巴西专利BR112012028013B1 analysis method of orthopedic fixation images and non-transitory computer-readable storage medium

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ORTHOPEDIC FIXATION WITH IMAGE ANALYSIS. The present invention deals with methods of orthopedic fixation and image analysis. Images of bone segments first and second connected to a fixation device are captured. Fixing elements identified in the images are used to obtain scene parameters for image generation. Bone elements identified in the images are used together with the scene parameters for imaging in order to reconstruct a three-dimensional representation of positions and / or orientations of the bone segments first and second in relation to the fixation device.
公开号:BR112012028013B1
申请号:R112012028013-9
申请日:2011-05-19
公开日:2020-10-27
发明作者:Arkadijus Nikonovas
申请人:Synthes Gmbh；
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CROSS REFERENCE TO RELATED ORDERS
[0001] The present patent application claims priority to the UK patent application serial number GB1008281.6, filed on May 19, 2010, which is incorporated in this document in its entirety by reference. BACKGROUND OF THE INVENTION
[0002] Techniques used to treat bone fractures and / or bone deformities include the use of external fixators, such as fixation plates, which are installed by surgery on bone segments on opposite sides of a fracture site. A pair of radiographic images of the fixator and bone segments are obtained at the fracture site. Radiographic images should normally be orthogonal or perpendicular to each other and aligned with the patient's anatomical axes. The image data are then manipulated with orthogonal projection techniques to build a three-dimensional representation of the fixator and bone segments that is used to develop a treatment plan, which can comprise, for example, realigning the bone segments using adjustments to the fastener.
[0003] However, the ability to obtain orthogonal radiographic images of a fracture site may be limited by factors beyond the surgeon's control, for example, the maneuverability of the imaging device, the anatomical site of a fracture or deformity and / or the pain caused to the patient with the positioning of a fractured limb to generate orthogonal images. Limiting factors like these can lead to inaccuracies in the image generation process. These inaccuracies can have unintended consequences, such as the inadequate alignment of bone segments during the correction process, the compromised union between the bone segments, the need for new radiographic imaging sessions to facilitate alignment corrections or even the need for new ones. surgical procedures. SUMMARY
[0004] According to one embodiment, an orthopedic fixation method includes connecting a fixation device to bone segments first and second. The method also includes capturing a first image of the fixation device and bone segments from a first orientation in relation to the fixation device. The method also includes capturing a second image of the fixation device and bone segments from a second orientation relative to the fixation device other than the first. The method also includes calculating first and second transformation matrices for the first and second images, respectively. The method also includes using the transformation matrices to reconstruct a three-dimensional representation of the first and second bone segments in relation to the fixation apparatus.
[0005] According to an alternative embodiment, a computer-readable storage medium has computer-readable instructions stored on it that, when executed by a processor, perform an image analysis method for orthopedic fixation. The method includes capturing, by means of an image generator, the first and second images of a fixation device and the first and second bone segments connected to it. The first image is captured from a first orientation, and the second, from a second orientation different from the first. The method also includes obtaining various scene parameters for imaging. The method also includes reconstructing a three-dimensional representation of the first and second bone segments in relation to the fixation device based on the various scene parameters for imaging. BRIEF DESCRIPTION OF THE DRAWINGS
[0006] The above summary, as well as the detailed description of the preferred embodiments of the present invention below, will be better understood when read in conjunction with the accompanying drawings. The drawings illustrate preferred embodiments in order to exemplify the methods and / or techniques of orthopedic fixation with image analysis. It should be understood, however, that the present invention is not limited to structures or instruments exactly as illustrated in the drawings, among which: figure 1 illustrates a perspective view of a fixation unit positioned to generate images according to an embodiment ; figure 2 shows a perspective view of an exemplary image generation process of the fixation unit illustrated in figure 1; and figure 3 illustrates a flow chart describing an exemplary orthopedic fixation with image analysis process according to an embodiment. DETAILED DESCRIPTION
[0007] For convenience, the same or equivalent elements in the various embodiments illustrated in the drawings have been identified with the same reference numbers. In the following description, we will use specific terminology for convenience only and therefore without the intention to limit the scope of the present invention. The words "right", "left", "upper" and "lower" indicate directions in the drawings to which we refer. The phrases "in", "in", "outside" and "out" refer to directions near and away, respectively, from the geometric center of the device and from indicated parts of it. The terminology, considered non-limiting, includes the words listed above, their derivatives and words with the same meaning.
