Vertebroplasty surgical path planning method and device based on two-dimensional X-rays

Abstract

The present invention discloses a method and device for vertebroplasty surgical path planning based on two-dimensional X-rays, relating to the technical field of computer-assisted surgical planning. The method comprises: identifying key feature points and their position information in the anteroposterior and lateral views of spinal X-rays using a trained neural network model; calculating, based on the position information of the key feature points, the position of a first starting point of the pedicle surgical path in the lateral view and the position of a second starting point of the pedicle surgical path in the anteroposterior view, and calculating the position of a first end point of the pedicle surgical path in the lateral view and the position of a second end point of the pedicle surgical path in the anteroposterior view; and calculating, based on the position information of the first starting point, the second starting point, the first end point, and the second end point, the actual starting and end points of the pedicle surgical path in three-dimensional space. The present invention improves the accuracy and real-time performance of surgical path planning and has high clinical application value.

Description

Technical Field

[0001] The present invention relates to the technical field of computer-aided planning for surgical operations, and in particular to a method and device for planning a vertebral body shaping surgical path based on two-dimensional X-ray films. Background Art

[0002] In spinal surgery, precise pedicle path planning is crucial for the success of vertebroplasty. Accurate path planning can effectively reduce surgical risks and improve surgical safety and success rates. Traditional vertebroplasty surgical path planning relies primarily on preoperative CT and MRI imaging and intraoperative 3D scanning. While preoperative imaging can provide detailed 3D anatomical information, the patient's anatomy may differ from preoperative imaging during surgery due to factors such as positional changes and tissue displacement. Furthermore, obtaining high-precision 3D imaging information in real time during surgery is difficult. Intraoperative 3D scanning, on the other hand, has disadvantages such as high radiation dose and complex operation. Compared to conventional X-ray imaging equipment, the equipment required for intraoperative 3D scanning is expensive, making it unaffordable for general hospitals. X-ray imaging is widely used in spinal surgery due to its speed, convenience, and low cost. Compared to 3D imaging, the use of intraoperative 2D X-rays is more convenient for physicians. However, while real-time anteroposterior and lateral X-rays can provide anatomical information of the spine in both directions, there is a lack of effective technical means to convert this 2D information into accurate 3D path planning. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies in the prior art, the present invention provides a method and device for vertebroplasty surgical path planning based on two-dimensional X-ray films, which can fully or partially solve the technical problems raised by the background art.

[0004] One aspect of the present invention provides a method for vertebroplasty surgical path planning based on two-dimensional X-rays, comprising the following steps:

[0005] Identify key feature points and position information of key feature points in the anteroposterior and lateral views of a spinal X-ray film by a trained neural network model, wherein the key feature points include: the leftmost point of the left pedicle contour in the anteroposterior view, the rightmost point of the left pedicle contour in the anteroposterior view, the leftmost point of the right pedicle contour in the anteroposterior view, the rightmost point of the right pedicle contour in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, the posterior end point of the lower end plate of the vertebral body in the lateral view, and the intersection point between the posterior edge of the vertebral body and the lower pedicle contour in the lateral view;

[0006] Calculating, based on the position information of the key feature points, the position information of a first starting point of the pedicle surgical path in the lateral view and the position information of a second starting point of the pedicle surgical path in the anteroposterior view, and calculating the position information of a first end point of the pedicle surgical path in the lateral view and the position information of a second end point of the pedicle surgical path in the anteroposterior view;

[0007] The actual starting position and ending position of the pedicle surgery path in three-dimensional space are calculated according to the position information of the first starting point, the second starting point, the first end point, and the second end point.

