CN106308919A - Method for producing navigation template for assisting imbedding of thoracic vertebra pedicle screw and navigation template - Google Patents
Method for producing navigation template for assisting imbedding of thoracic vertebra pedicle screw and navigation template Download PDFInfo
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- 210000000115 thoracic cavity Anatomy 0.000 title claims abstract description 59
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 49
- 239000000758 substrate Substances 0.000 claims description 25
- 238000010276 construction Methods 0.000 claims description 13
- 239000000284 extract Substances 0.000 claims description 6
- 238000003709 image segmentation Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 230000011218 segmentation Effects 0.000 claims description 2
- 238000002224 dissection Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 230000002146 bilateral effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 2
- 238000002513 implantation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 208000032170 Congenital Abnormalities Diseases 0.000 description 1
- 206010061619 Deformity Diseases 0.000 description 1
- 206010061218 Inflammation Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 206010058907 Spinal deformity Diseases 0.000 description 1
- 210000000709 aorta Anatomy 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003238 esophagus Anatomy 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000004054 inflammatory process Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 210000004224 pleura Anatomy 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 108010048734 sclerotin Proteins 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
- 238000010561 standard procedure Methods 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/92—Impactors or extractors, e.g. for removing intramedullary devices
- A61B17/921—Impactors or extractors, e.g. for removing intramedullary devices for intramedullary devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/90—Guides therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00526—Methods of manufacturing
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
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- Life Sciences & Earth Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Surgery (AREA)
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention relates to a method for producing a navigation template for assisting imbedding of a thoracic vertebra pedicle screw. The method includes: using a spiral CT to scan a thoracic vertebra to acquire a cross section image of the thoracic vertebra in an operation area; inputting image data into software, performing 3D reconstruction, and acquiring a thoracic vertebra 3D model; putting virtual screws in a target thoracic vertebra pedicle part, determining that the screws are located at ideal positions in a cross section, a sagittal section and a coronal section, performing further adjustment on a 3D view to allow the screws to meet the actual demands of an operation; generating virtual screw imbedding channels surrounding the virtual screws; extracting dissection information of a bony structure on the rear of the thoracic vertebra, and generating a navigation template base; combining the virtual screw imbedding channels and the navigation template base, adding an arc support structure surrounding a spinous process on the navigation template base, adding connection rods between the arc support structure and the virtual screw imbedding channels and among the virtual screw imbedding channels, and generating a virtual navigation template; using a rapid forming machine to produce an entity navigation template. The method can produce individualized navigation templates; and the navigation template can be put on the rear of a thoracic vertebra of a corresponding segment, and can guide precision imbedding of pedicle screws.
Description
Technical field
The present invention relates to the manufacture method field of operation navigation template, particularly to a kind of navigation template manufacture method inserted for assisted thoracic pedicle screw and navigation template.
Background technology
Spinal column includes cervical vertebra, thoracic vertebra, lumbar vertebra, sacral and caudal vertebra.In field of spinal surgery, pedicle screw instrumentation has become the standard technique of the diseases such as treatment spinal trauma, inflammation, tumor, deformity, and pedicle screw implantation site and the accuracy of angle, affecting surgical effect to a great extent, screw position is the best more may result in the complication such as vitals damage such as pleura, spinal cord, aorta, trachea, esophagus.Most surgeon rely on the anatomic landmark point seen in operation to speculate screw implantation site and angle, and the universal law through a large amount of practice summaries.But having individual variation between patient, also there is some difference between each patient's difference spinal segments, cause screw accurately to be inserted and there is longer learning curve, wherein put nail difficulty the most, and greatest risk with thoracic vertebra.And if there is deformity in thoracic vertebra, the anatomic landmark of location of relying the most also changes, then the judgement putting nail position is particularly difficult, and the bad ratio of its screw position may be up to about 35%, even veteran doctor occurs the error in judgement of bigger probability the most unavoidably.Therefore, the huge challenge that thoracic pedicle screw is spinal surgery is accurately inserted.
For the problems referred to above, the computer assisted navigation technology that European and American developed countries are the most popular at present, insert for thoracic pedicle screw and provide supplementary means more reliably, can make to put nail rate of accuracy reached more than 95%, but in thoracic vertebra deformity case, accuracy rate is less than 65%, and associated device operations is complicated, with high costs, learning curve is longer, is not suitable for promoting on a large scale.