[0008] With reference, in principle, to figure 1, body tissues are aligned and / or oriented, for example, bone segments first 102 and second 104 in order to promote union or other type of correction between them . The alignment and / or orientation of body tissues can be achieved by connecting them to an adjustable fixation device, such as an orthopedic fixator 100. The orthopedic fixator can comprise an external fixation device with several distinct members that remain outside the body of the patient but bind to respective distinct body tissues, for example, minimally invasive binding members. By adjusting the spatial positioning of the fixative members with each other, the respective body tissues connected to them can be reoriented and / or aligned in some other way with each other, for example, in order to promote the union between the body tissues during the process correction. The use of external orthopedic fixators with the image analysis and positioning techniques described in this document can be advantageous in several applications where direct measurement and manipulation of body tissues is not possible, where limited or minimally invasive access to body tissues is desired or something like that.
[0009] The fastener members can connect to each other through adjustment members, which are configured to facilitate the spatial repositioning of the fastener members with each other. For example, in the illustrated embodiment, the orthopedic fixator 100 comprises a pair of members in the form of an upper fixing ring 106 and a lower fixing ring 108. Fixing rings 106 and 108 can be the same or different. For example, fixing rings 106 and 108 can have the same or different diameters. In addition, they can be manufactured with various cross diameters, thicknesses etc. It should be kept in mind that the members of the orthopedic fixator 100 are not limited to the upper fixing rings 106 and lower 108 illustrated and that the orthopedic fixator 100 can be constructed in another way. For example, it is possible to include other fastening rings and interconnect them to fastening rings 106 and / or 108. It should also be borne in mind that the geometry of the fastener members is not limited to fastening rings and that, as an alternative, at least one of them, like all, can be manufactured with any other suitable geometry.
[00010] The bone segments first 102 and second 104 can firmly connect to the upper 106 and lower 108 fixing rings, respectively, by means of connecting members that can be embedded in the fixing rings 106 and 108. For example, in the illustrated embodiment , the connecting members are in the form of connecting rods 110 and connecting wires 112.
[00011] Rods 110 and wires 112 extend between proximal ends, connected to mounting members 114 embedded in fixing rings 106 and 108, and opposite distal ends, inserted or otherwise fixed in bone segments 102 and 104. The mounting members 114 can be removably embedded in the fastening rings 106 and 108 at predetermined points along the peripheries of the fastening rings 106 and 108, for example, by arranging them in threaded openings formed in the fastening rings. With respect to each fastening ring 106 and 108, the mounting members 114 can be embedded in the upper surface of the ring, the lower surface of the ring or any combination thereof. It is worth noting that the connecting members are not limited to the configuration of the illustrated embodiment. For example, any number of connecting members, such as the illustrated rods and wires 112 or any other connecting members, can be used to fix the bone segments in respective members of the fixator, as desired. It is also worth noting that, as an alternative, one or more of the connecting members, for example, the rods 110 and / or wires 112, can be configured to be mounted directly on the fixing rings 106 and 108, without the use of mounting members 114 .
[00012] The upper 106 and lower 108 fixing rings can connect to each other by means of at least one adjustment member, such as several. At least one of the adjustment members, like all, can be configured to allow the spatial positioning of the fixing rings to be adjusted with each other. For example, the illustrated embodiment, the upper 106 and lower 108 fixing rings connect to each other by means of various adjustment members in the form of adjustable length struts 116. It should be kept in mind that the structure of the orthopedic fixator 100 does not is limited to the six struts 116 of the illustrated embodiment, it being possible to use more or less struts, as desired.
[00013] Each of the adjustable length struts 116 may comprise opposite upper strut 118 and lower strut 120 arms. Each of the upper strut 118 and lower strut 120 arms has proximal ends arranged in a coupling member, or sleeve 122, and opposite distal ends that mate with universal joints 124 embedded in the upper 106 and lower 108 fixing rings, respectively. The universal joints of the illustrated embodiment are arranged in evenly spaced pairs around the peripheries of the upper 106 and lower 108 fixing rings, but, alternatively, can be arranged in any other locations on the fixing rings, as desired.
[00014] The proximal ends of the upper strut 118 and lower strut 120 arms of each strut 116 include threads defined therein, which are configured to be received in complementary threads defined in the sleeve 122 such that, when the proximal ends of the strut arms upper strut 118 and lower strut 120 of a strut are received in a respective sleeve 122, the rotation of which struts the upper strut 118 and lower strand 120 to move within it, thus lengthening or shortening strut 116 depending on the direction of rotation . Therefore, it is possible to adjust the length of each strut 116 independently from the other struts. It is worth noting that the adjustment members are not limited to the adjustable length struts 116 of the illustrated embodiment and that, alternatively, they can be manufactured as desired, for example, with one or more alternative geometries, alternative length adjustment mechanisms and their similar.