[0008] Another aspect of the present invention provides a vertebroplasty surgical path planning device based on two-dimensional X-rays, comprising:

[0009] an identification module, for identifying key feature points and position information of the key feature points in the anteroposterior and lateral views of a spinal X-ray film through a trained neural network model, wherein the key feature points include: the leftmost point of the left pedicle contour in the anteroposterior view, the rightmost point of the left pedicle contour in the anteroposterior view, the leftmost point of the right pedicle contour in the anteroposterior view, the rightmost point of the right pedicle contour in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, the posterior end point of the lower end plate of the vertebral body in the lateral view, and the intersection point between the posterior edge of the vertebral body and the lower pedicle contour in the lateral view;

[0010] an anteroposterior and lateral image position determination module, configured to calculate position information of a first starting point of a pedicle surgical path in the lateral image and position information of a second starting point of the pedicle surgical path in the anteroposterior image based on the position information of the key feature points, and calculate position information of a first end point of the pedicle surgical path in the lateral image and position information of a second end point of the pedicle surgical path in the anteroposterior image;

[0011] The surgical path three-dimensional position determination module is used to calculate the actual starting position and end position of the pedicle surgical path in three-dimensional space based on the position information of the first starting point, the second starting point, the first end point and the second end point.

[0012] The present invention provides a vertebral body shaping surgical path planning method and device based on two-dimensional X-ray film. After using artificial intelligence methods to identify vertebral feature points, the starting point and end point of the surgical path can be accurately obtained in the anteroposterior and lateral views of the X-ray film, and converted into actual position information in three-dimensional space, thereby planning the vertebral pedicle surgical path. It is worth mentioning that the present invention focuses on the improvement of the precise positioning of the starting point and end point of the surgical path in the anteroposterior and lateral views of the X-ray film. By combining the original key feature point projection approximate selection method, approximate approximation method and proportional selection method, the starting point and end point of the surgical path in the anteroposterior and lateral views can be accurately determined, thereby accurately converting the coordinate information of the surgical path in three-dimensional space. The present invention is not only simple to operate and efficient, but also can be performed quickly and in real time during the operation, reducing the dependence on complex preoperative image reconstruction technology and doctor experience, improving the accuracy and real-time performance of surgical path planning, and has high clinical application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0014] Figure 1 This is a schematic diagram of the path planning principle of a vertebral two-dimensional X-ray provided by an embodiment of the present application;

[0015] Figure 2 This is a flow chart of a vertebroplasty surgical path planning method based on two-dimensional X-rays provided in one embodiment of the present application;

[0016] Figure 3 This is a schematic diagram of key characteristic points of a vertebral body provided by an embodiment of the present application;

[0017] Figure 4 This is a schematic diagram of the starting point of the pedicle surgical path in a lateral view provided in one embodiment of the present application;

[0018] Figure 5 This is a schematic diagram of the starting point of the pedicle surgical path in the frontal view provided by one embodiment of the present application;

[0019] Figure 6 This is a schematic diagram of the end point position of the pedicle surgical path in a lateral view provided by one embodiment of the present application;

[0020] Figure 7 This is a schematic diagram of the end point position of the pedicle surgical path in the frontal view provided by one embodiment of the present application;

[0021] Figure 8 This is a schematic structural diagram of a vertebroplasty surgical path planning device based on two-dimensional X-ray films provided in one embodiment of the present application. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the embodiments of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0024] It should be understood that although the terms first, second, third, etc. may be used to describe the acquisition modules in the embodiments of the present invention, the acquisition modules should not be limited to these terms. These terms are only used to distinguish the acquisition modules from each other.

[0025] The word "if," as used herein, may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0026] It should be noted that the directional terms such as "upper," "lower," "left," and "right" described in the embodiments of the present invention are described from the perspectives shown in the accompanying drawings and should not be construed as limiting the embodiments of the present invention. Furthermore, in the context, it should be understood that when an element is referred to as being formed "on" or "under" another element, it can be formed not only directly "on" or "under" the other element, but also indirectly "on" or "under" the other element through an intermediate element.

[0027] The present invention provides a method and device for vertebroplasty surgical path planning based on two-dimensional X-rays. The principles are as follows:

[0028] See also Figure 1, select a target point on the anteroposterior or lateral X-ray film (also called the anteroposterior or lateral view of the X-ray film). Suppose the first target point is selected on the lateral view first. Since the X-ray film is two-dimensional, the projection of this point on the anteroposterior view is a straight line. This straight line represents all possible positions of the point in the anteroposterior view. Then, select a specific point on this projection line, and determine the precise position of this point in three-dimensional space based on the two-dimensional position of the first target point in the anteroposterior and lateral views. Using the same method, determine the position of the second target point on the lateral and anteroposterior views, respectively, and then convert the second target point into a position in three-dimensional space. According to the principles of geometry, two points in space can determine a straight line, and this straight line is the surgical path.

