Method and system for proposing spinal rods for orthopedic surgery using augmented reality

Abstract

This invention relates to methods, systems, and apparatus for proposing different types and shapes of stabilization rods for spinal fusion and other types of orthopedic surgery. [Solution] A method comprising: each screw extender holding a pedicle screw, a plurality of screw extenders being arranged in a surgical incision in an orthopedic surgery; displaying an image from among the captured images to provide a live video feed; detecting a plurality of screw extenders based on a sequence of captured images; calculating the orientation and position of the detected plurality of screw extenders; calculating the 3D position of the screw head of each pedicle screw based on the orientation and position; and projecting each calculated 3D position of the plurality of screw heads onto a position corresponding to the position of the screw head projected onto the currently displayed image of the live video feed using graphic elements on a display device.

Claims

1. A data processing device configured to support orthopedic surgery on the spine, wherein the data processing device comprises a display device, a data processor, and an imaging device, and the data processor is The system is instructed to scan the fixed rod using the imaging device and acquire scanning data of the fixed rod, where the spinal correction rod is bent for spinal correction. A first calculation is performed to calculate the curvature data of the fixed rod based on the scanning data. The position data of the attachment point of the fixing rod to the spinal column is received, where the position of the attachment point is determined based on the position data of the screw heads of pedicle screws attached to at least two vertebrae of the spinal column. A second calculation is performed to calculate the data for the corrected position of the mounting point, where the corrected position of the mounting point is based on the correction applied to the position of the mounting point when the fixing rod is attached to the mounting point of the corrected spine, by taking into account the curvature data of the fixing rod obtained in the first calculation. A third calculation is performed to calculate the spinal parameters of the corrected spine based on the data of the corrected position of the attachment point of the corrected spine. The command is given to display the spinal parameters of the corrected spine on the display device. A data processing device configured as follows.

2. The data processing apparatus according to claim 1, wherein the data processor is configured to perform a fourth calculation, which calculates posture data information of the vertebrae of the corrected spine based on the data of the corrected position of the attachment point of the corrected spine.

3. The data processing apparatus according to claim 2, wherein the data processor is configured to instruct the display device to display graphic basic elements representing the vertebrae using a graphical user interface, and the graphic basic elements are displayed at positions corresponding to the positions of the vertebrae.

4. A non-temporary computer-readable medium on which computer instruction code is recorded, wherein the computer instruction code is configured to perform a method for computer-assisted orthopedic surgery on the spine when the computer instruction code is executed on a data processing device operably connected to a display device and an imaging device, and the method is A step of scanning a fixed rod using an imaging device to acquire scanning data of the fixed rod, wherein the spinal correction rod is bent for spinal correction. A first calculation step of calculating the curvature data of the fixed rod based on the scanning data, A step of receiving data on the position of the attachment point of the fixing rod to the spine, wherein the position of the attachment point is determined based on position data of the screw heads of pedicle screws attached to at least two vertebrae of the spine; A second calculation step for calculating data of the corrected position of the mounting point, wherein the corrected position of the mounting point is based on a correction applied to the position of the mounting point when the fixing rod is attached to the mounting point of the straightened spine, by taking into account the curvature data of the fixing rod obtained in the first calculation step, A third calculation step of calculating the spinal parameters of the corrected spine based on the data of the corrected position of the attachment point of the corrected spine, The steps include displaying the spinal parameters of the corrected spine on a display device. Non-temporary computer-readable media, including [specific examples of such media].

5. The non-temporary computer-readable medium according to claim 4, further comprising a fourth calculating step of calculating posture data information of the vertebrae of the corrected spine based on the data of the corrected positions of the attachment points of the corrected spine.

6. The non-temporary computer-readable medium according to claim 5, wherein the method further includes the step of displaying a basic graphic element representing the vertebra using a graphical user interface on the display device, wherein the basic graphic element is displayed at a position corresponding to the position of the vertebra.

7. A method for assisting orthopedic surgery, which involves determining spinal correction based on a fixation rod, using a data processing device, A step of scanning a fixed rod using an imaging device to acquire scanning data of the fixed rod, wherein the spinal correction rod is bent for spinal correction. A first calculation step of calculating the curvature data of the fixed rod based on the scanning data, A step of receiving data on the position of the attachment point of the fixing rod to the spine, wherein the position of the attachment point is determined based on position data of the screw heads of pedicle screws attached to at least two vertebrae of the spine; A second calculation step for calculating data of the corrected position of the mounting point, wherein the corrected position of the mounting point is based on a correction applied to the position of the mounting point when the fixing rod is attached to the mounting point of the straightened spine, by taking into account the curvature data of the fixing rod obtained in the first calculation step, A third calculation step of calculating the spinal parameters of the corrected spine based on the data of the corrected position of the attachment point of the corrected spine, The steps include displaying the spinal parameters of the corrected spine on a display device. Methods to assist in orthopedic surgery, including determining spinal correction.

