the display interface, an 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 sacral 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 performing surgical navigation 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 the rapid, accurate and safe positioning and puncture of the intervertebral foramen.

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

[0062] refer to Figure 1 , Figure 1Yes, an 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 foraminal puncture navigation system. The intervertebral foraminal 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 communicatively connected to the 3D-C-arm imaging system, the superconducting MR machine, the dual-source CT device, and the display, respectively. 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 sacral region of the target object;

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

[0069] Step S107, in response to the click operation 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 multiple puncture paths based on all the first coordinate information, and displaying the multiple puncture paths on the 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] In 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 region 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 embodiment of the present application does not limit the specific process of controlling the superconducting MR machine to obtain a 3D-SPACEMR 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 a 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 are 2800.0 ms / 189.0 ms, flip angle is 45 degrees, field of view is 240×240 mm, matrix size is 320×320, layer thickness is 0.8 mm, bandwidth is 579 kHz, and the image resolution of the final 3D-SPACE MR image is 0.8×0.8×0.8 mm.

[0074] It should be noted that the embodiment of the present application does not limit the specific parameters of the dual-source CT device. It can be a dual-source CT device with dual 128 layers and dynamic 800 layers. At the same time, this 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 a scanning baseline with a direction perpendicular to the long axis of the target object, and the target object can be scanned layer by layer without intervals. The scanning field of view is 180 mm, the layer thickness is 1 mm, the transverse 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, in this embodiment, the imaging methods for the target object are all implemented when the target object is in a supine position.

[0076] It should be noted that the embodiment of the present application does 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 fluoroscopic 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 fluoroscopic image), and then control the 3D scan to obtain the 3D-C-arm image of the L4-S1 lumbar segment of the target object and export it in DICOM format.

[0077] It should be noted that this 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 processing 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 to the multi-affine matrix estimation module for feature extraction to obtain a multi-scale feature image; the multi-scale feature image is input to 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 to 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. The image features of each scale are then spliced ​​with the initial deformation fields of each structure obtained by the rigid transformation estimation through the affine elastic fusion module to calculate the rigid / elastic deformation field and output the registered multimodal image. In addition, the local rigid constraint module of the present application can strictly impose local rigid constraints on the vertebral structure corresponding to each feature image during the model operation process to reduce the possibility of unreasonable elastic deformation of the vertebral structure during the image registration process, thereby effectively ensuring the accuracy of the multimodal 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, and 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 the 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 sacral region of the target object, completing the precise segmentation of the fine small target structure in the lumbar sacral region of the target object, and providing an effective data basis for the subsequent generation of an accurate 3D model of the lumbar sacral intervertebral foramen.

[0079] It should be noted that, after constructing a 3D model of the lumbar-sacral 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 and displaying it on the display interface of the monitor, the surgeon can click and mark the intervertebral disc herniation target on the 3D model of the lumbar-sacral intervertebral foramen. 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 3D model of the lumbar-sacral intervertebral foramen in the display interface, records the first coordinate information of each intervertebral disc herniation target in the 3D model of the lumbar-sacral intervertebral foramen, simulates and constructs multiple puncture paths based on all the first coordinate information, and displays the multiple puncture paths on 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 3D model of the lumbar-sacral intervertebral foramen. Select any reference puncture path and render the feature information corresponding to the reference puncture path in the lumbar-sacral intervertebral foramen 3D model, that is, select a reference puncture path in the display interface, simulate and display the reference puncture path in the current lumbar-sacral intervertebral foramen 3D model, and 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-sacral region to generate a target lumbar-sacral intervertebral foramen 3D model. Surgical navigation is performed based on the target lumbar-sacral 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 S104, the surgical navigation method based on the lumbar-sacral 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 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 N4 algorithm to remove offset field, grayscale normalization and other preprocessing operations 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, 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 surgical robot in the operating room coordinate system;

[0086] Step S320: Control the NDI optical navigation 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;

[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 sacral intervertebral foramen 3D model, i.e., determine the relative position relationship between the target lumbar sacral 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. 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 sacral 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 sacral 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 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: Display each Euclidean distance on 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, and provide effective guarantee for accurate and safe intervertebral foramen positioning and puncture.

[0094] In addition, reference Figure 5 The present application also provides an intervertebral 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. The control device 570 includes:

[0095] A 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 configured 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] An image segmentation module 5705 is configured 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 sacral region of the target subject;

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

[0101] A first data processing module 5707 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;

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

[0103] The third data processing module 5709 is configured to select a reference puncture path from the plurality of puncture paths and render feature information corresponding to the reference puncture path on the 3D model of the lumbar intervertebral foramen;

[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 region when the reference puncture path is determined as the target puncture path, to generate a 3D model of the target lumbar sacral intervertebral foramen, and to perform surgical navigation based on the 3D model of the target lumbar sacral intervertebral foramen.

