CN104287830A - Intraoperative real-time registration method based on Kinect camera - Google Patents
Intraoperative real-time registration method based on Kinect camera Download PDFInfo
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Abstract
The invention relates to an intraoperative real-time registration method based on a Kinect camera. The method includes the following steps that a mark point adheres to the abdomen of a patient; the abdomen of the patient is scanned, and a preoperative image of the abdomen of the patient is acquired; a preoperative mark point is extracted in the preoperative image; an intraoperative image of the abdomen of the patient is acquired through the Kinect camera, wherein the intraoperative image comprises image information of the mark point arranged on the abdomen of the patient; an intraoperative mark point is extracted in the intraoperative image; the preoperative mark point and the intraoperative mark point are registered, and then the transformation relation between the preoperative image and the intraoperative image is acquired. According to the intraoperative real-time registration method based on the Kinect camera, the positions of the mark points in the preoperative image and the intraoperative image can be automatically calculated, the manual point extraction process is omitted, the human body is not injured in the whole registration process, the intraoperative image acquired by the Kinect camera only has small errors, the registration errors are effectively reduced, and finally the transformation relation between the preoperative image and the intraoperative image is acquired and used in a surgical navigation system.
Description
Technical field
The present invention relates to Medical Image Processing and applied technical field, particularly relating to a kind of is the name that Microsoft formally issued XBOX360 body sense periphery peripheral hardware on June 14th, 2010 based on Kinect(Kinect) register method in real time in the art of camera.
Background technology
Liver is one of common location of primary tumor transfer, and many patients cannot carry out out abdomen resection operation, and thermal ablation techniques particularly radio-frequency ablation technique is an important means for the treatment of liver tumor.For the radio-frequency ablation procedure of liver tumor, its key is the on position of ablation needle, particularly when liver tumor is positioned near the important organ such as Hepatic artery and gallbladder, and aobvious particularly important of the selection entering pin position of ablation needle.Therefore, liver tumor radio-frequency ablation procedure needs a kind of method that doctor can be helped to carry out surgical navigational.
Liver tumor radio-frequency ablation procedure navigation relatively traditional sclerous tissues surgical navigational, it is a newer research field, its difficulty faced is larger than sclerous tissues simultaneously, traditional operation navigation only need once be registered (in operation, generally need the registration by image in pre-operative image and art, determine the insertion point that ablation needle is correct, thus avoid damaging internal vitals, and the process of registration is just called " registration ") just can meet this navigation procedure, due to the skew that characteristic and the respiratory movement of liver itself cause, make liver in operation process, have comparatively large deformation, once registration is difficult to the needs meeting navigation, how to realize the key being registered as operation on liver navigation in real time.
At present for the register method of liver tumor radio-frequency ablation procedure navigation, mainly carry out the calibration in pre-operative image space by gauge point.Key issue for the gauge point register method of soft tissue navigation is the real-time detection to gauge point.Someone adopts once manually to get and to register and to correct the method for the gauge point skew that respiratory movement causes to realize real-time registration in conjunction with reference frame at present.Somebody directly uses puncture needle to bind reflective small ball and inserts human body, then carries out real-time tracking with optical tracker to reflective small ball, and with preoperative CT(computed tomography, the abbreviation of CT technology) image makes registration.Adopting once manually to get to register and realize registration in real time in conjunction with the method that reference frame corrects the gauge point skew that respiratory movement causes needs manually to get a little, and error is larger; And the method for the skew utilizing reference frame correction respiratory movement to cause is rigorous not, easily causes larger registration error.And the method for puncture needle binding reflective small ball has certain nocuity to human body.
Summary of the invention
Based on this, be necessary to provide a kind of registration error less and to human body do not injure based on register method real-time in the art of Kinect camera.
Based on a register method real-time in the art of Kinect camera, comprise the steps:
At patient's abdominal part binding mark point;
Scan patients abdominal part, obtains the pre-operative image of patient's abdominal part;
Preoperative gauge point is extracted in the preoperative in image;
Utilize Kinect camera to obtain image in the art of patient's abdominal part, in described art, image is included in the image information of the gauge point that patient's abdominal part is arranged;
Gauge point in art is extracted in image in art;
To the transformation relation that gauge point in preoperative gauge point and art obtains in pre-operative image and art between image as registration.
