TWI760835B

Movatterモバイル変換

Info

Publication number: TWI760835B
Application number: TW109130092A
Authority: TW
Inventors: 王民良
Original assignee: 台灣骨王生技股份有限公司
Priority date: 2020-09-02
Filing date: 2020-09-02
Publication date: 2022-04-11
Also published as: TW202210040A

Abstract

一種骨科手術輔助規劃方法，適用於為一患者骨骼建置一客製化骨板，包含以下步驟：(A)建置該患者骨骼之三維空間模型及至少一骨板模組於一處理器。(B)該處理器於一螢幕顯示該患者骨骼之影像。(C)一輸入裝置受操作而輸入複數連接點之資訊，該處理器運算該等連接點對應於該患者骨骼之三維空間模型中之三維空間座標，並運算該等三維空間座標之連接線而界定出一三維空間之生長路徑。(D)該處理器根據該生長路徑及該至少一骨板模型，建立三維之該客製化骨板。藉此，可以製作出更符合患者所需的該客製化骨板。An orthopedic surgery assistance planning method is suitable for constructing a customized bone plate for a patient's bone, comprising the following steps: (A) constructing a three-dimensional space model of the patient's bone and at least one bone plate module in a processor. (B) The processor displays an image of the patient's skeleton on a screen. (C) An input device is operated to input information of a plurality of connection points, the processor calculates the three-dimensional space coordinates in the three-dimensional space model of the patient's skeleton corresponding to the connection points, and calculates the connection lines of the three-dimensional space coordinates to obtain A growth path is defined in a three-dimensional space. (D) The processor creates the three-dimensional customized bone plate according to the growth path and the at least one bone plate model. In this way, the customized bone plate that is more in line with the needs of the patient can be produced.

Description

Translated fromChinese

骨科手術輔助規劃方法及系統Orthopedic surgery assistant planning method and system

本發明是有關於一種手術輔助規劃方法及系統，特別是指一種骨科手術輔助規劃方法及系統。The present invention relates to a surgical assistant planning method and system, in particular to an orthopaedic surgery assistant planning method and system.

骨科患者可能因骨折、挫傷、舊疾、老化等影響，導致骨骼結構偏離原本的正常位置或外觀形狀，多數骨科患者的手術需要搭配骨板或骨釘進行輔助固定，以矯正或固定骨骼位置。Orthopedic patients may deviate from the original normal position or appearance due to fractures, contusions, old diseases, aging, etc., and the bone structure may deviate from the original normal position or appearance.

由於每個患者的骨骼結構及偏離情況皆不相同，因此，時常需要根據手術所需的長度或彎曲度，對市售的骨板進行裁切，或是利用骨板折彎器來折彎或塑形骨板，以獲得所需的形狀及大小。然而，一方面由於骨板的材質多為不鏽鋼、合金等金屬材質，裁切及彎曲不易，另一方面，使用上述方式調整的骨板，在與患者骨骼的彎曲符合度上仍然有進步空間。Since the bone structure and deviation of each patient are different, it is often necessary to cut commercially available bone plates according to the length or curvature required for the operation, or use a plate bender to bend or Shape the plate to obtain the desired shape and size. However, on the one hand, since the material of the bone plate is mostly stainless steel, alloy and other metal materials, it is not easy to cut and bend.

因此，本發明之目的，即在提供一種能提升與患者骨骼之彎曲符合度的骨科手術輔助規劃方法。Therefore, the object of the present invention is to provide aOrthopedic surgery-assisted planning method for curvature compliance.

於是，本發明骨科手術輔助規劃方法，適用於為一患者骨骼建置一客製化骨板，並適用於運用於一具有一螢幕、一處理器及一輸入裝置的電腦，該骨科手術輔助規劃方法包含以下步驟：Therefore, the orthopedic surgery assisted planning method of the present invention is suitable for constructing a customized bone plate for a patient's skeleton, and is suitable for use in a computer having a screen, a processor and an input device. The orthopedic surgery assisted planning The method consists of the following steps:

(A)建置該患者骨骼之三維空間模型及至少一骨板模組於該處理器。(A) Building a three-dimensional space model of the patient's bone and at least one bone plate module in the processor.

(B)該處理器於該螢幕顯示該患者骨骼之影像。(B) The processor displays an image of the patient's skeleton on the screen.

(C)該輸入裝置受操作而輸入複數連接點之資訊，該處理器運算該等連接點對應於該患者骨骼之三維空間模型中之三維空間座標，並運算該等三維空間座標之連接線而界定出一三維空間之生長路徑。(C) The input device is operated to input information of a plurality of connection points, the processor calculates the three-dimensional space coordinates in the three-dimensional space model of the patient's skeleton corresponding to the connection points, and calculates the connection lines of the three-dimensional space coordinates to obtain A growth path is defined in a three-dimensional space.

