Spine registration guide plate, manufacturing method, and model construction method and apparatus

Abstract

Disclosed are a spine registration guide plate, a manufacturing method, and a model construction method and apparatus. The present invention relates to the technical field of computer-aided modeling of surgical instruments. The model construction method comprises: importing a three-dimensional spine model and an original spine surface matching model; adjusting a pose of the original spine surface matching model, enabling the original spine surface matching model to be in a relative pose relationship matched with a surface contour of the three-dimensional spine model, and recording a final pose of the original spine surface matching model at the moment; performing Boolean operation on the three-dimensional spine model and the original spine surface matching model to obtain a final spine surface matching model; importing a visual navigation combination model, and adjusting the visual navigation combination model to the final pose; combining the visual navigation combination model with the final spine surface matching model to generate a spine registration guide plate model. The present invention addresses the high-quality requirements of traditional Boolean operations for three-dimensional models, reduces Boolean operation error rates, and reduces the computational load for generating the guide plate model.

Description

Spine registration guide, manufacturing method, model construction method and device Technical Field

[0001] The present invention relates to the technical field of computer-aided modeling of surgical instruments, and in particular to a spinal alignment guide plate, a manufacturing method, a model building method and a device. Background Art

[0002] Spinal surgery is a common treatment for spinal disorders. Traditional spinal surgery relies on the surgeon's clinical experience and understanding of the surgical status, placing high demands on the surgeon. With the rapid development of medical robotics, spinal surgery robots can plan the surgical path based on preoperative medical imaging and perform the surgical procedure according to the preoperatively planned path during surgery, thereby ensuring surgical safety and effectiveness. The preoperatively planned surgical path requires spatial registration to convert the preoperative medical imaging coordinate system into the actual spatial coordinate system.

[0003] With the emergence of 3D spinal registration guides, a new option has been provided for the rapid and economical realization of spatial registration. By performing Boolean operations on the preoperative spinal three-dimensional model and the 3D registration guide, the surface features of the spine can be mapped to the corresponding guide. In the traditional preoperative registration guide design stage, the Boolean operation method is implemented by calculating the intersection relationship of the triangular facets of the two three-dimensional models. However, since the three-dimensional spinal model involved in the Boolean operation may have defects such as cavities and burrs, the traditional Boolean operation method may cause calculation errors. In addition, the traditional Boolean operation method performs a comprehensive operation on the three-dimensional spinal model and the complete registration guide, which is computationally intensive. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present invention provides a spinal alignment guide, a manufacturing method, a model construction method and an apparatus. By dividing the spinal alignment guide into two parts, a spinal surface ligament and a visual navigation assembly, only the spinal surface ligament model is introduced during the Boolean operation, and the visual navigation assembly model does not participate in the operation, thereby reducing the amount of computation required for guide generation; in addition, by converting the three-dimensional Boolean operation of the spinal three-dimensional model and the original spinal surface ligament model into a two-dimensional Boolean operation between two plane images, the amount of computation is also reduced; in addition, by dividing the model into a large number of minimum volume units, when performing Boolean operations, only the relationship between the minimum volume units of the cutting plane of the spinal three-dimensional model and the spinal surface ligament model needs to be considered, without being affected by defects such as model voids and burrs, thereby greatly reducing the requirements for the three-dimensional model participating in the Boolean operation.

[0005] One aspect of the present invention provides a method for constructing a model of a spinal registration guide, comprising:

[0006] Importing the three-dimensional spine model and the original spine surface coordination model, and recording the initial position of the original spine surface coordination model at this time;

[0007] Adjusting the posture of the original spinal column surface matching model so that it is in a relative posture relationship with the spinal column three-dimensional model in which the surface contours thereof match, and recording the final posture of the original spinal column surface matching model at this time;

[0008] Performing Boolean operations on the spine three-dimensional model and the original spine surface coordination model in the final posture to obtain a final spine surface coordination model that matches the contour of the spine three-dimensional model;

[0009] Importing a visual navigation assembly model, positioning the visual navigation assembly model at the initial position, and adjusting the visual navigation assembly model to the final position according to a transformation relationship between the initial position and the final position;

[0010] The visual navigation assembly model in the final posture and the final spinal surface matching model are combined to generate a complete spinal registration guide model.

