Spinal segment landmark localization method under arbitrary view

Spinal surgical robots help improve the safety of spinal surgery and are expected to address the issue of uneven development of medical resources in various regions. The localization of spinal anatomical landmarks in CT images is an important basis for achieving autonomous planning of surgical robot paths. Manual selection of spinal anatomical landmarks often involves a significant degree of subjectivity, and doctors with insufficient experience often find it difficult to ensure the accuracy of landmark selection. This paper proposes a two-stage method for localizing spinal segment anatomical landmarks in CT images under arbitrary views. First, based on 3D MFS-Net, precise localization of the spatial regions of each spinal segment in CT images is achieved. On this basis, 3D MSH-Net is used to precisely determine the anatomical landmarks of each spinal segment. The average 3D IOU of 3D MFS-Net for spinal segment spatial region localization can reach 0.91, and the average positioning error of 3D MSH-Net for anatomical landmarks is only 0.537 mm. Both 3D MFS-Net and 3D MSH-Net use lightweight design, which can perform rapid reasoning at speeds of 38.41FPS and 10.28FPS, respectively.