(D)該處理器根據該生長路徑及該至少一骨板模型，建立三維之該客製化骨板。(D) The processor creates the three-dimensional customized bone plate according to the growth path and the at least one bone plate model.

因此，本發明之目的，即在提供一種能提升與患者骨骼之彎曲符合度的骨科手術輔助規劃系統。Therefore, the purpose of the present invention is to provide an orthopedic surgery assistant planning system that can improve the compliance with the curvature of the patient's bone.

於是，本發明骨科手術輔助規劃系統，適用於為一患者骨骼建置一客製化骨板，包含一資料儲存模組及一骨板模擬模組。Therefore, the orthopedic surgery auxiliary planning system of the present invention is suitable for constructing a customized bone plate for a patient's bone, and includes a data storage module and a bone plate simulation module.

該資料儲存模組用以儲存該患者骨骼之三維空間模型及至少一骨板模組。The data storage module is used for storing the three-dimensional space model of the patient's bone and at least one bone plate module.

該骨板模擬模組適用於接收複數連接點之資訊，運算該等連接點對應於該患者骨骼之三維空間模型中之三維空間座標，並運算該等三維空間座標之連接線而界定出一三維空間之生長路徑，再根據該生長路徑及該至少一骨板模型，建立三維之該客製化骨板。The bone plate simulation module is suitable for receiving the information of multiple connection points, calculating theThe iso-connection points correspond to the three-dimensional space coordinates in the three-dimensional space model of the patient's bone, and the connecting lines of the three-dimensional space coordinates are calculated to define a growth path in three-dimensional space, and then according to the growth path and the at least one bone plate model , and create a three-dimensional customized bone plate.

本發明之功效在於：藉由建置該患者骨骼之三維空間模型並進行顯示，可供使用者點選輸入該等連接點，並以該等連接點之資訊運算該生長路徑，再根據該生長路徑及該骨板模組建立三維之該客製化骨板，如此，可以依據患者個人骨骼狀況及醫師特殊規劃需求而製作該客製化骨板，因此，可以得到更符合患者所需的該客製化骨板。The effect of the present invention is: by constructing a three-dimensional space model of the patient's skeleton and displaying it, the user can click and input the connection points, and use the information of the connection points to calculate the growth path, and then according to the growth path The path and the bone plate module create a three-dimensional customized bone plate, so that the customized bone plate can be made according to the patient's individual bone condition and the doctor's special planning needs, therefore, the customized bone plate that better meets the needs of the patient can be obtained. Customized bone plate.

2:骨科手術輔助規劃系統2: Orthopedic surgery assistant planning system

21:資料儲存模組21: Data storage module

22:病理圖檔匯入模組22: Pathological image file import module

23:骨板模擬模組23: Bone Plate Simulation Module

24:骨骼復位模組24: Bone reset module

25:骨骼視覺化模組25: Skeleton Visualization Module

4:連接點4: Connection point

5:生長路徑5: Growth Path

61~65:步驟61~65: Steps

7:患者骨骼7: Patient bones

71:骨塊模組71: Bone Block Mod

8:客製化骨板8: Customized bone plate

9:電腦9: Computer

91:螢幕91: Screen

92:處理器92: Processor

93:輸入裝置93: Input device

931:鍵盤931: Keyboard

932:滑鼠932: Mouse

本發明之其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中：圖1是本發明骨科手術輔助規劃系統的一實施例應用於一電腦的一示意圖；圖2是該實施例的一方塊示意圖；圖3是本發明骨科手術輔助規劃方法的一實施例的一流程圖；圖4、5、6為該實施例創建一客製化骨板的示意圖；及圖7為該實施例以不同顯示方式顯示複數骨塊模組的示意圖。Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: FIG. 1 is a schematic diagram of an embodiment of the orthopaedic surgery auxiliary planning system of the present invention applied to a computer; FIG. 2 is the A block diagram of the embodiment; FIG. 3 is a flow chart of an embodiment of an orthopedic surgery-assisted planning method of the present invention; FIGS. 4, 5, and 6 are schematic diagrams of creating a customized bone plate in this embodiment; andFIG. 7 is a schematic diagram of displaying a plurality of bone block modules in different display manners according to the embodiment.