[0029] While the principle described above may seem simple, the axis of the spinal pedicles is not readily apparent in X-rays in the anteroposterior and lateral views. This makes it difficult to accurately locate the pedicles when selecting target points on these views, creating difficulties in planning surgical pathways using these views. The present invention utilizes the two-dimensional information provided by X-rays in the anteroposterior and lateral views, achieving precise planning of surgical pathways in three-dimensional space through point selection and projection operations. This approach is not only simple and efficient, but can also be performed in real time during surgery, reducing reliance on complex preoperative image reconstruction techniques and improving the accuracy and real-time nature of surgical pathway planning.

[0030] See also Figure 2 The present invention provides a vertebroplasty surgical path planning method based on two-dimensional X-rays, comprising the following steps:

[0031] Step S101, identifying key feature points and position information of the key feature points in the anteroposterior and lateral views of the spinal X-ray film through a trained neural network model, wherein the key feature points include: the leftmost point of the left pedicle contour in the anteroposterior view, the rightmost point of the left pedicle contour in the anteroposterior view, the leftmost point of the right pedicle contour in the anteroposterior view, the rightmost point of the right pedicle contour in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, the posterior end point of the lower end plate of the vertebral body in the lateral view, and the intersection point between the posterior edge of the vertebral body and the lower pedicle contour in the lateral view.

[0032] Specifically, the first step of this embodiment requires identifying key feature points in the frontal and lateral views of the vertebral body X-ray film. These key feature points will be used in the subsequent coordinate position calculation. Figure 3 These key feature points include the leftmost point of the left pedicle contour in the frontal view , the rightmost point of the left pedicle outline in the anteroposterior view , the leftmost point of the right pedicle outline in the anteroposterior view , the rightmost point of the right pedicle outline in the frontal view , upper end point of the spinous process in the anteroposterior view , the lower end of the spinous process in the anteroposterior view , lateral view of the vertebral end plate , lateral view of the posterior end point of the vertebral end plate , lateral view of the vertebral body lower end plate anterior end point , posterior end point of the lower end plate of the vertebral body in lateral view The intersection of the posterior edge of the vertebral body and the lower outline of the pedicle in the lateral view .

[0033] This embodiment preferably utilizes artificial intelligence and image processing techniques to quickly and accurately identify vertebral key feature points. For example, a heatmap regression algorithm is used as the primary technical means to identify vertebral feature points. A convolutional neural network (CNN) model is constructed, taking anteroposterior and lateral vertebral X-ray images as input and outputting a heatmap of the location of each key feature point in the image. A heatmap is a two-dimensional matrix of the same size as the input image, where the value of each pixel represents the probability of that location being a feature point. By analyzing the heatmap, the coordinates of each key feature point can be precisely located. Typically, the coordinates of the key point are determined by searching for the point with the highest brightness within each channel of the heatmap. This requires that the number of heatmap channels be at least the same as the number of key points, which often fails to meet the practical requirement of accurately locating an uncertain number of key points. To accurately locate a class of key feature points within a channel, it is necessary to find the point with the highest brightness within the bright spot corresponding to each key feature point. Therefore, a simple search of the image is sufficient to find a point that is brighter than all points within a certain range surrounding it.

[0034] The steps for identifying key feature points are as follows:

[0035] During the data preparation stage, a large number of vertebral anteroposterior and lateral X-ray images with key feature points marked are collected as training data.

[0036] During the model training phase, the convolutional neural network is trained using labeled data to optimize network parameters so that the model can accurately predict the heat map of feature points.

[0037] In the feature point extraction stage, the anteroposterior and lateral X-ray films to be processed are input into the trained convolutional neural network model to obtain the heat map and extract the precise position of the key feature points from the heat map through methods such as peak detection.

[0038] Although this embodiment preferably adopts the heat map regression method as the main technical means, other artificial intelligence methods, such as key point detection networks, can also realize the recognition of vertebral feature points, and this embodiment does not limit this.

[0039] Step S102, calculate the position information of the first starting point of the pedicle surgical path in the lateral view and the position information of the second starting point of the pedicle surgical path in the anteroposterior view based on the position information of the key feature points, and calculate the position information of the first end point of the pedicle surgical path in the lateral view and the position information of the second end point of the pedicle surgical path in the anteroposterior view.