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

[0106] Image pre-processing rule acquisition module 5717, used to acquire preset image pre-processing 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 in communication with the NDI optical navigation positioning system 550 and the puncture surgical robot 560, respectively. 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 surgical 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 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 represent 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 has a one-to-one correspondence with the intervertebral disc herniation target corresponding to the target puncture path;

[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, reference 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 intervertebral foramen 3D model;

[0114] A sixth data acquisition module 5715 is configured to calculate a Euclidean distance between corresponding first coordinate information and first coordinate information;

[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 embodiment of the surgical navigation method based on the lumbar-sacral intervertebral foramen 3D model described above, and will not be repeated here.

[0117] like Figure 6 As shown, Figure 6 : 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 as a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured 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 solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 620 and is called by the processor 610 to execute the surgical navigation method based on the lumbar intervertebral foramen 3D model of the embodiments of this application.

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

[0121] Communication interface 640, used to implement communication interaction between the apparatus and other devices, which can be achieved through 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 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. The storage medium stores a computer program, and when the computer program is executed by a processor, the surgical navigation method based on the lumbar-sacral intervertebral foramen 3D model is implemented.

[0125] The memory, as a non-transient computer-readable storage medium, 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 device. In some embodiments, the memory optionally includes a memory remotely located relative to the processor, and these remote memories can 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 located in one place, or may 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] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media 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 includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes 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 implementation. Those skilled in the art can also make various equivalent modifications or substitutions under the shared conditions that do not violate the spirit of the present invention. These equivalent modifications 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 for a transvertebral foraminal puncture navigation system, wherein the transvertebral foraminal 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 communicatively connected to the 3D-C-arm imaging system, the superconducting MR machine, the dual-source CT device, and the display, respectively. The method includes: 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 the 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 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 sacral region of the target object; constructing a 3D model of the lumbar-sacral 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-sacral region, and displaying the 3D model of the lumbar-sacral intervertebral foramen on a display interface of the display; In response to a click operation on a target point of a herniated intervertebral disc on the lumbar-sacral intervertebral foramen 3D model in the display interface, recording first coordinate information of each target point of the herniated intervertebral disc in the lumbar-sacral intervertebral foramen 3D model; Simulating and constructing a plurality of puncture paths based on all of 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 vertebral region to generate a 3D model of the target lumbar sacral foramen.

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 the preset image preprocessing rules; Image preprocessing is performed on the 3D-SPACE MR image, the 3D-C-arm image, and the preoperative CT image 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 foraminal puncture navigation system further includes an NDI optical navigation positioning system and a puncture surgical robot, the control device is communicatively connected to the NDI optical navigation positioning system and the puncture surgical robot respectively, and the method further includes: 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; Control 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 has a one-to-one correspondence with the intervertebral disc herniation target corresponding to the target puncture path.

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 target points 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: The system comprises 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 communicatively connected to the 3D-C arm imaging system, the superconducting MR machine, the dual-source CT device, and the display, and the control device comprises: a first data acquisition module, configured to control the superconducting MR machine to acquire a 3D-SPACE MR image of a target object; a second data acquisition module, configured to control the dual-source CT device system to acquire a preoperative CT image of the target object; a third data acquisition module, configured to control the 3D-C-arm imaging system to acquire a 3D-C-arm image of the target object; An image registration module 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; an image segmentation module, configured 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 sacral region of the target object; a 3D model construction module, configured to construct a 3D model of the lumbar-sacral 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-sacral region, and display the 3D model of the lumbar-sacral intervertebral foramen on a display interface of the display; a first data processing module 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 an 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 on the display interface; a third data processing module, configured to select a reference puncture path from the plurality of puncture paths and render feature information corresponding to the reference puncture path in the lumbar intervertebral foramen 3D model; A surgical navigation module is used to, when the reference puncture path is determined as the target puncture path, perform 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, generate a target lumbar-sacral intervertebral foramen 3D model, and perform 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 further comprises: 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 rules.

7. The intervertebral foraminal puncture navigation system according to claim 5, 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 communicatively connected to the NDI optical navigation positioning system and the puncture surgical robot, respectively. 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, configured to 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; A fifth data processing module is configured 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 further comprises: A fifth data acquisition module is configured to determine second coordinate information of each of the lesion targets in the target lumbar intervertebral foramen 3D model; a sixth data acquisition module, configured to calculate a 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 to enable the at least one control processor to perform 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 according to any one of claims 1 to 4.

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