Wherein in an embodiment, the step extracting preoperative gauge point in described image in the preoperative comprises:
Region growth method is adopted described pre-operative image to be split to the bianry image obtaining patient's abdominal part;
Calculate the distance map of described bianry image;
From described bianry image, the surface area figure of patient's abdominal part is partitioned into according to described distance map;
The Gaussian curvature calculating the surface area figure of abdominal part obtains curvature chart;
Extract the region that described curvature chart mean curvature value is greater than predetermined threshold value and obtain preoperative gauge point region;
The coordinate meansigma methods calculating all coordinate points in described preoperative gauge point region obtains preoperative gauge point barycenter.
Wherein in an embodiment, at described scan patients abdominal part, obtain in the step of the pre-operative image of patient's abdominal part, described pre-operative image is the CT image or MRI image that adopt CT technology or mr imaging technique to obtain.
Wherein in an embodiment, describedly utilizing Kinect camera to obtain in the step of image in the art of patient abdominal part, in described art, image comprises the RGB image and the depth image corresponding with described RGB image that utilize Kinect camera to obtain.
Wherein in an embodiment, describedly in art, in image, extract the step of gauge point in art comprise:
Calculate the two-dimensional coordinate value of gauge point in described RGB image;
According to described depth image, described two-dimensional coordinate value is transformed in Kinect three dimensional coordinate space.
Wherein in an embodiment, in the described RGB image of described calculating, the step of the two-dimensional coordinate value of gauge point comprises:
Patient's skin of abdomen image is extracted from described RGB image;
Gauge point region in art is partitioned into from described skin of abdomen image;
The coordinate meansigma methods calculating all coordinate points in gauge point region in described art obtains gauge point barycenter in art.
Wherein in an embodiment, the described step to the transformation relation that gauge point in preoperative gauge point and art obtains in pre-operative image and art between image as registration comprises:
Method of least square is adopted to make rough registration to gauge point in preoperative gauge point and art;
Nearest neighbor point iterative method is adopted to make smart registration to gauge point in preoperative gauge point and art.
Wherein in an embodiment, described employing method of least square comprises the step that gauge point in preoperative gauge point and art makes rough registration:
According to the coordinate of all coordinate points in preoperative gauge point region and the coordinate of preoperative gauge point barycenter, calculate preoperative local distance figure and reject element similar in described preoperative local distance figure;
Delete the coordinate points in preoperative gauge point region according to the element of rejecting in described preoperative local distance figure, gather residue coordinate points in preoperative gauge point region and obtain amended preoperative labelling point set;
To gather in described art all coordinate points in gauge point region and obtain labelling point set in art, several gauge points are chosen in labelling point set from described art, and make the gauge point number chosen identical with the number of preoperative gauge point centrostigma, and calculate local distance figure in art;
For each element in described preoperative local distance figure, according to the size of local distance, in art, search for local distance the most close with it in local distance figure, be the corresponding element of preoperative local distance, and then obtain the correspondence markings point set of amended preoperative labelling point set;
Method of least square is adopted to make registration to amended preoperative labelling point set and correspondence markings point set.
Wherein in an embodiment, described employing nearest neighbor point iterative method comprises the step that gauge point in preoperative gauge point and art makes smart registration:
Adopt nearest neighbor point iterative method to carry out registration to preoperative labelling point set and the gauge point chosen in labelling point set from art, and obtain registration error and transformation matrix;
Traversal chooses all reconnaissance situations of gauge point from art in labelling point set, calculate the registration error and transformation matrix that obtain in often kind of situation respectively, at the end of all reconnaissance situations calculate, preserves minimum registration error and corresponding transformation matrix.
