一、智能导航与机器人辅助系统
1.1 椎弓根螺钉置入路径规划算法
# 输入:CT三维重建数据(DICOM格式)、目标椎体解剖参数
# 输出:最优置入路径坐标集(x,y,z,θ,φ)
def pedicle_screw_path_planning(ct_data, anatomical_params):
# 1. 椎体分割与特征提取
vertebra_mask = segmentation(ct_data, threshold=-300) # 阈值分割
pedicle_centroid = calculate_centroid(vertebra_mask)
# 2. 安全边界计算
safe_margin = 0.8 * anatomical_params['pedicle_width'] # 保留20%安全余量
# 3. 路径优化(代价函数:碰撞风险+力学稳定性)
def cost_function(path):
collision_risk = calculate_collision_probability(path, ct_data)
stability_score = calculate_stability(path, anatomical_params)
return 0.7*collision_risk + 0.3*(1/stability_score)
# 4. 遗传算法优化
population = initialize_population(pedicle_centroid, safe_margin)
for generation in range(100):
population = select(population, cost_function)
population = crossover(population)
population = mutate(population, mutation_rate=0.05)
return best_individual(population)
1.2 系统交互流程图