[0040] Specifically, step S102 calculates the starting point and end point of the pedicle surgical path in the frontal view and lateral view of the X-ray film based on the identified key feature points of the vertebral body, including the following sub-steps:

[0041] Step S1021, calculate the starting point of the pedicle surgery path in the lateral view based on the position information of the key feature points location information.

[0042] See also Figure 4 , the posterior end point of the vertebral end plate on the lateral view The intersection of the posterior edge of the vertebral body and the lower outline of the pedicle in the lateral view The midpoint of the line connecting the left and right pedicles is used as the starting point of the lateral view of the X-ray film. That is to say, whether the left or right pedicle is operated on, the starting point of the path corresponds to the same one in the lateral view of the X-ray. .

[0043] Calculate the starting point according to the following formula Location information:

[0044] ;

[0045] in, Indicates the starting point The two-dimensional coordinate values ​​in the side view, Indicates the posterior end point of the vertebral end plate in the lateral view The two-dimensional coordinate values ​​of Indicates the intersection of the posterior edge of the vertebral body and the lower outline of the pedicle in the lateral view The two-dimensional coordinate values ​​of .

[0046] Step S1022: Calculate the starting point of the pedicle surgery path in the anteroposterior view based on the position information of the key feature points. location information.

[0047] See also Figure 5 , draw the starting point The projection line in the X-ray anteroposterior view (dashed line in the figure). Preferably, the point on the lateral side of the projection line inside the pedicle in the anteroposterior view is selected as the starting point. However, the exact location of the two intersections of the projection line and the pedicle is unclear because only the location information of a few key feature points has been obtained. The two intersections of the projection line and the pedicle are not key feature points. Therefore, this embodiment uses the key feature point projection approximation selection method to infinitely approximate the two intersections of the projection line and the pedicle to be selected.

[0048] When puncturing the left pedicle area, the leftmost point of the left pedicle outline in the anteroposterior view and the rightmost point of the left pedicle outline in the anteroposterior view Project them onto the projection line respectively to get the first projection point and the second projection point , the first projection point and the second projection point The left trisection point of the connecting line is the starting point of the left pedicle surgical path. .

[0049] The two-dimensional coordinate information of the second starting point of the left pedicle surgical path is calculated according to the following formula:

[0050]

[0051] in, Indicates the second starting point of the left pedicle surgical path The two-dimensional coordinate value in the positive image, Represents the two-dimensional coordinate value of the first projection point, Represents the two-dimensional coordinate value of the second projection point.

[0052] When puncturing the right pedicle area, the leftmost point of the right pedicle outline in the frontal view and the rightmost point of the right pedicle outline in the frontal view are projected onto the projection line respectively to obtain the third projection point. and the fourth projection point , the third projection point and the fourth projection point The right trisection point of the line is the starting point of the right pedicle surgical path. .

[0053] The two-dimensional coordinate information of the second starting point of the right pedicle surgical path is calculated according to the following formula:

[0054]

[0055] in, The second starting point of the right pedicle surgical path The two-dimensional coordinate value in the positive image, Represents the two-dimensional coordinate value of the third projection point, Indicates the two-dimensional coordinate value of the fourth projection point.

[0056] This step uses an original key feature point projection approximation selection method to infinitely approach the two intersection points of the actual projection line and the pedicle to be selected, thereby greatly improving the accuracy of the starting point position of the selected orthotopic image.

[0057] Step S1023, calculate the end point of the pedicle surgery path in the lateral view location information.

[0058] See also Figure 6 , the surgical path direction starts from the starting point , ends at the anterior edge of the vertebral body (i.e. the anterior end point of the vertebral end plate in the lateral view) and the anterior end point of the vertebral end plate in the lateral view According to the patient's condition and surgical requirements, the direction of the surgical path should be parallel to the vertebral end plate (i.e., the front end point of the vertebral end plate in the lateral view). and posterior end point of the vertebral end plate in the lateral view ) or the pedicle axis direction.