參閱圖1、圖2及圖6，本發明骨科手術輔助規劃系統2之一實施例，適用於為一患者骨骼7建置一客製化骨板8，包含一資料儲存模組21、一病理圖檔匯入模組22、一骨板模擬模組23、一骨骼復位模組24，及一骨骼視覺化模組25。其中，該骨科手術輔助規劃系統2可以一電腦9的一處理器92實施，該電腦9較佳還包括一螢幕91及一輸入裝置93(例如鍵盤931、滑鼠932)，該螢幕91、該處理器92與該輸入裝置93訊號連接。該資料儲存模組21可使用電腦記憶體，例如RAM、ROM、硬碟等實施。該病理圖檔匯入模組22、該骨板模擬模組23、該骨骼復位模組24與該骨骼視覺化模組25則使用軟體或韌體實施。Referring to FIGS. 1 , 2 and 6 , an embodiment of an orthopedic surgeryassistance planning system 2 of the present invention is suitable for constructing a customizedbone plate 8 for a patient’sbone 7 , including adata storage module 21 , a pathology The image file is imported into themodule 22 , a boneplate simulation module 23 , abone restoration module 24 , and abone visualization module 25 . The orthopaedic surgeryassistance planning system 2 can be implemented by aprocessor 92 of a computer 9, the computer 9 preferably further includes ascreen 91 and an input device 93 (eg keyboard 931, mouse 932), thescreen 91, the Theprocessor 92 is signally connected to theinput device 93 . Thedata storage module 21 can be implemented using computer memory, such as RAM, ROM, hard disk and the like. The pathological imagefile import module 22 , the boneplate simulation module 23 , thebone repositioning module 24 and thebone visualization module 25 are implemented using software or firmware.

該資料儲存模組21用以儲存該患者骨骼7之三維空間模型及至少一骨板模組。Thedata storage module 21 is used for storing the three-dimensional space model of the patient'sbone 7 and at least one bone plate module.

該病理圖檔匯入模組22用以將複數二維(2D)圖檔(例如，DICOM檔案)轉換為三維(3D)圖檔，並儲存於該資料儲存模組21。例如，以CT影像檔案進行說明，當讀取複數二維圖檔時，將每張二維圖檔的影像根據DICOM的擷取格式與距離資訊，進行疊加為三維結構影像，如此，可運算出該患者骨骼7中特定點的三維空間座標，再根據該患者骨骼7所運算出的三維空間座標資訊而建立該患者骨骼7之三維空間模型。The pathological imagefile import module 22 is used to convert a plurality of two-dimensional (2D) image files (eg, DICOM files) into three-dimensional (3D) image files, and store them in thedata storage module 21 . For example, taking CT image files as an illustration, when reading multiple 2D image files, the images of each 2D image file are stacked according to the DICOM capture format and distance information.Adding a three-dimensional structure image, in this way, the three-dimensional space coordinates of a specific point in the patient'sbone 7 can be calculated, and then a three-dimensional space model of the patient'sbone 7 can be established according to the calculated three-dimensional space coordinate information of the patient'sbone 7 .

參閱圖1、圖2、圖5及圖6，該骨板模擬模組23適用於接收使用者使用該滑鼠932所點選輸入的複數連接點4之資訊，運算該等連接點4對應於該患者骨骼7之三維空間模型中之三維空間座標，並運算該等三維空間座標之連接線而界定出一三維空間之生長路徑5，再根據該生長路徑5及該至少一骨板模型，建立三維之該客製化骨板8。其中，該骨板模擬模組23還運算該患者骨骼7之外表面，並據此修正該客製化骨板8之外輪廓，使該客製化骨板8和該患者骨骼7之間距不小於一預定距離，該骨板模擬模組23還修正該生長路徑5為順應該患者骨骼之表面彎曲度彎曲。其中，由於在不同骨骼位置及不同周遭組織特性的情況下，最佳的該預定距離會有所不同，因此，較佳是設計使用者還可透過操作該鍵盤931或該滑鼠932調整該預定距離。Referring to FIG. 1 , FIG. 2 , FIG. 5 and FIG. 6 , the boneplate simulation module 23 is suitable for receiving the information of the plurality ofconnection points 4 clicked and input by the user using themouse 932 , and the calculation of theconnection points 4 corresponds to The three-dimensional space coordinates in the three-dimensional space model of the patient'sbone 7 are calculated, and the connecting line of the three-dimensional space coordinates is calculated to define a three-dimensionalspace growth path 5, and then based on thegrowth path 5 and the at least one bone plate model, establish The customizedbone plate 8 in three dimensions. The boneplate simulation module 23 also calculates the outer surface of the patient'sbone 7, and accordingly corrects the outer contour of the customizedbone plate 8, so that the distance between the customizedbone plate 8 and the patient'sbone 7 is not When the distance is less than a predetermined distance, the boneplate simulation module 23 also corrects thegrowth path 5 to conform to the curvature of the surface of the patient's bone. Among them, since the optimal predetermined distance will be different in the case of different bone positions and different surrounding tissue characteristics, it is preferred that the design user can also adjust the predetermined distance by operating thekeyboard 931 or themouse 932 distance.