There is scholar to propose application navigation template auxiliary pedicle screw to insert, i.e. put nail by computer simulation and obtain the optimal screw position of each sections, generate ideal based on this and enter to follow closely passage；Extract the anatomic information of spinal column rear bone mark simultaneously, generate the substrate matched with it；Enter to follow closely passage and substrate combines by above-mentioned, generate virtual navigation template, utilize rapidform machine to produce navigation template, in art, navigation template is placed in corresponding sections rear, theoretically during application, so that it may enter to follow closely passage and accurately insert screw along aforementioned.
It is itself and good the mating of bony structure of spinal column rear, i.e. " position uniqueness " that navigation template accurately puts the theoretical basis of nail.But practice have shown that in a large number, above-mentioned navigation template exists bigger problems and shortcomings: first, due to bony structure surface, the especially existence of a certain amount of soft tissue in spinous process tip, make navigation template and thoracic vertebra rear can not matched well, cause its accuracy rate to be affected；Second, the substrate of navigation template is Two-dimensional Surfaces configuration, easily offsets when being placed in corresponding thoracic vertebra rear, it is difficult to realize " position uniqueness "；3rd, thoracic vertebra rear cannot be effectively fixed in navigation template position, operation is applied electric drill along the passage of navigation template put nail time, affected by electric drill, be easily moved.The accuracy that above-mentioned three aspect reasons all cause navigation template auxiliary in actual application to put nail is under suspicion.
Therefore, how from clinical demand, the advantage retaining original navigation template, its weak point is improved so that it is can apply by closing to reality, be the important topic of Present navigation mould plate technique.
Summary of the invention
It is an object of the invention to provide a kind of navigation template manufacture method inserted for assisted thoracic pedicle screw, the method can make the navigation template of individuation, and this navigation template is placed on the thoracic vertebra rear of corresponding sections, may be guided and accurately inserts pedicle screw.
The present invention comprises a kind of navigation template manufacture method inserted for assisted thoracic pedicle screw, and the method includes: application Spiral CT scan thoracic vertebra, it is thus achieved that intend the faultage image of operative region thoracic vertebra；View data is imported software, carries out three-dimensional reconstruction, it is thus achieved that thoracic vertebra threedimensional model；Place virtual screw at target thoracic vertebral pedicle position, on transverse section, sagittal plane and coronalplane, confirm that screw is in ideal position respectively, and at the enterprising successive step of 3-D view so that it is meet operation actual requirement；Nail passage is put around the generation of virtual screw is virtual；Extract the anatomic information of thoracic vertebra rear bony structure, generate navigation template substrate；Virtual nail passage of putting is combined with navigation template substrate, and adds supporting construction around spinous process in navigation template substrate, follow closely between passage in supporting construction and virtual putting and between each virtual screw conduits, add connecting rod, generating virtual navigation template；Rapidform machine is utilized to produce the navigation template of entity.
Preferably, the virtual screw of described placement, each virtual screw tail end should be made to expose bony structure 2cm, and make the left and right sides one smooth curve of each self-forming of screw tail end when adjusting on 3-D view, make that operation is installed pitman more convenient.
Preferably, described virtual putting nail passage, it is shaped as cylindrical shape, and internal diameter is 4mm, and external diameter is 8mm, wall thickness 2mm.
Preferably, the anatomic information of described thoracic vertebra rear bony structure, vertebral plate major part should be included, its edge is also crossed upwards, downwards, outwards respectively overturn 0.5cm, and spinous process root in the transverse process back side, and does not include spinous process tip.
Preferably, described supporting construction, it is shaped as arc, connects bilateral spinous process root and avoid spinous process tip.
Preferably, described connecting rod, refer to the most all add cylindrical connecting rod between any two at the virtual nail passage of putting of supporting construction and bilateral.
Invention additionally discloses a kind of navigation template inserted for assisted thoracic pedicle screw, this navigation template is placed on the thoracic vertebra rear of corresponding sections, may be guided and accurately inserts pedicle screw.
