Systems for spinal fixation

Abstract

The present invention relates to a system for spinal fixation. The system includes a processing module and a measuring assembly including a tissue detection device and an angle measurement device. The tissue detection device includes a probe for inserting the probe into the patient's target vertebra along the nail track and obtaining tissue information in the nail track. The processing module is configured to: receive in real time the tissue information measured by the probe during the process of inserting the probe into the patient's target vertebra along the current nail track; and determine in real time based on the received tissue information the tissue type in the current nail track so as to determine whether the current nail track is a safe nail track. The angle measurement device is configured to measure the angle of each of a plurality of safety nail tracks so as to determine the spatial relationship between the plurality of safety nail tracks. The present invention can allow a plurality of safety nail tracks to be reasonably distributed so as to reduce damage to the target vertebra structure, reduce the difficulty of installing the connecting rod, and optimize the corrective force of the connecting rod installed between the target vertebrae.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to an auxiliary system used in spinal internal fixation surgery. Background Art

[0002] Critical aspects of spinal fixation include accurately positioning the pedicle screw entry point and angle (e.g., sagittal and transverse angles of the screw tract), determining a safe pedicle screw tract, and determining the appropriate screw insertion depth. In previous spinal fixation procedures, surgeons often relied on experience to determine the pedicle screw entry point and angle. However, in situations with anatomical variations, lack of anatomical landmarks, or complex local structures, relying solely on experience can lead to increased fixation errors. Literature reports indicate that approximately 20% of pedicle screws implanted using traditional methods perforate the pedicle wall, potentially causing damage to nerve roots, spinal cord, and blood vessels. Furthermore, structural damage to the pedicle can lead to decreased mechanical stability and ultimately loosening of the screw.

[0003] Currently, some have proposed applying computer navigation systems to spinal surgery to assist with pedicle screw placement. During surgery, computer technology integrates preoperative and intraoperative imaging data, the patient's position during the actual operation, and the coordinates of the surgical tools. This system then displays the tissue surrounding the tools according to the actual surgical needs, providing real-time navigation for the procedure. However, although navigation technology can improve the accuracy and safety of pedicle screw implantation, it also has the following disadvantages: (1) The patient's position during preoperative CT scanning may be different from the patient's position during surgery, which will cause the positional relationship of adjacent vertebrae of the spine to change. This situation is more obvious in patients with spinal instability; (2) During the navigation process, in order to track the patient's displacement or bone structure changes caused by any reason during surgery, it is often necessary to implant a tracer, such as fixing the tracer near the patient's surgical bone structure, such as the vertebral spinous process or iliac spine. However, the fixation of the tracer is an invasive method, which will increase the risk of damaging vertebral bone, damaging important blood vessels and nerves, or causing infection; (3) The alignment process of the navigation system is relatively cumbersome and it is difficult to determine the "idealized" alignment point, which will significantly extend the pedicle screw implantation time; (4) The equipment used in navigation technology is huge, expensive, and complex to operate, which poses a considerable challenge to the popularization of navigation technology.

[0004] In addition, a device with real-time monitoring capabilities has been proposed. This device utilizes the varying electrical resistances of different biological tissues, detecting the resistance between electrodes through a resistance-measuring component. Medical personnel then adjust the direction of the nail track based on the resistance. This ensures the correct establishment of the nail track, avoids misplacement of pedicle screws, reduces additional patient damage, improves surgical safety, and saves surgical time. However, this device can only provide a safety warning for the nail track at the time of determination. It cannot address potential issues that may arise when subsequently installing connecting rods between pedicle screws, such as difficulty installing the connecting rods or changes in the direction and magnitude of the corrective force after installation, which could affect spinal correction.

[0005] In summary, there is a need to improve existing auxiliary devices or systems for spinal internal fixation to simplify the intraoperative operation of spinal internal fixation and / or improve the postoperative effect. Summary of the Invention

[0006] The technical solution proposed in the present invention is intended to solve one or more of the above-mentioned problems of existing auxiliary devices or systems for spinal internal fixation.

[0007] In one aspect of the present invention, a system for spinal fixation is provided, the system comprising: a measurement component, the measurement component comprising: a tissue detection device, comprising a measurement probe, for inserting a measurement probe along a nail track into a target vertebra of a patient to be nailed and acquiring tissue information in the nail track; and an angle measurement device, the angle measurement device being configured to be detachably connected to the tissue detection device; a processing module for communicatively coupling with the measurement component and configured to: receive in real time tissue information acquired by the probe during insertion along a current nail track into the target vertebra of the patient; and determine in real time, based on the received tissue information, the tissue type in the current nail track so as to determine whether the current nail track is a safe nail track; wherein the angle measurement device is configured to measure the angle of each of a plurality of safety nail tracks for determining the spatial relationship between the plurality of safety nail tracks.

[0008] In at least one embodiment of one aspect of the present invention, the spatial relationship between the multiple safety nail channels includes parallelism between the multiple safety nail channels located on different target vertebrae and symmetry between the multiple safety nail channels located on the same target vertebra. The multiple safety nail channels are determined to be usable nail channels when at least one of the following items is met: the parallelism between the multiple safety nail channels located on different target vertebrae satisfies the parallelism requirement; and the symmetry between the multiple safety nail channels located on the same target vertebrae satisfies the symmetry requirement.

[0009] In at least one embodiment of one aspect of the present invention, the measuring assembly further includes: a first handle having a first connecting portion and a second connecting portion, the first connecting portion being used to connect the probe to the first handle; and a second handle having a third connecting portion and a fourth connecting portion, the third connecting portion being used to connect the angle measuring device to the first handle, the fourth connecting portion being used to cooperate with the second connecting portion of the first handle to rotatably connect the second handle and the first handle together.

[0010] In at least one embodiment of one aspect of the present invention, the measuring component further comprises a connecting member, a first end of the connecting member being used to be electrically connected to the probe, and a second end of the connecting member being used to be electrically connected to an external circuit, wherein the connecting member has a spring structure at the first end, and the spring structure is configured to ensure that: when the probe is operated to rotate, the first end of the connecting member always remains electrically connected to the probe.

[0011] In at least one embodiment of one aspect of the present invention, the system further comprises a drill for drilling a hole, one end of the drill for connecting to a power source and the other end of the drill having a drill bit for drilling a hole on the target vertebra of the patient, the hole being used as an entry point for the nail track.

[0012] In at least one embodiment of one aspect of the present invention, the system further comprises a nail entry point positioning device, the nail entry point positioning device comprising: a sleeve having a channel therein, the channel being used to accommodate the path-opening drill; a transverse rod having a scale thereon; a longitudinal rod having a scale thereon and one end of which is fixedly connected to the sleeve; and a slider having a first channel and a second channel, the first channel being used to accommodate the transverse rod and allow the slider to move along the transverse rod, the second channel being used to accommodate the longitudinal rod and allow the slider to move along the longitudinal rod.

[0013] In at least one embodiment of one aspect of the present invention, the transverse rod has a positioning portion at scale 0 for fixing to the lower surface of the spinous process of the target vertebra, and one end of the longitudinal rod near scale 0 is fixedly connected to the sleeve.

[0014] In at least one embodiment of one aspect of the present invention, the system further comprises a display module, which is communicatively coupled with the measurement component and the processing module and is configured to: receive in real time the tissue type in the corresponding nail track determined by the processing module; display in real time the received tissue type in the current nail track; receive in real time the angle of each of the multiple safety nail tracks measured by the angle measurement device; and display in real time the multiple safety nail tracks based on the received angle of each of the multiple safety nail tracks for viewing by an operator, thereby determining the spatial relationship between the multiple safety nail tracks.

[0015] In at least one embodiment of one aspect of the present invention, the angle includes a horizontal plane angle and a sagittal plane angle, and the display module is further configured to: display the multiple safety nail channels on a cross-sectional image of the patient's spine based on the horizontal plane angle of each safety nail channel in the multiple safety nail channels; and display the multiple safety nail channels on a lateral radiograph image of the patient's spine based on the sagittal plane angle of each safety nail channel in the multiple safety nail channels.

[0016] In at least one embodiment of one aspect of the present invention, the system further includes a development module, the development module including one or more calibration surfaces, each calibration surface having a pattern of known geometric shape, the pattern being filled with a development material, the development module being configured to be installed near a target vertebra of the patient to facilitate acquisition of a medical image including the development module and the target vertebra using a medical imaging device.

[0017] In at least one embodiment of one aspect of the present invention, the system further comprises a camera for capturing the medical image including the development module and the target vertebra to obtain a camera image, the processing module being further configured to: receive the camera image from the camera; determine whether the camera image is distorted based on a pattern in a calibration surface of the development module in the camera image; and when it is determined that the camera image is distorted, adjust the camera image to eliminate the distortion, the display module being further configured to: receive the adjusted camera image from the processing module; and display the adjusted camera image.

[0018] In at least one embodiment of one aspect of the present invention, the development module includes a first calibration plane and a second calibration plane, the first calibration plane is perpendicular to the second calibration plane, the medical imaging device is used to obtain a lateral medical image including the first calibration plane of the development module and the target vertebra, and the medical imaging device is used to obtain an orthotopic medical image including the second calibration plane of the development module and the target vertebra, the camera is used to shoot the lateral medical image to obtain a lateral camera image, and the camera is used to shoot the orthotopic medical image to obtain an orthotopic camera image, and the processing module is further configured to: receive the lateral camera image and the orthotopic camera image from the camera; determine whether the lateral camera image is distorted based on a pattern in the first calibration plane of the development module in the lateral camera image; determine whether the orthotopic camera image is distorted based on a pattern in the second calibration plane of the development module in the orthotopic camera image; and when it is determined that the lateral camera image and / or the orthotopic camera image are distorted, adjust the corresponding camera image to eliminate the distortion.