該骨骼復位模組24適用於接收使用者使用該鍵盤931或該滑鼠932輸入的一操作信號而運算該患者骨骼7的特定骨塊於旋轉或平移後之三維空間座標，並將旋轉或平移後之該患者骨骼7的影像顯示於該螢幕91。Thebone repositioning module 24 is suitable for receiving an operation signal input by the user using thekeyboard 931 or themouse 932 to calculate the three-dimensional space coordinates of a specific bone block of the patient'sbone 7 after rotation or translation, and to rotate or translate The image of the patient'sskeleton 7 is then displayed on thescreen 91 .

參閱圖1、圖2及圖7，該骨骼視覺化模組25適用於接收由該鍵盤931或該滑鼠932輸入的一分離參數及一拆組訊息，並根據該分離參數進行骨塊組織分離，以將該患者骨骼7區分為複數組骨塊模組71，每一組骨塊模組71所包含骨塊的數量大小相關於該分離參數，該骨骼視覺化模組25根據該拆組訊息使任意組骨塊模組71進行合併，或使任意一組骨塊模組71再拆分為包含骨塊數量更小的骨塊模組71。Referring to FIG. 1 , FIG. 2 and FIG. 7 , theskeleton visualization module 25 is suitable for receivingA separation parameter and a disassembly information are input by thekeyboard 931 or themouse 932, and the bone block tissue is separated according to the separation parameter, so as to divide the patient'sbone 7 into a plurality of groupbone block modules 71, each group The number of bone blocks included in thebone block module 71 is related to the separation parameter. Thebone visualization module 25 merges any group ofbone block modules 71 according to the disassembly information, or makes any group ofbone block modules 71 is further divided intobone block modules 71 containing a smaller number of bone blocks.

參閱圖1、圖3及圖6，本發明骨科手術輔助規劃方法之一實施例，適用於為一患者骨骼7建置一客製化骨板8，並適用於運用於一具有一螢幕91、一建置上述骨科手術輔助規劃系統2(見圖2)的處理器92及一輸入裝置93的電腦9，該骨科手術輔助規劃方法包含以下步驟：步驟61：建置該患者骨骼7之三維空間模型及至少一骨板模組於該處理器92。Referring to FIGS. 1 , 3 and 6 , an embodiment of an orthopedic surgery assistance planning method of the present invention is suitable for constructing a customizedbone plate 8 for a patient’sbone 7 , and is suitable for use in a device having ascreen 91 , A computer 9 including aprocessor 92 and aninput device 93 of the above-mentioned orthopedic surgery auxiliary planning system 2 (see FIG. 2 ), the orthopedic surgery auxiliary planning method includes the following steps:Step 61 : Build a three-dimensional space model of the patient'sbone 7 and at least one bone plate module in theprocessor 92 .

使用者須先匯入患者之病理圖檔以建置該患者骨骼7之三維空間模型，例如可以讀取CT/MRI影像檔案夾進行載入(通常為DICOM檔案)，接著，該處理器92將每張二維圖檔的影像根據DICOM的擷取格式與距離資訊，進行疊加為三維結構影像，如此，可運算出該患者骨骼7中特定點的三維空間座標，再根據該患者骨骼7所運算出的三維空間座標資訊而建立該患者骨骼7之三維空間模型。The user must first import the patient's pathological image file to construct the three-dimensional space model of the patient'sskeleton 7, for example, the CT/MRI image file can be read and loaded (usually a DICOM file), then, theprocessor 92 will The image of each two-dimensional image is superimposed into a three-dimensional structural image according to the capture format and distance information of DICOM. In this way, the three-dimensional spatial coordinates of a specific point in the patient'sbone 7 can be calculated, and then according to the calculated value of the patient'sbone 7 The three-dimensional space model of the patient'sbone 7 is established based on the three-dimensional space coordinate information.

使用者並先預先儲存一或複數個骨板模組，本實施例中，該骨板模組是呈圓環鎖鏈狀且具有複數骨釘孔的樣式，但實際上，該骨板模組可設置為任意形狀，例如，可視需求先建立一個單一結構體，例如方形、長方形、三角形等等，其結構資訊須包含長寬高、螺絲鎖固孔的大小尺寸等，並建立該單一結構體間的連結方式，接著，即可透過本實施例之操作而依各種單一結構體的樣式及連結方式生成所需的長度。The user also pre-stores one or more bone plate modules. In this embodiment, the bone plate module is in the shape of a ring chain and has a plurality of bone screw holes, but in fact, the bone plate module can be Set it to any shape. For example, you can create a single structure, such as square, rectangle, triangle, etc., as required. Its structure information must include length, width, height, and size of screw locking holes. Then, through the operation of this embodiment, the required length can be generated according to the styles and connection methods of various single structures.