8. A fourth calculation step: Based on the data of the corrected position of the attachment point of the corrected spine, calculate the posture data information of the vertebrae of the corrected spine. This further includes, or A fourth calculation step of calculating posture data information of the vertebrae of the corrected spine based on the data of the corrected position of the attachment point of the corrected spine, A step of displaying a basic graphic element representing the vertebra using a graphical user interface on the display device, wherein the basic graphic element is displayed at a position corresponding to the position of the vertebra. A method for assisting an orthopedic surgery to determine the spinal correction according to claim 7, further comprising:

9. A data processing device configured to support orthopedic surgery on the spine, wherein the data processing device comprises a display device, a data processor, and an imaging device, and the data processor is The imaging device is commanded to capture a sequence of images such that its field of view captures images of multiple pedicle markers, each positioned on a plurality of guidewires, or at least one of the plurality of guidewires, wherein the plurality of pedicle markers or the plurality of guidewires are arranged in the surgical incision of a living person undergoing orthopedic surgery. The system is instructed to provide a live video feed to the display device by either instructing it to display at least some of the images captured, or by instructing it to provide direct viewing using a transparent display device. Based on the sequence of captured images, the data processing device is used to detect the plurality of pedicle markers or the plurality of guide wires. A first calculation is performed to determine the orientation and position of the detected multiple pedicle markers or the detected multiple guide wires. A second calculation is performed to calculate the posture data information of at least two vertebrae based on the orientation and position of at least one of the detected pedicle markers or guide wires attached to the vertebrae as determined by the first calculation. A data processing device configured as follows.

10. The aforementioned data processor A third calculation is performed to calculate parameters characterizing the spine from the posture data information obtained by the second calculation, The command is given to display the parameters that characterize the spine on the display device. The data processing apparatus according to claim 9, configured as described above.

11. The aforementioned data processor Based on the orientation and position determined by the first calculation, a fourth calculation is performed to calculate the virtual three-dimensional (3D) position of the screw head of each pedicle screw. On the display device, using a graphical user interface, a command is given to project and display the calculated virtual 3D positions of the multiple screw heads using graphic elements at positions corresponding to the positions of the screw heads projected onto the currently provided image of the live video feed. A data processing apparatus according to claim 9 or 10, configured as described above.

12. A non-temporary computer-readable medium on which computer instruction code is recorded, wherein the computer instruction code is configured to perform a method for computer-assisted orthopedic surgery on the spine when the computer instruction code is executed on a data processing device operably connected to a display device and an imaging device, and the method is A step of using the imaging device to acquire a sequence of images such that the field of view of the imaging device captures images of a plurality of pedicle markers, each positioned on a plurality of guide wires, or at least one of the plurality of guide wires, wherein the plurality of pedicle markers or the plurality of guide wires are arranged at the surgical incision site of a living person undergoing orthopedic surgery. The steps include providing a live video feed to the display device by either displaying at least some of the captured images or by direct viewing using a transparent display device, The steps include detecting the plurality of pedicle markers or the plurality of guide wires using the data processing device based on the sequence of captured images, A first calculation step of calculating the orientation and position of the detected multiple pedicle markers or the detected multiple guide wires, A second calculation step calculates posture data information of at least two vertebrae based on the orientation and position of at least one of the detected multiple pedicle markers or multiple guide wires attached to the vertebrae in the first calculation step. Non-temporary computer-readable media, including [specific examples of such media].

13. The method described above is A third calculation step involves calculating parameters that characterize the spine from the posture data information obtained in the second calculation step, The steps of displaying the parameters that characterize the spine on the display device and A non-temporary computer-readable medium according to claim 12, further comprising:

14. The method described above is A fourth calculation step, based on the orientation and position of the first calculation step, calculates the virtual three-dimensional (3D) position of the screw head of each pedicle screw, The steps include: using a graphical user interface on the display device to project and display the calculated virtual 3D positions of the plurality of screw heads using graphic elements at positions corresponding to the positions of the screw heads projected onto the currently provided image of the live video feed; A non-temporary computer-readable medium according to claim 12 or 13, further comprising:

15. A method for assisting orthopedic surgery on the spine, performed using a data processing device including a display device and an imaging device, A step of using the imaging device to acquire a sequence of images such that the field of view of the imaging device captures images of a plurality of pedicle markers, each positioned on a plurality of guide wires, or at least one of the plurality of guide wires, wherein the plurality of pedicle markers or the plurality of guide wires are arranged at the surgical incision site of a living person undergoing orthopedic surgery. The steps include providing a live video feed to the display device by either displaying at least some of the captured images or by direct viewing using a transparent display device, The steps include detecting the plurality of pedicle markers or the plurality of guide wires using the data processing device based on the sequence of captured images, A first calculation step of calculating the orientation and position of the detected multiple pedicle markers or the detected multiple guide wires, A second calculation step calculates posture data information of at least two vertebrae based on the orientation and position of at least one of the detected multiple pedicle markers or multiple guide wires attached to the vertebrae in the first calculation step. Methods to support orthopedic surgery on the spine, including those mentioned above.

16. A third calculation step involves calculating parameters that characterize the spine from the posture data information obtained in the second calculation step, The steps include displaying the parameters that characterize the spine on the display device, A fourth calculation step, based on the orientation and position of the first calculation step, calculates the virtual three-dimensional (3D) position of the screw head of each pedicle screw, The steps include: using a graphical user interface on the display device to project and display the calculated virtual 3D positions of the plurality of screw heads using graphic elements at positions corresponding to the positions of the screw heads projected onto the currently provided image of the live video feed; The method according to claim 15, further comprising:

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