Above-mentionedly automatically can calculate the position of gauge point in the preoperative in image and art in image based on register method real-time in the art of Kinect camera, avoid the process of manually getting a little, gauge point need be pasted on skin of abdomen surface and Kinect camera can the position of real-time tracking gauge point simultaneously only, whole registration process does not have nocuity to human body, and by Kinect collected by camera to art in image only have very little error, thus effectively reduce registration error, finally obtain transformation relation in pre-operative image and art between image and in operation guiding system.
Accompanying drawing explanation
Fig. 1 is the flow chart based on register method real-time in the art of Kinect camera of an embodiment.
Detailed description of the invention
In order to solve at present for the problem that register method can damage human body or registration error is larger of liver tumor radio-frequency ablation procedure navigation, present embodiments provide for a kind of based on register method real-time in the art of Kinect camera.Below in conjunction with specific embodiment, register method real-time in the art based on Kinect camera is specifically described.
Please refer to Fig. 1, what present embodiment provided comprises the steps: based on register method real-time in the art of Kinect camera
Step S110: at patient's abdominal part binding mark point.In order to the equipment obtaining abdomen images in subsequent step clearly can record the position of gauge point at abdominal part, remarkable difference should be had with the color of skin of abdomen in the color of the gauge point of patient's abdominal part stickup.
Step S120: scan patients abdominal part, obtains the pre-operative image of patient's abdominal part.Before the surgery, the pre-operative image of patient's abdominal part has first been taken.In the present embodiment, the CT image that pre-operative image can adopt CT technology to obtain also can be the MRI(magnetic resonance imaging adopting mr imaging technique to obtain, nuclear magnetic resonance) image.
Step S130: extract preoperative gauge point in image in the preoperative.This step specifically comprises the steps: (1) adopts region growth method pre-operative image to be split to the bianry image obtaining patient's abdominal part.(2) distance map of this bianry image is calculated.(3) from bianry image, the surface area figure of patient's abdominal part is partitioned into according to this distance map.(4) Gaussian curvature calculating the surface area figure of abdominal part obtains curvature chart.(5) extract the region that curvature chart mean curvature value is greater than predetermined threshold value and obtain preoperative gauge point region.In curvature chart, the curvature value of certain point is larger usually, and its brightness is also larger, therefore, can be greater than the region of predetermined threshold value by extracting brighter areas realization extraction curvature chart mean curvature value in curvature chart, and using this region as preoperative gauge point region.(6) before logistic, in gauge point region, the coordinate meansigma methods of all coordinate points obtains preoperative gauge point barycenter.Gather all coordinate points in preoperative gauge point region and obtain preoperative labelling point set.
Step S140: utilize Kinect camera to obtain image in the art of patient's abdominal part.Implement in the process of operation doctor to patient, utilize Kinect camera to obtain image in the art of patient's abdominal part, in art, image comprises the RGB image and the depth image corresponding with RGB image that utilize Kinect camera to obtain.Kinect camera is emerging sci-tech product, generally only has Kinect camera could photograph RGB image and the depth image corresponding with RGB image at present simultaneously.Present embodiment makes full use of the function of this uniqueness of Kinect camera, is applied to extract the gauge point in art in image.
Step S150: extract gauge point in art in image in art.In this step, first need the two-dimensional coordinate value calculating gauge point in RGB image, determine the real-time planar position at gauge point place in image in art.This two-dimensional coordinate value transforms in Kinect three dimensional coordinate space by then corresponding according to RGB image depth image, determines the real-time spatial position at gauge point place in image in art.In the present embodiment, when calculating the two-dimensional coordinate value of gauge point in RGB image, three steps are specifically comprised: (1) extracts patient's skin of abdomen image from RGB image.(2) from described skin of abdomen image, be partitioned into gauge point region in art, mainly utilize the color distortion of gauge point and skin of abdomen to realize Iamge Segmentation here.(3) in logistic, in gauge point region, the coordinate meansigma methods of all coordinate points obtains gauge point barycenter in art.In set art, in gauge point region, all coordinate points obtain labelling point set in art.
