Screw planning method and rod insertion navigation method for spinal screw placement surgery

Abstract

The present application relates to a screw planning method and a rod insertion navigation method for spinal screw placement surgery. The screw planning method comprises: according to a screw planning algorithm, planning and obtaining initial screw positions, wherein the initial screw positions comprise positions of a plurality of screws that need to be set; according to the initial screw positions and screw sizes, screening a target rod path meeting a preset preference condition, wherein a rod is configured for insertion through the plurality of screws; and determining a target screw position according to the target rod path. The screw planning method aims to solve the problems in the related art that the screw planning algorithm has certain errors, requires manual adjustment in open surgery, and is difficult to apply to minimally invasive screw placement surgery.

Description

Screw planning method for spinal screw placement surgery and rod navigation method

[0001] The present application claims priority to the Chinese patent application No. 202411278875.8, filed on September 12, 2024, and entitled "Screw planning method for spinal screw placement surgery and rod navigation method", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of surgical assistance, and in particular to a screw planning method for spinal screw placement surgery and a rod navigation method. BACKGROUND

[0003] In the current spinal screw placement surgery, after the screw is placed, the rod insertion is a very important step, which aims to fix multiple screws using a rod, so that subsequent manual adjustment operations such as lifting reduction and compression can be performed. In open spinal surgery, the operation is relatively easy because the surgical area is visible.

[0004] However, in the current minimally invasive percutaneous screw placement surgery, the screw is not visible from the body surface after placement, so the rod insertion operation is difficult, especially in multiple spinal segment surgeries, which is time-consuming and energy-consuming and requires multiple X-ray examinations for confirmation. The existing screw planning algorithm cannot accurately plan the screw position, making it difficult to apply to minimally invasive screw placement surgery.

[0005] In view of the problem that the screw planning algorithm in the related art has certain errors and needs to be manually adjusted in open surgery, which is difficult to apply to minimally invasive screw placement surgery, no effective solution has been proposed so far. SUMMARY

[0006] The screw planning method for spinal screw placement surgery and the rod navigation method provided by the embodiments of the present application at least solve the problem that the screw planning algorithm in the related art has certain errors and needs to be manually adjusted in open surgery, which is difficult to apply to minimally invasive screw placement surgery.

[0007] According to an aspect of an embodiment of the present application, a screw planning method for spinal screw placement surgery is provided, comprising: obtaining an initial screw position according to a screw planning algorithm, wherein the initial screw position includes the positions of multiple screws to be set; selecting a target rod and screw path that meets a predetermined optimization condition according to the initial screw position and a screw size, wherein the rod and screw are used to pass through the multiple screws; and determining a target screw position according to the target rod and screw path.

[0008] As an optional embodiment, the initial screw position is planned according to a screw planning algorithm, including: planning, by a surgical planning system, the initial screw position based on screw parameters, wherein the initial position of each screw in the initial screw position includes two position points of a screw head end point and a screw tail end point.

[0009] As an optional embodiment, according to the initial screw position and the required screw size, a corresponding universal screw is selected, wherein the head end point of the universal screw is provided with a universal hole, the universal hole is used to rotate according to the rod passing requirement, so that the rod passing through the universal hole connects the corresponding screw; an optimization model is created according to the length of the top cap of the universal screw and the activity angle, combined with the preset preferred condition, wherein the optimization model includes a plurality of optimization items, the optimization items are used to represent the preferred parameters of the corresponding preset preferred condition; the optimal path is solved by solving the optimization model; the optimal path is verified according to the rotation range of each universal screw; in the case that the rotation range of each universal screw meets the length and the activity angle, the optimal path is determined as the target rod path.

[0010] As an optional embodiment, the optimization model includes three optimization items, which are, respectively, the distance from the geometric center of the cone to the rod, the cone projection value determined by the projection point of the geometric center into the cone, and the vector angle between the first vector of the vertex of the cone pointing to the geometric center and the second vector of the vertex pointing to the projection point.