[0059] (1) When the surgical path is parallel to the upper end plate of the vertebral body in the lateral view

[0060] Let the surgical path start from the starting point in the lateral view , ending at the intersection of the surgical path direction and the anterior edge of the vertebral body in the lateral view. The endpoint is preferably calculated by the following formula Location information:

[0061] ;

[0062] in, Indicates the end point The two-dimensional coordinate values ​​of Indicates the direction of the surgical path and the front end point of the vertebral end plate in the lateral view and the anterior end point of the vertebral end plate in the lateral view The two-dimensional coordinate value of the intersection point of the connecting line, represents the proportionality coefficient, preferably , Indicates the starting point The two-dimensional coordinate values ​​of .

[0063] The above method obtains the best end point position by proportional selection in both the horizontal and vertical coordinate directions, so that the line connecting the starting point and the end point on the lateral view can accurately meet the requirements of the operation.

[0064] (2) When the surgical path is parallel to the pedicle axis

[0065] Since the lateral view cannot well show the characteristics of the pedicle axis, the actual position of the pedicle axis cannot be accurately restored on the lateral view. Therefore, this embodiment adopts an approximate approximation method to make the surgical path start from the starting point in the lateral view. , ends at the anterior end point of the vertebral end plate in the lateral view and the anterior end point of the vertebral end plate in the lateral view The midpoint of the line connecting the starting point and the end point can be very close to the actual position of the pedicle axis, which fully meets the requirements of the operation.

[0066] Specifically, the endpoint is calculated by the following formula Location information:

[0067]

[0068] in, Indicates the end point The two-dimensional position coordinates of Indicates the coordinates of the midpoint of the line connecting the front end point of the upper end plate of the vertebral body in the lateral view and the front end point of the lower end plate of the vertebral body in the lateral view, Indicates the starting point The two-dimensional coordinate values ​​of represents the proportionality coefficient, preferably .

[0069] The above method obtains the optimal end point position through approximate approximation and proportional selection in both the horizontal and vertical coordinate directions, so that the line connecting the starting point and the end point on the lateral view can accurately approximate the actual position of the pedicle axis, fully meeting the surgical requirements.

[0070] Step S1024, calculate the end point of the pedicle surgery path in the frontal view location information.

[0071] See also Figure 7 In this embodiment, the vertebral body center axis and the end point of the lateral view are preferably The intersection of the projection lines is taken as the end point of the orthographic map However, since the vertebral axis in the frontal view is not clear, it is not known where the actual vertebral axis is. and the lower end of the spinous process in the anteroposterior view As the approximate vertebral axis, the upper end point of the spinous process in the frontal view and the lower end of the spinous process in the anteroposterior view The line connecting the end points in the side view The intersection of the projection lines in the orthographic image is used as the end point in the orthographic image. .

[0072] The above method of this embodiment realizes accurate positioning of the end point of the pedicle surgery path in the anteroposterior view through the approximate approximation method and the projection line of the lateral view in the anteroposterior view.

[0073] Step S103 , calculating the actual starting position and ending position of the pedicle surgery path in three-dimensional space according to the position information of the first starting point, the second starting point, the first ending point, and the second ending point.

[0074] Specifically, the starting point of the above side view , starting point of the orthographic map , end point of the lateral view , the end point of the orthographic image These are the starting and ending points marked in the lateral view and the anteroposterior view, respectively. That is, the lateral view has a pair of starting and ending points, and the anteroposterior view also has a pair of starting and ending points. The starting and ending points in the two-dimensional X-ray film need to be converted to the actual three-dimensional space to obtain the actual three-dimensional positions of the starting and ending points of the surgical path.

[0075] The principle is: the starting point is known and starting point Indicates the same coordinate position in three-dimensional space. From the starting point on the side view A straight line perpendicular to the lateral view can be extended from the starting point on the frontal view A straight line perpendicular to the orthographic image can be extended, and the intersection of the two lines is the actual starting point of the surgical path in three-dimensional space. Similarly, the actual end point of the surgical path in three-dimensional space can be determined. The specific coordinate transformation knowledge is prior art in this field and is not the focus of this invention, so it will not be discussed in detail in this embodiment.