[0011] Furthermore, the step of performing Boolean operation on the three-dimensional spine model and the original spine surface matching model includes:

[0012] Divide the three-dimensional spine model and the original spine surface coordination model into minimum volume units;

[0013] Obtain the minimum bounding boxes of the spine 3D model and the original spine surface coordination model respectively, and calculate the union bounding box of the two minimum bounding boxes;

[0014] Cutting the three-dimensional spine model and the original spine surface coordination body model within the union bounding box using multiple parallel planes at the same interval to obtain multiple cutting planes corresponding to each model, each cutting plane having an external contour line, the external contour line being composed of a sequence of contour points, each contour point being a projection of a minimum volume unit of the model corresponding to the cutting plane on the external contour line;

[0015] Projecting the contour point sequence on each cutting plane of the spine three-dimensional model and the original spine surface coordination model onto the corresponding plane image, obtaining the image pixel points on the plane image corresponding to the contour point sequence on each cutting plane, and using all the pixel points in the area surrounded by the image pixel points on the plane image as the operation pixel points of the Boolean operation of the cutting plane;

[0016] Boolean operations are performed on the corresponding pixel points of the cutting plane of the three-dimensional spine model and the cutting plane of the original spine surface coordination model located on the same plane, and the pixel image after the Boolean operation is restored to the cutting plane after the Boolean operation. All the cutting planes after the Boolean operation are stacked to reconstruct the model after the Boolean operation.

[0017] Furthermore, the pixel values ​​of all pixels in the area surrounded by the image pixels on the plane image corresponding to the contour point sequence on each cutting plane are filled with 1, and the pixel values ​​of the remaining pixels on the plane image are filled with 0.

[0018] Furthermore, the Boolean operation is a Boolean subtraction operation.

[0019] Another aspect of the present invention provides a model building device for a spinal registration guide, comprising:

[0020] The first import module is configured to import the three-dimensional spine model and the original spine surface coordination model, and record the initial position of the original spine surface coordination model at this time;

[0021] a posture adjustment module configured to adjust the posture of the original spinal surface matching model so that it is in a relative posture relationship with the spinal three-dimensional model in which the surface contours thereof are matched, and record the final posture of the original spinal surface matching model at this time;

[0022] a calculation module configured to perform Boolean operations on the three-dimensional spine model and the original spine surface coordination model in the final posture to obtain a final spine surface coordination model that matches the contour of the three-dimensional spine model;

[0023] A second importing module is configured to import the visual navigation assembly model, place the visual navigation assembly model in the initial posture, and adjust the visual navigation assembly model to the final posture according to a transformation relationship between the initial posture and the final posture;

[0024] The model combination module is configured to combine the visual navigation assembly model in the final posture and the final spine surface matching model to generate a complete spine registration guide model.

[0025] Furthermore, the calculation module is further configured to:

[0026] Divide the three-dimensional spine model and the original spine surface coordination model into minimum volume units;

[0027] Obtain the minimum bounding boxes of the spine 3D model and the original spine surface coordination model respectively, and calculate the union bounding box of the two minimum bounding boxes;

[0028] Cutting the three-dimensional spine model and the original spine surface coordination body model within the union bounding box using multiple parallel planes at the same interval to obtain multiple cutting planes corresponding to each model, each cutting plane having an external contour line, the external contour line being composed of a sequence of contour points, each contour point being a projection of a minimum volume unit of the model corresponding to the cutting plane on the external contour line;

[0029] Projecting the contour point sequence on each cutting plane of the spine three-dimensional model and the original spine surface coordination model onto the corresponding plane image, obtaining the image pixel points on the plane image corresponding to the contour point sequence on each cutting plane, and using all the pixel points in the area surrounded by the image pixel points on the plane image as the operation pixel points of the Boolean operation of the cutting plane;

[0030] Boolean operations are performed on the corresponding pixel points of the cutting plane of the three-dimensional spine model and the cutting plane of the original spine surface coordination model located on the same plane, and the pixel image after the Boolean operation is restored to the cutting plane after the Boolean operation. All the cutting planes after the Boolean operation are stacked to reconstruct the model after the Boolean operation.