[0019] In at least one embodiment of one aspect of the present invention, the system further includes a user input device for receiving a pedicle screw model input by a user, and the display module is communicatively coupled to the user input device and is further configured to: display a cross-sectional image including the target vertebra, the cross-sectional image including a cross-sectional medical image or a cross-sectional camera image, the cross-sectional medical image being acquired using the medical imaging device, the cross-sectional camera image being acquired by photographing the cross-sectional medical image using the camera, the cross-sectional camera image being an undistorted camera image or an adjusted camera image; display a lateral image including the target vertebra, the lateral image including a lateral medical image or a lateral camera image, the lateral camera image being an undistorted camera image or an adjusted camera image; receive the pedicle screw model from the user input device; superimpose the pedicle screw model on the lateral image including the target vertebra and superimpose the pedicle screw model on the cross-sectional image including the target vertebra.

[0020] In at least one embodiment of one aspect of the present invention, the user input device is used to further receive the horizontal plane angle and sagittal plane angle of the planned nail track input by the user, and the display module is further configured to: receive the horizontal plane angle and sagittal plane angle of the planned nail track from the user input device; based on the horizontal plane angle of the planned nail track, superimpose and display the planned nail track on a cross-sectional image including the target vertebra; and based on the sagittal plane angle of the planned nail track, superimpose and display the planned nail track on a lateral image including the target vertebra.

[0021] In at least one embodiment of one aspect of the present invention, the system further includes a guide device, the guide device including: a sleeve having a channel therein, the channel being configured to accommodate an expander, the expander being configured to be inserted into the target vertebra to form a nail track in the target vertebra; and a mounting portion connected to the sleeve and configured to receive the angle measuring device thereon, the angle measuring device mounted on the mounting portion being configured to measure a horizontal plane angle and a sagittal plane angle of the nail track to be formed during insertion of the expander into the target vertebra to form the nail track, the display module being further configured to: receive the horizontal plane angle and the sagittal plane angle of the nail track to be formed from the angle measuring device; based on the received horizontal plane angle of the nail track to be formed, further superimpose and display the nail track to be formed on a cross-sectional image including the target vertebra on which the planned nail track is superimposed; and based on the received sagittal plane angle of the nail track to be formed, further superimpose and display the nail track to be formed on a lateral radiographic camera image including the target vertebra on which the planned nail track is superimposed.

[0022] In at least one embodiment of one aspect of the present invention, the current screw track includes the planned screw track, the probe is configured to: measure tissue information in the planned screw track during insertion into the target vertebra along the planned screw track, and the angle measuring device is configured to: measure the angle during insertion of the probe into the target vertebra so as to determine whether the probe will be inserted into the target vertebra along the planned screw track.

[0023] In at least one embodiment of one aspect of the present invention, the system further comprises a vertebral positioning device, comprising: a vertebral fixing portion for fixing the vertebral positioning device to a vertebra adjacent to the target vertebra of the patient; and a placement portion connected to the vertebral fixing portion and for mounting the visualization module thereon.

[0024] In at least one embodiment of one aspect of the present invention, the system further comprises a bedside positioning device, the bedside positioning device comprising: a bed frame fixing portion for fixing the bedside positioning device to the bed frame; a vertical positioning arm connected to the bed frame fixing portion; a horizontal positioning arm connected to the vertical positioning arm; and an assembly portion connected to the horizontal positioning arm and for allowing the developing module to be installed thereon.

[0025] The technical solution proposed by the present invention may have at least one of the following advantages:

[0026] (1) By utilizing a measurement component that integrates tissue detection and angle measurement functions, the angle of the nail channel can be measured while identifying the tissue type to ensure the safety of the nail channel. This allows the spatial relationship between multiple safety nail channels to be determined, thereby improving the distribution of multiple safety nail channels. The reasonable distribution of multiple safety nail channels can reduce damage to the target vertebral structure, reduce the difficulty of installing the connecting rod, and optimize the corrective force of the connecting rod installed between the target vertebrae.

[0027] (2) The display module and the angle measurement device can be used together to allow the operator to accurately implant the pedicle screw along the planned screw path or the safe screw path during the operation, thereby effectively improving the implantation accuracy of the pedicle screw;

[0028] (3) By utilizing the development module, the distortion of the camera image including the target vertebra can be significantly reduced, allowing the use of camera images instead of medical images in spinal surgery, thereby completing the surgery at a low cost and high convenience without reducing surgical accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to further illustrate the above and other advantages and features of various embodiments of the present invention, a more specific description of various embodiments of the present invention will be presented with reference to the accompanying drawings. It should be understood that these drawings only depict typical embodiments of the present invention and are therefore not to be considered as limiting the scope of protection claimed in the present invention.

[0030] Figure 1 A schematic diagram of a system for spinal fixation according to an embodiment of the present invention is shown.

[0031] Figure 2 A schematic structural diagram of a measurement component according to an embodiment of the present invention is shown.

[0032] Figure 3 A partial structural schematic diagram of a measurement component according to an embodiment of the present invention is shown.

[0033] Figure 4 A schematic structural diagram of a circuit-opening drill according to an embodiment of the present invention is shown.

[0034] Figure 5 A schematic structural diagram of a nail insertion point positioning device according to an embodiment of the present invention is shown.

[0035] Figure 6 A schematic diagram showing an AP image of a patient's spine according to an embodiment of the present invention is shown.

[0036] Figure 7 The nail path planning process according to an embodiment of the present invention is shown.

[0037] Figure 8FIG. 1 is a schematic structural diagram of a vertebra positioning device according to an embodiment of the present invention.

[0038] Figure 9 A schematic structural diagram of a bedside positioning device according to an embodiment of the present invention is shown.

[0039] Figure 10 A first display interface of a display module according to an embodiment of the present invention is shown.

[0040] Figure 11 A second display interface of a display module according to an embodiment of the present invention is shown.

[0041] Figure 12 A third display interface of the display module according to an embodiment of the present invention is shown.

[0042] Figure 13 A schematic structural diagram of a guide device according to an embodiment of the present invention is shown.

[0043] Figure 14 A fourth display interface of the display module according to an embodiment of the present invention is shown.

[0044] Figure 15 A fifth display interface of the display module according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0045] The present invention is further described below in conjunction with specific embodiments and accompanying drawings. More details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from the description. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this specific embodiment.

[0046] This application uses specific terms to describe the embodiments of the application. For example, "one embodiment," "other embodiments," and / or "some embodiments" refer to a feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that "one embodiment," "other embodiments," or "some embodiments" mentioned twice or multiple times in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application may be appropriately combined.

[0047] It should be noted that in order to simplify the description of the present disclosure and thus facilitate understanding of one or more embodiments, the present disclosure may sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not mean that the present application requires more features than those mentioned in the claims.

[0048] In the description of this disclosure, it should be noted that the terms "clockwise," "counterclockwise," "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. These terms are intended solely to facilitate the description of this disclosure and simplify the description. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. In this disclosure, the end closest to the operator (e.g., a clinician) is defined as the rear end or posterior portion, and the end closest to the patient undergoing surgery is defined as the front end or anterior portion.

[0049] Reference Figure 1 , Figure 1 A schematic diagram of a system 1 for spinal fixation according to an embodiment of the present invention is shown.

[0050] like Figure 1 As shown, the system 1 for spinal fixation may include a measurement component 10 and a processing module 20. The measurement component 10 may include a tissue detection device 11 and an angle measurement device 13. The tissue detection device 11 may include a probe 111 (see Figure 2 ), probe 111 can be inserted into the patient's target vertebra along a nail track and acquire tissue information within the nail track. In some embodiments, the tissue information acquired by probe 111 may include one or more of the following: tissue impedance, optical information associated with the tissue (e.g., tissue light reflectivity), force information associated with the tissue (e.g., resistance encountered when entering the tissue), etc.

[0051] The angle measurement device 13 can be used to measure the angle of the nail track, for example, the horizontal plane angle and the sagittal plane angle. The horizontal plane angle can include the angle observed when the nail track is projected onto a cross-sectional image of the patient's spine, and the sagittal plane angle can include the angle observed when the nail track is projected onto a lateral radiograph of the patient's spine. In some embodiments, the angle measurement device 13 may include an inertial sensor.

[0052] The processing module 20 can be communicatively coupled to the measurement assembly 10 to receive tissue information acquired in real time from the tissue detection device 11. For example, tissue information acquired during insertion of the probe 111 into the patient's target vertebra along the nail track, such as tissue impedance, optical information associated with the tissue (e.g., tissue reflectivity), and force information associated with the tissue (e.g., resistance encountered during entry). Based on the received tissue information, the processing module 20 can determine in real time whether the nail track is a safe nail track. For example, if the tissue type in the nail track includes cortical bone, the processing module 20 can determine that the nail track is unsafe. If the tissue type of the entire nail track is cancellous bone, the processing module 20 can determine that the nail track is safe. The processing module 20 can also receive the angle of each of the multiple nail tracks measured by the angle measurement device 13 and, based on the received angles of each of the multiple nail tracks, determine the spatial relationship between the multiple nail tracks. The spatial relationship between the multiple nail tracks can include parallelism between multiple nail tracks located on different vertebrae, symmetry between multiple nail tracks located on the same vertebra, and so on. In some embodiments, when the parallelism between multiple safety nail channels located on different vertebrae satisfies the parallelism requirement, these safety nail channels that meet the parallelism requirement may be determined as usable nail channels. In other embodiments, when the symmetry between multiple nail channels located on the same vertebrae satisfies the symmetry requirement, these safety nail channels that meet the symmetry requirement may be determined as usable nail channels. In still other embodiments, when the parallelism between multiple safety nail channels located on different vertebrae satisfies the parallelism requirement and the symmetry between multiple nail channels located on the same vertebrae satisfies the symmetry requirement, the safety nail channels that meet both the parallelism requirement and the symmetry requirement may be determined as usable nail channels.

[0053] Typically, each of the one or more target vertebrae to be screwed may have one available screw channel or two available screw channels (the two available screw channels may be located on the left and right sides of the target vertebra, respectively). During spinal fixation surgery, an operator (e.g., a clinician) may implant pedicle screws into the patient's target vertebrae along the available screw channels and then install connecting rods between the pedicle screws implanted in the target vertebrae. Implantation of the connecting rods can help stabilize the patient's spinal structure, correct spinal deformities, and protect nerves and the spinal cord within the spine.

