27 results about "Spinal model" patented technology

The invention discloses a scoliosis correction brace and a control method, and relates to the field of medical instruments.The scoliosis correction brace comprises a brace body, a first massage device and a second massage device, the brace body is obtained through 3D printing according to a patient spine model, and the first massage device and the second massage device are arranged on the brace body; the brace body is provided with a central area corresponding to the spine of a patient, a first correction area corresponding to the convex side of the spine of the patient and a second correction area corresponding to the concave side of the spine of the patient, the first correction area is provided with a first massage area, and the second correction area is provided with a second massage area. The first massage device is arranged in the first massage area, and the second massage device is arranged in the second massage area. The control method is used for controlling the scoliosis correction brace. By the adoption of the spine correcting device, the convex side and the concave side of the spine can be massaged and stimulated, functional recovery of spine bones is accelerated, and the correcting effect can be remarkably improved.

The invention relates to a spine three-dimensional reconstruction network implementation method and system based on a biplane X-ray image, and aims to accurately and efficiently reconstruct a three-dimensional spine model with a smooth surface from a low-dose X-ray image by combining a deep convolutional neural network and differentiable parameterized surface representation. The method comprises the following steps: firstly, preprocessing an input biplane X-ray image, and fusing the biplane X-ray image into a multi-channel three-dimensional volume representation; then, inputting the three-dimensional volume into a neural network based on a 3D U-Net architecture, and training by adopting a space weighted loss function to output a three-dimensional voxel probability field with an accurate boundary; then, a group of BG-Triple parameterized surface primitives are initialized based on the probability field; and finally, through a geometric loss function containing Chamfer distance and normal consistency, iterative optimization is directly carried out on the geometric control point of the BG-Triangle, so that a vectorized smooth three-dimensional spine model is obtained. According to the invention, accurate mapping from the voxel probability field to the smooth geometric grid is realized.

The invention discloses a patient-specific finite element model-based vertebroplasty optimization method and a related device. The method comprises the following steps of: constructing a patient-specific three-dimensional spine model according to a vertebral bone structure and a vertebral soft tissue structure; discretizing the patient-specific three-dimensional spine model into tetrahedral finite element grids, endowing each finite element unit with bone material attributes according to pixel values of CT scanning images, and endowing intervertebral disc and ligament soft tissue structures with soft tissue material attributes; determining an optimal bone cement injection path and an optimal bone cement injection amount of the tetrahedral finite element mesh; and simulating the vertebroplasty in the tetrahedral finite element mesh, predicting the stress distribution of the vertebrae, the rigidity of the vertebrae and the stress change of the adjacent vertebrae after the operation, and presenting the simulation result of the simulated vertebroplasty in a three-dimensional visual form. According to the method, personalized optimization and prediction of preoperative simulation of the vertebroplasty are realized by constructing the patient-specific finite element model, and an efficient auxiliary reference operation scheme is provided for an operator.

The invention relates to a spine dynamic diagnosis and reset guiding system and method based on an intelligent 3D palpation membrane, and belongs to the technical field of medical diagnosis and treatment. The system mainly comprises a flexible palpation membrane, a data processing and intelligent diagnosis module and an interactive reset guide module. The flexible palpation membrane covers areas from C1 to S1 of the spine, and a high-density pressure sensor array is arranged in the flexible palpation membrane and is used for collecting palpation pressure data in real time; the data processing module receives the data, constructs a real-time 3D spine model through an AI algorithm, and recognizes the deviation, rotation and other abnormalities of a vertebral body. And the guide module displays reset guide information through a spine reset program interaction interface, and dynamically calibrates an operation path according to real-time feedback data of the palpation membrane to form closed-loop control. The problems that traditional spinal manipulation treatment depends on experience, cannot be quantized and lacks real-time guidance are solved, and precision, visualization and standardization of diagnosis and resetting are achieved.

The application relates to a spine dynamic diagnosis and reduction guiding system and method based on an intelligent 3D palpation film, and belongs to the technical field of medical diagnosis and treatment. The system mainly comprises a flexible palpation film, a data processing and intelligent diagnosis module and an interactive reduction guiding module. The flexible palpation film covers the C1 to S1 region of the spine, is internally provided with a high-density pressure sensor array, and is used for collecting palpation pressure data in real time; the data processing module receives data and constructs a real-time 3D spine model through an AI algorithm, and identifies abnormalities such as vertebral body deviation and rotation; and the guiding module displays reduction guiding information through a spine reduction program interactive interface, and dynamically calibrates an operation path according to real-time feedback data of the palpation film, so that closed-loop control is formed. The application solves the problems that traditional spine manual treatment relies on experience, cannot be quantified and lacks real-time guidance, and realizes the precision, visualization and standardization of diagnosis and reduction.

