Spine three-dimensional real-time navigation monitoring method and system based on patch ultrasonic array

Abstract

The invention discloses a three-dimensional real-time spinal navigation monitoring method and system based on a patch ultrasonic array, belongs to the technical field of spinal surgical navigation, and aims to solve the problem of inaccurate vertebral displacement monitoring caused by relative displacement of skin and a vertebral body under the interference of complex physiological movement. Comprising the following steps: receiving real-time ultrasonic image data acquired by an ultrasonic imaging system through a patch type ultrasonic module which is transversely or longitudinally arranged along a spinous process of a patient; the patch type ultrasonic module is composed of a plurality of ultrasonic patches arranged in a preset layout mode, each ultrasonic patch is composed of M * N programmable control ultrasonic transducer units, and an optically recognizable marker is arranged on the surface of a probe which is not in contact with the skin; based on the real-time ultrasonic image data, a centrum displacement rotation matrix is obtained through real-time calculation through a feature point tracking algorithm; obtaining patch displacement data of the patch type ultrasonic module through optical measurement based on the marker; and complementarily combining the cone displacement rotation matrix with the patch displacement data to generate cone displacement data under the global coordinate system.

Description

Technical Field

[0001] This invention relates to the field of spinal surgery navigation technology, specifically a method and system for real-time three-dimensional navigation monitoring of the spine based on a patch ultrasound array. Background Technology

[0002] In spinal surgery, accurately acquiring real-time vertebral displacement data is a core requirement for ensuring surgical safety and efficacy. Traditional spinal surgery navigation and monitoring technologies often rely on single-modal displacement monitoring methods, such as vertebral displacement tracking technology based on ultrasound images. However, during actual surgery, physiological activities such as patient breathing, slight changes in body position, or muscle contractions can cause relative displacement between the skin and the vertebral body. When using single-mode ultrasound monitoring, this relative displacement between the skin and the vertebral body directly causes the ultrasound image data to fail to accurately reflect the true motion state of the vertebral body, resulting in deviations in the acquired vertebral displacement data. These deviations can lead to positioning errors in the surgical navigation system, increasing surgical risks such as nerve injury and internal fixation position deviations, severely hindering the improvement of precision in spinal surgery.

[0003] The above background information is provided only to aid in understanding the concept and technical solution of this invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above information was disclosed on the filing date of this patent application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0004] This application provides a method and system for three-dimensional real-time navigation monitoring of the spine based on a patch ultrasound array, which is used to solve the problem of inaccurate vertebral displacement monitoring caused by the relative displacement between the skin and the vertebral body under complex physiological motion interference.

[0005] To achieve the above objectives, the embodiments of this application disclose the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a method for three-dimensional real-time navigation monitoring of the spine based on a patch ultrasound array, comprising the following steps:

[0007] The system receives real-time ultrasound image data acquired by a patch-type ultrasound module arranged laterally or longitudinally along the patient's spinous process. The patch-type ultrasound module consists of multiple ultrasound patches arranged in a preset layout. Each ultrasound patch consists of M×N programmable ultrasound transducer units, and optically identifiable markers are provided on the non-skin-contact surface. Here, M is the number of array rows, and N is the number of array elements in one row.

[0008] The vertebral displacement rotation matrix is ​​calculated in real time based on real-time ultrasound image data using a feature point tracking algorithm.

[0009] Patch displacement data of patch-type ultrasonic modules obtained by optical measurement based on markers;

[0010] The cone displacement rotation matrix and patch displacement data are complementaryly combined to generate cone displacement data in a global coordinate system.

[0011] In this embodiment, the ultrasound imaging module is arranged along the spinous process on the patient's back. It acquires images of the vertebral region through several internal ultrasound transducer units, thus containing information reflecting the movement of the internal vertebral structures within the ultrasound image data. Optically identifiable markers are placed on the non-contact skin surface of the patch, and local skin movement is measured optically, reflecting skin displacement caused by physiological factors such as respiratory movements, changes in body position, or muscle contraction. A feature point tracking algorithm is used to process the ultrasound image data, calculating the displacement vector generated by vertebral movement. The patch displacement data obtained from optical measurements reflects the skin's shift due to physiological activity. The vertebral displacement rotation matrix obtained from the ultrasound images and the skin displacement information obtained from optical measurements are complementary and combined. The displacement data is corrected in a global coordinate system, achieving separation of vertebral movement and skin movement and eliminating errors caused by relative displacement. This fusion process ensures that the vertebral displacement data acquired by the navigation system fully excludes additional offsets generated during surgery, guaranteeing that the navigation positioning accuracy during surgery meets the requirements of safety and efficacy.