[0031] Furthermore, the calculation module is further configured to fill the pixel values ​​of all pixels in the area surrounded by image pixels on the plane image corresponding to the contour point sequence on each cutting plane with 1, and fill the pixel values ​​of the remaining pixels on the plane image with 0.

[0032] Furthermore, the Boolean operation is a Boolean subtraction operation.

[0033] Another aspect of the present invention provides a method for manufacturing a spinal registration guide, comprising:

[0034] A method for constructing a model of the spinal registration guide;

[0035] According to the complete spinal registration guide model, a spinal registration guide is printed and generated by a 3D printing device.

[0036] Another aspect of the present invention provides a spine registration guide plate, which is manufactured by the above-mentioned spine registration guide plate manufacturing method.

[0037] The spinal registration guide, manufacturing method, model construction method and device provided by the present invention solve the problem that traditional Boolean operation methods have high requirements for three-dimensional model quality, reduce the error rate of Boolean operations, and reduce the amount of calculation required for guide model generation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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:

[0039] FIG1 is a flow chart of a method for constructing a model of a spinal registration guide provided by one embodiment of the present application;

[0040] FIG2 is a pixel diagram of a planar image projected by a model cutting plane provided by one embodiment of the present application;

[0041] FIG3 is a schematic diagram of a Boolean subtraction operation performed on planar image pixels according to an embodiment of the present application;

[0042] FIG4 is a schematic diagram of a Boolean addition operation performed on planar image pixels according to an embodiment of the present application;

[0043] FIG5 is a schematic structural diagram of a model building device for a spinal registration guide provided in one embodiment of the present application. DETAILED DESCRIPTION

[0044] 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.

[0045] 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", "an", "the" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] The spinal registration guide usually consists of two parts: a spinal surface mate and a visual navigation assembly. The spinal registration guide is usually also provided with labels for distinguishing different spinal segments of different patients. The labels are generally set freely by the doctor. The visual navigation assembly is used to cooperate with the visual navigation system to realize the recognition of the spinal registration guide posture. In the design stage of the traditional spinal registration guide, the spinal registration guide as a whole participates in the Boolean operation together with the three-dimensional model of the spine, and the amount of calculation is large. In addition, the three-dimensional spinal model participating in the Boolean operation may have defects such as voids and burrs, which may cause the traditional Boolean operation method to have calculation errors.

[0050] In order to overcome the above technical problems, the present invention provides a model construction method for a spinal alignment guide. During the model construction process, this method only introduces the three-dimensional spinal model and the spinal surface coordination model into Boolean operations, and the visual navigation assembly model does not participate in the Boolean operations. This can greatly save the algorithm's computational complexity. After completing the Boolean operations, the spinal surface coordination model with a characteristic surface matching the spinal surface is combined with the visual navigation assembly model to generate a complete three-dimensional spinal alignment guide model.

[0051] 1 , the model construction method of the spine registration guide of the present invention includes the following steps:

[0052] Step S101: importing the three-dimensional spine model and the original spine surface coordination model, and recording the initial position of the original spine surface coordination model.

[0053] Specifically, first import the three-dimensional model of the spine and the original spine surface coordination model into the model construction system. The imported original spine surface coordination model has an initial posture in the system. The initial posture can be expressed by three-dimensional coordinates in the system model space, and the coordinate value of the initial posture is recorded for subsequent calculations.

[0054] Step S102, adjusting the posture of the original spinal surface matching model so that it is in a relative posture relationship with the spinal three-dimensional model with surface contour matching, and recording the final posture of the original spinal surface matching model at this time.

[0055] Specifically, the original spinal surface fitting body model does not match and fit the contour of the spinal three-dimensional model in the initial position, so it is necessary to adjust the posture of the original spinal surface fitting body model so that it is in a suitable relative posture relationship with the spinal three-dimensional model. This suitable relative posture relationship is usually that the spinal surface fitting body model can completely fit the surface contour of the spinal three-dimensional model, which requires the spinal surface fitting body model to have a characteristic curved surface that matches the surface contour of the spinal three-dimensional model. When the spinal three-dimensional model and the spinal surface fitting body model match and fit, the spinal surface fitting body model is in the final posture in the model construction system.