步驟62：該處理器92於該螢幕91顯示該患者骨骼7之影像。Step 62 : Theprocessor 92 displays the image of the patient'sskeleton 7 on thescreen 91 .

於步驟61建置完成後，使用者可以操作該鍵盤931或該滑鼠932而使該患者骨骼7之三維空間模型顯示於該螢幕91上，並可操作該鍵盤931或該滑鼠932而使該患者骨骼7之三維空間模型於該螢幕91上旋轉或平移。After the construction instep 61 is completed, the user can operate thekeyboard 931 or themouse 932 to display the three-dimensional model of the patient'sskeleton 7 on thescreen 91, and can operate thekeyboard 931 or themouse 932 to display the three-dimensional model of the patient'sskeleton 7 on thescreen 91. The three-dimensional space model of the patient'sskeleton 7 is rotated or translated on thescreen 91 .

其中，較佳是使用者還可操作該鍵盤931或該滑鼠932而使該患者骨骼7的特定骨塊進行旋轉或平移，如此，可以針對患者偏移之骨骼進行旋轉、平移等復位之模擬。Among them, it is preferable that the user can also operate thekeyboard 931 or themouse 932 to rotate or translate a specific bone block of the patient'sbone 7 . In this way, the patient's offset bone can be rotated or translated to simulate the reset. .

參閱圖1及圖7，其中，較佳是使用者還可操作該鍵盤931或該滑鼠932而輸入一分離參數，該處理器92根據該分離參數進行骨塊組織分離，以將該患者骨骼7區分為複數組骨塊模組71，每一組骨塊模組71所包含骨塊的數量大小相關於該分離參數。該處理器92並將每一組骨塊模組71以不同顯示方式(例如：不同顏色，於圖7中則以不同塗色方式表現)顯示於該螢幕91，以增加辨識度而供使用者可以快速辨識不同骨塊模組71。並且，使用者可操作該鍵盤931或該滑鼠932而使任意組骨塊模組71進行合併，或使任意一組骨塊模組71再拆分為包含骨塊數量更小的骨塊模組71。Referring to FIG. 1 and FIG. 7 , preferably, the user can also operate thekeyboard 931 or themouse 932 to input a separation parameter, and theprocessor 92 separates the bone tissue according to the separation parameter to separate the patient'sbone Section 7 is divided into a plurality ofbone block modules 71 , and the number of bone blocks included in each group ofbone block modules 71 is related to the separation parameter. theprocessor92 and each group ofbone block modules 71 are displayed on thescreen 91 in different display modes (eg, different colors, shown in different coloring modes in FIG. 7 ), so as to increase the recognition and allow users to quickly identify Differentbone block modules 71. In addition, the user can operate thekeyboard 931 or themouse 932 to merge any group ofbone block modules 71, or make any group ofbone block modules 71 subdivide into bone block modules with smaller number ofbone blocks Group 71.

如此，使用者可以根據需求而任意將該患者骨骼7中的骨塊進行分組，例如，可以將手術區域的骨塊進行較詳細的拆解，而將非手術區域的骨塊直接合併為較大的骨塊模組71，如此，方便使用者根據需求而對不同骨塊進行不同程度的細節分解。In this way, the user can arbitrarily group the bone fragments in the patient'sbone 7 according to their needs. For example, the bone fragments in the surgical area can be disassembled in more detail, and the bone fragments in the non-surgical area can be directly merged into larger ones. Thebone block module 71 is provided, so that it is convenient for users to decompose different bone blocks into different degrees of detail according to their needs.

參閱圖1、圖3及圖5，步驟63：該輸入裝置93受操作而輸入複數連接點4之資訊，該處理器92運算該等連接點4對應於該患者骨骼7之三維空間模型中之三維空間座標，並運算該等三維空間座標之連接線而界定出一三維空間之生長路徑5。Referring to FIGS. 1 , 3 and 5 , step 63 : theinput device 93 is operated to input the information of the plurality ofconnection points 4 , and theprocessor 92 calculates the connection points 4 corresponding to the three-dimensional space model of the patient’sbone 7 . Three-dimensional space coordinates are calculated, and a connecting line of the three-dimensional space coordinates is calculated to define a three-dimensionalspace growth path 5 .

