Determining the Spatial Position and Orientation of the Vertebrae in the Spinal Column

摘要

The invention relates to a method for determining the spatial position and orientation of the vertebrae hi a spinal column, comprising the following steps: taking at least one X-ray image of at least part of the spinal column; simultaneous recording of surface data (30) of at least one part of the back by means of an optical method; determining the position of elements in the bone structure by means of the X-ray image; determining the position of distinct elements (40) in the surface data; determining anatomical fixed points; superimposing the at least one X-ray taken and the surface data recorded by means of the anatomical fixed points; calculating a three-dimensional model (50) from elements of the bone structure from the surface data and the at least one X-ray image, wherein the 50 model contains the position and orientation of the vertebrae, the progression (55) of the spinal column and the spinal processes, as well as the shift (60) of the spinal process progression and the spinal column progression. The present, adapted model enables additional X-ray images during check-ups to be avoided, even in patients with severe deformation of the spinal column (e. g. scoliosis).

主权项

1. A method for determining the spatial position and orientation of at least one of the pelvis, the bone structures of the shoulder-arm region. and the vertebrae of a spinal column of a vertebrate, comprising the following steps:
a) recording at least one X-ray image of at least a part of at least one of the spinal column, the pelvis, and the shoulder-arm region; b) recording surface data of at least a part of a back of a vertebrate using an optical or ultrasound recording device; c) wherein steps a) and b) take place with a maximum time interval of one second; d) determining a position of elements of a bone structure using the X-ray image; e) determining a position of distinct elements of a surface structure in the surface data; f) wherein the position of elements of the bone structure is deduced from the position of the distinct elements of the surface structure; g1) determining matching elements of the bone structure as anatomical fixed points from the at least one X-ray image and from the surface data; or g2) determining anatomical fixed points using markers on the back of the vertebrate, wherein the markers are selected such that the markers are visible both in the surface data as well as on the X-ray image; h) superimposing the at least one recorded X-ray image and the surface data using the anatomical fixed points; and i) calculating a three-dimensional model of the elements of the bone structure from the surface data and the at least one X-ray image, wherein the model includes i1) the position of the vertebrae and/or of the pelvis and/or i2) the curvature of the spinal column and/or of the spinous processes and/or i3) the orientation of the individual vertebrae and/or the pelvis and/or i4) the location and orientation of the bone structures of the shoulder-arm region.