[0056] Step S103: performing a Boolean operation on the spine three-dimensional model and the original spine surface matching body model in the final posture to obtain a final spine surface matching body model that matches the contour of the spine three-dimensional model.

[0057] Specifically, the most critical step in the entire guide plate design and construction process is the Boolean operation. Traditional Boolean operations have high requirements for the quality of the 3D model, and no holes or burrs can appear, otherwise the results of the Boolean operation will be affected. To reduce the quality requirements of the 3D model, the present invention has designed a novel Boolean operation method. The specific steps are as follows:

[0058] Step S201, dividing the three-dimensional spine model and the original spine surface coordination model into minimum volume units;

[0059] Specifically, the three-dimensional spine model and the original spine surface coordination model are grid-divided, and each model is composed of a large number of minimum volume units, which serve as the smallest indivisible unit in the three-dimensional space of the system.

[0060] Step S202, obtaining the minimum bounding boxes of the spine three-dimensional model and the original spine surface matching model respectively, and calculating the union bounding box of the two minimum bounding boxes;

[0061] Specifically, a bounding box algorithm is used to calculate the minimum bounding box of the spine three-dimensional model and the original spine surface coordination model. In layman's terms, the minimum bounding box is a rectangular parallelepiped or cube with the smallest volume that encloses the model. Since the spine three-dimensional model and the original spine surface coordination model have overlapping parts after matching and fitting, the two minimum bounding boxes corresponding to the spine three-dimensional model and the original spine surface coordination model also have overlapping parts in three-dimensional space. Therefore, the union of the two minimum bounding boxes is calculated to obtain a union bounding box with overlapping space.

[0062] Step S203: using a plurality of parallel planes at equal intervals to cut the three-dimensional spine model and the original spine surface coordination body model within the bounding box of the union to obtain a plurality of cutting planes corresponding to each model, each cutting plane having an outer contour line, the outer contour line being composed of a sequence of contour points, each contour point being a projection of a minimum volume unit of the model corresponding to the cutting plane onto the outer contour line;

[0063] Specifically, in order to facilitate Boolean operations, the method of the present invention performs a plane cutting operation on the model. Use multiple parallel planes with the same interval to cut the three-dimensional spine model and the original spine surface fusion body model within the union bounding box. Usually, the multiple parallel planes are parallel to one side or bottom surface of the two minimum bounding boxes or the union bounding box. Each parallel plane will form a cutting plane on the three-dimensional spine model and the original spine surface fusion body model respectively. In this way, two groups of cutting planes corresponding to the three-dimensional spine model and the original spine surface fusion body model are formed, and each group has multiple cutting planes. Since the model is divided into a large number of minimum volume units, the minimum volume units of the model will leave corresponding contour points on the outer contour line of the cutting plane (that is, the intersection line of the cutting plane and the model). These contour points are also called the projection points of the minimum volume units of the model on the outer contour line of the cutting plane. The multiple minimum volume units of the model have a sequence of projected contour points on the outer contour line of the cutting plane.

[0064] Step S204, projecting the contour point sequence on each cutting plane of the spine three-dimensional model and the original spine surface matching model onto the corresponding plane image, obtaining the image pixel points on the plane image corresponding to the contour point sequence on each cutting plane, and using all the pixel points in the area surrounded by the image pixel points on the plane image as the operation pixel points of the Boolean operation of the cutting plane;

[0065] Specifically, the contour points on each cutting plane obtained in step S203 are projected onto the planar image. Referring to Figure 2 , the pixel values ​​of the image pixel points and all pixels within the area enclosed by the image pixel points on the planar image are filled with 1, while the pixel values ​​of the remaining pixels are filled with 0. The areas with pixel values ​​of 1 serve as the operational pixels for the Boolean operation. This converts each cutting plane and contour point into a planar image with a corresponding pixel value distribution.