[00015] Adjustable length struts 116 and universal joints 124, by means of which these are installed in the upper 106 and lower 108 fixing rings, allow the orthopedic fixator 100 to act as a Stewart platform and, more specifically, as a distraction osteogenesis ring system, a hexapod or a Taylor spatial picture. That is, by making length adjustments to the struts 116, it is possible to change the spatial positioning of the upper 106 and lower 108 fixing rings and, therefore, of the bone segments 102 and 104. For example, in the illustrated embodiment, the first bone segment 102 it attaches to the upper fixing ring 106 and, the second bone segment 104, to the lower fixing ring 108. It should be kept in mind that the connection of the first 102 and second 104 bone segments to the upper fixing rings 106 and lower 108 is not limited to the illustrated embodiment (for example, where the central longitudinal axes L1, L2 of the bone segments first 102 and second 104 are substantially perpendicular to the respective planes of the upper 106 and lower 108 fixation rings) and that a surgeon has complete flexibility to align the bone segments first 102 and second 104 within the upper 106 and lower 108 fixing rings when configuring the orthopedic fixator 100.
[00016] By changing the length of one or more of the struts 116, it is possible to reposition the upper fixing rings 106 and lower 108 and, therefore, the bone segments 102 and 104 to each other so that the respective longitudinal axes L1 and L2 of the said bone segments 102 and 104 substantially align with each other, thus causing the respective fractured ends 103 and 105 to contact each other in order to promote the union during the correction process. It should be borne in mind that adjustment to struts 116 is not limited to adjustments in length as described in this document and that struts 116 can be adjusted in other ways, as desired. It should also be borne in mind that the adjustment to the positions of the fastener members is not limited to adjusting the length of the struts of adjustable length 116 and that the positioning of the fastener members between them can be adjusted in another way, for example, according to the type and / or number of adjustment members connected to the fixture.
[00017] The repositioning of the members of an orthopedic fixation device, such as an orthopedic fixator 100, can be used to correct displacement of angulation, translation, rotation or any combination of these in the body tissue. A fixation device, such as an orthopedic fixator 100, used with the techniques described in this document is capable of correcting several of said displacement defects separately or simultaneously. However, it is worth noting that the fixation device is not limited to the illustrated orthopedic fixator 100 and that it can be constructed in another way, according to what is desired. For example, the fixture may include additional connecting members, may include connecting members with alternative geometries, may include more or less adjustment members, may include adjustment members constructed in another way or any combination thereof.
[00018] Referring now to Figures 2 and 3, an exemplary orthopedic fixation process or method with image analysis according to an embodiment is illustrated. The flowchart in figure 3 describes steps to perform an exemplary method 300 of orthopedic fixation with image analysis. In step 302, body tissues, such as bone segments first 102 and second 104, are connected to an adjustable fixation device, such as orthopedic fixator 100, as described above.
[00019] In step 304, with orthopedic fixator 100 attached to bone segments 102 and 104, at least one image is obtained, as well as several, of fixator 100 and bone segments 102 and 104. Images can be captured using whether same or different imaging techniques. For example, images can be obtained using X-ray imaging, computed tomography, magnetic resonance imaging, ultrasound, infrared imaging, photography, fluoroscopy, visual spectrum imaging, or any combination of these .
[00020] Images can be captured from any position and / or orientation in relation to each other and in relation to fixator 100 and bone segments 102 and 104. In other words, there is no need for the captured images to be orthogonal or aligned with the patient's anatomical axes, thus providing almost total flexibility to the surgeon in positioning the image generators 130. Preferably, images 126 and 128 are captured from different directions or orientations in such a way that they do not overlap . For example, in the illustrated embodiment, the image planes of the image pair 126 and 128 are not perpendicular to each other. In other words, the angle α between the image planes of images 126 and 128 is different from 90 °, such that images 126 and 128 are not orthogonal to each other. Preferably, at least two images are obtained, although the capture of additional images can increase the accuracy of the method.
[00021] Images 126 and 128 can be captured using one or more image generation sources, or image generators, for example, X-ray image generators 130 and / or corresponding image capture devices 127 and 129 . The images 126 and 128 can be X-ray images captured by a single repositionable X-ray image generator, or else they can be captured by image generators 130 positioned separately. Preferably, the position of the image capture devices 127 and 129 and / or the image generators 130 in relation to the spatial origin 135 of the three-dimensional space, which we will describe in more detail below, is known. The image generators 130 can be positioned and / or guided manually by the surgeon, automatically positioned, for example, in the case of software-assisted image generators, or any combination thereof.
