Postoperative screw placement precision evaluation method

An accuracy evaluation and image technology, applied in the field of image processing, can solve the problems of image feature extraction that cannot be stably processed, poor quality of three-dimensional vertebral images, and inaccurate quantitative evaluation of the clinical accuracy of the robot system, etc., to achieve convenient confirmation and adjustment, accurate Enhanced performance and safety

Pending Publication Date: 2022-05-10
NANJING TUODAO MEDICAL TECHNOLOGY CO LTD
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Problems solved by technology

The above characteristics make it possible for surgical robots to be applied to pedicle screw fixation surgery, and there is a mature robot system (Tianji Robot System) on the market for assisting pedicle screw fixation surgery. The precision of the Gertzbein-Robbins classification is generally used to evaluate whether the pedicle screw penetrates the cortex in the lateral, medial, cephalic and caudal direct

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  • Postoperative screw placement precision evaluation method
  • Postoperative screw placement precision evaluation method
  • Postoperative screw placement precision evaluation method

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Embodiment Construction

[0059] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments.

[0060] figure 1 Be the flow chart of the present invention, as figure 1 As shown, the postoperative nail placement accuracy evaluation method based on image fusion of the present invention comprises the following steps:

[0061] (1) Obtain intraoperative and postoperative vertebral images;

[0062] Intraoperative images of the vertebral segments were obtained by intraoperative scans (see figure 2 ), and obtain the pose of the planning channel and its first endpoint and second The coordinates of the two endpoints; because the evaluation of the accuracy of the final postoperative nail insertion channel is based on the comparison between the actual position of the postoperative Kirschner wire and the position of the planned channel, so for the evaluation of postoperative nail placement accuracy, it is necessary to obtain the planning channel. Po

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Abstract

The invention discloses a postoperative screw placement precision evaluation method. The method comprises the following steps: (1) acquiring an intraoperative vertebral section image; (2) obtaining a postoperative vertebral segment image containing a kirschner wire after operation; (3) generating a crown section, an axis section and a sagittal section penetrating through the axis of the planned channel, and intercepting the crown section, the axis section and the sagittal section of the postoperative vertebral section image according to the crown section, the axis section and the sagittal section; (4) performing coarse alignment on the intraoperative vertebral section image and the postoperative vertebral section image; (5) adjusting the post-operation cross-sectional image to enable the post-operation cross-sectional image and the intra-operation cross-sectional image to be in an acceptable coincidence state, and obtaining a final transformation relation between the intra-operation image coordinate system and the post-operation image coordinate system; and (6) transforming the axis of the kirschner wire into an intraoperative image coordinate system through the final transformation relation, and calculating to obtain a screw placement precision error. According to the method, the deviation between the axis of the kirschner wire and the planned channel is calculated through the fused image, and the positioning precision of clinical screw placement of the surgical robot can be accurately analyzed.

Description

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Claims

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Application Information

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Owner NANJING TUODAO MEDICAL TECHNOLOGY CO LTD
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