[0066] Step S205, perform Boolean operation on the corresponding operation pixel points of the cutting plane of the spine three-dimensional model and the cutting plane of the original spine surface coordination model located on the same plane, restore the pixel image after the Boolean operation to the cutting plane after the Boolean operation, stack all the cutting planes after the Boolean operation, and reconstruct the model after the Boolean operation.

[0067] Specifically, since the cutting planes with corresponding serial numbers on the three-dimensional spine model and the original spine surface mate model are located in the same parallel plane, a Boolean operation should be performed on the cutting planes with matching serial numbers. To achieve this purpose, this step performs a Boolean operation on the operational pixel points on the plane image corresponding to the cutting planes of the three-dimensional spine model and the original spine surface mate model located on the same parallel plane (i.e., a Boolean operation is performed on the two plane images with matching serial numbers). Figures 3 and 4 show the pixel value change process and the change result of the Boolean subtraction operation and the Boolean addition operation. It should be pointed out that the matching and fitting process of the three-dimensional spine model and the original spine surface mate model in this embodiment is actually to subtract the overlapping part of the two from the original spine surface mate model. Therefore, the Boolean operation in this embodiment is only a Boolean subtraction operation. Subsequently, the plane image after the Boolean operation is restored to the cutting plane after the Boolean operation, the cutting plane after the Boolean operation is stacked, and the model after the Boolean operation is reconstructed to obtain the final spine surface mate model.

[0068] Step S104: importing the visual navigation assembly model, placing the visual navigation assembly model in the initial position, and adjusting the visual navigation assembly model to the final position according to the transformation relationship between the initial position and the final position.

[0069] Specifically, a visual navigation assembly model is imported into the model construction system. In order to keep the original posture relationship between the visual navigation assembly model and the final spinal surface coordination model, the visual navigation assembly model is located at the initial posture of the original spinal surface coordination model. According to the transformation relationship between the initial posture and the final posture, for example: there is a transformation matrix T between the two postures, the visual navigation assembly model is adjusted to the final posture. At this time, the visual navigation assembly model and the final spinal surface coordination model maintain the original posture relationship.

[0070] Step S105 : Combining the visual navigation assembly model in the final position with the final spine surface matching model to generate a complete spine registration guide model.

[0071] The method of this embodiment divides the spinal alignment guide into two parts: a spinal surface coordination body and a visual navigation assembly body. During the Boolean operation, only the spinal surface coordination body model is introduced, and the visual navigation assembly body model does not participate in the operation, thereby reducing the amount of computation required for guide generation. In addition, the three-dimensional Boolean operation of the spinal three-dimensional model and the original spinal surface coordination body model is converted into a two-dimensional Boolean operation between two plane images, which also reduces the amount of computation required. In addition, by dividing the model into a large number of minimum volume units, when performing Boolean operations, only the relationship between the minimum volume units of the cutting plane of the spinal three-dimensional model and the spinal surface coordination body model needs to be considered, without being affected by defects such as model voids and burrs, thereby greatly reducing the requirements for the three-dimensional model involved in the Boolean operation.

[0072] Referring to Figure 5, another embodiment of the present invention also provides a model construction device 200 for a spinal alignment guide, including a first import module 201, a posture adjustment module 202, a calculation module 203, a second import module 204, and a model combination module 205. The model construction device 200 can execute the model construction method in the above method embodiment.

[0073] Specifically, the model building device 200 includes:

[0074] The first import module 201 is configured to import the three-dimensional spine model and the original spine surface coordination model, and record the initial position of the original spine surface coordination model at this time;

[0075] The posture adjustment module 202 is configured to adjust the posture of the original spinal surface matching model so that it is in a relative posture relationship with the spinal three-dimensional model in which the surface contours thereof are matched, and record the final posture of the original spinal surface matching model at this time;

[0076] The calculation module 203 is configured to perform a Boolean operation on the three-dimensional spine model and the original spine surface coordination model in the final posture to obtain a final spine surface coordination model that matches the contour of the three-dimensional spine model;

[0077] The second importing module 204 is configured to import the visual navigation assembly model, place the visual navigation assembly model in the initial position, and adjust the visual navigation assembly model to the final position according to the transformation relationship between the initial position and the final position;

[0078] The model combination module 205 is configured to combine the visual navigation assembly model in the final posture and the final spine surface matching model to generate a complete spine registration guide model.