[0012] In some possible implementations of the first aspect, the patch-type ultrasound module is connected to the ultrasound imaging system via a multiplexed connection or a multi-channel connection. The multi-channel connection allows data from multiple ultrasound patch units to be transmitted to the imaging system simultaneously, achieving synchronous transmission of acquired data. This ensures that multiple data streams are acquired at the same time, guaranteeing data timing consistency and enabling subsequent displacement data to have high spatiotemporal matching accuracy.

[0013] In some possible implementations of the first aspect, the markers can also be identified by CT, and the generation of cone displacement data in the global coordinate system is also based on CT images taken before the operation; when the CT images are taken, the patch ultrasound module has been attached to the patient.

[0014] The specific steps for generating cone displacement data in the global coordinate system include:

[0015] Obtain CT images taken before surgery;

[0016] Coarse localization is performed based on patch displacement data from a patch-type ultrasound module and CT images.

[0017] Based on the coarse localization results, the vertebral body displacement rotation matrix and the patch displacement data are complementaryly combined to generate vertebral body displacement data in a global coordinate system. The vertebral body displacement rotation matrix is ​​obtained from the registration results of CT cross-sectional images and ultrasound series images. The detailed anatomical structures displayed in the pre-captured CT images provide a stable reference for displacement correction, effectively compensating for errors introduced by local soft tissue movements. This ensures that the vertebral body motion information obtained from the ultrasound images, after coarse localization and data complementation, accurately reflects the patient's spinal motion state. The global motion data generated through this data fusion method has higher consistency and accuracy, ensuring high-precision coordinate matching during surgical navigation, thereby reducing surgical risks.

[0018] In some possible implementations of the first aspect, the preset layout is a multi-row array layout, a T-shaped layout, or a cross-shaped layout.

[0019] In some possible implementations of the first aspect, the ultrasonic patch is a rigid, flexible, or foldable design.

[0020] In some possible implementations of the first aspect, the scanning strategy of the patch-type ultrasound module can be adjusted by dynamically adjusting the ultrasonic emission frequency and focusing depth of the ultrasonic patch.

[0021] Secondly, embodiments of this application provide a three-dimensional real-time navigation monitoring system for the spine based on a patch ultrasound array, comprising:

[0022] The first receiving module is used to receive real-time ultrasound image data acquired by the ultrasound imaging system through patch-type ultrasound modules arranged laterally or longitudinally along the patient's spinous process; wherein, the patch-type ultrasound module is composed of multiple ultrasound patches arranged in a preset layout, the ultrasound patches are composed of M×N programmable controllable ultrasound transducer units, and optically identifiable markers are provided on the non-skin contact surface.

[0023] The first calculation module is used to calculate the vertebral body displacement rotation matrix in real time based on the real-time ultrasound image data using a feature point tracking algorithm.

[0024] The second calculation module is used to calculate the patch displacement data of the patch-type ultrasonic module obtained by optical measurement based on the marker.

[0025] The first generation module is used to complementarily combine the cone displacement rotation matrix with the patch displacement data to generate cone displacement data in a global coordinate system.

[0026] In some possible implementations of the second aspect, the patch-type ultrasound module is connected to the ultrasound imaging system via a multiplexed connection or a multi-channel connection.

[0027] In some possible implementations of the second aspect, the markers can also be identified by CT, and the generation of cone displacement data in the global coordinate system is also based on CT images taken before the operation; when the CT images are taken, the patch ultrasound module has been attached to the patient.

[0028] The first generation module is further configured to: acquire CT images taken before surgery; perform coarse localization based on patch displacement data of the patch-type ultrasound module and CT images; and, based on the coarse localization results, combine the vertebral body displacement rotation matrix with the patch displacement data to generate vertebral body displacement data in a global coordinate system, wherein the vertebral body displacement rotation matrix is ​​obtained from the registration results of CT cross-sectional images and ultrasound series images.

[0029] In some possible implementations of the second aspect, the preset layout is a multi-row array layout, a T-shaped layout, or a cross-shaped layout.

[0030] In some possible implementations of the second aspect, the ultrasonic patch is a rigid, flexible, or foldable design.