[0011] As an optional embodiment, verifying the optimal path according to the rotation range of each universal screw includes: in the case that the cone projection value of each universal screw corresponding to the optimal path is less than or equal to zero, it is determined that the rotation range of each universal screw of the optimal path meets the length and the activity angle; in the case that there is a universal screw in the optimal path whose cone projection value is greater than zero, it is determined that the rotation range of each universal screw of the optimal path does not meet the length and the activity angle.

[0012] As an optional embodiment, the method further includes: in the case that the rotation range of each universal screw does not meet the length and the activity angle, re-planning the initial screw position by the screw planning algorithm; re-determining the target rod path by the re-planned initial screw position until the rotation range of each universal screw of the target rod path meets the length and the activity angle.

[0013] According to another aspect of the embodiments of the present application, the method for rod insertion navigation in the spinal screw placement surgery is also provided, which comprises: determining the target screw position by any of the above methods; determining the head end coordinate of the rod on the rod inserter based on the first positioning target arranged on the rod inserter; determining the perforation coordinate of the target screw based on the second positioning target arranged on the elongated tail of the target screw which needs to be inserted; generating a resection image according to the head end coordinate and the perforation coordinate, wherein the resection image is the medical image of the section formed by the head end coordinate, the perforation coordinate and the position of the rod inserter; and performing the rod insertion navigation by using the resection image.

[0014] According to another aspect of the embodiments of the present application, the electronic device is also provided, which comprises a processor and a memory storing a program, the program comprising instructions which, when executed by the processor, cause the processor to perform any of the above methods.

[0015] According to another aspect of the embodiments of the present application, the non-transitory machine readable medium storing computer instructions is also provided, the computer instructions being used to cause the computer to perform any of the above methods.

[0016] According to another aspect of the embodiments of the present application, the computer program product is also provided, which comprises computer program / instructions, the computer program / instructions being executed by the processor to implement any of the above methods.

[0017] The screw planning method provided by the embodiments of the present application plans the initial screw position according to the screw planning algorithm, wherein the initial screw position comprises the positions of the plurality of screws which need to be arranged; and the target rod path meeting the preset preferred condition is screened according to the initial screw position and the screw size, and the target screw position is determined according to the target rod path. Therefore, it is ensured that the planned target screw position can be accurately inserted, the accuracy of the target screw planning is improved, the manual adjustment in the surgery is avoided, and the problem that the screw planning algorithm in the related art has certain error and needs to be manually adjusted in the open surgery and is difficult to be applied to the minimally invasive screw placement surgery is solved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other embodiments can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0019] FIG. 1 is a flowchart of a screw planning method for spinal screw placement surgery according to an embodiment of the present application.

[0020] FIG. 2 is a flowchart of a rod passing navigation method of a spinal screw placement surgery according to an embodiment of the present application.

[0021] FIG. 3 is a schematic diagram of a rod passer and an elongated tail according to an embodiment of the present application.

[0022] FIG. 4 is a schematic diagram of a re-cut image according to an embodiment of the present application.

[0023] FIG. 5 is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] Embodiments of the present application will be described in more detail with reference to the accompanying drawings. While certain embodiments of the present application are shown in the drawings, it is understood that the present application can be embodied in various forms and should not be interpreted as being limited to the embodiments set forth herein, but rather, these embodiments are provided so that the present application can be more thoroughly and completely understood. It will be understood that the drawings of the present application and the embodiments thereof are for illustrative purposes only, and are not intended to limit the scope of the present application.