[0079] The calculation module 203 is further configured to:

[0080] Divide the three-dimensional spine model and the original spine surface coordination model into minimum volume units;

[0081] Obtain the minimum bounding boxes of the spine 3D model and the original spine surface coordination model respectively, and calculate the union bounding box of the two minimum bounding boxes;

[0082] Cutting the three-dimensional spine model and the original spine surface coordination body model within the union bounding box using multiple parallel planes at the same interval to obtain multiple cutting planes corresponding to each model, each cutting plane having an external contour line, the external contour line being composed of a sequence of contour points, each contour point being a projection of a minimum volume unit of the model corresponding to the cutting plane on the external contour line;

[0083] Projecting the contour point sequence on each cutting plane of the spine three-dimensional model and the original spine surface coordination model onto the corresponding plane image, obtaining the image pixel points on the plane image corresponding to the contour point sequence on each cutting plane, and using all the pixel points in the area surrounded by the image pixel points on the plane image as the operation pixel points of the Boolean operation of the cutting plane;

[0084] Boolean operations are performed on the corresponding pixel points of the cutting plane of the three-dimensional spine model and the cutting plane of the original spine surface coordination model located on the same plane, and the pixel image after the Boolean operation is restored to the cutting plane after the Boolean operation. All the cutting planes after the Boolean operation are stacked to reconstruct the model after the Boolean operation.

[0085] Furthermore, the calculation module 203 is further configured to: fill the pixel values ​​of all pixel points in the area surrounded by the image pixel points on the plane image corresponding to the contour point sequence on each cutting plane with 1 (see Figure 2), and fill the pixel values ​​of the remaining pixel points on the plane image with 0 (see Figure 2).

[0086] Furthermore, the Boolean operation is a Boolean subtraction operation.

[0087] It should be noted that the model building device 200 provided in this embodiment corresponds to a technical solution that can be used to execute various method embodiments. Its implementation principle and technical effects are similar to those of the method and will not be repeated here.

[0088] Another embodiment of the present invention also provides a method for manufacturing a spinal registration guide, which includes the model construction method of the spinal registration guide in the above method embodiment; the complete spinal registration guide model obtained according to the above model construction method is printed by a 3D printing device to generate a spinal registration guide.

[0089] Another embodiment of the present invention further provides a spine registration guide plate, which is manufactured by the method for manufacturing the spine registration guide plate in the above embodiment.

[0090] 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 method for constructing a model of a spinal registration guide, characterized in that: include: Importing the three-dimensional spine model and the original spine surface coordination model, and recording the initial position of the original spine surface coordination model at this time; Adjusting the posture of the original spinal column surface matching model so that it is in a relative posture relationship with the spinal column three-dimensional model in which the surface contours thereof match, and recording the final posture of the original spinal column surface matching model at this time; Performing Boolean operations on the spine three-dimensional model and the original spine surface coordination model in the final posture to obtain a final spine surface coordination model that matches the contour of the spine three-dimensional model; Importing a visual navigation assembly model, positioning the visual navigation assembly model at the initial position, and adjusting the visual navigation assembly model to the final position according to a transformation relationship between the initial position and the final position; Combining the visual navigation assembly model in the final posture and the final spinal surface matching model to generate a complete spinal registration guide model; The step of performing Boolean operation on the three-dimensional spine model and the original spine surface matching body model includes: Divide the three-dimensional spine model and the original spine surface coordination model into minimum volume units; Obtain the minimum bounding boxes of the spine 3D model and the original spine surface coordination model respectively, and calculate the union bounding box of the two minimum bounding boxes; Cutting the three-dimensional spine model and the original spine surface coordination body model within the union bounding box using multiple parallel planes at the same interval to obtain multiple cutting planes corresponding to each model, each cutting plane having an external contour line, the external contour line being composed of a sequence of contour points, each contour point being a projection of a minimum volume unit of the model corresponding to the cutting plane on the external contour line; Projecting the contour point sequence on each cutting plane of the spine three-dimensional model and the original spine surface coordination model onto the corresponding plane image, obtaining the image pixel points on the plane image corresponding to the contour point sequence on each cutting plane, and using all the pixel points in the area surrounded by the image pixel points on the plane image as the operation pixel points of the Boolean operation of the cutting plane; Boolean operations are performed on the corresponding pixel points of the cutting plane of the three-dimensional spine model and the cutting plane of the original spine surface coordination model located on the same plane, and the pixel image after the Boolean operation is restored to the cutting plane after the Boolean operation. All the cutting planes after the Boolean operation are stacked to reconstruct the model after the Boolean operation.