The invention relates to the technical field of operation planning navigation systems, in particular to a spinal operation intelligent planning and intraoperative navigation system which comprises a data input module, a spinal model building module, an operation planning module, a dynamic deformation tracking module, a navigation control module and a data output module. A spine is represented as a differential manifold through a manifold parameterization unit, a local coordinate construction unit is utilized to establish a multi-local coordinate system, a deformation field calculation unit calculates a spine deformation field based on optical mark point displacement, a deformation prediction unit generates a prediction deformation field, and a compensation parameter generation unit generates navigation compensation parameters. The system also comprises an operation path mathematical optimization algorithm and a scheme sharing mechanism based on a two-dimensional code, and is provided with a fault-tolerant processing module to ensure the stability of the system. According to the system, the navigation precision is improved from the traditional millimeter level to the submillimeter level, the accuracy and safety of spinal surgery are remarkably improved, and the system has wide clinical application prospects.

Disclosed are systems and methods for rapid generation of simulations of a patient's spinal morphology that enable pre-operative viewing of a patient's condition and to assist surgeons in determining the best corrective procedure and with any of the selection, augmentation or manufacture of spinal devices based on the patient specific simulated condition. The simulation is generated by morphing a generic spine model with a three-dimensional curve representation of the patient's particular spinal morphology derived from existing images of the patient's condition. Other anatomical structures in the patient's skeletal system are likewise simulated by morphing a generic normal skeletal model, as applicable, particularly those skeletal entities that are connected directly or indirectly to the spinal column.

The present application belongs to the technical field of human body image digital information processing, and provides a spine generation method and device based on 3D human body scanning. The method comprises the following steps: fitting a three-dimensional reconstruction model according to a basic digital human model to obtain a fitted digital human model; calculating a body shape parameter used in the fitting of the fitted digital human model; performing regression processing on a preset basic spine model using the body shape parameter to obtain a preliminary spine model matched with the size of the skeleton of the three-dimensional reconstruction model; performing deformation processing on the basic digital human model using the body shape parameter to obtain a digital human model deformed using the body shape parameter; matching the position of the skeleton of the preliminary spine model with the digital human model deformed using the body shape parameter to generate a spine model matched with the spine of the three-dimensional reconstruction model. Thus, the accuracy, efficiency and cost of spine judgment are improved, and the popularization and application of spine judgment are promoted.

The invention discloses a multi-modal fusion spinal region puncture positioning method and system based on deep learning. The method comprises the following steps: acquiring a spine image containing a puncture part, and inputting the spine image into a trained image segmentation model to obtain an image segmentation result; inputting an image segmentation result into a trained target recognition model for target recognition to obtain target region information; obtaining two-dimensional slice data based on the spine image, converting each pixel point of the two-dimensional slice data into a three-dimensional voxel, and extracting a surface geometric model to obtain a three-dimensional reconstruction model; performing information enhancement and alignment on the model and a real-time ultrasonic sequence through a specific structure to generate a high-fidelity enhanced real-time spine model image; based on the real-time model, the optimal puncture path, angle and depth are intelligently recommended in combination with a preset puncture type. The method can accurately provide a puncture point and recommend a puncture path, improves the success rate of intraspinal puncture of a complex patient, and reduces the probability of occurrence of adverse events.

The application discloses a spine 3D model reconstruction method based on a multi-scale symmetric architecture learning, comprising the following steps: rotating a spine X-ray image to a set angle; repeating the rotated X-ray image D times and splicing to form a high-channel 3D volume; inputting the high-channel 3D volume into a generative adversarial network to obtain a 3D prediction model of the spine; calculating the standard deviation of different generated images of the 3D prediction model to evaluate the quality difference of the generated images, and selecting a global optimization or local optimization 3D prediction model of the generator based on the quality difference; and the 3D prediction model obtains a reconstruction model of the spine by minimizing the loss of the generator. The application solves the problem that the existing method for reconstructing the three-dimensional structure of the spine in the X-ray excessively depends on prior information, thereby reducing the fidelity.