[0025] In order to solve the problem that the screw planning algorithm in the related art has certain errors and needs to be manually adjusted in open surgery, and is difficult to be applied to minimally invasive screw placement surgery, an embodiment of the present application provides a screw planning method for a spinal screw placement surgery. FIG. 1 is a flowchart of a screw planning method for a spinal screw placement surgery according to an embodiment of the present application. As shown in FIG. 1, the method includes the following steps:

[0026] In step S101, initial screw positions are planned according to a screw planning algorithm, wherein the initial screw positions include positions of a plurality of screws to be set;

[0027] In step S102, a target rod path meeting a preset preferred condition is selected according to the initial screw positions and a screw size, wherein the rod path is used to pass through the plurality of screws;

[0028] In step S103, target screw positions are determined according to the target rod path.

[0029] According to the screw planning method provided by the embodiment of the present application, the initial screw positions are planned according to the screw planning algorithm, wherein the initial screw positions include the positions of the plurality of screws to be set; the target rod path meeting the preset preferred condition is selected according to the initial screw positions and the screw size, and the target screw positions are determined according to the target rod path. Thus, it is ensured that the planned target screw positions can be accurately passed through, the accuracy of the target screw planning is improved, manual adjustment in surgery is avoided, and the problem that the screw planning algorithm in the related art has certain errors and needs to be manually adjusted in open surgery, and is difficult to be applied to minimally invasive screw placement surgery is solved.

[0030] The execution subject of the above steps can be a screw planning system, that is, a computer-assisted surgery planning system. Specifically, the screw planning system can run on a server, a computer, or other hardware devices.

[0031] The screw planning algorithm can plan the screw based on existing screw planning algorithms, such as machine learning algorithms, deep learning algorithms, and the like, through medical image data. The initial screw position obtained by planning includes a plurality of screws and their positions that need to be placed. The initial planning position of the screw can be represented by the first and last points of the screw.

[0032] Then, according to the initial screw position, the screw size, and in combination with the preset preferred condition, an optimization model can be established. Through solving the optimization model, a target rod path that meets the preset preferred condition can be screened. In the optimization process, the initial screw position is iteratively re-planned to make the final target rod path meet the above-mentioned preset preferred condition.

[0033] The final target rod path corresponds to the target screw position, which can be directly rod-penetrated without manual adjustment during the operation. Thus, the accuracy of the planning of the target screw position is improved, and manual adjustment is avoided in minimally invasive surgery.

[0034] As an optional embodiment, the initial screw position obtained according to the screw planning algorithm includes: planning the initial screw position based on the screw parameters through the surgery planning system, wherein the initial position of each screw in the initial screw position includes two position points of a screw head end point and a screw tail end point.

[0035] The surgery planning system can plan the screw target accordingly, and the initial position of each screw includes two position points of a screw head end point and a screw tail end point. Each position point can be represented by a spatial coordinate system (x, y, z). The line segment formed by the two position points can represent the planning position of the screw.

[0036] In the related art, in order to facilitate the subsequent rod-penetrating action, the screw can be a universal screw, that is, the hole for rod penetration is arranged on the rotatable top cap of the screw, that is, the hole can be rotated to a certain extent according to the rod penetration requirement.

[0037] As an optional embodiment, according to the initial screw position and the screw size, a target nail rod path meeting the preset preferred condition is screened, including: according to the initial screw position and the required screw size, a corresponding universal screw is selected, wherein the head end point of the universal screw is provided with a universal hole, the universal hole is used to rotate according to the rod passing requirement, so that the nail rod passes through the universal hole to connect the corresponding screw; according to the length and the activity angle of the top cap of the universal screw, an optimization model is created in combination with the preset preferred condition, wherein the optimization model includes a plurality of optimization items, and the optimization item is used to represent the preferred parameter of the corresponding preset preferred condition; the optimal path is solved by solving the optimization model; the optimal path is verified according to the rotation range of each universal screw; in the case that the rotation range of each universal screw meets the length and the activity angle, the optimal path is determined as the target nail rod path.

[0038] According to the initial screw position and the required screw size, the screw size can include the screw diameter and the length, and is also the result obtained by the above screw planning algorithm, and in the surgical planning system, the screw position planning can be combined with the screw size considering the size of the vertebrae at the screw position and the strength.