[00022] In step 306, scene parameters are obtained for generating images belonging to fixator 100, bone segments 102 and 104, image generators 130 and image capture devices 127 and 129. The scene parameters for Imaging can be used in the construction of a three-dimensional representation of the positioning of bone segments 102, 104 in the fixator 100, as described in more detail below. One or more of the scene parameters for imaging can be known. Scene parameters for generating images that are not known can be obtained, for example, by mathematically comparing the location of representations of the fixing elements in the two-dimensional space of X-ray images 126 and 128 to the three-dimensional location of the same elements in the geometry of the fixator 100. In a preferred embodiment, it is possible to calculate the scene parameters for imaging using stenopeic or perspective camera models. For example, it is possible to determine the scene parameters for generating images numerically using matrix algebra, as we will describe in more detail below.
[00023] The scene parameters for image generation may include, among others, scaling factors of the image pixels, aspect ratio of the image pixels, the tilt factor of the image sensors, the image size, the focal length , the position and orientation of the imaging source, the position of the main point (defined as the point on the plane of a respective image 126, 128 closest to the respective image generator 130), positions and orientations of the fastener elements 100 , the position and orientation of a respective image receiver and the position and orientation of the lens of the imaging source.
[00024] In a preferred embodiment, at least some of the scene parameters for imaging, like all of them, can be obtained by comparing the location of representations of specific components or elements of the fixer 100 in the two-dimensional spaces of the images 126 and 128 the corresponding location of the same fastener elements in the real three-dimensional space. The fixator elements comprise components of the orthopedic fixator 100 and, preferably, are easy to identify components in images 126 and 128. Points, lines, cones, their similars or any combination of these can be used to describe the respective geometries of the fixator elements . For example, the representations of fastener elements used in the comparison could include central lines of one or more of the adjustable length struts 116, central points of the universal joints 124, central points of the mounting members 114 and the like.
[00025] The fastener elements may also include marking elements other than the fastener 100 components described above. The marking elements can be used in the comparison as a complement or in place of the use of fastener components 100. The marking elements can be embedded in specific locations of the fastener components 100 before imaging, they can be embedded within components of the fastener. fixative 100 or any combination thereof. The marking elements can be configured to be easier to distinguish in images 126 and 128 than the other components of the fastener 100. For example, the marking elements can be made of a different material, such as a radiopaque material, or can be made with geometries that readily differentiate them from other components of the fastener 100 in images 126 and 128. In an exemplary embodiment, the marking elements may have indicated geometries that correspond to their respective locations on the fastener 100.
[00026] In step 306A, elements of the fastener for use in the comparison are identified. The identification of the fixator elements and the determination of their respective locations can be performed by the surgeon, with the aid of software or any combination of these.
[00027] The location of the fastener elements in the two-dimensional space of images 126 and 128 is determined in relation to local origins 125 defined in the image generation plans of images 126 and 128. Local origins 125 serve as "zero points" for determine the location of the fastener elements in images 126 and 128. The location of the fastener elements can be defined by their respective x and y coordinates in relation to a respective local origin 125. The location of the local origin 125 in the respective image can be arbitrary, provided than in the image plane. Usually, the origin is in the center of the image or in a corner of it, just like the bottom left corner. It should be borne in mind that the location of the local origins is not limited to the location of the illustrated local origins 125 and that, alternatively, these can be defined elsewhere. It should also be borne in mind that the location of local origins 125 can be designated by the surgeon, with the aid of software or any combination of these.
[00028] In step 306B, a respective transformation matrix P is calculated for each of the images 126 and 128. Transformation matrices can be used to map location coordinates of one or more respective fastener elements in real three-dimensional space with reference to corresponding location coordinates of the fastener element (s) in the two-dimensional space of the respective image 126, 128. It should be noted that it is not necessary to use the same fastener element (s) in the comparison of both images 126 and 128. For example, one element of the fastener used in the construction of the transformation matrix associated with image 126 can be another or the same used in the construction of the transformation matrix associated with image 128. It is worth noting that the increase in number of fastener elements used in the calculation of transformation matrices can increase the accuracy of the method. The following equation represents this operation:

[00029] The symbols x and y represent location coordinates, in relation to the local origin 125, of a point on the fastener element in the two-dimensional space of images 126 and 128. The symbols X, Y and Z represent corresponding location coordinates, in relation to a local origin 125, from the point on the fastener element in the real three-dimensional space. In the illustrated embodiment, the point corresponding to the center of the plane defined by the upper surface of the upper fixing ring 106 has been designated as the spatial origin 135. The illustrated matrix P can be at least four elements wide and three elements high. In a preferred embodiment, the elements of matrix P are calculated by solving the following matrix equation:

[00030] The vector p can contain eleven elements that represent values of the matrix P. The following equations present dispositions of the elements in the vector p in the matrix P:

[00031] In the preferred embodiment, the twelfth element pi2 in the matrix P can be defined with a numerical value of one. Matrices A and B can be constructed using two-dimensional and three-dimensional information from the fastener elements. For each point representing a respective fastener element, two rows of matrices A and B can be constructed. The following equation presents the values of the two rows added to matrices A and B for each point of a fastener element (for example, a central point of a respective universal joint 124):

[00032] The symbols X, Y and Z represent location coordinate values of a point in the fastener element in real three-dimensional space in relation to the spatial origin 135, whereas the symbols x and y represent point location coordinate values in the element of the fastener. corresponding fixator in the two-dimensional space of the respective image 126, 128 in relation to the local origin 125.
[00033] For each line representing a respective fastener element, two rows of matrices A and B can be constructed. The following equation presents the values of the two rows added to matrices A and B for each line of a fastener (for example, example, a centerline of a respective strut of adjustable length 116):

[00034] The X, Y and Z symbols represent location coordinate values of a point belonging to a line of a fastener element in real three-dimensional space in relation to the spatial origin 135. The symbols dX, dY and dZ represent gradient values of line in real three-dimensional space. The symbols a, b and c represent constants that define a line in the two-dimensional space of a respective image 126, 128. For example, a, b and c can be calculated using two points belonging to a line in a respective image 126, 128. In a preferred embodiment, the value of b is assumed to be 1, unless the line is vertical, in which case the value of b is zero. In the following equation, we present a correlation of the constants a, b and c with the respective x and y image coordinates:

[00035] Equation (2) can be over-specified using six or more fastener elements, for example, adjustable length struts 116. It is worth noting that it is not necessary for all fastener elements to be visible in a single image 126, 128 in order to obtain the P matrix. It is worth noting that, if one or more of the scene parameters for generating images described above is known, the known parameters can be used to decrease the minimum number of fastener elements required to restrict equation (2). For example, this information could be obtained from modern imaging systems in DICOM image headers. Preferably, a method of decomposition into singular values or the method of least squares is used to solve equation (2) for values of the vector p.
[00036] In step 306C, the transformation matrices are decomposed into scene parameters for image generation. The following equation can be used to relate matrix P to matrices E and I:

[00037] It should be kept in mind that additional terms can be introduced when decomposing the matrix P. For example, the method presented by Tsai, described in “A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using of-the -shelf TV Cameras and Lenses ”, IEEE Journal of Robotics & Automation, RA-3, n- 4, 323 to 344, August 1987, a document that is incorporated in this document in its entirety by reference, can be used to correct the images 126, 128 for radial distortion.
[00038] E and I matrices contain scene parameters for image generation. The following equation represents a composition of matrix I:

[00039] The symbols sx and sy represent values of the image coordinate scale factors (for example, pixel scale factors). The symbol f, which represents the focal length, corresponds to the value of the shortest distance between a respective imaging source 130 and the plane of a corresponding image 126, 128. The symbols tx and ty represent the coordinates of the main point in relation to the local origin 125 of the respective image 126, 128. The following equation represents the composition of matrix E:
(10)
[00040] The symbols ox, oy and oz represent values of the position of the fastener 100 in the real three-dimensional space. The symbols from ri to rg describe the orientation of the fastener 100. These values can be grouped in a three-dimensional rotation matrix R represented by the following equation:

[00041] Trucco and Verri's methods, as described in “Introductory Techniques of 3-D Computer Vision”, Prentice Hall, 1998, or Hartley's method, as described in “Euclidian Reconstruction from Uncalibrated Views”, Applications of Invariance in Computer Vision, pages 237 to 256, Springer Verlag, Berlin Heidelberg, 1994, documents that are incorporated in this document in full, can be used to obtain values of the matrices E and / or I. Using the values resulting from the matrices E and I, it is possible to reconstruct a complete three-dimensional image scene of the fixator 100 and bone segments 102, 104.
[00042] For example, figure 2 illustrates an exemplary three-dimensional image scene reconstructed from X-ray images 126 and 128. In the illustrated embodiment, X-ray image generators 130 emit X-rays. It is worth noting that the image generators by X-ray 130 they can be the same or different image generators, as described above. The X-rays emitted by the image generators 130 are received by corresponding image generation devices, which, in turn, capture images 126 and 128. Preferably, the positioning of image generators 130 in relation to local origins 125 is known .
[00043] In step 308, images 126 and 128 and scene parameters for imaging can be used to obtain the positions and / or orientations of bone segments 102, 104 in three-dimensional space. The obtained position and / or orientation data can be used to develop a treatment plan for the patient, for example, to change the orientation and / or position of the first 102 and second 104 fractured bone segments in order to promote the union between them , as we'll describe in more detail below. It should be kept in mind that the methods and techniques of orthopedic fixation with image analysis described in this document are not limited to applications for repositioning broken bones and that orthopedic fixation with image analysis can be used with any other type of fixation procedure. , according to what is desired, for example, bone elongation, correction of anatomical injuries and the like.
[00044] In step 308A, bone elements are identified comprising representations of specific parts (for example, anatomical traces) of bone segments 102 and 104 and their location is determined in images 126 and 128. Preferably, the location of the elements bones are determined in relation to the respective local origins 125 of images 126 and 128. The identification of bone elements and the determination of their respective locations can be accomplished by the surgeon, with the help of software or any combination of these.
[00045] The bone elements can be used in the construction of the three-dimensional representation of the position and / or orientation of the bone segments 102 and 104. Preferably, the bone elements are easy to identify in images 126 and 128. Points, lines, cones, their similar or any combination of these can be used to describe the respective geometries of the bone elements. For example, in the illustrated embodiment, points 134 and 136, which represent, respectively, fractured ends 103 and 105 of bone segments 102 and 104, are identified as bone elements in images 126 and 128.
[00046] Bone elements can also include marking elements implanted in bone segments 102 and 104 before generating the images. The marking elements can be used in addition to or in place of the bone elements described above identified in images 124 and 126. The marking elements can be configured to be easier to distinguish in images 126 and 128 than anatomical traces of the bone segments 102 and 104. For example, the marking elements may be made of radiopaque material or may be constructed with readily distinguishable geometries.
[00047] In step 308B, a three-dimensional representation 200 of bone segments 102 and 104 is reconstructed. The three-dimensional representation can be constructed with or without a corresponding representation of the fixator 100. In the illustrated embodiment, pairs of lines of radius, such as lines radius 138, 140 and 142, 144, can be constructed, respectively, for points on bone elements 134 and 136. Each line of radius connects a bone element in one of the images 126, 128 to a respective image generator 130. Each pair of ray lines can be analyzed in search of a common intersection point, such as points 146 and 148. Common intersection points 146 and 148 represent the respective positions of the points in bone elements 134 and 136 in the three-dimensional representation of the segments bones 102 and 104. Of course, more than a couple of lines of radius, such as several, can be constructed, for example, if more than two images were captured. If the radius lines of a specific set do not intersect, the point closest to all the ray lines in the set is adopted as the common intersection point.
[00048] It is possible to quantify or measure the positions and / or orientations of bone segments 102 and 104 using common intersection points, for example, points 146 and 148. For example, lines representing central lines of bone segments 102 and 104 they can be constructed and compared to the patient's anatomical axes. In addition, the distance between fractured ends 103 and 105 of bone segments 102 and 104 can be quantified. Using these techniques or similar techniques, it is possible to determine the positions and / or orientations of bone segments 102 and 104.
[00049] In step 310, three-dimensional representation 200 is used to determine desired changes to the positions and / or orientations of bone segments 102 and 104, for example, as bone segments 102 and 104 can be repositioned in relation to each other at order to promote unity between them. For example, in the illustrated embodiment, it may be desirable to change the angulation of the second bone segment 104 in such a way as to align the axes L1 and L2 and change the position of the second bone segment in such a way as to connect the fractured ends 103 and 105 of the bone segments 102 and 104. Preferably, it is the surgeon who determines the desired changes to the positions and / or orientations of the bone segments 102 and 104. In an exemplary embodiment, lines are formed to represent the longitudinal axes L1 and L2 of the bone segments first 102 and second 104 in the three-dimensional representation, in order to assist in the determination of desired changes to the positions and / or orientations of the bone segments 102 and 104. When determining the desired changes to the positions and / or orientations of the bone segments, the surgeon can be aided by software, such as a computer program configured to determine the desired positions and / or orientations of bone segments 102 and 104. Pre ference, the desired changes to the positions and / or orientations of the bone segments 102 and 104 are defined in relation to the spatial origin 135.
[00050] After determining the desired changes to the positions and / or orientations of bone segments 102 and 104, a treatment plan is determined to make them. In a preferred embodiment, the desired changes to the positions and / or orientations of bone segments 102 and 104 can be made gradually, in a series of minor changes. The positions and / or orientations of the bone segments 102, 104 can be changed by changing the positions and / or orientations of the upper fixing rings 106 and lower 108 in relation to each other, for example, elongating or shortening one or more of the 116 length adjustable struts.
[00051] In step 312, the necessary changes to the geometry of the fixator 100 (that is, to the position and / or orientation of the fixator 100) are calculated in order to allow the desired changes to the positions and / or orientations of the bone segments 102 and 104 using the matrix algebra described above. For example, the necessary repositioning and / or reorientation of the second bone segment 104 in relation to the first 102 can be translated into changes in the position and / or orientation of the lower fixing ring 108 in relation to the upper fixing ring 106. The necessary changes to the geometry of the fixator can be expressed in relation to an origin in fixator 145 designated for orthopedic fixator 100. It should be kept in mind that the origin in fixator 145 does not have to coincide with spatial origin 135, as in the illustrated embodiment.
[00052] In step 314, the treatment plan is implemented, that is, the positions and / or orientations of the bone segments 102, 104 are changed by changing the geometry of the fixator 100.
[00053] As described above, one or more of the method steps described in this document and illustrated in figure 3 can be performed by a computer program, software, firmware or other form of computer-readable instructions incorporated in a computer-readable medium for execution by a computer or processor. Examples of computer-readable media include computer-readable storage media and computer-readable media. Examples of computer-readable storage media include, but are not limited to, read-only memory (ROM), random access memory (RAM), a register, cache memory, semiconductor memory devices, magnetic media such as internal hard drives and removable disks, magneto-optical media and optical media such as CD-ROM discs and versatile digital discs (DVDs). Examples of computer-readable media include, but are not limited to, electronic signals transmitted over wired or wireless connections.
[00054] It is worth noting that the orthopedic fixation techniques with image analysis described in this document are not only intended for the use of orthogonal images, but also allow the use of overlapping images, of images captured using different imaging technologies, of images captured in different configurations and similar ones, thus giving greater flexibility to the surgeon compared to current fixation and imaging techniques.
[00055] It is worth noting that the methods and techniques described in this document with reference to orthopedic fixation can also be applied in other uses. For example, a repositionable mechanical manipulation device, such as a parallel manipulator, a Stewart platform or the like, may have objects first and second connected to it. The handling device can consist of several components. The first and second objects can be any objects that will be repositioned and / or realigned in relation to each other. Steps similar to those of the orthopedic fixation method with image analysis 300 can be applied to reconstruct a three-dimensional representation of the first and second objects in relation to the repositionable manipulation device. A three-dimensional representation of the first and second objects can be reconstructed and used to determine one or more geometric changes to the manipulation apparatus that, when implemented, will reposition the first and second objects in relation to each other. The three-dimensional representation can be reconstructed using the respective first and second sets of scene parameters for image generation, the location of an element of at least one of the objects in the first image and the location of an element of at least one of the objects in the image. second image.
[00056] Although we have described the techniques of orthopedic fixation with image analysis in this document with reference to preferred embodiments and / or preferred methods, it should be understood that the lexicon adopted in this document was a descriptive and illustrative lexicon, rather than limiting, and that the scope of the present disclosure is not limited to minutiae, but rather is intended to cover all structures, methods and / or uses of the orthopedic fixation techniques with image analysis described in this document. After reading the teachings of this specification, those versed in the technique in question will be able to make numerous modifications to the orthopedic fixation techniques with image analysis as described in this document, as well as making changes without departing from the scope or essence of the present invention, for example , as defined in the embodiments.