[0054] By utilizing a measurement assembly 10 that integrates tissue detection and angle measurement functions, the present application can simultaneously identify tissue types to ensure the safety of the screw channels and measure the angles of the safety channels. This allows the spatial relationship between multiple safety channels to be determined, thereby improving the distribution of the multiple safety channels. A reasonable distribution of multiple safety channels can reduce the difficulty of connecting rod installation and optimize the corrective force of the connecting rods installed between the target vertebrae. Furthermore, when two pedicle screws are to be implanted in a target vertebra, a reasonable spatial distribution of the screw channels of the two pedicle screws (for example, ensuring that the screw channels of the two pedicle screws meet symmetry requirements) can reduce damage to the target vertebral structure caused by the implanted pedicle screws, thereby improving the stability of the pedicle screw implantation.

[0055] See also Figure 1 The system 1 may further include a display module 30. The display module 30 may be communicatively coupled to the measurement assembly 10 to receive, in real time, the angles of the nail tracks measured by the angle measurement device 13. The display module 30 may display the nail tracks in real time based on the received angles. As previously described, the angles of the nail tracks may include horizontal and sagittal plane angles. The display module 30 may display the nail tracks on a cross-sectional image of the patient's spine based on the horizontal angles of the nail tracks. The display module 30 may display the nail tracks on a lateral radiographic image of the patient's spine based on the sagittal angles of the nail tracks. The display module 30 may simultaneously display multiple nail tracks. For example, the display module 30 may display multiple nail tracks on a cross-sectional image of the patient's spine based on the horizontal angles of each of the multiple nail tracks. The display module 30 may display multiple nail tracks on a lateral radiographic image of the patient's spine based on the sagittal angles of each of the multiple nail tracks. The displayed multiple nail tracks are viewable by the operator, allowing the operator to determine the spatial relationship between the multiple nail tracks. The spatial relationship between the multiple nail tracks may include parallelism between the multiple nail tracks located on different vertebrae, symmetry between the multiple nail tracks located on the same vertebrae, etc. The display module 30 may also be communicatively coupled with the processing module 20 to receive and display in real time the tissue type in the nail track determined by the processing module 20. The displayed tissue type in the nail track may be viewed by the operator to facilitate the operator's determination of whether the nail track is a safe nail track.

[0056] See also Figure 1System 1 may also include a storage module 40, which can be used to store data or information. This data or information may include image information (e.g., cross-sectional images of the patient's spine, anteroposterior images of the patient's spine, lateral images of the patient's spine, etc.); data or information related to nail tracks (e.g., identification information of each nail track, as well as the angle, tissue information and type of the corresponding nail track, safety, etc.); or other data or information related to spinal fixation surgery. Storage module 40 can be communicatively coupled to measurement component 10, and data measured by measurement component 10 (e.g., nail track angle, tissue information, etc.) can be transmitted to and stored in storage module 40. Storage module 40 can also be communicatively coupled to processing module 20 and / or display module 30, allowing processing module 20 and / or display module 30 to access data or information stored in storage module 40.

[0057] Although this application Figure 1 In the illustrated embodiment, the processing module 20, the display module 30, and the storage module 40 are shown as separate components. However, in other embodiments, the processing module 20, the display module 30, and the storage module 40 may be integrated together, for example, in a laptop computer, a tablet computer, a personal computer with a display screen, etc.

[0058] See also Figure 2 , Figure 2 FIG. 1 shows a schematic structural diagram of a measurement component 10 according to an embodiment of the present invention. Figure 2 As shown, the measurement assembly 10 may include a tissue detection device 11, a first handle 12, a second handle 14, and an angle measurement device 13. The tissue detection device 11 may include a probe 111, which can be inserted into the patient's target vertebra along a nail track and acquire tissue information within the nail track. Tissue information may include one or more of the following: tissue impedance, optical information associated with the tissue (e.g., tissue optical reflectivity), force information associated with the tissue (e.g., resistance encountered during entry into the tissue), etc. In some embodiments, the probe 111 may include electrodes for measuring tissue impedance, which can be used to identify different tissue types. Additionally or alternatively, the probe 111 may include a light sensor for sensing optical information associated with the tissue, such as tissue optical reflectivity, which can be used to identify different tissue types. Additionally or alternatively, the probe 111 may include a force sensor for sensing force information associated with the tissue, such as resistance encountered during entry into the tissue, which can be used to identify different tissue types.

[0059] The first handle 12 may have a first connection portion 121 and a second connection portion 123. The first connection portion 121 may be used to connect with the probe 111 to connect the probe 111 to the first handle 12. The second handle 14 may have a third connection portion 141 and a fourth connection portion 143. The third connection portion 141 may be used to connect with the angle measuring device 13 to connect the angle measuring device 13 to the second handle 14. In some embodiments, the connection between the angle measuring device 13 and the second handle 14 may be a detachable connection. In other embodiments, the angle measuring device 13 may be integrated into the second handle 14. The fourth connection portion 143 may be used to cooperate with the second connection portion 123 of the first handle 12 to rotatably connect the second handle 14 and the first handle 12 together. In other words, when mounted together, the first handle 12 and the second handle 14 can rotate relative to each other.

[0060] See also Figure 3 , Figure 3 FIG. 1 shows a partial structural diagram of a measuring component 10 according to an embodiment of the present invention. Figure 3 As shown, the measurement assembly 10 may further include a connector 16, which may be at least partially located within the second handle 14. A first end 161 of the connector 16 may be electrically connected to the probe 111, and a second end 163 may be electrically connected to an external circuit. For example, when the second handle 14 is connected to the first handle 12, the first end 161 of the connector 16, which is at least partially located within the second handle 14, may be electrically connected to the probe 111 connected to the first handle 12. In some embodiments, the connector 16 may include a spring structure at its first end 161, which ensures that the first end 161 of the connector 16 remains electrically connected to the probe 111. For example, when the first handle 12 rotates relative to the second handle 14, thereby causing the probe 111 connected to the first handle 12 to rotate relative to the second handle 14, the first end 161 of the connector 16 with the spring structure remains electrically connected to the probe 111, thereby transmitting signals acquired by the probe 111 (e.g., tissue impedance signals, optical signals, force signals, etc.) to the external circuit. This external circuit can be used to convert signals acquired by probe 111 (e.g., tissue impedance signals, optical signals, force signals, etc.) into electrical signals, thereby enabling tissue type determination based on these electrical signals. In some embodiments, this external circuit can be located within angle measurement device 13 and electrically connected to second end 163 of connector 16 when angle measurement device 13 is connected to second handle 14 via third connection portion 141 of second handle 14. In other embodiments, this external circuit can be located within second handle 14 and electrically connected to second end 163 of connector 16.

[0061] Return to see Figure 2When operating the measurement assembly 10, the operator can place the head 113 of the probe 111 on or within the target vertebra and rotate the first handle 12 to drive the probe 111 to rotate, so that the head 113 of the probe 111 can break the target vertebra. At the same time, the operator applies force along the longitudinal axis L of the probe 111 to insert the probe 111 into the target vertebra and advance it within the target vertebra. The route along which the probe 111 advances within the target vertebra is the nail track. The probe 111 advancing along the nail track can measure tissue information in the nail track to determine whether the nail track is safe. During the process of the operator rotating the first handle 12, because the connection between the first handle 12 and the second handle 14 is a rotatable connection, the second handle 14 and the angle measurement device 13 connected to the second handle can remain stationary, thereby preventing the measurement accuracy of the angle measurement device 13 from being affected by the rotation.

[0062] By utilizing the measurement assembly 10 of the present application, the angle of the safe nail track can be measured using the angle measurement device 13 while the probe 111 is being used to explore the target vertebra, without compromising the measurement accuracy of the angle measurement device 13. When multiple pedicle screws are to be implanted in a patient's spine and connecting rods are to be installed between the pedicle screws, simultaneously identifying the tissue type in the nail track and the angle of the nail track can not only effectively reduce surgical time, but also improve the spatial distribution of multiple safe nail tracks while ensuring the safety of the nail tracks, thereby reducing damage to the target vertebral structure caused by the pedicle screws, reducing the difficulty of installing the connecting rods, and optimizing the corrective force of the connecting rods installed between the vertebrae.

[0063] Apart from Figure 1 In addition to the components shown in the figure (eg, the measuring assembly 10, the processing module 20, the display module 30, and the storage module 40), the system 1 may further include a path-opening drill 51 for locating the starting point of the nail track, ie, the nail entry point.

[0064] See also Figure 4 , Figure 4 FIG. 5 shows a schematic structural diagram of a circuit-opening drill 51 according to an embodiment of the present invention. Figure 4As shown. The first end 511 of the drill 51 can be connected to a power source (e.g., a motor), and the second end 513 can have a drill bit 514. During operation, the drill bit 514 of the drill 51 can be driven by the power source to drill into the target vertebra. In some embodiments, the drill 51, having been drilled into the target vertebra, can be temporarily left there, and a medical imaging device (e.g., an X-ray imaging device (XR) such as a C-arm) can capture an anteroposterior medical image of the target vertebra and the drill 51. This anteroposterior medical image, or an anteroposterior camera image obtained by capturing this anteroposterior medical image, can be displayed on the display module 30 for the operator to review, thereby allowing the operator to confirm whether the drill 51 has drilled into the target vertebra from the entry point. If the drill 51 does not drill into the target vertebra from the entry point, the position of the drill 51 within the target vertebra can be adjusted until it is confirmed that the drill 51 has drilled into the target vertebra from the entry point. The drill bit 514 of the open drill 51, which drills into the target vertebra at the entry point, can drill a recess in the target vertebra. This recess can be used as the entry point for the screw track, making it easier for the operator to quickly find the entry point during subsequent procedures. In addition, because the open drill 51 breaks through the relatively hard cortical bone on the surface of the target vertebra at the entry point, the operator can subsequently use other components (such as the probe 111, Kirschner wires, pedicle screws, etc.) to enter the target vertebra from this entry point without exerting too much force.