[0039] According to the screw size and the initial screw position, a corresponding universal screw can be selected. Generally, the specifications of the universal screws in the same operation are the same to reduce the difficulty of the operation. In some special scenarios, for example, the strength or the size of the vertebrae cannot be met, universal screws of different specifications can also be used.

[0040] As an optional embodiment, the above preset preferred condition can include: one, the nail rod can pass through the corresponding conical body of the universal screw, the conical body is a circular cone generated by simulation with a clear vertex according to the known initial screw position and the adjustable length and angle of the top cap of the universal screw, the length of the top cap is the generatrix, and the activity angle is the rotation angle, the adjustable range of the universal screw in the circular cone is adapted to the curvature of the relatively regular nail rod to ensure that the nail rod can pass through the screw.

[0041] Two, the distance from the center point of the circular cone to the nail rod is minimum. Three, when each universal screw rotatable assembly is rotated to the fixed position of the nail rod, the rotation angle is minimum.

[0042] Through the above preferred conditions, the nail rod path with higher fault tolerance and easier rod passing can be selected.

[0043] The starting point coordinates and the direction vector of the nail rod when the above conditions are met are solved and , the optimization model can be:

[0044]

[0045] wherein denotes the center point of the circular cone to the distance to the rod is the circular cone model, will be the projection point coordinates to the rod into the circular cone model ; denotes the vertex of the circular cone a first vector pointing to the geometric center of the circular cone a second vector pointing to the projection point of the circular cone the angle between the two vectors.

[0046] As an optional embodiment, the optimization model includes three optimization items, which are, respectively, the distance from the geometric center of the circular cone to the rod the projection point of the geometric center into the circular cone the determined circular cone projection value , and the vertex of the circular cone a first vector pointing to the geometric center of the circular cone a second vector pointing to the projection point of the vertex the angle between the two vectors. and as a penalty item, which can ensure that the rotatable component of the universal screw fixes the rod with the smallest displacement and rotation angle; which can ensure that the rod can pass through each universal screw.

[0047] As an optional embodiment, verifying the optimal path according to the rotation range of each universal screw includes: in the case that the circular cone projection value of each universal screw corresponding to the optimal path is less than or equal to zero, determining that the rotation range of each universal screw of the optimal path meets the length and activity angle; in the case that there is a universal screw in the optimal path whose circular cone projection value is greater than zero, determining that the rotation range of each universal screw of the optimal path does not meet the length and activity angle.

[0048] During the solving process, the circular cone projection value ​​It can be determined whether the obtained optimal path meets the length and activity angle of the universal screw. Specifically, if the conical projection value of each universal screw corresponding to the optimal path is less than or equal to zero, it is determined that the rotation range of each universal screw of the optimal path meets the length and activity angle, the optimal path is determined as the target rod path, the corresponding starting point coordinates and direction vector can be output, and the projection coordinates of the starting point coordinates to the rod can also be output. It is used for subsequent determination of the position of each target rod.

[0049] In the case where the conical projection value of the universal screw in the optimal path is greater than zero, it is determined that the rotation range of each universal screw of the optimal path does not meet the length and activity angle, and the initial screw position needs to be re-planned, and the target rod path needs to be re-planned until the target rod path meets the above requirements.

[0050] As an optional embodiment, the method further comprises: in the case where the rotation range of each universal screw does not meet the length and activity angle, re-planning the initial screw position by the screw planning algorithm; re-determining the target rod path based on the re-planned initial screw position until the rotation range of each universal screw of the target rod path meets the length and activity angle.