[0076] See also Figure 8 Another embodiment of the present invention provides a vertebroplasty surgical path planning device 200 based on two-dimensional X-rays, comprising a recognition module 201, an anterior-posterior and lateral position determination module 202, and a surgical path three-dimensional position determination module 203. Device 200 is capable of executing the two-dimensional X-ray-based vertebroplasty surgical path planning method described in the method embodiment.

[0077] Specifically, the vertebroplasty surgery path planning device 200 based on two-dimensional X-rays includes:

[0078] Identification module 201 is used to identify key feature points and position information of key feature points in the anteroposterior and lateral views of a spinal X-ray film through a trained neural network model, wherein the key feature points include: the leftmost point of the left pedicle contour in the anteroposterior view, the rightmost point of the left pedicle contour in the anteroposterior view, the leftmost point of the right pedicle contour in the anteroposterior view, the rightmost point of the right pedicle contour in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, the posterior end point of the lower end plate of the vertebral body in the lateral view, and the intersection point between the posterior edge of the vertebral body and the lower pedicle contour in the lateral view;

[0079] An anteroposterior and lateral image position determination module 202 is configured to calculate position information of a first starting point of the pedicle surgical path in the lateral image and position information of a second starting point of the pedicle surgical path in the anteroposterior image based on the position information of the key feature points, and calculate position information of a first end point of the pedicle surgical path in the lateral image and position information of a second end point of the pedicle surgical path in the anteroposterior image;

[0080] The surgical path three-dimensional position determination module 203 is used to calculate the actual starting position and end position of the pedicle surgical path in three-dimensional space based on the position information of the first starting point, the second starting point, the first end point and the second end point.

[0081] It should be noted that the vertebroplasty surgical path planning device 200 based on two-dimensional X-ray films provided in this embodiment corresponds to a technical solution that can be used to implement each method embodiment. Its implementation principle and technical effects are similar to the method and will not be repeated here.

[0082] The above description is merely a preferred embodiment of the present invention. Those skilled in the art should understand that the scope of the present invention is not limited to technical solutions formed by specific combinations of the above-mentioned technical features. It also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents, without departing from the above-mentioned disclosure. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A vertebroplasty surgical path planning method based on two-dimensional X-rays, characterized in that: The steps include: Identify key feature points and position information of key feature points in the anteroposterior and lateral views of a spinal X-ray film by a trained neural network model, wherein the key feature points include: the leftmost point of the left pedicle contour in the anteroposterior view, the rightmost point of the left pedicle contour in the anteroposterior view, the leftmost point of the right pedicle contour in the anteroposterior view, the rightmost point of the right pedicle contour in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, the posterior end point of the lower end plate of the vertebral body in the lateral view, and the intersection point between the posterior edge of the vertebral body and the lower pedicle contour in the lateral view; Calculating, based on the position information of the key feature points, the position information of a first starting point of the pedicle surgical path in the lateral view and the position information of a second starting point of the pedicle surgical path in the anteroposterior view, and calculating the position information of a first end point of the pedicle surgical path in the lateral view and the position information of a second end point of the pedicle surgical path in the anteroposterior view; The actual starting position and ending position of the pedicle surgery path in three-dimensional space are calculated according to the position information of the first starting point, the second starting point, the first end point, and the second end point.

2. The method for vertebroplasty surgical path planning based on two-dimensional X-rays according to claim 1, characterized in that: The step of calculating the position information of the first starting point of the pedicle surgery path in the lateral view according to the position information of the key feature point comprises: The midpoint of the line connecting the posterior end point of the vertebral end plate in the lateral view and the intersection of the posterior edge of the vertebral body and the lower contour of the pedicle in the lateral view is used as the first starting point of the left or right pedicle surgical path in the lateral view of the X-ray film; The position information of the first starting point is calculated according to the following formula: ； in, Indicates the first starting point The two-dimensional coordinate values ​​in the side view, Indicates the posterior end point of the vertebral end plate in the lateral view The two-dimensional coordinate values ​​of Indicates the intersection of the posterior edge of the vertebral body and the lower outline of the pedicle in the lateral view The two-dimensional coordinate values ​​of .