[0065] In addition, in order to facilitate the rapid positioning of the nail entry point using the open-circuit drill 51 , the system 1 may further include a nail entry point positioning device 52 . Figure 5 FIG. 5 shows a schematic structural diagram of a nail insertion point positioning device 52 according to an embodiment of the present invention. Figure 5 As shown, the nail entry point positioning device 52 may include a sleeve 521, a slider 522, a transverse rod 523 and a longitudinal rod 524. The sleeve 521 may have a channel 525, and the channel 525 may be used to accommodate the open drill 51. The slider 522 may have a first channel and a second channel. The first channel of the slider 522 may be used to accommodate the transverse rod 523 and allow the slider 522 to move along the transverse rod 523, and the second channel may be used to accommodate the longitudinal rod 524 and allow the slider 522 to move along the longitudinal rod 524. Figure 5 As shown, the transverse rod 523 may have a scale, and the transverse rod 523 may have an anchor portion 529 at the 0 scale value. The anchor portion 529 can be used to fix to the patient's target vertebra, such as the lower surface of the spinous process of the target vertebra. The longitudinal rod 524 may also have a scale, and the sleeve 521 can be fixedly connected to the longitudinal rod 524 at one end near the 0 scale value of the longitudinal rod 524.

[0066] During operation, the operator secures the anchor 529 to the patient's target vertebra (e.g., the undersurface of the spinous process of the target vertebra). Next, the operator moves the slider 522 along the transverse rod 523 inserted into the first channel of the slider 522, so that the slider 522 is positioned at the target transverse scale of the transverse rod 523; and moves the longitudinal rod 524 in the second channel of the slider 522, so that the slider 522 is positioned at the target longitudinal scale of the longitudinal rod 524. Next, the operator inserts the drill 51 from the rear end 526 of the sleeve 521 into the channel 525 and extends the drill 51 from the front end 528 of the sleeve 521 out of the channel 525. The drill 51, extending out of the channel 525, contacts and drills into the target vertebra. As previously described, the recess drilled in the target vertebra serves as the entry point for the screw track. The target transverse scale may indicate the transverse distance of the entry point relative to the inferior surface of the spinous process of the target vertebra (i.e., the distance from the entry point to the midline of the target vertebra), and the target longitudinal scale may indicate the longitudinal distance of the entry point relative to the inferior surface of the spinous process of the target vertebra. In some embodiments, the transverse and longitudinal distances of the entry point relative to the inferior surface of the spinous process of the target vertebra may be measured in advance by an operator using an AP radiograph of the patient's spine. Figure 6 FIG. 2 shows a schematic diagram of an anteroposterior radiographic image of a patient's spine according to an embodiment of the present invention. Figure 6 As shown, the screw entry point A may have a transverse distance D1 relative to the lower surface B of the spinous process of the target vertebra, and the screw entry point A may have a longitudinal distance D2 relative to the lower surface B of the spinous process of the target vertebra. In some embodiments, Figure 6 The orthotopic image shown may comprise an orthotopic medical image or an orthotopic camera image. In the present application, the entry point may be determined or confirmed by obtaining the orthotopic image.

[0067] Return to see Figure 5 , Figure 5 5 shows a screw entry point positioning device 52 having two sleeves 521, two sliders 522, one transverse rod 523, and two longitudinal rods 524, which can be used to simultaneously position two screw entry points on the left and right sides of the target vertebra. In other embodiments, the screw entry point positioning device 52 may only have one sleeve 521, one slider 522, one transverse rod 523, and one longitudinal rod 524 for positioning a single screw entry point on either side of the target vertebra.

[0068] During spinal surgery, medical images of the patient's spine are usually required. Medical images can be acquired by using medical imaging devices (e.g., X-ray computed tomography (CT), magnetic resonance imaging (MRI), and other X-ray imaging devices (XR), such as C-arm machines). Medical images acquired using medical imaging devices usually have specialized medical image formats, such as the MINC (Medical Imaging NetCDF) format, the DICOM (Digital Imaging and Communications in Medicine) format, etc. This specialized medical image format imposes many limitations on the compatibility, processing speed, tool support, and application flexibility of medical images. To address this problem, the present application proposes that when a medical imaging device is used to acquire and display a medical image, the medical image can be captured using a camera. The image captured by the camera is a camera image, which has a common image format (such as JPG / JPEG format, PNG format, etc.). Compared to medical images, camera images offer the following advantages: 1. They are typically smaller in file size, making them suitable for rapid storage and transfer, and faster when loading, editing, and displaying, making them suitable for scenarios requiring fast processing and real-time display. 2. They offer greater compatibility, with nearly all operating systems, image processing software, and web browsers supporting camera images. Using camera images instead of medical images during spinal surgery not only allows for the display and processing of camera images using portable devices, but also reduces the time and cost of intraoperative image processing. However, when capturing medical images with a camera, image distortion may occur (e.g., distortion of the proportions and shape of vertebral structures in the camera image) due to the camera angle. This can affect the rationality and accuracy of operations performed by the operator based on the camera image (e.g., pedicle screw model selection and screw trajectories planning, as described in detail below). To this end, the present application further proposes that the system 1 for spinal fixation further include a visualization module (not shown). This visualization module can be configured as a polyhedron, such as a cube. The visualization module can include one or more calibration surfaces, each of which can contain a pattern of known geometric shapes, such as circles, rectangles, triangles, etc. The pattern in each calibration surface can be filled with a developing material (e.g., lead, zirconium oxide, stainless steel, titanium alloy, tungsten-containing polymer, etc.). The developing module can be installed near a vertebra adjacent to the target vertebra of the patient, so that a medical image including the target vertebra acquired using a medical imaging device also includes the developing module. When a medical image including the target vertebra and the developing module is captured using a camera, the resulting camera image can also include the target vertebra and the developing module.Since the calibration surface of the developing module has a pattern of known geometric shape, when the camera image is distorted, the pattern in the calibration surface of the developing module in the camera image will also be distorted. The processing module 20 can be configured to receive a camera image from a camera and determine whether the camera image is distorted based on the pattern in the calibration surface of the developing module in the camera image. When it is determined that the camera image is distorted, the processing module 20 can adjust the camera image so as to eliminate the distortion of the camera image. The above-mentioned determination and adjustment of the distorted camera image can be achieved using the Zhang Zhengyou camera calibration method. The Zhang Zhengyou camera calibration method is a known algorithm and will not be described in detail here.

[0069] In some embodiments, the visualization module may include a first calibration plane and a second calibration plane, and the two calibration planes may be approximately 90 degrees relative to each other. When the visualization module is installed near a target vertebra of a patient (e.g., on or near a vertebra adjacent to the target vertebra of the patient) and a lateral medical image and an anteroposterior medical image of the patient's spine are acquired using a medical imaging device, the acquired lateral medical image may include the target vertebra and the first calibration plane, and the acquired anteroposterior medical image may include the target vertebra and the second calibration plane. The camera may acquire a lateral camera image including the target vertebra and the first calibration plane by capturing the lateral medical image including the target vertebra and the first calibration plane, and acquire an anteroposterior camera image including the target vertebra and the second calibration plane by capturing the anteroposterior medical image including the target vertebra and the second calibration plane. The processing module 20 may be further configured to: receive a lateral camera image and an orthotopic camera image from a camera; determine whether the lateral camera image is distorted based on a pattern in a first calibration plane in the lateral camera image; and determine whether the orthotopic camera image is distorted based on a pattern in a second calibration plane in the orthotopic camera image. When it is determined that the lateral camera image and / or the orthotopic camera image are distorted, the processing module 20 may adjust the corresponding camera image (i.e., the lateral camera image and / or the orthotopic camera image that is distorted) to eliminate the distortion in the corresponding camera image. The display module 30 may be configured to: receive the adjusted camera image (e.g., the adjusted lateral camera image, the adjusted orthotopic camera image) from the processing module 20 and display the adjusted camera image.

[0070] Additionally, the development module may further include a third calibration plane, which may be approximately 90 degrees to the first calibration plane and the second calibration plane. When the development module is installed near the patient's target vertebra and a cross-sectional medical image of the patient's spine is acquired using a medical imaging device, the acquired cross-sectional medical image may include the target vertebra and the third calibration plane. The processing module 20 may be further configured to: receive a cross-sectional camera image from a camera; and determine whether the cross-sectional camera image is distorted based on a pattern in the third calibration plane in the cross-sectional camera image. When it is determined that the cross-sectional camera image is distorted, the processing module 20 may adjust the cross-sectional camera image to eliminate the distortion of the cross-sectional camera image. The display module 30 may be configured to: receive the adjusted cross-sectional camera image from the processing module 20 and display the adjusted cross-sectional camera image.

[0071] In other embodiments, the development module may include only one calibration plane. When a corresponding medical image (e.g., a lateral medical image, an anteroposterior medical image, or a cross-sectional medical image) is to be acquired, the position of the calibration plane of the development module may be adjusted so that the corresponding medical image includes the calibration plane and the target vertebra. For example, when a lateral medical image is to be acquired, the development module may be placed so that its calibration plane is approximately parallel to the sagittal plane of the patient so that the acquired lateral medical image includes the calibration plane and the target vertebra. When an anteroposterior medical image is to be acquired, the development module may be placed so that its calibration plane is approximately parallel to the coronal plane of the patient so that the acquired anteroposterior medical image includes the calibration plane and the target vertebra. When a cross-sectional medical image is to be acquired, the development module may be placed so that its calibration plane is approximately parallel to the transverse plane of the patient so that the acquired cross-sectional medical image includes the calibration plane and the target vertebra.

[0072] In the present application, in addition to allowing the operator to explore a safe nail trajectory using the probe 111, the operator can also plan a nail trajectory based on the image displayed by the display module 30, as an alternative or supplement to exploring a safe nail trajectory using the probe 111. Furthermore, the operator can also determine the entry point, select an appropriate pedicle screw model, and so on based on the image displayed by the display module 30. In some embodiments, the image displayed by the display module 30 for determining the entry point, planning the nail trajectory, and / or selecting an appropriate pedicle screw model may include a lateral image (e.g., a lateral medical image, a lateral camera image), an anteroposterior image (e.g., an anteroposterior medical image, an anteroposterior camera image), or a cross-sectional image (e.g., a cross-sectional medical image, a cross-sectional camera image) of the patient's spine. When using a camera image to determine the entry point, plan the nail trajectory, and / or select an appropriate pedicle screw model, the camera image can be undistorted or adjusted to ensure the rationality and accuracy of entry point determination, nail trajectory planning, and / or pedicle screw model selection.