[0031] In some possible implementations of the second aspect, the scanning strategy of the patch-type ultrasound module can be adjusted by dynamically adjusting the ultrasonic emission frequency and focusing depth of the ultrasonic patch.

[0032] Thirdly, embodiments of this application provide an electronic device, including one or more processors; a storage device having one or more programs stored thereon; when the one or more programs are executed by the one or more processors, the one or more processors perform the method as described in any of the technical solutions of the first aspect.

[0033] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method described in any of the technical solutions of the first aspect.

[0034] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in any of the technical solutions of the first aspect.

[0035] The technical effects of any of the design methods in aspects two through five can be found in the technical effects of different design methods in aspect one, and will not be repeated here. Attached Figure Description

[0036] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0037] Figure 1 A flowchart illustrating a three-dimensional real-time navigation monitoring method for the spine based on a patch ultrasound array, provided for some embodiments of this application;

[0038] Figure 2 This is a schematic diagram showing the assembly position relationship between the patch-type ultrasound module and the spine in some embodiments of this application;

[0039] Figure 3 This application describes the layout of ultrasonic patches in a patch-type ultrasonic module according to some embodiments.

[0040] Figure 4 This application describes the layout of ultrasonic patches in a patch-type ultrasonic module according to other embodiments.

[0041] Figure 5 This application provides a layout of ultrasonic patches in a patch-type ultrasonic module according to some embodiments.

[0042] Figure 6 A schematic diagram of the structure of a three-dimensional real-time navigation and monitoring system for the spine based on a patch ultrasound array, provided for some embodiments of this application;

[0043] Figure 7 This is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of this application. Detailed Implementation

[0044] Specific embodiments of the invention will now be described in detail. Although the invention is described in conjunction with these specific embodiments, it should be understood that it is not intended to limit the invention to these specific embodiments. Rather, these embodiments are intended to cover alternative, modified, or equivalent embodiments that may be included within the spirit and scope of the invention as defined by the claims. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. The invention may be practiced without some or all of these specific details.

[0045] When used in conjunction with the terms "comprising," "method comprising," or similar language in this specification and appended claims, the singular forms "a," "some," and "the" include plural references unless the context clearly indicates otherwise. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0046] In spinal surgery, accurately acquiring real-time vertebral displacement data is a core requirement for ensuring surgical safety and efficacy. Traditional spinal surgery navigation and monitoring technologies often rely on single-modality displacement monitoring methods, such as vertebral displacement tracking technology based on ultrasound images. However, during actual surgery, physiological activities such as patient breathing, slight changes in body position, or muscle contractions can cause relative displacement between the skin and the vertebral body. When using single-mode ultrasound monitoring, this relative displacement between the skin and the vertebral body directly causes the ultrasound image data to fail to accurately reflect the true motion state of the vertebral body, resulting in deviations in the acquired vertebral displacement data. These deviations can lead to positioning errors in the surgical navigation system, increasing surgical risks such as nerve damage and internal fixation position deviations, severely hindering the improvement of precision in spinal surgery. Furthermore, traditional ultrasound requires experienced sonographers to hold the probe throughout the surgical process, which has many drawbacks, including operational complexity, shortage of surgeons, and susceptibility to probe cross-section effects.

[0047] To address the aforementioned technical problems, the overall approach of the technical solution provided in this application is as follows: A method for real-time three-dimensional navigation monitoring of the spine based on a patch-type ultrasound array is provided, comprising the following steps: receiving real-time ultrasound image data acquired by an ultrasound imaging system through patch-type ultrasound modules arranged laterally or longitudinally along the patient's spinous process; wherein, the patch-type ultrasound module consists of multiple ultrasound patches arranged in a preset layout, each ultrasound patch consisting of M×N programmable ultrasound transducer units, and optically identifiable markers are provided on the non-skin-contact surface; calculating the vertebral body displacement rotation matrix in real time based on the real-time ultrasound image data using a feature point tracking algorithm; obtaining patch displacement data of the patch-type ultrasound module through optical measurement based on the markers; and complementaryly combining the vertebral body displacement rotation matrix and the patch displacement data to generate vertebral body displacement data in a global coordinate system.