Navigation template of the present invention, including navigation template substrate, puts nail passage, supporting construction and connecting rod four part.It is characterized in that, described navigation template is the navigation template fitting and including to put nail passage with thoracic vertebra rear bony structure.
Preferably, described in put nail passage, it is shaped as cylindrical shape, and internal diameter is 4mm, and external diameter is 8mm, wall thickness 2mm.
Preferably, described navigation template substrate, vertebral plate major part should be covered, its edge is also crossed upwards, downwards, outwards respectively overturn 0.5cm, and spinous process root in the transverse process back side, and does not include spinous process tip.
Preferably, described supporting construction, it is shaped as arc, connects bilateral spinous process root and avoid spinous process tip.
Preferably, described connecting rod, refer to the most all add cylindrical connecting rod between any two at the virtual nail passage of putting of supporting construction and bilateral.
Compared with prior art, the invention have the advantages that
First, owing to navigation template substrate avoids spinous process tip, and use supporting construction to connect bilateral part, matched well can be obtained after making navigation template and thoracic vertebra, apply it to put nail and can improve accuracy rate；Second, navigation template substrate is three-dimension curved surface configuration, all has good stability on three dimensions six-freedom degree, is not susceptible to skew, can realize " position uniqueness " when being placed in corresponding thoracic vertebra rear；3rd, the supporting construction of navigation template and connecting rod, whole navigation template is made to form the spatial configuration of similar triangular pyramid, add spatial stability, and pressing in operation can be made to be fixed in bony structure more convenient, operation is applied electric drill along the passage of navigation template put nail time, be susceptible to electric drill impact and be moved.
Fig. 1 is the navigation template manufacture method flow chart that the present invention inserts for assisted thoracic pedicle screw；
Fig. 2 is thoracic vertebra Three-dimension Reconstruction Model schematic diagram of the present invention；
Fig. 3 is that the present invention places virtual screw schematic diagram at thoracic vertebra；
Fig. 4 is that the present invention generates virtual screw conduits schematic diagram；
Fig. 5 is the schematic diagram that the present invention extracts the anatomic information of thoracic vertebra rear bony structure；
Fig. 6 is the schematic diagram that the present invention generates navigation template substrate；
Fig. 7 is the schematic diagram that the present invention generates navigation template；
Fig. 8 is that navigation template is positioned over thoracic vertebra rear and carries out putting the schematic diagram of nail by the present invention.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, the present invention is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.
The present invention utilizes reverse Engineering Technology principle, obtains the thoracic vertebra faultage image intending operated level through Spiral CT scan, carries out thoracic vertebra reconstructing three-dimensional model, places virtual screw at target thoracic vertebra, puts nail passage around the generation of virtual screw is virtual；Extract the anatomic information of thoracic vertebra rear bony structure, generate navigation template substrate；Virtual nail passage of putting is combined with navigation template substrate, and add curved support structure around spinous process in navigation template substrate, follow closely between passage in curved support structure and virtual putting and between each virtual screw conduits, add connecting rod, generating virtual navigation template；Rapidform machine is utilized to produce the navigation template of entity.