[0051] Embodiments of the present application also provide a rod insertion navigation method for spinal screw placement surgery, which is applied to intraoperative navigation of minimally invasive screw placement surgery. FIG. 2 is a flowchart of a rod insertion navigation method for spinal screw placement surgery according to an embodiment of the present application. As shown in FIG. 2, the method comprises:

[0052] Step S201, determining the target screw position by any of the above methods;

[0053] Step S202, determining the head end coordinates of the rod on the rod inserter based on the first positioning target arranged on the rod inserter;

[0054] Step S203, determining the puncture coordinates of the target screw based on the second positioning target arranged on the extended tail of the target screw that needs to be punctured at present;

[0055] Step S204, generating a re-cut image according to the head end coordinates and the puncture coordinates, wherein the re-cut image is a medical image of a cutting surface formed by the head end coordinates, the puncture coordinates and the position of the rod inserter;

[0056] Step S205, using the re-cut image for rod insertion navigation.

[0057] The above rod navigation method provided by the embodiments of the present application provides accurate screw positions that can effectively pass through the rod according to the above screw planning method. In the operation, the head end coordinates and the hole coordinates of the rod are accurately detected through the first positioning target arranged on the rod passing device and the extended tail piece arranged on the target screw and the second positioning target arranged thereon. Based on the head end coordinates and the hole coordinates, a re-cut image is generated to accurately display the head end position and the hole position of the rod required for passing through the rod, and then it is visually displayed whether the head end of the rod and the hole are aligned. After alignment, the rod is accurately passed through, so that the intraoperative navigation of the minimally invasive screw placement operation can be ensured, the rod can be accurately passed through, the accuracy of the intraoperative navigation is improved, and manual adjustment in the operation is avoided.

[0058] It should be noted that the present embodiment also provides an alternative implementation, which will be described in detail below. The present embodiment provides a preoperative screw planning method for minimally invasive screw placement operation and a corresponding intraoperative navigation method. Specifically as follows.

[0059] In the preoperative screw planning, the initial screw position is planned using the existing operation planning system. Generally, the planning can be based on three-dimensional image data such as CT and magnetic resonance or ultrasonic images. The planning result of each screw of the initial screw position is two points, each point is represented by (x, y, z). The two points respectively represent the screw head end point and the screw tail end point, and the two points form a line segment to represent the planning position of the screw.

[0060] Since the screw placement operation usually includes the placement of the rod, it needs to pass through the head end of the planned screw. The shape of the rod is usually a cylinder suitable for the curvature of the human spine. Therefore, after planning the screw, the shape of the rod can be simulated according to the head end connection point of the planned screw position. Since the screw position is not necessarily completely in a straight line, the conventional rod shape may not be able to pass through all the screw top ends without adjustment.

[0061] At present, many screws used in clinical practice are universal screws, so the planning algorithm can be used to adjust the head of the universal screw accordingly to enable the relatively regular rod to pass through the screw top end.

[0062] Then the rod is planned through the initial planned screw, specifically as follows:

[0063] a) According to the initial screw position obtained by the above operation planning system, the three-dimensional coordinates of the top cap of the screw (universal screw) can be included , the length and radius of the screw, and the corresponding universal screw is selected.

[0064] b) Given the cap coordinates , the movable top cap length and angle of the universal screw, a simulated generation is performed to is the vertex. is the generatrix, is the circular cone of rotation angle, which is the adjustable range of the universal screw to adapt to the curvature of the relative regular rod, to ensure that the rod can pass through the screw.

[0065] c) The number of target vertebrae n is known, the number of unilateral implanted screws is n, and the rod model is known. The optimal rod planning needs to meet the following conditions:

[0066] i, the rod passes through is the vertex, and the length of the top hat is the generatrix, is the n circular cone of rotation angle .

[0067] ii, the center point of the circular cone to the rod is the minimum.

[0068] iii, when the rotatable assembly of each screw is rotated to the fixed position of the rod, the rotation angle is the minimum.

[0069] d) Solve the starting point coordinates of the rod when the above conditions are met and the direction vector , the optimization model is as follows:

[0070]

[0071] , where represents the center point of the circular cone to the rod; is the circular cone model, the projection coordinates of to the rod are brought into the circular cone model ; represents the angle between the vector and . The penalty terms and ensure that the rotatable assembly of the universal screw fixes the rod with the minimum displacement and rotation angle; ensures that the rod can pass through each screw.