3. The method for vertebroplasty surgical path planning based on two-dimensional X-rays according to claim 2, characterized in that: The step of calculating the position information of the second starting point of the pedicle surgery path in the frontal view according to the position information of the key feature point comprises: Draw a projection line of the first starting point in the X-ray film frontal view; The leftmost point of the left pedicle contour in the frontal view and the rightmost point of the left pedicle contour in the frontal view are respectively projected onto the projection line to obtain a first projection point and a second projection point, and the left trisection point of the line connecting the first projection point and the second projection point is used as the second starting point of the left pedicle surgical path; The two-dimensional coordinate information of the second starting point of the left pedicle surgical path is calculated according to the following formula: in, Indicates the second starting point of the left pedicle surgical path The two-dimensional coordinate value in the positive image, Represents the two-dimensional coordinate value of the first projection point, Represents the two-dimensional coordinate value of the second projection point; The leftmost point of the right pedicle contour in the frontal view and the rightmost point of the right pedicle contour in the frontal view are projected onto the projection line to obtain a third projection point and a fourth projection point, and the right trisection point of the line connecting the third projection point and the fourth projection point is used as the second starting point of the right pedicle surgical path; The two-dimensional coordinate information of the second starting point of the right pedicle surgical path is calculated according to the following formula: in, The second starting point of the right pedicle surgical path The two-dimensional coordinate value in the positive image, Represents the two-dimensional coordinate value of the third projection point, Indicates the two-dimensional coordinate value of the fourth projection point.

4. The method for vertebroplasty surgical path planning based on two-dimensional X-rays according to claim 3, characterized in that: The step of calculating the position information of the first end point of the pedicle surgical path in the lateral view includes: When the direction of the surgical path is parallel to the upper end plate of the vertebral body in the lateral view, the surgical path is set to start from the first starting point in the lateral view and end at the intersection of the surgical path direction and the anterior edge of the vertebral body in the lateral view. The position information of the first end point is calculated using the following formula: ； in, represents the two-dimensional coordinate value of the first end point, The two-dimensional coordinate value of the intersection of the surgical path direction and the line connecting the front end point of the upper end plate of the vertebral body in the lateral view and the front end point of the lower end plate of the vertebral body in the lateral view, represents the proportionality coefficient, Indicates the two-dimensional coordinate value of the first starting point.

5. The method for vertebroplasty surgical path planning based on two-dimensional X-rays according to claim 3, characterized in that: The step of calculating the position information of the first end point of the pedicle surgical path in the lateral view includes: When the surgical path is parallel to the pedicle axis, the surgical path is set to start from the first starting point in the lateral view and end at the midpoint of the line connecting the front end point of the upper end plate of the vertebral body in the lateral view and the front end point of the lower end plate of the vertebral body in the lateral view. The position information of the first end point is calculated using the following formula: in, represents the two-dimensional position coordinates of the first end point, Indicates the coordinates of the midpoint of the line connecting the front end point of the upper end plate of the vertebral body in the lateral view and the front end point of the lower end plate of the vertebral body in the lateral view, Indicates the two-dimensional coordinate value of the first starting point, Represents the proportionality factor.

6. A vertebroplasty surgical path planning method based on two-dimensional X-rays according to claim 4 or 5, characterized in that: Proportional coefficient Pick .

7. A vertebroplasty surgical path planning method based on two-dimensional X-rays according to claim 4 or 5, characterized in that: The steps of calculating the position information of the second end point of the pedicle surgical path in the anteroposterior view include: The intersection of the line connecting the upper end point of the spinous process in the anteroposterior view and the lower end point of the spinous process in the anteroposterior view and the projection line of the first end point in the lateral view in the anteroposterior view is taken as the second end point in the anteroposterior view.

8. A vertebroplasty surgical path planning device based on two-dimensional X-ray film, characterized in that: include: an identification module, for identifying key feature points and position information of the key feature points in the anteroposterior and lateral views of a spinal X-ray film through a trained neural network model, wherein the key feature points include: the leftmost point of the left pedicle contour in the anteroposterior view, the rightmost point of the left pedicle contour in the anteroposterior view, the leftmost point of the right pedicle contour in the anteroposterior view, the rightmost point of the right pedicle contour in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, the posterior end point of the lower end plate of the vertebral body in the lateral view, and the intersection point between the posterior edge of the vertebral body and the lower pedicle contour in the lateral view; an anteroposterior and lateral image position determination module, configured to calculate position information of a first starting point of a pedicle surgical path in the lateral image and position information of a second starting point of the pedicle surgical path in the anteroposterior image based on the position information of the key feature points, and calculate position information of a first end point of the pedicle surgical path in the lateral image and position information of a second end point of the pedicle surgical path in the anteroposterior image; The surgical path three-dimensional position determination module is used to calculate the actual starting position and end position of the pedicle surgical path in three-dimensional space based on the position information of the first starting point, the second starting point, the first end point and the second end point.