[0048] This method involves arranging an ultrasound imaging module along the spinous process on the patient's back. Multiple internal ultrasound transducer units acquire images of the vertebral region, allowing the ultrasound image data to contain information reflecting the movement of the internal vertebral structures. Optically identifiable markers are placed on the non-contact skin surface of the patch, and local skin movement is measured optically, reflecting skin displacement caused by physiological factors such as respiratory movements, changes in body position, or muscle contraction. A feature point tracking algorithm is used to process the ultrasound image data, calculating the displacement vector generated by vertebral movement. The patch displacement data obtained from optical measurements reflects the skin's shift due to physiological activity. The vertebral displacement rotation matrix obtained from the ultrasound images and the skin displacement information obtained from optical measurements are complementary and combined. The displacement data is corrected in a global coordinate system, achieving separation of vertebral movement and skin movement and eliminating errors caused by relative displacement. This fusion process ensures that the vertebral displacement data acquired by the navigation system fully excludes additional offsets generated during surgery, guaranteeing that the navigation positioning accuracy during surgery meets the requirements of safety and efficacy.

[0049] After introducing the basic principles of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings. Please refer to... Figure 1 This application provides a method for three-dimensional real-time navigation monitoring of the spine based on a patch ultrasound array, including the following steps:

[0050] S101: Receives real-time ultrasound image data acquired by an ultrasound imaging system through patch-type ultrasound modules arranged laterally or longitudinally along the patient's spinous process; wherein, the patch-type ultrasound module consists of multiple ultrasound patches arranged in a preset layout, each ultrasound patch consists of M×N programmable ultrasound transducer units, and optically identifiable markers are provided on the non-skin-contact surface; wherein, M is the number of array rows, and N is the number of array elements in one row;

[0051] For example, a patch-type ultrasound module can be connected to an ultrasound imaging system via a multi-channel connection. This allows data from multiple ultrasound patch units to be transmitted to the imaging system simultaneously, achieving synchronous data transmission and ensuring that multiple data streams are acquired at the same point in time, guaranteeing data timing consistency and enabling subsequent displacement data complementarity with high spatiotemporal matching accuracy. Of course, this application is not limited to this. In other embodiments, the patch-type ultrasound module can also be connected to the ultrasound imaging system via a multiplexed connection.

[0052] See Figure 2 and Figure 3 The default layout is a multi-row array layout. However, this application is not limited to this. Please refer to... Figure 4-5In other embodiments, the preset layout can also be a T-shaped layout or a cross-shaped layout. The ultrasound patch can be rigid, flexible, or foldable. During the procedure, the scanning strategy of the patch-type ultrasound module can be adjusted by dynamically adjusting the ultrasound emission frequency and focusing depth of the ultrasound patch.

[0053] S102: The vertebral displacement rotation matrix is ​​calculated in real time based on real-time ultrasound image data using a feature point tracking algorithm; it should be noted that the displacement rotation matrix includes both displacement and rotation.

[0054] S103: Patch displacement data of patch-type ultrasonic modules obtained by optical measurement based on markers;

[0055] S104: The cone displacement rotation matrix and patch displacement data are complementary and combined to generate cone displacement data in the global coordinate system.

[0056] Specifically, in some embodiments, the vertebral displacement rotation matrix can be obtained through the following steps. With the patch displacement and rotation data The following steps are used to perform spatiotemporal complementary combination to generate cone displacement data in a global coordinate system:

[0057] Step 1, Coordinate System Alignment: Establish a local coordinate system for the patch based on the optical markers. And through calibration With global coordinate system The transformation relationship is defined as the homogeneous transformation matrix.

[0058] The second step is time synchronization correction: timestamp matching is performed on the ultrasound image data and optical measurement data. If the sampling frequencies are inconsistent, linear interpolation or Kalman filtering is used to achieve data synchronization.

[0059] The third step, data fusion algorithm: The cone displacement rotation matrix is ​​transformed to the global coordinate system to obtain the preliminary global displacement, and the final cone displacement rotation information is calculated using a weighted formula. .

[0060] The fourth step is error compensation: when the optical marker is blocked, switch to pure ultrasonic tracking mode and predict the current displacement based on historical fusion data.

[0061] In other embodiments, the markers can also be identified by CT, and the generation of cone displacement data in the global coordinate system is also based on CT images taken before the operation; when the CT images are taken, the patch ultrasound module has been attached to the patient.

[0062] The specific steps for generating cone displacement data in the global coordinate system include:

[0063] Obtain CT images taken before surgery;

[0064] Coarse localization is performed based on patch displacement data from a patch-type ultrasound module and CT images.