[0072] The specific meanings of each optimization term are as follows:

[0073] represents the center point of the circular cone The distance to the rod is calculated as follows:

[0074]

[0075] is a circular cone model, The projection coordinates of the rod are brought into the circular cone model , and are calculated as follows:

[0076] circular cone Analytical expression: ; the projection coordinates are ;

[0077] are brought in to obtain .

[0078] denote the angle between the vector and , which is calculated as follows:

[0079]

[0080] If is less than or equal to zero, it indicates that the rod trajectory is within the rotation range of the universal screw, and the optimization result returns the initial coordinates of the rod , the direction vector , and the projection coordinates of the rod .

[0081] If is greater than zero, it indicates that the rod trajectory is beyond the rotation range of the universal screw, and the initial screw position needs to be re-planned, and the rod trajectory is iteratively planned, and the screw position is adjusted using the re-planned rod trajectory, and the rod trajectory is optimized until a result satisfying the above condition is obtained.

[0082] According to the final rod trajectory obtained, the coordinates of the screw head of each universal screw are adjusted to , and the pose of the robot is adjusted to , so as to ensure that the robot can be inserted into the rod and pass through each screw.

[0083] In this way, the accurate preoperative planning of the target screw position is completed. The intraoperative navigation method will be described in detail below.

[0084] When the rod is inserted, the rod insertion can be guided and supported under the support of the optical navigation camera. Specifically, a corresponding optical tracking target, i.e., the first positioning target 5 described above, is added to the rear end of the rod insertion device 3, as shown in FIG. 3, which is a schematic view of the rod insertion device and the extension tail piece of the rod insertion navigation according to an embodiment of the application.

[0085] Due to the different length and curvature of the rod 2, in order to adapt to the physiological curvature of the human spine, the rod 2 is often manually curved during the surgery to meet the needs of the surgery. Therefore, in the traditional sense, it is difficult to guide the navigation of the uncertain rod 2.

[0086] At this time, the head end of the rod 2 is calibrated to determine the position of interest. The specific method is to install the rod 2 on the rod passer 3, and in the state that the first positioning target 5 can guide, the head end of the rod 2 is placed in the fixed calibration position for rotation. Through the relative fixed position of the rod passer 3 and the first positioning target 5, and through the different positions obtained by the rotation of the rod 2 at different angles, the relative displacement of the head end position of the rod 2 relative to the reference point of the rod passer 3 can be finally determined.

[0087] In the process of optical navigation and guidance of the rod passing, only the calibrated head end position of the rod 2 can be concerned to determine whether the rod enters the corresponding screw 1, and the specific posture and angle of the entire rod 2 do not need to be concerned.

[0088] After the calibration of the rod passer 3 is completed, in order to complete the rod passing navigation, an optical target that can be attached to the extended tail piece 4 of the screw, that is, the second positioning target 6, is needed. In the minimally invasive screw placement surgery, the extended tail piece 4 can usually be exposed above the skin, and the second positioning target 6 can be flexibly disassembled and assembled on the extended tail piece 4 of the screw, and can be installed on other tools. The tool can be placed in the extended tail piece 4 of the screw 1 to be fixed, so as to track the positions of the tails of different screws 1.

[0089] In the actual navigation process, the rod passing guidance is completed through the first positioning target 5 and the second positioning target 6. First, a resection image of the image data is generated according to the cutting plane formed by the rod passer target position, the rod passer reference position and the head end of the rod. The resection image is usually an image close to the sagittal plane.

[0090] In the resection image, the model of the rod passer and the model of the rod are displayed at the same time. Because the shape of the rod is actually unknown, an arc line is generated according to the connection of the front end of the rod passer and the head end of the rod to simulate the guess of the shape of the currently installed rod, as shown in FIG. 4, which is a schematic diagram of the resection image of the embodiment of the application. The model may be different from the actual shape of the rod, but since the head end positions are consistent, it does not affect the actual effect of the rod passing.