权利要求:
Claims (6)
[0001]
1. Method of analysis of orthopedic fixation images, comprising the steps of: capturing, by means of an image generator (130), first and second two-dimensional images (126, 128) of a fixation device (100) and first and second bone segments (102, 104) connected to it, the first image (126) being captured from a first orientation and the second image (128) being captured from a second orientation different from the first orientation; and obtain image scene parameters, and obtaining image scene parameters comprises: identifying the respective locations of a plurality of fixing elements in the first and second images (126, 128), building, by a computer processor, first and second transformation matrices corresponding to the first and second two-dimensional images (126, 128), respectively, using the respective identified locations of the plurality of fixing elements; and decompose the first and second transformation matrices in the parameters of the image scene, the method also comprising the stage of reconstructing, by the computer processor, a three-dimensional representation of the first and second bone segments (102, 104) in relation to the fixation apparatus (100) based on the parameters of the image scene, characterized by the fact that the step of obtaining the parameters of the image scene is based on a comparison of the respective identified locations of the plurality of fixing elements in the first and second images (126, 128 ) two-dimensional with corresponding locations of the plurality of fixing elements in the three-dimensional space, wherein the plurality of fixing elements comprises components of the fixing apparatus (100).
[0002]
2. Method, according to claim 1, characterized by the fact that the first and second orientations are not orthogonal to each other.
[0003]
Method according to claim 1 or 2, characterized by the fact that the plurality of fastening elements still comprises marker elements mounted or embedded in the components of the fastening apparatus (100).
[0004]
4. Method according to any one of claims 1 to 3, characterized in that it further comprises identifying the respective locations of a plurality of bone elements in the first and second two-dimensional images (126, 128), the bone elements comprising anatomical characteristics of the first and second bone segments (102, 104), and, preferably, the three-dimensional representation is still reconstructed based on the respective locations of the plurality of bone elements.
[0005]
5. Method, according to any one of claims 1 to 4, characterized by the fact that it still comprises calculating geometric changes for the fixation device (100), the geometric changes representing a repositioning of the first and second bone segments (102 , 104) in relation to each other, in which geometric changes are implemented to reposition the first and second bone segments (102, 104) in relation to each other.
[0006]
6. Non-transitory computer-readable storage medium characterized by the fact that it has computer-readable instructions stored on it which, when executed by one or more processors, perform the method as defined in any of claims 1 to 5.