2. The method for constructing a model of a spinal registration guide according to claim 1, characterized in that: The pixel values of all pixels in the area surrounded by the image pixels on the plane image corresponding to the contour point sequence on each cutting plane are filled with 1, and the pixel values of the remaining pixels on the plane image are filled with 0.

3. The method for constructing a model of a spinal registration guide according to claim 1, wherein: The Boolean operation is a Boolean subtraction operation.

4. A model building device for a spinal registration guide, characterized in that: include: The first import module is configured to import the three-dimensional spine model and the original spine surface coordination model, and record the initial position of the original spine surface coordination model at this time; a posture adjustment module configured to adjust the posture of the original spinal surface matching model so that it is in a relative posture relationship with the spinal three-dimensional model in which the surface contours thereof are matched, and record the final posture of the original spinal surface matching model at this time; a calculation module configured to perform Boolean operations on the three-dimensional spine model and the original spine surface coordination model in the final posture to obtain a final spine surface coordination model that matches the contour of the three-dimensional spine model; A second importing module is configured to import the visual navigation assembly model, place the visual navigation assembly model in the initial posture, and adjust the visual navigation assembly model to the final posture according to a transformation relationship between the initial posture and the final posture; A model combination module is configured to combine the visual navigation assembly model in the final posture and the final spine surface matching body model to generate a complete spine registration guide model; Wherein, the calculation module is further configured to: Divide the three-dimensional spine model and the original spine surface coordination model into minimum volume units; Obtain the minimum bounding boxes of the spine 3D model and the original spine surface coordination model respectively, and calculate the union bounding box of the two minimum bounding boxes; Cutting the three-dimensional spine model and the original spine surface coordination body model within the union bounding box using multiple parallel planes at the same interval to obtain multiple cutting planes corresponding to each model, each cutting plane having an external contour line, the external contour line being composed of a sequence of contour points, each contour point being a projection of a minimum volume unit of the model corresponding to the cutting plane on the external contour line; Projecting the contour point sequence on each cutting plane of the spine three-dimensional model and the original spine surface coordination model onto the corresponding plane image, obtaining the image pixel points on the plane image corresponding to the contour point sequence on each cutting plane, and using all the pixel points in the area surrounded by the image pixel points on the plane image as the operation pixel points of the Boolean operation of the cutting plane; Boolean operations are performed on the corresponding pixel points of the cutting plane of the three-dimensional spine model and the cutting plane of the original spine surface coordination model located on the same plane, and the pixel image after the Boolean operation is restored to the cutting plane after the Boolean operation. All the cutting planes after the Boolean operation are stacked to reconstruct the model after the Boolean operation.

5. The model building device for a spinal registration guide according to claim 4, characterized in that: The calculation module is further configured to fill the pixel values of all pixels in the area surrounded by the image pixels on the plane image corresponding to the contour point sequence on each cutting plane with 1, and fill the pixel values of the remaining pixels on the plane image with 0.

6. The model building device for a spinal registration guide according to claim 4, characterized in that: The Boolean operation is a Boolean subtraction operation.

7. A method for manufacturing a spinal registration guide, characterized in that: include: The method for constructing a model of a spinal registration guide according to any one of claims 1 to 3; According to the complete spinal registration guide model, a spinal registration guide is printed and generated by a 3D printing device.

8. A spinal registration guide, characterized by: The spine registration guide plate is manufactured by the spine registration guide plate manufacturing method according to claim 7.

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