[0073] The spinal fixation system 1 may further include a user input device (not shown) that receives operator input of a pedicle screw model and the horizontal and sagittal angles of the planned screw trajectories. The user input device may include a keyboard, a mouse, a touch screen, etc. In embodiments where the user input device includes a touch screen, the touch screen may also serve as the display module 30.

[0074] The following reference Figure 7 Describe the process of nail trajectories planning in spinal fixation surgery. Figure 7 A nail path planning process 700 (hereinafter referred to as process 700 ) according to an embodiment of the present invention is shown.

[0075] At step 701, a visualization module is installed. In one embodiment, the visualization module can be installed in a patient's body. Specifically, a vertebra positioning device 61 can be installed on a vertebra adjacent to a target vertebra. Figure 8 FIG. 6 is a schematic structural diagram of a vertebra positioning device 61 according to an embodiment of the present invention. Figure 8 As shown, the vertebral positioning device 61 may include a vertebral fixation portion 611 and a placement portion 613. The vertebral fixation portion 611 may be connected to the placement portion 613 and include screws that can be used to fix the vertebral positioning device 61 to a vertebra adjacent to the patient's target vertebra, for example, to the spinous process of the vertebra adjacent to the target vertebra. The placement portion 613 can be used to allow a development module to be installed thereon. When the vertebral positioning device 61 is fixed to the vertebra adjacent to the target vertebra, the development module can be installed near the target vertebra by installing it in the placement portion 613 of the vertebral positioning device 61. In other embodiments, the development module can be installed outside the patient's body. Specifically, the bedside positioning device 63 can be installed outside the patient's body. Figure 9 FIG. 6 is a schematic structural diagram of a bedside positioning device 63 according to an embodiment of the present invention. Figure 9As shown, the bedside positioning device 63 may include a bed frame fixing portion 631, a vertical positioning arm 633, a horizontal positioning arm 635, and an assembly portion 637. The bed frame fixing portion 631 can be used to fix the bedside positioning device 63 to the patient's bed frame. The vertical positioning arm 633 can be connected to the bed frame fixing portion 631. The horizontal positioning arm can be connected to the vertical positioning arm 633. The assembly portion 637 can be connected to the horizontal positioning arm 635 and is used to allow the development module to be mounted thereon. The bedside positioning device 63 may also include a vertical adjustment knob 632 and a horizontal adjustment knob 634. The vertical adjustment knob 632 can be used to adjust the vertical distance of the assembly portion 637 relative to the bed frame fixing portion 631, and the horizontal adjustment knob 634 can be used to adjust the horizontal distance of the assembly portion 637 relative to the bed frame fixing portion 631. When the bedside positioning device 63 is fixed to the patient's bed frame, the visualization module can be installed near the target vertebra by installing the visualization module on the mounting portion 637 of the bedside positioning device 63 and optionally adjusting the vertical adjustment knob 632 and / or the horizontal adjustment knob 634.

[0076] At step 703, a cross-sectional image of the patient's spine is acquired. In some embodiments, the cross-sectional image may include a cross-sectional medical image or a cross-sectional camera image. The cross-sectional medical image may be directly acquired using a second medical imaging device (e.g., a computed tomography (CT) scanner or a magnetic resonance imaging (MRI) scanner). The cross-sectional camera image may be acquired by capturing the cross-sectional medical image.

[0077] At step 705, a lateral radiographic image of the patient's spine is acquired. In some embodiments, the lateral radiographic image may include a lateral radiographic medical image or a lateral radiographic camera image. The lateral radiographic medical image may be directly acquired using a first medical imaging device (e.g., an X-ray imaging device (XR) such as a C-arm). The lateral radiographic camera image may be acquired by capturing the lateral radiographic medical image.

[0078] At step 707, a pedicle screw model is selected. In some embodiments, the operator can select an image to be displayed according to their needs. For example, the operator can select to display a lateral image and a cross-sectional image, and select an appropriate pedicle screw model based on the displayed lateral image and cross-sectional image. Figure 10 FIG. 4 shows a first display interface of the display module 30 according to an embodiment of the present invention. Figure 10The left side shows a lateral view image, and the right side shows a cross-sectional image. The displayed lateral view image may be a lateral view medical image or a lateral view camera image. The displayed cross-sectional image may be a cross-sectional medical image or a cross-sectional camera image. In order to ensure that the operator can correctly input or select a suitable pedicle screw model, the displayed lateral view camera image is an undistorted lateral view camera image or an adjusted lateral view camera image, and the displayed cross-sectional camera image is an undistorted cross-sectional camera image or an adjusted cross-sectional camera image. The operator can use the user input device (for example, in the Figure 10 After the pedicle screw model is input or selected, the display module 30 may overlay the pedicle screw model on the displayed image. Figure 11 A second display interface of the display module 30 according to an embodiment of the present invention is shown. Figure 11 The left side shows a lateral radiograph image superimposed with a pedicle screw model, the right side shows a cross-sectional image superimposed with a pedicle screw model, and the upper right box shows specific information of the input or selected pedicle screw model, such as diameter, length, etc.

[0079] At step 709, the nail trajectory is planned. In some embodiments, the operator can use a user input device to determine the nail entry point and input the sagittal plane angle and horizontal plane angle of the planned nail trajectory. Figure 12 FIG3 shows a third display interface of the display module 30 according to an embodiment of the present invention. After determining the nail insertion point, the operator can Figure 12 Enter the values ​​of the sagittal plane angle and horizontal plane angle of the planned nail path in the upper right box. Figure 12 The pedicle screw model superimposed on the lateral view shown on the left can be rotated around the entry point to adjust the position of the pedicle screw model on the lateral view so that it corresponds to the input sagittal plane angle. Figure 12The pedicle screw model superimposed on the cross-sectional image shown on the right can be rotated around the entry point to adjust the position of the pedicle screw model on the cross-sectional image so that it corresponds to the input horizontal plane angle. The operator can determine whether the planned screw track is appropriate based on the position of the pedicle screw model on the lateral image and / or the cross-sectional image. For example, when at least a portion of the shaft of the pedicle screw model is shown to pass through the cortical bone of the target vertebra at a position other than the entry point, it can be determined that the planned screw track is inappropriate. When the entire shaft of the pedicle screw model is shown to not pass through the cortical bone of the target vertebra at a position other than the entry point, it can be determined that the planned screw track is appropriate. In addition, the operator can input the sagittal plane angle of the planned screw track in the following manner: first select the pedicle screw model superimposed on the lateral image, drag or rotate the pedicle screw model to adjust its position on the lateral image, until the position of the adjusted pedicle screw model on the lateral image meets the expectations, for example, the entire rod of the pedicle screw model is displayed as not passing through the cortical bone of the target vertebra at other positions other than the entry point. Similarly, the operator can input the horizontal plane angle of the planned screw track in the following manner: first select the pedicle screw model superimposed on the cross-sectional image, drag or rotate the pedicle screw model to adjust its position on the cross-sectional image, until the position of the adjusted pedicle screw model on the cross-sectional image meets the expectations, for example, the entire rod of the pedicle screw model is displayed as not passing through the cortical bone of the target vertebra at other positions other than the entry point. When dragging or rotating the pedicle screw model, Figure 12 The corresponding sagittal plane angle and horizontal plane angle can be displayed in real time in the upper right box.

[0080] At step 711 , the nail path planning process 700 ends.

[0081] It should be understood that the above steps in the nail path planning process are exemplary and not intended to be limiting. Those skilled in the art may add one or more steps, delete one or more of the above steps, combine or replace one or more of the above steps, or adjust the order of one or more of the above steps as needed.

[0082] In some embodiments, after completing the nail track planning, the operator can form the nail track in the patient's target vertebra based on the planned nail track. The operator can use the guide device 70 to complete the formation of the nail track. Figure 13 FIG. 7 is a schematic structural diagram of a guide device 70 according to an embodiment of the present invention. Figure 13As shown, the guide device 70 may include a sleeve 71 and a mounting portion 73. The sleeve 71 may have a channel therein for accommodating an expander (e.g., a Kirschner wire). The expander may be inserted into a target vertebra of a patient to form a nail track therein. The mounting portion 73 may be connected to the sleeve 71 and configured to receive an angle measurement device 13 mounted thereon. The angle measurement device 13 mounted to the mounting portion 73 may be used to measure the horizontal and sagittal angles of the nail track to be formed during the insertion of the expander into the target vertebra to form the nail track.

[0083] During operation, the operator can place an expansion member (e.g., a Kirschner wire) within the sleeve 71 of the guide device 70 and install the angle measurement device 13 on the mounting portion 73 of the guide device 70. The operator can then align the expansion member extending from the end 711 of the sleeve 71 with the nail entry point on the patient's target vertebra and rotate the guide device 70 around the nail entry point until the horizontal and sagittal plane angles measured by the angle measurement device 13 installed on the mounting portion 73 of the guide device 70 are consistent with the horizontal and sagittal plane angles of the planned nail trajectory, respectively. During the process of rotating the guide device 70, the horizontal plane angle and the sagittal plane angle measured by the angle measuring device 13 can be used to indicate the nail track to be formed, and the display module 30 can be configured to: receive and display the horizontal plane angle and the sagittal plane angle measured by the angle measuring device 13 in real time; based on the received horizontal plane angle, further superimpose and display the nail track to be formed on the cross-sectional medical image or cross-sectional camera image superimposed with the planned nail track; and based on the received sagittal plane angle, further superimpose and display the nail track to be formed on the lateral view camera image superimposed with the planned nail track. Figure 14 A fourth display interface of the display module 30 according to an embodiment of the present invention is shown. Figure 14 The left side shows a lateral radiographic image with the planned nail track and the nail track to be formed superimposed, the right side shows a cross-sectional image with the planned nail track and the nail track to be formed superimposed, the upper right corner shows the sagittal plane angle and horizontal plane angle of the planned nail track, and the lower right corner shows the sagittal plane angle and horizontal plane angle of the nail track to be formed. Figure 14 In the embodiment of the present invention, the icon showing the nail track (e.g., the planned nail track, the nail track to be formed) is shown as a pedicle screw model including a head and a nail portion, wherein the nail portion of the pedicle screw model is used to show the position of the nail track in the target vertebra. In other embodiments, the nail track can be shown by other types of icons (e.g., an icon having only a nail portion similar to the above). When the sagittal plane angle and the horizontal plane angle of the nail track to be formed measured by the angle measuring device 13 are respectively consistent with the sagittal plane angle and the horizontal plane angle of the planned nail track, the nail track is displayed. Figure 14In the lateral and cross-sectional images shown, the planned screw track overlaps with the planned track. The operator then inserts a cannula into the patient's target vertebra to create the screw track. The operator then removes the cannula and implants the pedicle screw along the track created by the cannula.