The invention relates to a scoliosis simulation teaching aid and an operation method. The simulation teaching aid comprises a spine model, a gooseneck rod and an outer cover box. The spine model comprises a vertebra model; the gooseneck rod penetrates through each vertebra model according to a spine physiological curve and is fixedly connected with the vertebra models; the outer cover box comprises a cervical vertebra box body, a thoracic vertebra box body, a lumbar vertebra box body and a sacrum box body; each box body comprises a transparent corrugated pipe, a top shell and a bottom shell; the spine model passes through the middle of the top shell and the middle of the bottom shell; the part, penetrating through the top shell and the bottom shell, of the gooseneck rod is fixedly connected with the top shell and the bottom shell respectively; the lower end of the transparent corrugated pipe is connected with the bottom shell edge, and the upper end is detachably connected with the top shell edge corresponding to the bottom shell edge. The vertebra models can be accurately controlled, and normal displacement deflection is carried out; the transparent corrugated pipe can reflect the trend of in-vitro abnormity, and is beneficial for medical students to establish clearer cognition on scoliosis. The operation method is simple and convenient to operate, and can simulate more types of scoliosis conditions.

The invention relates to the technical field of image simulation, in particular to a virtual reality-based spinal operation simulation system, which comprises the following steps of: generating a plurality of spinal models according to the appearance of a spinal column, and recording the initial boundary of each spinal model; placing the spine models in sequence, and generating a corresponding overall model; for the integral model of single simulation, corresponding danger boundaries and operation models are arranged in the corresponding spine models. The spine model which can be destroyed is set, the state in which the spine model can be influenced in the whole simulation state by a single operation is pre-loaded, and a dangerous boundary is set as a training standard, so that the representation of a virtual reality image is effectively improved, the interaction feeling of simulation participants is improved, and the simulation efficiency is improved. Therefore, the interaction performance of the virtual reality system is effectively improved.

An ultrasound training model which exhibits optically clear soft tissue-mimicking materials that are simultaneously acoustically scattering and self-healing to needle punctures. An exemplary embodiment is disclosed that comprises an embedded bone-mimicking spine model and a dual-purpose lid that may be used as a friction surface mat. Various embodiments of the training model materials are disclosed.

The invention relates to a spine three-dimensional imaging and lateral bending angle calculation method based on an AI vision algorithm, and belongs to the technical field of spine form detection. The method comprises the following steps: acquiring back image data, and positioning a plurality of spine key points from a back image by inputting a constructed key point detection model; the spine model is expressed as an energy balance system, then the spine key points are mapped to the spine model, and an energy balance equation of gravity and elastic potential energy is established; iteratively optimizing the energy balance equation by adopting an LM algorithm; three-dimensional coordinates of the gravity center of each cone are calculated through rotation matrix merging; and calculating a Cobb angle according to the obtained three-dimensional coordinates of the gravity center of each cone body. The spine key point is accurately detected through the back image, high-precision reconstruction from two dimensions to three dimensions is realized in combination with the energy balance principle and the optimization algorithm, the clinical Cobb angle is automatically calculated, and the problems of radiation risk, high cost and subjective error of traditional detection are solved.

The invention provides a high-intelligence spine adjuvant therapy system for spine surgery, which belongs to the technical field of spine adjuvant therapy and comprises a lying plate structure, and a two-end tension device, a vertebral column bottom pushing device, a vertebral column real-time scanning detector and a sensing unit are arranged on the lying plate structure. A three-dimensional model is constructed for the spine of a patient, then force applied in real time in the auxiliary treatment process is collected in real time, a scanner is used for scanning the real-time state of the spine, then the real-time state and the three-dimensional model are fused to form a three-dimensional dynamic spine model, and then the spine is determined according to optimal treatment scheme data of a hospital. And real-time optimal auxiliary treatment force can be applied to the three-dimensional dynamic spine model, so that the auxiliary treatment effect is better, and the extrusion position is controlled more accurately.

The invention discloses a 3D-printed scoliosis correction brace and a correction brace manufacturing method, and relates to the field of medical equipment.The 3D-printed scoliosis correction brace comprises a brace body, and the brace body is obtained through 3D printing according to a patient spine model and comprises medicine application areas symmetrically arranged on the two sides of the patient spine respectively; a mounting hole is formed in the medicine applying area, the medicine applying device comprises a shell, the shell is detachably arranged in the mounting hole, a medicine bag is detachably arranged in the shell, a heating mechanism is arranged in the shell, and the heating mechanism can heat the medicine bag. The manufacturing method of the correction brace is used for manufacturing the 3D printed scoliosis correction brace. The spinal scoliosis correcting device can be attached to a complex spinal curve, medicine stimulation is conducted on spinal spinous processes in combination with traditional Chinese medicine application, and the correcting effect of spinal scoliosis is improved.