See Fig. 1, it is shown that the navigation template manufacture method that the present invention inserts for assisted thoracic pedicle screw, specifically comprise the following steps that
Step S101, uses spiral CT that target thoracic vertebra is carried out tomoscan, it is thus achieved that the CT data of DICOM format；
Step S102, uses Mimics 17.0 software that CT data carry out Threshold segmentation, image segmentation, three-dimensional reconstruction, parcel and fairing processing, it is thus achieved that the threedimensional model of target thoracic vertebra, sees Fig. 2.Wherein, 1 and 2 are respectively left and right side transverse process, and 3 is spinous process tip, and 4 and 5 is left and right side vertebral plate；
Step S103, places virtual screw at target thoracic vertebral pedicle position, and it is cylindrically shaped, a diameter of 4mm, and length determines according to actual needs.On transverse section, sagittal plane and coronalplane, confirm that screw is in ideal position respectively, and at the enterprising successive step of 3-D view.Each virtual screw tail end should be made to expose bony structure 2cm, and make the left and right sides one smooth curve of each self-forming of screw tail end when adjusting on 3-D view, make that operation is installed pitman more convenient, see Fig. 3.Wherein, 6 and 7 it is respectively the virtual screw of left and right sides；
Step S104, imports 3-Matic 9.0 software by aforementioned data, puts nail passage around the generation of virtual screw is virtual, and it is shaped as cylindrical shape, and internal diameter is 4mm, and external diameter is 8mm, and wall thickness 2mm is shown in Fig. 4.Wherein, 8 and 9 respectively left and right sides is virtual puts nail passage；
Step S105, extracts the anatomic information of thoracic vertebra rear bony structure, and its scope includes vertebral plate major part, and its edge is also crossed upwards, downwards, outwards respectively overturn 0.5cm, and spinous process root in the transverse process back side, and does not include spinous process tip, sees Fig. 5.Wherein, transverse process regional anatomic information scope includes that transverse process edge is to upper part (10 and 11), to outer portion (12 and 13) with to lower part (14 and 15).Based on above-mentioned anatomic information, generate navigation template substrate, set its thickness as 2mm, see Fig. 6, wherein 16 and 17 left-right parts being respectively navigation template substrate；
Step S106, virtual nail passage of putting is combined with navigation template substrate, and add curved support structure around spinous process in navigation template substrate, follow closely between passage in curved support structure and virtual putting and between each virtual screw conduits, add cylindrical connecting rod, generate virtual navigation template, see Fig. 7.Wherein, 16 and 17 is the left-right parts of navigation template substrate, and 18,19 and 20 is curved support structure and the virtual connecting rod put between nail passage and between virtual screw conduits, and 21 is curved support structure；
Step S107, utilizes rapidform machine to produce the navigation template of entity；
In operation during application, the navigation template of entity is positioned over thoracic vertebra rear, is fixed in bony structure by pressing connecting rod, sees Fig. 8.Respectively carry out putting nail operation along putting nail passage 8 and 9 application drill bit 22 and 23, thus can realize being accurately positioned of screw.
It is known that, CT examination can provide the detailed internal sclerotin anatomic information of thoracic vertebra, the present invention combines the individuation navigation template energy accurately assisted thoracic Pedicle Screw operation that the design of iconography data acquisition engineering software analysis obtains, rather than position according to the anatomic measurement measurement result of document report and orient, the latter processes for vague generalization, there is certain error in concrete case, in the case have deformity of spine, error is the biggest.Further, the present invention is on the basis of nail accuracy rate is put in raising, it is possible to increase the long-term effect of thoracic vertebra operation, reduces complication rate.
The foregoing is only the preferred embodiment of the present invention, be not intended that limiting the scope of the present invention.Any any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, within should be included in the claims of the present invention.
Claims (8)
1. the navigation template manufacture method inserted for assisted thoracic pedicle screw, it is characterised in that the method includes:
Use spiral CT that target thoracic vertebra is carried out tomoscan, it is thus achieved that the CT data of DICOM format；
Use reverse engineering software that CT data carry out Threshold segmentation, image segmentation, three-dimensional reconstruction, parcel and fairing processing, it is thus achieved that the threedimensional model of target thoracic vertebra；
Place virtual screw at target thoracic vertebral pedicle position, it is cylindrically shaped, confirms that screw is in ideal position respectively on transverse section, sagittal plane and coronalplane, and at the enterprising successive step of 3-D view；
Aforementioned data importing forward engineering software, puts nail passage around the generation of virtual screw is virtual, it is shaped as cylindrical shape；
Extract the anatomic information of thoracic vertebra rear bony structure, based on above-mentioned anatomic information, generate navigation template substrate；
Virtual nail passage of putting is combined with navigation template substrate, and adds supporting construction and connecting rod, generate virtual navigation template；
Rapidform machine is utilized to produce the navigation template of entity.
2. the method for claim 1, it is characterised in that the anatomic information of described thoracic vertebra rear bony structure, its scope includes vertebral plate major part, its edge is also crossed upwards, downwards, outwards respectively overturn 0.5cm, and spinous process root in the transverse process back side, and does not include spinous process tip.
3. the method for claim 1, it is characterised in that described supporting construction, refers to add arcuate structure around spinous process in navigation template substrate.
4. the method as described in claim 1 and 3, it is characterised in that described connecting rod, refers to follow closely between passage in curved support structure and virtual putting and add cylindrical connecting rod between each virtual screw conduits.