[0091] According to the position of the screw of the currently installed target, and the position and posture reflected by the second positioning target of the tail page piece, the corresponding screw is projected in the resection image to reflect the relative distance between the current rod head end position and the tail page piece of the screw. According to the projection distance of the image slice, different colors can be used for prompting.

[0092] For example, the screw tail page is displayed in green within the current range of advancement of the rod, and if it is not within the current advancement range, the color is from yellow to red according to the lateral distance from near to far. When adjusting the position of the screw tail page in front of the rod, a sound prompt can be given to guide the actual operation.

[0093] The user adjusts the direction of the screw tail page target while holding the rod passer, and guides the rod passer to pass through the screw tail position of the corresponding screw in combination with the screw projection in the re-cut image and the relative relationship of the rod.

[0094] After completing the rod passing of one screw, the target of the corresponding screw tail end is removed and installed on the screw tail end of the next screw to be passed, and the rod passing of the next screw is performed.

[0095] The above steps are repeated, and the rod passing of all screws can be completed under the guidance of navigation.

[0096] Embodiments of the present application also provide a non-transitory machine readable medium storing a computer program, wherein the computer program is used to make the computer execute the method of the embodiments of the present application when executed by the processor of the computer.

[0097] Embodiments of the present application also provide a computer program product comprising a computer program, wherein the computer program is used to make the computer execute the method of the embodiments of the present application when executed by the processor of the computer.

[0098] Embodiments of the present application also provide an electronic device comprising: at least one processor; and a memory communicatively connected with the at least one processor. The memory stores a computer program capable of being executed by the at least one processor, and the computer program is used to make the electronic device execute the method of the embodiments of the present application when executed by the at least one processor.

[0099] Referring to FIG. 5, a block diagram of an electronic device that can be a server or a client of embodiments of the present application will now be described, which is an example of a hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent a wide variety of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent a wide variety of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections, and their functions, as well as the software implemented by the electronic device, are meant only to be examples and are not intended to limit the implementations of the present application described and / or claimed herein.

[0100] As shown in FIG. 5, the electronic device includes a computing unit 501 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 502 or a computer program loaded into a random access memory (RAM) 503 from a storage unit 508. In the RAM 503, various programs and data required for operation of the electronic device can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0101] A plurality of components in the electronic device are connected to the I / O interface 505, including an input unit 506, an output unit 507, the storage unit 508, and a communication unit 509. The input unit 506 can be any type of device capable of inputting information to the electronic device, and can receive inputted numerical or character information, as well as generate key signal inputs related to user settings and / or function controls of the electronic device. The output unit 507 can be any type of device capable of presenting information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 508 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 509 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, and / or a wireless communication transceiver, such as a Bluetooth device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0102] The computing unit 501 can be various general and / or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a CPU, a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 501 performs various methods and processes described above. For example, in some embodiments, the method embodiments of the present application can be implemented as a computer program tangibly embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device via the ROM 502 and / or the communication unit 509. In some embodiments, the computing unit 501 can be configured to perform the above-described methods by any other appropriate means, such as by means of firmware.

[0103] A computer program for implementing the method of the embodiments of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor or controller, causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package and partially on a remote machine, or entirely on a remote machine or server.

[0104] In the context of the embodiments of the present application, the machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. The machine-readable signal medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, or infrared system, apparatus, or device, or any suitable combination of the above. More specific examples of the machine-readable storage medium will include one or more lines of electrical connection, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0105] It should be noted that the term "comprising" and its variants used in the embodiments of the present application are open-ended, i.e., "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The terms "a" and "an" are intended to mean "one or more" unless otherwise indicated in the context of the specification.

[0106] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the embodiments of the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation portal for user to choose authorization or refusal.