The application relates to the technical field of spinal surgery, and particularly discloses a spinal surgery robot system, in which a robot body is provided with a mechanical arm; a surgery execution mechanism is arranged at the tail end of the mechanical arm and is used for executing a surgery operation; a scanning mechanism is used for scanning the spine of a patient; a binocular recognition mechanism is used for establishing a coordinate system containing the patient and the robot body; a display trolley is used for receiving scanning information of the scanning mechanism and can establish a three-dimensional spinal model based on the scanning information and display the three-dimensional spinal model; the display trolley can plan a surgery path based on the coordinate system and the three-dimensional spinal model; and the robot body moves the surgery execution mechanism to a surgery position and adjusts the surgery execution mechanism to a surgery angle based on the surgery path. The above arrangement ensures the accuracy of the surgery position and the surgery angle, reduces the labor intensity of medical staff in traditional surgery, reduces the surgery risk, and improves the surgery success rate and the surgery efficiency.

This invention provides a method and system for testing the positioning accuracy of a surgical robot system, comprising the following steps: Model fixing step: fixing a spinal model with a channel tube on a test table and importing the scanning data of the spinal model with the channel tube; Surgical planning step: performing surgical planning based on the scanning data of the spinal model with the channel tube to obtain the implantation trajectory; Calculation value acquisition step: according to the implantation trajectory, controlling the robotic arm to move the first test column at the end of the robotic arm to the corresponding position of the second test column in the channel tube, thereby obtaining the calculated value between the first test column and the second test column; Accuracy acquisition step: obtaining the positioning accuracy of the surgical robot system based on the calculated value. This invention no longer uses the single-layer calibration plate or the quantification tooling in the standard, but uses a spinal model instead of tooling, thus resulting in lower cost and higher reliability and accuracy.

A bionic spinal model, including: a base body; an enclosure; a bionic spinal body disposed on the base body and being radiopaque; a simulated muscle layer surrounding the bionic spinal body; and a simulated skin layer overlaying the simulated muscle layer. The bionic spinal body comprises an internal cavity and a bionic nerve body; the bionic nerve body is disposed in the internal cavity; and the bionic nerve body comprises a proximity-sensitive warning mechanism. The model successfully simulates key aspects of real spinal surgery, including X-ray imaging, internal anatomical structures, a surgical fluid environment, and neural proximity feedback, providing a realistic training platform to improve endoscopic spinal surgical skills.

The invention provides a training method and device of a lightweight multi-mode spine model with centrum segment perception, a terminal, a medium and an analysis method. According to the invention, low-cost localization deployment is realized by constructing the lightweight multi-mode architecture. Meanwhile, through specific data input and a progressive three-stage training strategy, a lightweight model with the spine specialized ability is constructed and trained, and then a more accurate spine image analysis result is obtained.

The present application relates to the technical field of spine image recognition, and particularly relates to a spine model recognition and positioning method, which determines the vertebra sub-contours of each vertebra in the first model image of the target object in a first pose state, and determines whether the recognition reliability of the vertebra sub-contours meets the standard according to the position distribution state of the contour recognition line; the recognition reference contour of the vertebra sub-contour whose recognition reliability does not meet the standard is determined, the pose change data is determined based on the coordinate change of the edge calibration point of the recognition reference contour, the pose change reference coordinates of the edge calibration point in the second model image are calculated, and whether the model image is effective is determined based on the actual coordinate difference of the edge calibration point in the second model image and the pose change reference coordinates, thereby, the verification scheme based on the associated image data and the model effectiveness determination means are provided for the vertebra sub-contours whose recognition reliability does not meet the standard, and the spine model recognition and positioning accuracy and effectiveness are improved.

The invention discloses a spine postoperative care quality sensitive index evaluation method, and relates to the technical field of rehabilitation medicine. Comprising the following steps: establishing a mapping relation table between to-be-evaluated nursing quality sensitive indexes and postoperative nursing record entries; postoperative patient recovery data are collected, dynamic space-time association with the mapping relation table is established, and recovery data changes and nursing operation records are matched through a time window synchronization algorithm; and calculating a standardized deviation degree delta between actual data of each index and a nursing record expected value based on a correlation result, dynamically adjusting an index weight according to a formula, visually outputting an evaluation result on the three-dimensional spine model, and highlighting a deviation degree over-limit region and a corresponding nursing record abstract. According to the invention, through a multi-source data real-time acquisition and intelligent analysis technology, a spinal post-operation nursing quality evaluation system with dynamic feedback is constructed, so that the defects of poor timeliness, complex calculation, insufficient dynamic evaluation capability and the like of a traditional method are overcome.