[0065] Based on the coarse positioning results, the cone displacement rotation matrix and patch displacement data are complementaryly combined to generate cone displacement data in the global coordinate system.

[0066] Specifically, the vertebral displacement rotation matrix is ​​obtained from the registration results of CT cross-sectional images and ultrasound series images. ;

[0067] in, express Rotation matrix, express Displacement vector;

[0068]

[0069] in, This indicates that the i-th cross-section of a volume is positioned by the probe configuration. Represents the i-th ultrasound image; Indicates a measure of similarity between two images; This indicates the volume of the 3D CT scan acquired before surgery.

[0070] The detailed anatomical structures displayed in the pre-captured CT images provide a stable reference for displacement correction, effectively compensating for errors introduced by local soft tissue movements. This allows the vertebral motion information obtained from the ultrasound images to accurately reflect the patient's spinal motion state after coarse localization and data complementation. The global motion data generated through the above data fusion method has higher consistency and accuracy, ensuring high-precision coordinate matching during surgical navigation, thereby reducing surgical risks.

[0071] Please see Figure 6 Based on the same inventive concept as the three-dimensional real-time navigation monitoring method for the spine based on a patch ultrasound array in the foregoing embodiments, this application provides a three-dimensional real-time navigation monitoring system for the spine based on a patch ultrasound array, comprising:

[0072] The first receiving module 201 is used to receive real-time ultrasound image data acquired by the ultrasound imaging system through a patch-type ultrasound module arranged laterally or longitudinally along the patient's spinous process; wherein, the patch-type ultrasound module is composed of multiple ultrasound patches arranged in a preset layout, the ultrasound patch is composed of M×N programmable controllable ultrasound transducer units, and optically identifiable markers are provided on the surface that does not contact the skin.

[0073] The first calculation module 202 is used to calculate the vertebral displacement rotation matrix in real time based on the real-time ultrasound image data using a feature point tracking algorithm.

[0074] The second calculation module 203 is used to calculate the patch displacement data of the patch-type ultrasonic module obtained by optical measurement based on the marker.

[0075] The first generation module 204 is used to complementarily combine the cone displacement rotation matrix with the patch displacement data to generate cone displacement data in a global coordinate system.

[0076] In some embodiments, the patch ultrasound module is connected to the ultrasound imaging system via a multiplexed connection or a multi-channel connection.

[0077] In some embodiments, the markers can also be identified by CT, and the generation of cone displacement data in the global coordinate system is also based on CT images taken before the operation; when the CT images are taken, the patch ultrasound module has been attached to the patient.

[0078] The first generation module 204 is further configured to: acquire CT images taken before surgery; perform coarse positioning based on patch displacement data of the patch-type ultrasound module and CT images; and, based on the coarse positioning results, combine the vertebral body displacement rotation matrix with the patch displacement data to generate vertebral body displacement data in a global coordinate system, wherein the vertebral body displacement rotation matrix is ​​obtained from the registration results of CT cross-sectional images and ultrasound series images.

[0079] In some embodiments, the preset layout is a multi-row array layout, a T-shaped layout, or a cross layout.

[0080] In some embodiments, the ultrasonic patch is a rigid, flexible, or foldable design.

[0081] In some embodiments, the scanning strategy of the patch-type ultrasound module can be adjusted by dynamically adjusting the ultrasonic emission frequency and focusing depth of the ultrasonic patch.

[0082] Understandably, the modules recorded in this spinal surgery navigation and monitoring system are similar to those in the reference system. Figure 1 The steps in the described spinal surgery navigation and monitoring method correspond to each other. Therefore, the operations, features, and beneficial effects described above also apply to the spinal surgery navigation and monitoring system and its modules, and will not be repeated here.

[0083] Please see Figure 7Based on the inventive concept of the three-dimensional real-time navigation monitoring method for the spine based on a patch ultrasound array in the foregoing embodiments, this application provides an electronic device. This electronic device may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), etc., and fixed terminals such as digital TVs, desktop computers, etc. The electronic device includes a processing unit 301 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in ROM 302 (read-only memory) or a program loaded from storage device 308 into RAM 303 (random access memory). RAM 303 also stores various programs and data required for the operation of the electronic device. The processing unit 301, ROM 302, and RAM 303 are interconnected via a bus 304. An input / output interface (i.e., I / O interface 305) is also connected to the bus 304.