9. The device for vertebroplasty surgery path planning based on two-dimensional X-ray films according to claim 8, characterized in that: The front and side bitmap position determination module is also used for: The midpoint of the line connecting the posterior end point of the vertebral end plate in the lateral view and the intersection of the posterior edge of the vertebral body and the lower contour of the pedicle in the lateral view is used as the first starting point of the left or right pedicle surgical path in the lateral view of the X-ray film; The position information of the first starting point is calculated according to the following formula: ； in, Indicates the first starting point The two-dimensional coordinate values ​​in the side view, Indicates the posterior end point of the vertebral end plate in the lateral view The two-dimensional coordinate values ​​of Indicates the intersection of the posterior edge of the vertebral body and the lower outline of the pedicle in the lateral view The two-dimensional coordinate values ​​of .

10. The device for vertebroplasty surgery path planning based on two-dimensional X-ray films according to claim 9, characterized in that: The front and side bitmap position determination module is also used for: Draw a projection line of the first starting point in the X-ray film frontal view; The leftmost point of the left pedicle contour in the frontal view and the rightmost point of the left pedicle contour in the frontal view are respectively projected onto the projection line to obtain a first projection point and a second projection point, and the left trisection point of the line connecting the first projection point and the second projection point is used as the second starting point of the left pedicle surgical path; The two-dimensional coordinate information of the second starting point of the left pedicle surgical path is calculated according to the following formula: in, Indicates the second starting point of the left pedicle surgical path The two-dimensional coordinate value in the positive image, Represents the two-dimensional coordinate value of the first projection point, Represents the two-dimensional coordinate value of the second projection point; The leftmost point of the right pedicle contour in the frontal view and the rightmost point of the right pedicle contour in the frontal view are projected onto the projection line to obtain a third projection point and a fourth projection point, and the right trisection point of the line connecting the third projection point and the fourth projection point is used as the second starting point of the right pedicle surgical path; The two-dimensional coordinate information of the second starting point of the right pedicle surgical path is calculated according to the following formula: in, The second starting point of the right pedicle surgical path The two-dimensional coordinate value in the positive image, Represents the two-dimensional coordinate value of the third projection point, Represents the two-dimensional coordinate value of the fourth projection point; When the direction of the surgical path is parallel to the upper end plate of the vertebral body in the lateral view, the surgical path is set to start from the first starting point in the lateral view and end at the intersection of the surgical path direction and the anterior edge of the vertebral body in the lateral view. The position information of the first end point is calculated using the following formula: ； in, represents the two-dimensional coordinate value of the first end point, The two-dimensional coordinate value of the intersection of the surgical path direction and the line connecting the front end point of the upper end plate of the vertebral body in the lateral view and the front end point of the lower end plate of the vertebral body in the lateral view, represents the proportionality coefficient, The two-dimensional coordinate value representing the first starting point; or, When the surgical path is parallel to the pedicle axis, the surgical path is set to start from the first starting point in the lateral view and end at the midpoint of the line connecting the front end point of the upper end plate of the vertebral body in the lateral view and the front end point of the lower end plate of the vertebral body in the lateral view. The position information of the first end point is calculated using the following formula: in, represents the two-dimensional position coordinates of the first end point, Indicates the coordinates of the midpoint of the line connecting the front end point of the upper end plate of the vertebral body in the lateral view and the front end point of the lower end plate of the vertebral body in the lateral view, Indicates the two-dimensional coordinate value of the first starting point, represents the proportionality coefficient; The intersection of the line connecting the upper end point of the spinous process in the anteroposterior view and the lower end point of the spinous process in the anteroposterior view and the projection line of the first end point in the lateral view in the anteroposterior view is taken as the second end point in the anteroposterior view.

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