The application discloses a vertebroplasty optimization method based on a patient-specific finite element model and related devices, wherein the method comprises the following steps: constructing a patient-specific three-dimensional spine model according to a vertebral bone structure and a vertebral soft tissue structure; discretizing the patient-specific three-dimensional spine model into a tetrahedral finite element grid, assigning bone material properties to each finite element unit according to pixel values of a CT scan image, and assigning soft tissue material properties to intervertebral disc and ligament soft tissue structures; determining an optimal bone cement injection path and an optimal bone cement injection amount of the tetrahedral finite element grid; simulating vertebroplasty in the tetrahedral finite element grid, predicting stress distribution of a vertebra after the vertebroplasty, rigidity of the vertebra, and stress changes of adjacent vertebrae, and presenting simulation results of the simulated vertebroplasty in a three-dimensional visual form. The application realizes individualized optimization and preoperative simulation of vertebroplasty by constructing a patient-specific finite element model, and provides an efficient auxiliary reference surgical plan for a surgeon.

This invention discloses a percutaneous spinal puncture positioning system based on robotic ultrasound imaging, comprising: a collaborative robot, a medical ultrasound machine, a motion control module, and an image processing system. The image processing system further includes a CT image-based three-dimensional spinal reconstruction module, an ultrasound data processing module, and a registration and fusion module. This invention can reconstruct a CT three-dimensional spinal model from thin-slice CT images, obtain an ultrasound three-dimensional spinal model through ultrasound image processing, and register and fuse the two models into a unified coordinate system. Using this invention, a "three-dimensional positioning + two-dimensional monitoring" navigation puncture positioning mode can be achieved, fully leveraging the advantages of robotic ultrasound imaging, minimizing labor costs and reliance on experience, and safely and reliably completing percutaneous spinal puncture positioning. This invention requires minimal consumables, provides intuitive results, and is radiation-free, making it suitable for widespread use.

The invention discloses a static digital human body and spine model construction method and device for teenager idiopathic scoliosis. The static digital human body and spine model construction method for teenager idiopathic scoliosis comprises the following steps: acquiring multi-modal image data; obtaining three-dimensional human body point cloud data; obtaining a standard skeleton model according to the three-dimensional human body point cloud data; and performing registration on the standard skeleton model and the multi-modal image data through feature point coarse alignment and as rigid as possible fine registration so as to obtain a static digital human body and spine model. The method provides an important basis for clinicians to formulate personalized treatment schedules. The method has the advantages of being high in multi-modal data integration capacity, high in model precision, high in clinical interpretability and the like, and the AIS research and treatment efficiency and effect can be remarkably improved.

The application provides an interactive image analysis auxiliary method and system for deep 3D aerial imaging, which comprises the following steps: acquiring a preoperative standard posture spinal medical image of any object; generating a three-dimensional spinal model in an intraoperative standard posture according to the preoperative standard posture spinal medical image; generating placement information of a medical instrument for continuous multi-segment vertebrae based on the three-dimensional spinal model in the intraoperative standard posture; and projecting the placement information of the medical instrument to the corresponding spinal position of the object in the intraoperative 3D to assist in implanting the medical instrument. In the application, the placement information of the medical instrument is generated based on the preoperative spinal medical image, and is projected to the spinal position in the intraoperative, so that the medical personnel can perform spinal surgery based on the projection, without the need of additional medical image shooting, thereby realizing intraoperative radiation-free surgery.

The invention relates to the technical field of spine image recognition, in particular to a spine model recognition positioning method, which comprises the following steps of: determining a vertebra sub-contour of each vertebra in a first model image of a target object in a first pose state, and judging whether the recognition credibility of the vertebra sub-contours reaches the standard or not according to the position distribution state of contour recognition lines; the method comprises the following steps: determining an identification reference contour of a vertebra sub-contour of which the identification credibility does not reach the standard, determining pose change data based on coordinate change of an edge calibration point of the identification reference contour, and calculating pose change reference coordinates of the edge calibration point in a second model image; whether the model image is valid is judged based on the actual coordinate difference condition of the pose change reference coordinate and the edge calibration point in the second model image, so that a verification scheme based on associated image data and a model validity judgment means are provided for the vertebra sub-contour of which the identification credibility does not reach the standard; and the spine model identification positioning precision and effectiveness are improved.