[0084] Typically, the following devices can be connected to I / O interface 305: input devices 306 including, for example, touch screens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 307 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 308 including, for example, magnetic tapes, hard disks, etc.; and communication devices 309. Communication device 309 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data.

[0085] In particular, according to some embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 309, or installed from storage device 308, or installed from ROM 302. When the computer program is executed by processing device 301, it performs the functions defined in the methods of some embodiments of this application.

[0086] It should be noted that, in some embodiments of this application, the computer-readable medium described may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In some embodiments of this application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In some embodiments of this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0087] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol, such as HTTP (Hypertext Transfer Protocol), and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0088] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more programs, which, when executed by the electronic device, enable the electronic device to implement the method steps of any of the aforementioned technical solutions.

[0089] Computer program code for performing operations of some embodiments of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0090] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0091] The modules described in some embodiments of this application can be implemented in software or hardware. The described modules can also be located in a processor. It is understood that the names of these modules do not, in some cases, constitute a limitation on the module itself.

[0092] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0093] Some embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements any of the above-described methods for three-dimensional real-time navigation monitoring of the spine based on a patch ultrasound array.

[0094] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A method for three-dimensional real-time navigation monitoring of the spine based on a patch ultrasound array, characterized in that, Includes the following steps: The system receives real-time ultrasound image data acquired by an ultrasound imaging system through patch-type ultrasound modules arranged laterally or longitudinally along the patient's spinous process; wherein, the patch-type ultrasound module consists of multiple ultrasound patches arranged in a preset layout, each ultrasound patch consists of M×N programmable ultrasound transducer units, and optically identifiable markers are provided on the non-skin-contact surface; wherein, M is the number of array rows, and N is the number of array elements in one row. The vertebral displacement rotation matrix is ​​calculated in real time based on the real-time ultrasound image data using a feature point tracking algorithm. The patch displacement data of the patch-type ultrasonic module is obtained by optical measurement based on the marker; The cone displacement rotation matrix and the patch displacement data are complementaryly combined to generate cone displacement data in a global coordinate system.

2. The method according to claim 1, characterized in that, The patch-type ultrasound module is connected to the ultrasound imaging system via a multiplexed connection or a multi-channel connection.

3. The method according to claim 2, characterized in that, The markers can also be identified by CT, and the generation of cone displacement data in the global coordinate system is also based on the CT images taken before the operation; when taking CT images, the patch-type ultrasound module has been attached to the patient. The specific steps for generating cone displacement data in the global coordinate system include: Obtain CT images taken before surgery; Coarse localization is performed based on the patch displacement data of the patch-type ultrasound module and CT images; Based on the coarse positioning results, the vertebral body displacement rotation matrix and the patch displacement data are complementaryly combined to generate vertebral body displacement data in a global coordinate system. The vertebral body displacement rotation matrix is ​​obtained from the registration results of CT cross-sectional images and ultrasound series images.

4. The spinal surgery navigation and monitoring method according to claim 3, characterized in that, The preset layout can be a multi-row array layout, a T-shaped layout, or a cross layout.

5. The method according to claim 4, characterized in that, The ultrasonic patch can be rigid, flexible, or foldable.

6. The method according to any one of claims 1-5, characterized in that, The scanning strategy of the patch-type ultrasound module can be adjusted by dynamically adjusting the ultrasound emission frequency and focusing depth of the ultrasound patch.

7. A three-dimensional real-time navigation and monitoring system for the spine based on a patch-type ultrasound array, characterized in that, include: The first receiving module is used to receive real-time ultrasound image data acquired by the ultrasound imaging system through patch-type ultrasound modules arranged laterally or longitudinally along the patient's spinous process; wherein, the patch-type ultrasound module is composed of multiple ultrasound patches arranged in a preset layout, the ultrasound patches are composed of M×N programmable controllable ultrasound transducer units, and optically identifiable markers are provided on the non-skin contact surface. The first calculation module is used to calculate the vertebral body displacement rotation matrix in real time based on the real-time ultrasound image data using a feature point tracking algorithm. The second calculation module is used to calculate the patch displacement data of the patch-type ultrasonic module obtained by optical measurement based on the marker. The first generation module is used to complementarily combine the cone displacement rotation matrix with the patch displacement data to generate cone displacement data in a global coordinate system.

8. An electronic device, characterized in that, include: One or more processors; A storage device on which one or more programs are stored; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processing device, implements the method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processing device, it implements the method of any one of claims 1 to 6.

Images