5. the navigation template inserted for assisted thoracic pedicle screw, including navigation template substrate, screw conduits, supporting construction and connecting rod, it is characterized in that, described navigation template can be fitted completely with thoracic vertebra rear bony structure, and completes to put nail operation by screw conduits.
6. navigation template substrate as claimed in claim 5, it is characterised in that its coverage includes vertebral plate major part, the transverse process back side also crosses its edge upwards, downwards, outwards respectively overturn 0.5cm, and spinous process root, and do not includes spinous process tip.
7. supporting construction as claimed in claim 5, it is characterised in that refer to the arcuate structure added in navigation template substrate around spinous process.
8. connecting rod as claimed in claim 5, it is characterised in that refer to follow closely between passage in curved support structure and virtual putting and add cylindrical connecting rod between each virtual screw conduits.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510376053.8A CN106308919B (en) | 2015-07-01 | 2015-07-01 | Navigation template manufacturing method for assisting thoracic vertebra pedicle screw implantation and navigation template |
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| CN201510376053.8A CN106308919B (en) | 2015-07-01 | 2015-07-01 | Navigation template manufacturing method for assisting thoracic vertebra pedicle screw implantation and navigation template |
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Cited By (6)
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| CN107260306A (en) * | 2017-06-28 | 2017-10-20 | 深圳市鑫君特智能医疗器械有限公司 | Three-dimensional simulation, which is performed the operation, puts the planing method and surgical simulators device of nail |
| CN107550608A (en) * | 2017-08-21 | 2018-01-09 | 刘铁龙 | Lumbar vertebral posterior struts the preparation method and fusion of Minor articulus emerging system, medicine equipment |
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| CN111419382A (en) * | 2020-03-12 | 2020-07-17 | 无锡科恩智造科技有限公司 | Spinal pedicle screw placement navigation template |
| CN114259298A (en) * | 2022-02-25 | 2022-04-01 | 博志生物科技(深圳)有限公司 | Digital visualization method for planning posterior internal fixation screw-placing track of vertebral pedicle |
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| US11832897B2 (en) | 2021-07-30 | 2023-12-05 | Remex Medical Corp. | Method and system for surgical navigation |
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Cited By (10)
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| CN107260306A (en) * | 2017-06-28 | 2017-10-20 | 深圳市鑫君特智能医疗器械有限公司 | Three-dimensional simulation, which is performed the operation, puts the planing method and surgical simulators device of nail |
| WO2019000270A1 (en) * | 2017-06-28 | 2019-01-03 | 深圳市鑫君特智能医疗器械有限公司 | Method for planning screw placement for three-dimensional simulated operation, and surgical operation simulator |
| CN107260306B (en) * | 2017-06-28 | 2020-04-14 | 深圳市鑫君特智能医疗器械有限公司 | Planning method for three-dimensional simulation operation nail placement and surgical operation simulator |
| CN107550608A (en) * | 2017-08-21 | 2018-01-09 | 刘铁龙 | Lumbar vertebral posterior struts the preparation method and fusion of Minor articulus emerging system, medicine equipment |
| CN107550608B (en) * | 2017-08-21 | 2019-05-10 | 刘铁龙 | Lumbar vertebral posterior struts the production method and fusion of Minor articulus emerging system, medical instrument |
| CN108852511A (en) * | 2018-04-26 | 2018-11-23 | 北京罗森博特科技有限公司 | The automatic planning and device of implant for into bones optimal location |
| CN108852511B (en) * | 2018-04-26 | 2019-06-07 | 北京罗森博特科技有限公司 | The automatic planning and device of implant for into bones optimal location |
| CN111419382A (en) * | 2020-03-12 | 2020-07-17 | 无锡科恩智造科技有限公司 | Spinal pedicle screw placement navigation template |
| CN114259298A (en) * | 2022-02-25 | 2022-04-01 | 博志生物科技(深圳)有限公司 | Digital visualization method for planning posterior internal fixation screw-placing track of vertebral pedicle |
| CN114259298B (en) * | 2022-02-25 | 2022-04-29 | 博志生物科技(深圳)有限公司 | Digital visualization method for planning posterior internal fixation screw-placing track of vertebral pedicle |
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