參閱圖1、圖4~圖6，其中，當該螢幕91如圖4所示顯示該患者骨骼7之三維空間模型後，如圖5所示，使用者可操作該滑鼠932於該螢幕91上進行點選而輸入該等連接點4之資訊，接著該處理器92運算該等連接點4對應於該患者骨骼7之三維空間模型中之三維空間座標，並於使用者點選了複數個連接點4後，該處理器92即運算該等連接點4之連接線而得出該生長路徑5。Referring to FIG. 1 , FIG. 4 to FIG. 6 , when thescreen 91 displays the three-dimensional space model of the patient’sskeleton 7 as shown in FIG. 4 , as shown in FIG. 5 , the user can operate themouse 932 on thescreen 91 Click on the above to input the information of the connection points 4, then theprocessor 92 calculates the three-dimensional space coordinates of the connection points 4 corresponding to the three-dimensional space model of the patient'sbone 7, and when the user clicks a plurality of After connecting thepoints 4 , theprocessor 92 calculates the connecting lines of the connectingpoints 4 to obtain thegrowth path 5 .

其中，該處理器92較佳是還修正該生長路徑5為順應該患者骨骼之表面彎曲度彎曲，以更加符合該患者骨骼7的彎曲變化。Wherein, theprocessor 92 preferably also corrects thegrowth path 5 to conform to theThe surface curvature of the patient's bone is curved to better match the curvature of the patient'sbone 7 .

參閱圖1、圖3、圖5及圖6，步驟64：該處理器92根據該生長路徑5及該至少一骨板模型，建立三維之該客製化骨板8。Referring to FIG. 1 , FIG. 3 , FIG. 5 and FIG. 6 , step 64 : theprocessor 92 creates the three-dimensional customizedbone plate 8 according to thegrowth path 5 and the at least one bone plate model.

於使用者完成該等連接點4之輸入後，該螢幕91上會如圖5所示顯示該生長路徑5，此時使用者可操作該鍵盤931或該滑鼠932確認要進行創建骨板，接著該處理器92即進行步驟64之運算，而使用該骨板模型依該生長路徑5創建該客製化骨板8的模型。其中，該處理器92還佳是還運算該客製化骨板8所鄰近之骨塊的外表面(例如，計算外表面之座標組合)，並據此修正該客製化骨板8之外輪廓，使該客製化骨板8和該患者骨骼7之間距不小於一預定距離。如此，以提供足夠的空間供骨塊進行修復生長。After the user completes the input of the connection points 4, thegrowth path 5 will be displayed on thescreen 91 as shown in FIG. 5. At this time, the user can operate thekeyboard 931 or themouse 932 to confirm that the bone plate is to be created, Then, theprocessor 92 performs the operation ofstep 64 and uses the bone plate model to create a model of the customizedbone plate 8 according to thegrowth path 5 . Preferably, theprocessor 92 also calculates the outer surface of the bone block adjacent to the customized bone plate 8 (for example, calculates the coordinate combination of the outer surface), and corrects the outer surface of the customizedbone plate 8 accordingly. contour so that the distance between the customizedbone plate 8 and the patient'sbone 7 is not less than a predetermined distance. In this way, enough space is provided for the bone block to repair and grow.

該骨科手術輔助規劃方法較佳是還包含下列步驟：步驟65：將三維之該客製化骨板8進行3D列印。Preferably, the orthopedic surgery assistant planning method further includes the following steps:Step 65 : 3D printing the three-dimensional customizedbone plate 8 .

其中，使用者還可以搭配一3D列印裝置(圖未示)，將所建立好的三維之該客製化骨板8的資料傳輸至該3D列印裝置，並以金屬材質(例如鋼材)進行列印，如此，可以快速得到該客製化骨板8之模型供醫師參考使用。Among them, the user can also use a 3D printing device (not shown) to transmit the created three-dimensional data of the customizedbone plate 8 to the 3D printing device, and use a metal material (such as steel) By printing, in this way, the model of the customizedbone plate 8 can be quickly obtained for reference by the physician.

經由以上的說明，本實施例的功效如下：Through the above description, the effect of this embodiment is as follows:

一、藉由建置該患者骨骼之三維空間模型並進行顯示，可供使用者點選輸入該等連接點4，並以該等連接點4之資訊運算該生長路徑5，再根據該生長路徑5及該骨板模組建立三維之該客製化骨板8，如此，可以依據患者個人骨骼狀況及醫師特殊規劃需求而製作該客製化骨板8，因此，可以得到更符合患者所需的該客製化骨板8。1. By constructing a three-dimensional space model of the patient's skeleton and displaying it, the user can click and input the connection points 4, and use the information of the connection points 4 to calculate theGrowth path 5, and then create a three-dimensional customizedbone plate 8 according to thegrowth path 5 and the bone plate module, so that the customizedbone plate 8 can be made according to the patient's individual bone condition and the doctor's special planning requirements, Therefore, the customizedbone plate 8 that better meets the needs of the patient can be obtained.