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同族专利:

公开号 | 公开日

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EP3069673B1|2018-12-12|

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RU2016120275A3|2019-08-28|

EP3474284A1|2019-04-24|

WO2011146703A1|2011-11-24|

KR20130094704A|2013-08-26|

EP2571433A1|2013-03-27|

EP3069673A1|2016-09-21|

JP2013526377A|2013-06-24|

JP5828890B2|2015-12-09|

US20110313418A1|2011-12-22|

US20190000552A1|2019-01-03|

CN102883671B|2016-03-02|

US20210153944A1|2021-05-27|

US9642649B2|2017-05-09|

US20170181800A1|2017-06-29|

US10932857B2|2021-03-02|

GB201008281D0|2010-06-30|

EP2571433B1|2016-06-22|

CA2796094C|2019-07-09|

BR112012028013A2|2017-11-21|

CN102883671A|2013-01-16|

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法律状态:
2018-03-27| B15K| Others concerning applications: alteration of classification|Ipc: A61B 17/62 (2006.01), A61B 17/66 (2006.01) |

2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

2019-08-27| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

2020-03-31| B07A| Technical examination (opinion): publication of technical examination (opinion) [chapter 7.1 patent gazette]|

2020-08-18| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

2020-10-27| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 19/05/2011, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

申请号 | 申请日 | 专利标题

GB1008281.6|2010-05-19|

GBGB1008281.6A|GB201008281D0|2010-05-19|2010-05-19|Indirect analysis and manipulation of objects|

PCT/US2011/037128|WO2011146703A1|2010-05-19|2011-05-19|Orthopedic fixation with imagery analysis|

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