[0084] In other embodiments, after completing the nail path planning, the operator can use the measurement component 10 to confirm whether the planned nail path is safe. Specifically, the operator can align the probe 111 with the nail entry point and rotate the measurement component 10 around the nail entry point until the angle measured by the angle measurement device 13 is consistent with the angle of the planned nail path. At this time, the operator can advance the probe 111 along the planned nail path. During the rotation of the measurement component 10, the display module 30 may display a screen similar to Figure 14 A display interface is provided to facilitate the operator's determination of whether the probe 111 will be inserted into the target vertebra along the planned screw trajectory. While advancing the probe 111 along the planned screw trajectory, the probe 111 can acquire tissue information within the planned screw trajectory. Based on the acquired tissue information within the planned screw trajectory, the safety of the planned screw trajectory can be determined. For example, if the tissue information measured during the advancement of the probe 111 to the target depth (e.g., the target depth may correspond to the screw length of the pedicle screw) indicates safety, the planned screw trajectory can be determined to be safe. If the planned screw trajectory is determined to be safe, the operator can form the screw trajectory within the patient's target vertebra based on the planned screw trajectory. If the tissue information measured during the advancement of the probe 111 indicates unsafe trajectory, the operator can adjust the advancement of the probe 111 in real time to determine a safe screw trajectory and obtain the sagittal and transverse angles of the safe screw trajectory using the angle measurement device 13.

[0085] Additionally, in embodiments where multiple pedicle screws are to be implanted in the patient's spine, the spatial relationship between the multiple planned screw trajectories or multiple safety screw trajectories may be determined before forming the corresponding screw trajectories using a trajectorie expander (eg, a K-wire). Figure 15 A fifth display interface of the display module 30 according to an embodiment of the present invention is shown. Figure 15 The left side shows a superposition of multiple ( Figure 15 The middle shows a lateral radiograph of 3 planned nail paths or multiple safe nail paths, and the right shows a lateral radiograph with multiple ( Figure 15 2) Cross-sectional images of planned nail paths or multiple safe nail paths are shown in FIG. Figure 15 The lateral radiographic image shown superimposed with multiple planned nail paths or multiple safety nail paths can determine the parallelism between the multiple planned nail paths or multiple safety nail paths. Figure 15The cross-sectional image shown, superimposed with multiple planned or safety nail tracks, can be used to determine the symmetry between these tracks. When the spatial relationships between these tracks meet requirements (e.g., parallelism or symmetry), corresponding tracks can be formed using a track expander. The resulting tracks can be used to guide pedicle screw placement.

[0086] One or more modules (e.g., processing module 20, display module 30) in each embodiment of the present disclosure may be implemented by hardware. For example, they may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, micro-processors, and electrical units for performing other functions.

[0087] Certain portions of the various embodiments of the present disclosure may be provided as a computer program product that may include a computer-readable medium having computer program instructions stored thereon, which may be used to program a computer (or other electronic device) to be executed by one or more processors to perform processes in accordance with certain embodiments. Computer-readable media may include, but are not limited to, magnetic disks, optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or other types of computer-readable media suitable for storing electronic instructions. In addition, the embodiments may also be downloaded as a computer program product, wherein the program may be transferred from a remote computer to a requesting computer. In some embodiments, a non-transitory computer-readable storage medium has data stored thereon representing a sequence of instructions that, when executed by a processor, causes the processor to perform certain operations, for example, in combination with the above. Figure 7 One or more steps in process 700 are described.

[0088] The following is a list of additional non-limiting examples that may be in accordance with one or more techniques of this disclosure.

[0089] Example A1. A system for spinal fixation, the system comprising:

[0090] a developing module, the developing module comprising one or more calibration surfaces, each having a pattern of known geometric shape therein, the pattern being filled with a developing material, the developing module being adapted to be mounted near a target vertebra of a patient so as to facilitate acquisition of a medical image including the developing module and the target vertebra using a medical imaging device;

[0091] a camera configured to capture the medical image including the developing module and the target vertebra to obtain a camera image;

[0092] a processing module configured to:

[0093] receiving the camera image from the camera;

[0094] determining whether the camera image is distorted based on a pattern in a calibration surface of the development module in the camera image; and

[0095] When it is determined that the camera image is distorted, adjusting the camera image to eliminate the distortion;

[0096] A display module is configured to:

[0097] receiving an adjusted camera image from the processing module; and

[0098] The adjusted camera image is displayed.

[0099] Example A2. The system of Example A1, wherein the development module includes a first calibration surface and a second calibration surface, wherein the first calibration surface is perpendicular to the second calibration surface.

[0100] The medical imaging device is used to obtain a lateral medical image including a first calibration surface of the development module and the target vertebra, and the medical imaging device is used to obtain an anteroposterior medical image including a second calibration surface of the development module and the target vertebra,

[0101] The camera is used to photograph the lateral medical image to obtain a lateral camera image, and the camera is used to photograph the orthotopic medical image to obtain an orthotopic camera image,

[0102] The processing module is further configured to:

[0103] receiving the lateral camera image and the anteroposterior camera image from the camera;

[0104] determining whether the lateral radiograph image is distorted based on a pattern in a first calibration surface of a development module in the lateral radiograph image;

[0105] determining whether the orthotopic camera image is distorted based on a pattern in a second calibration surface of the development module in the orthotopic camera image; and

[0106] When it is determined that the lateral camera image and / or the anteroposterior camera image is distorted, the corresponding camera image is adjusted to eliminate the distortion.

[0107] Example A3. The system of Example A2, further comprising a user input device for receiving a pedicle screw model input by a user,

[0108] The display module is communicatively coupled to the user input device and is further configured to:

[0109] displaying a cross-sectional image including the target vertebra, wherein the cross-sectional image includes a cross-sectional medical image or a cross-sectional camera image, wherein the cross-sectional medical image is acquired by using the medical imaging device, the cross-sectional camera image is acquired by using the camera to photograph the cross-sectional medical image, and the cross-sectional camera image is an undistorted camera image or an adjusted camera image;

[0110] Displaying a lateral image including the target vertebra, wherein the lateral image includes a lateral medical image or a lateral camera image, and the lateral camera image is an undistorted camera image or an adjusted camera image;

[0111] receiving the pedicle screw model from the user input device;

[0112] The pedicle screw model is superimposed and displayed on a lateral image including the target vertebra, and the pedicle screw model is superimposed and displayed on a cross-sectional image including the target vertebra.

[0113] Example A4. The system of Example A3, wherein the user input device is further configured to receive user input of a horizontal plane angle and a sagittal plane angle of a planned nail path,

[0114] The display module is further configured to:

[0115] receiving a horizontal plane angle and a sagittal plane angle of the planned nail trajectory from the user input device;

[0116] Based on the horizontal plane angle of the planned screw track, superimposing and displaying the planned screw track on a cross-sectional image including the target vertebra; and

[0117] Based on the sagittal plane angle of the planned nail track, the planned nail track is superimposed and displayed on a lateral radiographic image including the target vertebra.

[0118] Example A5. The system of Example A4, further comprising a guide device, the guide device comprising:

[0119] a cannula having a passage therein for accommodating a cannula, wherein the cannula is configured to be inserted into the target vertebra to form a nail channel in the target vertebra; and

[0120] a mounting portion connected to the sleeve and configured to mount an angle measuring device thereon, wherein the angle measuring device mounted on the mounting portion is configured to measure a horizontal plane angle and a sagittal plane angle of a nail channel to be formed during the process of inserting the expander into the target vertebra to form a nail channel;

[0121] The display module is further configured to:

[0122] receiving the horizontal plane angle and the sagittal plane angle of the nail track to be formed from the angle measuring device;

[0123] Based on the received horizontal angle of the nail track to be formed, further superimposing and displaying the nail track to be formed on the cross-sectional image including the target vertebra superimposed with the planned nail track; and

[0124] Based on the received sagittal plane angle of the nail track to be formed, the nail track to be formed is further superimposed and displayed on the lateral radiographic camera image including the target vertebra superimposed with the planned nail track.

[0125] Example A6. The system of Example A1, further comprising a vertebral positioning device, the vertebral positioning device comprising:

[0126] a vertebral fixing portion for fixing the vertebral positioning device to a vertebra adjacent to a target vertebra of the patient;

[0127] The mounting portion is connected to the vertebral fixing portion and is used for mounting the visualization module thereon.

[0128] Example A7. The system of Example A1, further comprising a bedside positioning device, the bedside positioning device comprising:

[0129] a bed frame fixing portion, used for fixing the bedside positioning device to the bed frame;

[0130] a vertical positioning arm connected to the bed frame fixing portion;

[0131] a horizontal positioning arm connected to the vertical positioning arm; and

[0132] The mounting portion is connected to the horizontal positioning arm and is used for mounting the developing module thereon.

[0133] Example A8. The system as described in Example A1 further includes a drill having one end for connecting to a power source and the other end having a drill bit for drilling a pit on the target vertebra of the patient, the pit being used as an entry point for a nail track.