[0107] The various steps recited in the method embodiments provided by the embodiments of the present application can be performed in different orders and / or in parallel. Additionally, the method embodiments can include additional steps and / or omit performing the recited steps. The scope of protection of the present application is not limited in this respect.

[0108] The word "embodiment" in this description means that the specific features, structures, or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The presence of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean independence or alternatives to other embodiments. Each embodiment in the specification is described in a relevant manner, and the same or similar parts between embodiments are referred to each other. In particular, for the device, equipment, and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts are referred to the part of the method embodiment.

[0109] The above-described embodiments only express several embodiments of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of protection. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A method of screw planning for a spine surgery, wherein, The method comprises: determining initial screw positions according to a screw planning algorithm, wherein the initial screw positions include positions of a plurality of screws to be arranged; screening a target rod path meeting preset preferred conditions according to the initial screw positions and screw sizes, wherein the rod is configured to pass through the plurality of screws; determining target screw positions according to the target rod path.

2. The method of claim 1, wherein, The method comprises: determining initial screw positions according to a screw planning algorithm, wherein each initial screw position includes two position points of a screw head end point and a screw tail end point.

3. The method of claim 1, wherein, screening a target rod path meeting preset preferred conditions according to the initial screw positions and screw sizes, wherein the target rod path is configured to pass through a plurality of screws. The method comprises: selecting a corresponding universal screw according to the initial screw positions and required screw sizes, wherein a head end point of the universal screw is provided with a universal hole configured to rotate according to a rod passing requirement so that the rod passing through the universal hole connects the corresponding screw; creating an optimization model according to a top cap length and an activity angle of the universal screw and in combination with the preset preferred conditions, wherein the optimization model includes a plurality of optimization items configured to represent preferred parameters of the corresponding preset preferred conditions; solving the optimization model to obtain an optimal path; verifying the optimal path according to a rotation range of each universal screw; 4. The method of claim 3, wherein, determining the optimal path as the target rod path when the rotation range of each universal screw meets the length and the activity angle.

5. The method of claim 4, wherein, The optimization model includes three optimization items, which are a distance between a geometric center of a cone and a rod, a cone projection value determined by a projection point of the geometric center into the cone, and a vector included angle between a first vector of a vertex of the cone pointing to the geometric center and a second vector of the vertex pointing to the projection point. The verification of the optimal path according to the rotation range of each universal screw comprises: determining that the rotation range of each universal screw of the optimal path meets the length and the activity angle when a cone projection value of each universal screw corresponding to the optimal path is less than or equal to zero; 6. The method of claim 3, wherein, determining that the rotation range of each universal screw of the optimal path does not meet the length and the activity angle when there is a universal screw in the optimal path whose cone projection value is greater than zero. The method further comprises: re-determining initial screw positions according to the screw planning algorithm when the rotation range of each universal screw does not meet the length and the activity angle; 7. A rod-through-nail navigation method for a spine nailing procedure, wherein, re-determining the target rod path according to the re-determined initial screw positions until the rotation range of each universal screw of the target rod path meets the length and the activity angle. The method comprises: determining target screw positions according to the method of any one of claims 1 to 6; determining a head end coordinate of a rod on a rod passer based on a first positioning target arranged on the rod passer; determining a piercing coordinate of a target screw based on a second positioning target installed on an extended tailpiece of the target screw currently requiring rod penetration; generating a resection image according to the head end coordinate and the piercing coordinate, wherein the resection image is a medical image of a cross section formed by the head end coordinate, the piercing coordinate and the rod penetrator position; utilizing the resection image for rod penetration navigation.

8. An electronic device comprising: A processor and a memory storing a program, wherein the program includes instructions that, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 7.

9. A non-transitory machine-readable medium having computer instructions stored therein, wherein, The computer instructions are configured to cause a computer to perform the method according to any one of claims 1 to 7.

10. A computer program product comprising computer programs / instructions, wherein, The computer program / instructions, when executed by a processor, implement the method according to any one of claims 1 to 7.

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