二、藉由運算該患者骨骼7之外表面，並據此修正該客製化骨板8之外輪廓，使該客製化骨板8和該患者骨骼7之間距不小於該預定距離，可以預留骨骼及周遭組織生長的空間，達到更好的治療效果。2. By calculating the outer surface of the patient'sbone 7 and modifying the outer contour of the customizedbone plate 8 accordingly, so that the distance between the customizedbone plate 8 and the patient'sbone 7 is not less than the predetermined distance, it is possible to Reserve space for the growth of bones and surrounding tissues to achieve better therapeutic effects.

三、藉由調整該分離參數，可以供使用者任意將該患者骨骼7拆解或組合為多組骨塊模組71，如此，可以供使用者根據需求而對不同骨塊進行不同程度的細節分解，能增加操作上的便利性。3. By adjusting the separation parameter, the user can arbitrarily disassemble or combine the patient'sbone 7 into multiple sets ofbone block modules 71, so that the user can perform different degrees of detail on different bone blocks according to their needs. Decomposition can increase the convenience of operation.

綜上所述，本發明骨科手術輔助規劃方法及系統，確實能達成本發明的目的。In conclusion, the orthopaedic surgery assistant planning method and system of the present invention can indeed achieve the purpose of the present invention.

惟以上所述者，僅為本發明之實施例而已，當不能以此限定本發明實施之範圍，凡是依本發明申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。However, the above are only examples of the present invention, and should not limit the scope of the present invention. Any simple equivalent changes and modifications made according to the scope of the application for patent of the present invention and the content of the patent specification are still within the scope of the present invention. within the scope of the invention patent.

61~65:步驟61~65: Steps

Claims

Translated fromChinese

一種骨科手術輔助規劃方法，適用於為一患者骨骼建置一客製化骨板，並適用於運用於一具有一螢幕、一處理器及一輸入裝置的電腦，該骨科手術輔助規劃方法包含以下步驟：(A)建置該患者骨骼之三維空間模型及至少一骨板模組於該處理器；(B)該處理器於該螢幕顯示該患者骨骼之影像；(C)該輸入裝置受操作而輸入複數連接點之資訊，該處理器運算該等連接點對應於該患者骨骼之三維空間模型中之三維空間座標，並運算該等三維空間座標之連接線而界定出一三維空間之生長路徑；及(D)該處理器根據該生長路徑及該至少一骨板模型，建立三維之該客製化骨板。An orthopedic surgery assisted planning method is suitable for constructing a customized bone plate for a patient's bone, and is suitable for use in a computer having a screen, a processor and an input device. The orthopedic surgery assisted planning method includes the following Steps: (A) build a three-dimensional space model of the patient's bone and at least one bone plate module on the processor; (B) the processor displays the image of the patient's bone on the screen; (C) the input device is operated After inputting the information of the plurality of connection points, the processor calculates the three-dimensional space coordinates in the three-dimensional space model of the patient's skeleton corresponding to the connection points, and calculates the connecting lines of the three-dimensional space coordinates to define a growth path in the three-dimensional space. ; and (D) the processor establishes the three-dimensional customized bone plate according to the growth path and the at least one bone plate model.

如請求項1所述的骨科手術輔助規劃方法，其中，於步驟(D)中，該處理器還運算該患者骨骼之外表面，並據此修正該客製化骨板之外輪廓，使該客製化骨板和該患者骨骼之間距不小於一預定距離。The auxiliary planning method for orthopedic surgery according to claim 1, wherein, in step (D), the processor further calculates the outer surface of the patient's bone, and accordingly corrects the outer contour of the customized bone plate, so that the The distance between the customized bone plate and the patient's bone is not less than a predetermined distance.

如請求項1所述的骨科手術輔助規劃方法，其中，於步驟(C)中，該處理器還修正該生長路徑為順應該患者骨骼之表面彎曲度彎曲。The auxiliary planning method for orthopedic surgery according to claim 1, wherein, in step (C), the processor further corrects the growth path to be curved according to the surface curvature of the patient's bone.

如請求項1所述的骨科手術輔助規劃方法，其中，於步驟(B)中，該輸入裝置可受操作而使該螢幕所顯示之該患者骨骼之三維空間模型旋轉或平移，或使該患者骨骼的特定骨塊進行旋轉或平移。The orthopaedic surgery assistant planning method as claimed in claim 1, wherein, in step (B), the input device can be operated to rotate or translate the three-dimensional space model of the patient's bone displayed on the screen, or to make the patient skeletonRotate or translate the specific bone block.