[0134] Example A9. The system of Example A8, further comprising a nail entry point positioning device, wherein the nail entry point positioning device comprises:

[0135] a sleeve having a passage therein, wherein the passage is used to accommodate the open-circuit drill;

[0136] a transverse rod having scales thereon;

[0137] a longitudinal rod having a scale thereon and having one end fixedly connected to the sleeve; and

[0138] The slider has a first channel and a second channel, wherein the first channel is used to accommodate the transverse rod and allow the slider to move along the transverse rod, and the second channel is used to accommodate the longitudinal rod and allow the slider to move along the longitudinal rod.

[0139] Example A10. The system of Example A6, wherein the transverse rod has a positioning portion at the 0 scale mark, the positioning portion being configured to be fixed to the lower surface of the spinous process of the target vertebra,

[0140] One end of the longitudinal rod close to the 0 scale mark is fixedly connected to the sleeve.

[0141] Example B1. A system for spinal fixation, the system comprising:

[0142] A measurement component, comprising:

[0143] A tissue detection device, comprising a probe, for inserting into a target vertebra of a patient where a nail is to be placed along a nail channel and acquiring tissue information in the nail channel; and

[0144] an angle measuring device configured to be detachably connected to the tissue detection device;

[0145] a processing module communicatively coupled to the measurement component and configured to:

[0146] receiving in real time tissue information acquired by the probe during insertion into the target vertebra of the patient along the current screw track; and

[0147] Determining in real time the tissue type in the current nail track based on the received tissue information, so as to determine whether the current nail track is a safe nail track; and

[0148] The angle measuring device is configured to measure the angle of each safety spike track in a plurality of safety spike tracks, so as to determine the spatial relationship between the plurality of safety spike tracks.

[0149] Example B2. The system of Example B1, wherein the spatial relationship between the plurality of safety nail channels includes parallelism between the plurality of safety nail channels located on different target vertebrae and symmetry between the plurality of safety nail channels located on the same target vertebrae.

[0150] The plurality of safe nail lanes are determined as available nail lanes when at least one of the following conditions is met:

[0151] The parallelism between multiple safety screw tracks located on different target vertebrae meets the parallelism requirement;

[0152] The symmetry between multiple safety screw tracks located on the same target vertebra meets the symmetry requirement.

[0153] Example B3. The system of Example B1, wherein the measurement component further comprises:

[0154] a first handle having a first connecting portion and a second connecting portion, the first connecting portion being used to connect the probe to the first handle; and

[0155] The second handle has a third connecting portion and a fourth connecting portion, wherein the third connecting portion is used to connect the angle measuring device to the first handle, and the fourth connecting portion is used to cooperate with the second connecting portion of the first handle to rotatably connect the second handle and the first handle together.

[0156] Example B4. The system of Example B3, wherein the measurement assembly further comprises a connector, wherein a first end of the connector is configured to electrically connect to the probe, and a second end of the connector is configured to electrically connect to an external circuit.

[0157] The connecting member has a spring structure at the first end, and the spring structure is configured to ensure that when the probe is operated to rotate, the first end of the connecting member always remains electrically connected to the probe.

[0158] Example B5. The system as described in Example B1 further includes a drill having one end for connecting to a power source and the other end having a drill bit for drilling a pit on the target vertebra of the patient, the pit being used as an entry point for a nail track.

[0159] Example B6. The system of Example B5, further comprising a nail entry point positioning device, wherein the nail entry point positioning device comprises:

[0160] a sleeve having a passage therein, wherein the passage is used to accommodate the open-circuit drill;

[0161] a transverse rod having scales thereon;

[0162] a longitudinal rod having a scale thereon and having one end fixedly connected to the sleeve; and

[0163] The slider has a first channel and a second channel, wherein the first channel is used to accommodate the transverse rod and allow the slider to move along the transverse rod, and the second channel is used to accommodate the longitudinal rod and allow the slider to move along the longitudinal rod.

[0164] Example B7. The system of Example B6, wherein the transverse rod has a positioning portion at the 0 scale, the positioning portion being configured to be fixed to the lower surface of the spinous process of the target vertebra.

[0165] One end of the longitudinal rod close to the 0 scale mark is fixedly connected to the sleeve.

[0166] Example B8. The system of any of Examples B1-B7, further comprising a display module communicatively coupled to the measurement assembly and the processing module and configured to:

[0167] receiving in real time the tissue type in the corresponding nail channel determined by the processing module;

[0168] Display the tissue type in the current nail channel received in real time;

[0169] receiving in real time the angle of each of the plurality of safety spike tracks measured by the angle measuring device; and

[0170] Based on the received angle of each of the plurality of safety spikes, the plurality of safety spikes are displayed in real time for viewing by an operator, thereby determining a spatial relationship between the plurality of safety spikes.

[0171] Example B9. The system of Example B8, wherein the angle comprises a horizontal plane angle and a sagittal plane angle, and the display module is further configured to:

[0172] displaying the plurality of safety nail tracks on a cross-sectional image of the patient's spine based on a horizontal plane angle of each of the plurality of safety nail tracks; and

[0173] The plurality of safety nail tracks are displayed on a lateral radiographic image of the patient's spine based on the sagittal plane angle of each of the plurality of safety nail tracks.

[0174] Example B10. The system of Example B8, further comprising a developing module, wherein the developing module comprises one or more calibration surfaces, each calibration surface having a pattern of known geometry therein, the pattern being filled with a developing material,

[0175] The developing module is used to be installed near the target vertebra of the patient so as to acquire a medical image including the developing module and the target vertebra using a medical imaging device.

[0176] Example B11. The system of Example B10, further comprising a camera configured to capture the medical image including the visualization module and the target vertebra to obtain a camera image.

[0177] The processing module is further configured to:

[0178] receiving the camera image from the camera;

[0179] determining whether the camera image is distorted based on a pattern in a calibration surface of the development module in the camera image; and

[0180] When it is determined that the camera image is distorted, adjusting the camera image to eliminate the distortion,

[0181] The display module is further configured to:

[0182] receiving an adjusted camera image from the processing module; and

[0183] The adjusted camera image is displayed.

[0184] Example B12. The system of Example B11, wherein the development module includes a first calibration surface and a second calibration surface, the first calibration surface being perpendicular to the second calibration surface,

[0185] The medical imaging device is used to obtain a lateral medical image including a first calibration surface of the development module and the target vertebra, and the medical imaging device is used to obtain an anteroposterior medical image including a second calibration surface of the development module and the target vertebra,

[0186] The camera is used to photograph the lateral medical image to obtain a lateral camera image, and the camera is used to photograph the orthotopic medical image to obtain an orthotopic camera image,

[0187] The processing module is further configured to:

[0188] receiving the lateral camera image and the anteroposterior camera image from the camera;

[0189] determining whether the lateral radiograph image is distorted based on a pattern in a first calibration surface of a development module in the lateral radiograph image;

[0190] determining whether the orthotopic camera image is distorted based on a pattern in a second calibration surface of the development module in the orthotopic camera image; and

[0191] When it is determined that the lateral camera image and / or the anteroposterior camera image is distorted, the corresponding camera image is adjusted to eliminate the distortion.

[0192] Example B13. The system of Example B12, further comprising a user input device for receiving a pedicle screw model input by a user,

[0193] The display module is communicatively coupled to the user input device and is further configured to:

[0194] displaying a cross-sectional image including the target vertebra, wherein the cross-sectional image includes a cross-sectional medical image or a cross-sectional camera image, wherein the cross-sectional medical image is acquired by using the medical imaging device, the cross-sectional camera image is acquired by using the camera to photograph the cross-sectional medical image, and the cross-sectional camera image is an undistorted camera image or an adjusted camera image;

[0195] Displaying a lateral image including the target vertebra, wherein the lateral image includes a lateral medical image or a lateral camera image, and the lateral camera image is an undistorted camera image or an adjusted camera image;

[0196] receiving the pedicle screw model from the user input device;

[0197] The pedicle screw model is superimposed and displayed on a lateral image including the target vertebra, and the pedicle screw model is superimposed and displayed on a cross-sectional image including the target vertebra.

[0198] Example B14. The system of Example B13, wherein the user input device is further configured to receive user input of a horizontal plane angle and a sagittal plane angle of a planned nail path,

[0199] The display module is further configured to:

[0200] receiving a horizontal plane angle and a sagittal plane angle of the planned nail trajectory from the user input device;

[0201] Based on the horizontal plane angle of the planned screw track, superimposing and displaying the planned screw track on a cross-sectional image including the target vertebra; and

[0202] Based on the sagittal plane angle of the planned nail track, the planned nail track is superimposed and displayed on a lateral radiographic image including the target vertebra.

[0203] Example B15. The system of Example B14, further comprising a guide device comprising:

[0204] a cannula having a passage therein for accommodating a cannula, wherein the cannula is configured to be inserted into the target vertebra to form a nail channel in the target vertebra; and

[0205] A mounting portion connected to the sleeve and configured to mount the angle measuring device thereon, wherein the angle measuring device mounted on the mounting portion is configured to measure a horizontal plane angle and a sagittal plane angle of a nail channel to be formed during the process of inserting the expander into the target vertebra to form a nail channel.

[0206] The display module is further configured to:

[0207] receiving the horizontal plane angle and the sagittal plane angle of the nail track to be formed from the angle measuring device;

[0208] Based on the received horizontal angle of the nail track to be formed, further superimposing and displaying the nail track to be formed on the cross-sectional image including the target vertebra superimposed with the planned nail track; and

[0209] Based on the received sagittal plane angle of the nail track to be formed, the nail track to be formed is further superimposed and displayed on the lateral radiographic camera image including the target vertebra superimposed with the planned nail track.

[0210] Example B16. The system of Example B14, wherein the current nail path includes the planned nail path,

[0211] The probe is configured to: obtain tissue information in the planned screw path during insertion into the target vertebra along the planned screw path,

[0212] The angle measurement device is configured to measure an angle during the process of inserting the probe into the target vertebra to determine whether the probe will be inserted into the target vertebra along the planned screw trajectory.