如請求項1所述的骨科手術輔助規劃方法，其中，於步驟(B)中，該輸入裝置受操作而調整一分離參數，該處理器根據該分離參數進行骨塊組織分離，以將該患者骨骼區分為複數組骨塊模組，每一組骨塊模組所包含骨塊的數量大小相關於該分離參數。The orthopaedic surgery assistance planning method as claimed in claim 1, wherein, in step (B), the input device is operated to adjust a separation parameter, and the processor performs bone block tissue separation according to the separation parameter, so as to the patient The skeleton is divided into multiple groups of bone block modules, and the number and size of the bone blocks included in each group of bone block modules is related to the separation parameter.

如請求項5所述的骨科手術輔助規劃方法，其中，該輸入裝置受操作輸入一拆組訊息，該處理器根據該拆組訊息而使任意組骨塊模組進行合併，或使任意一組骨塊模組再拆分為包含骨塊數量更小的骨塊模組。The auxiliary planning method for orthopedic surgery according to claim 5, wherein the input device is operated to input a disassembly message, and the processor merges any group of bone block modules according to the disassembly information, or makes any group The bone block module is split into bone block modules with a smaller number of bone blocks.

如請求項1所述的骨科手術輔助規劃方法，還包含下列步驟：(E)將三維之該客製化骨板進行3D列印。The orthopaedic surgery-assisted planning method according to claim 1, further comprising the following steps: (E) 3D printing the three-dimensional customized bone plate.

如請求項1所述的骨科手術輔助規劃方法，其中，於步驟(A)中，該處理器讀取該患者骨骼之複數二維圖檔，將每張二維圖檔的影像根據擷取格式與距離資訊疊加為三維結構影像，以建立該患者骨骼之三維空間模型。The auxiliary planning method for orthopedic surgery as claimed in claim 1, wherein, in step (A), the processor reads a plurality of two-dimensional image files of the patient's bones, and compares the images of each two-dimensional image file with the captured format according to the captured format. The distance information is superimposed into a three-dimensional structural image to establish a three-dimensional spatial model of the patient's skeleton.

一種骨科手術輔助規劃系統，適用於為一患者骨骼建置一客製化骨板，包含：一資料儲存模組，用以儲存該患者骨骼之三維空間模型及至少一骨板模組；及一骨板模擬模組，適用於接收複數連接點之資訊，運算該等連接點對應於該患者骨骼之三維空間模型中之三維空間座標，並運算該等三維空間座標之連接線而界定出一三維空間之生長路徑，再根據該生長路徑及該至少一骨板模型，建立三維之該客製化骨板。An orthopedic surgery auxiliary planning system, suitable for constructing a customized bone plate for a patient's bone, comprising: a data storage module for storing a three-dimensional space model of the patient's bone and at least one bone plate module; and a The bone plate simulation module is suitable for receiving the information of a plurality of connection points, calculating the three-dimensional space coordinates of the connection points corresponding to the three-dimensional space model of the patient's bone, and calculating the connection lines of these three-dimensional space coordinates to defineA growth path in a three-dimensional space is obtained, and then a three-dimensional customized bone plate is established according to the growth path and the at least one bone plate model.

如請求項9所述的骨科手術輔助規劃系統，其中，該骨板模擬模組還運算該患者骨骼之外表面，並據此修正該客製化骨板之外輪廓，使該客製化骨板和該患者骨骼之間距不小於一預定距離，該骨板模擬模組還修正該生長路徑為順應該患者骨骼之表面彎曲度彎曲。The auxiliary planning system for orthopedic surgery according to claim 9, wherein the bone plate simulation module also calculates the outer surface of the patient's bone, and accordingly corrects the outer contour of the customized bone plate, so that the customized bone plate The distance between the plate and the patient's bone is not less than a predetermined distance, and the bone plate simulation module also corrects the growth path to conform to the surface curvature of the patient's bone.

如請求項9所述的骨科手術輔助規劃系統，其中，還包含一骨骼視覺化模組，該骨骼視覺化模組適用於接收一分離參數及一拆組訊息，並根據該分離參數進行骨塊組織分離，以將該患者骨骼區分為複數組骨塊模組，每一組骨塊模組所包含骨塊的數量大小相關於該分離參數，該骨骼視覺化模組並根據該拆組訊息使任意組骨塊模組進行合併，或使任意一組骨塊模組再拆分為包含骨塊數量更小的骨塊模組。The auxiliary planning system for orthopaedic surgery as claimed in claim 9, further comprising a skeleton visualization module, which is adapted to receive a separation parameter and a disassembly information, and perform bone block segmentation according to the separation parameter Tissue separation to divide the patient's skeleton into multiple groups of bone block modules, the number and size of the bone blocks included in each group of bone block modules is related to the separation parameter, and the bone visualization module uses the disassembly information according to the grouping information. Merge any group of bone block modules, or split any group of bone block modules into bone block modules with a smaller number of bone blocks.