[0213] Example B17. The system of Example B10, further comprising a vertebral positioning device, the vertebral positioning device comprising:

[0214] a vertebral fixing portion for fixing the vertebral positioning device to a vertebra adjacent to a target vertebra of the patient;

[0215] The mounting portion is connected to the vertebral fixing portion and is used for mounting the visualization module thereon.

[0216] Example B18. The system of Example B10, further comprising a bedside positioning device, the bedside positioning device comprising:

[0217] a bed frame fixing portion, used for fixing the bedside positioning device to the bed frame;

[0218] a vertical positioning arm connected to the bed frame fixing portion;

[0219] a horizontal positioning arm connected to the vertical positioning arm; and

[0220] The mounting portion is connected to the horizontal positioning arm and is used for mounting the developing module thereon.

[0221] Although the present invention has been described in terms of the preferred embodiments of the present disclosure, it is not intended to be limited thereto, but rather to be limited only by the scope set forth in the appended claims. It will be understood by those skilled in the art that various modifications and changes may be made to the embodiments described herein without departing from the broader spirit and scope of the present invention as set forth in the appended claims.

Claims

1. A system for spinal fixation, characterized in that: The system comprises: A measurement component, comprising: A tissue detection device, comprising a probe, for inserting into a target vertebra of a patient where a nail is to be placed along a nail channel and acquiring tissue information in the nail channel; and an angle measuring device configured to be detachably connected to the tissue detection device; a processing module communicatively coupled to the measurement component and configured to: receiving in real time tissue information acquired by the probe during insertion into the target vertebra of the patient along the current screw track; and determining, in real time, a tissue type in the current nail track based on the received tissue information, so as to determine whether the current nail track is a safe nail track; The angle measurement device is configured to measure the angle of each of the plurality of safety nail tracks to determine a spatial relationship between the plurality of safety nail tracks, wherein the spatial relationship between the plurality of safety nail tracks includes parallelism between the plurality of safety nail tracks located on different target vertebrae and symmetry between the plurality of safety nail tracks located on the same target vertebra. The plurality of safe nail channels are determined as available nail channels when at least one of the following conditions is met: The parallelism between multiple safety screw tracks located on different target vertebrae meets the parallelism requirement; The symmetry between multiple safety screw tracks located on the same target vertebra meets the symmetry requirement.

2. The system according to claim 1, wherein The measuring component further comprises: a first handle having a first connecting portion and a second connecting portion, the first connecting portion being used to connect the probe to the first handle; and The second handle has a third connecting portion and a fourth connecting portion, wherein the third connecting portion is used to connect the angle measuring device to the second handle, and the fourth connecting portion is used to cooperate with the second connecting portion of the first handle to rotatably connect the second handle and the first handle together.

3. The system according to claim 2, wherein: The measuring assembly further includes a connecting member, a first end of the connecting member being used for electrically connecting to the probe, and a second end of the connecting member being used for electrically connecting to an external circuit. The connecting member has a spring structure at the first end, and the spring structure is configured to ensure that when the probe is operated to rotate, the first end of the connecting member always remains electrically connected to the probe.

4. The system according to claim 1, wherein: The system further comprises an open-circuit drill, one end of which is used for connecting to a power source, and the other end of which is provided with a drill bit for drilling a pit on the target vertebra of the patient, wherein the pit is used as an entry point for a screw track.

5. The system according to claim 4, wherein: The system further includes a nail insertion point positioning device, which includes: a sleeve having a passage therein, wherein the passage is used to accommodate the open-circuit drill; a transverse rod having scales thereon; a longitudinal rod having a scale thereon and having one end fixedly connected to the sleeve; and The slider has a first channel and a second channel, wherein the first channel is used to accommodate the transverse rod and allow the slider to move along the transverse rod, and the second channel is used to accommodate the longitudinal rod and allow the slider to move along the longitudinal rod.

6. The system according to claim 5, wherein: The transverse rod has a positioning portion at the 0 scale, and the positioning portion is used to be fixed to the lower surface of the spinous process of the target vertebra. One end of the longitudinal rod close to the 0 scale mark is fixedly connected to the sleeve.

7. The system according to any one of claims 1 to 6, wherein: The system further includes a display module communicatively coupled to the measurement assembly and the processing module and configured to: receiving in real time the tissue type in the corresponding nail channel determined by the processing module; Display the tissue type in the current nail channel received in real time; receiving in real time the angle of each of the plurality of safety spike tracks measured by the angle measuring device; and Based on the received angle of each of the plurality of safety spikes, the plurality of safety spikes are displayed in real time for viewing by an operator, thereby determining a spatial relationship between the plurality of safety spikes.

8. The system according to claim 7, wherein: The angles include horizontal plane angles and sagittal plane angles, and the display module is further configured to: displaying the plurality of safety nail tracks on a cross-sectional image of the patient's spine based on a horizontal plane angle of each of the plurality of safety nail tracks; and The plurality of safety nail tracks are displayed on a lateral radiographic image of the patient's spine based on the sagittal plane angle of each of the plurality of safety nail tracks.

9. The system according to claim 7, wherein: The system further includes a developing module, wherein the developing module includes one or more calibration surfaces, each calibration surface having a pattern of known geometric shape, the pattern being filled with developing material, The developing module is used to be installed near the target vertebra of the patient so as to acquire a medical image including the developing module and the target vertebra using a medical imaging device.

10. The system according to claim 9, wherein: The system further includes a camera configured to capture the medical image including the visualization module and the target vertebra to obtain a camera image. The processing module is further configured to: receiving the camera image from the camera; determining whether the camera image is distorted based on a pattern in a calibration surface of the development module in the camera image; and When it is determined that the camera image is distorted, adjusting the camera image to eliminate the distortion, The display module is further configured to: receiving an adjusted camera image from the processing module; and The adjusted camera image is displayed.

11. The system according to claim 10, wherein: The developing module includes a first calibration surface and a second calibration surface, wherein the first calibration surface is perpendicular to the second calibration surface. The medical imaging device is used to obtain a lateral medical image including a first calibration surface of the development module and the target vertebra, and the medical imaging device is used to obtain an anteroposterior medical image including a second calibration surface of the development module and the target vertebra, The camera is used to photograph the lateral medical image to obtain a lateral camera image, and the camera is used to photograph the orthotopic medical image to obtain an orthotopic camera image, The processing module is further configured to: receiving the lateral camera image and the anteroposterior camera image from the camera; determining whether the lateral radiograph image is distorted based on a pattern in a first calibration surface of a development module in the lateral radiograph image; determining whether the orthotopic camera image is distorted based on a pattern in a second calibration surface of the development module in the orthotopic camera image; and When it is determined that the lateral camera image and / or the anteroposterior camera image is distorted, the corresponding camera image is adjusted to eliminate the distortion.

12. The system according to claim 11, wherein The system further includes a user input device for receiving a pedicle screw model input by a user. The display module is communicatively coupled to the user input device and is further configured to: displaying a cross-sectional image including the target vertebra, wherein the cross-sectional image includes a cross-sectional medical image or a cross-sectional camera image, wherein the cross-sectional medical image is acquired by using the medical imaging device, the cross-sectional camera image is acquired by using the camera to photograph the cross-sectional medical image, and the cross-sectional camera image is an undistorted camera image or an adjusted camera image; Displaying a lateral image including the target vertebra, wherein the lateral image includes a lateral medical image or a lateral camera image, and the lateral camera image is an undistorted camera image or an adjusted camera image; receiving the pedicle screw model from the user input device; The pedicle screw model is superimposed and displayed on a lateral image including the target vertebra, and the pedicle screw model is superimposed and displayed on a cross-sectional image including the target vertebra.

13. The system according to claim 12, wherein: The user input device is used to further receive the horizontal plane angle and sagittal plane angle of the planned nail track input by the user, The display module is further configured to: receiving a horizontal plane angle and a sagittal plane angle of the planned nail trajectory from the user input device; Based on the horizontal angle of the planned nail track, superimposing and displaying the planned nail track on a cross-sectional image including the target vertebra; and Based on the sagittal plane angle of the planned nail track, the planned nail track is superimposed and displayed on a lateral radiographic image including the target vertebra.

14. The system according to claim 13, wherein The system further comprises a guide device, the guide device comprising: a cannula having a passage therein for accommodating a cannula, wherein the cannula is configured to be inserted into the target vertebra to form a nail channel in the target vertebra; and A mounting portion connected to the sleeve and configured to mount the angle measuring device thereon, wherein the angle measuring device mounted on the mounting portion is configured to measure a horizontal plane angle and a sagittal plane angle of a nail channel to be formed during the process of inserting the expander into the target vertebra to form a nail channel. The display module is further configured to: receiving the horizontal plane angle and the sagittal plane angle of the nail track to be formed from the angle measuring device; Based on the received horizontal angle of the nail track to be formed, further superimposing and displaying the nail track to be formed on the cross-sectional image including the target vertebra superimposed with the planned nail track; and Based on the received sagittal plane angle of the nail track to be formed, the nail track to be formed is further superimposed and displayed on the lateral radiographic camera image including the target vertebra superimposed with the planned nail track.

15. The system according to claim 13, wherein: The current nail track includes the planned nail track, The probe is configured to: measure tissue information in the planned screw track during insertion into the target vertebra along the planned screw track, The angle measurement device is configured to measure an angle during the process of inserting the probe into the target vertebra to determine whether the probe will be inserted into the target vertebra along the planned screw trajectory.

16. The system of claim 9, wherein: The system further comprises a vertebral positioning device comprising: a vertebral fixing portion for fixing the vertebral positioning device to a vertebra adjacent to a target vertebra of the patient; The mounting portion is connected to the vertebral fixing portion and is used for mounting the visualization module thereon.

17. The system of claim 9, wherein: The system further includes a bedside positioning device, the bedside positioning device comprising: a bed frame fixing portion, used for fixing the bedside positioning device to the bed frame; a vertical positioning arm connected to the bed frame fixing portion; a horizontal positioning arm connected to the vertical positioning arm; and The mounting portion is connected to the horizontal positioning arm and is used for mounting the developing module thereon.

Images