In step S130 and step S150, we obtain labelling point set in preoperative labelling point set and art respectively.Next, in step S160, just registration is carried out using labelling point set in preoperative labelling point set and art as registration with objects.
Step S160: the transformation relation obtaining in pre-operative image and art between image as registration to gauge point in preoperative gauge point and art.This step mainly comprises rough registration and smart registration two steps, and concrete steps are as follows:
(1) before logistic, labelling point set (is designated as P
m) barycenter (be designated as
) and local distance figure (be designated as
).Barycenter
coordinate be preoperative labelling point set P
min all point coordinates values average.Local distance figure
(be designated as by local distance
) determine.Local distance
represent preoperative labelling point set P
min geometric distance between two points.Local distance
can according to formula
calculate, wherein
for preoperative labelling point set P
min certain a bit.In order to improve the precision of registration, need to remove local distance figure
the element that middle size is similar, as two local distance d
localwith d '
localbetween ratio
drop on region [0.95,1.05] interior time, these two local distances are considered as similar element, by these two local distances any one from local distance figure
middle rejecting, simultaneously from preoperative labelling point set P
mthe point that middle deletion is relevant to them obtains amended preoperative point set and (is designated as
).
(2) from art, labelling point set (is designated as P
f) in choose several gauge points and (be designated as
), and from art labelling point set P
fin choose gauge point quantity equal preoperative labelling point set P
mthe quantity of middle coordinate points.Then local distance figure in art is calculated
local distance figure in art
(be designated as by local distance in art
) determine.Local distance figure is calculated in computational methods and (1)
method consistent.
(3) correspondence in preoperative gauge point and art between gauge point is set up.For local distance figure
in each element, i.e. each local distance
by brute-force search method local distance figure in art
its corresponding local distance of middle searching
concrete grammar compares local distance
with local distance in art
between size, local distance in the art that difference is minimum
be corresponding local distance
local distance figure in art
in find all local distances
corresponding local distance
corresponding local distance
the correspondence markings point set that the set that in associated art, gauge point is formed is preoperative labelling point set (is designated as
).
(4) adopt method of least square to amended preoperative point set
with correspondence markings point set
make rough registration, solve with four element method and obtain amended preoperative point set
with correspondence markings point set
between transformation matrix.
(5) on the basis of rough registration to preoperative labelling point set P
mwith labelling point set P from art
fin several gauge points of choosing
make ICP(Iterative closest point, nearest neighbor point iterative method) registration, calculate P
mwith
between registration error (be designated as E
match) and transformation matrix (be designated as M
transform).
(6) for step (2), labelling point set P from art is traveled through
fin choose all reconnaissance situations of gauge point, and perform step (2) to (5), calculate the registration error and transformation matrix that obtain in often kind of situation respectively, at the end of all reconnaissance situations calculate, preserve minimum registration error
and corresponding transformation matrix
utilize transformation matrix
just the transformation relation in pre-operative image and art between image can be determined, and final in operation guiding system.
Above-mentionedly automatically can calculate the position of gauge point in the preoperative in image and art in image based on register method real-time in the art of Kinect camera, avoid the process of manually getting a little, gauge point need be pasted on skin of abdomen surface and Kinect camera can the position of real-time tracking gauge point simultaneously only, whole registration process does not have nocuity to human body, and by Kinect collected by camera to art in image only have very little error, thus effectively reduce registration error, finally obtain transformation relation in pre-operative image and art between image and in operation guiding system.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1., based on a register method real-time in the art of Kinect camera, comprise the steps:
At patient's abdominal part binding mark point;
Scan patients abdominal part, obtains the pre-operative image of patient's abdominal part;
Preoperative gauge point is extracted in the preoperative in image;
Utilize Kinect camera to obtain image in the art of patient's abdominal part, in described art, image is included in the image information of the gauge point that patient's abdominal part is arranged;
Gauge point in art is extracted in image in art;
To the transformation relation that gauge point in preoperative gauge point and art obtains in pre-operative image and art between image as registration.
2. according to claim 1 based on register method real-time in the art of Kinect camera, it is characterized in that, the step extracting preoperative gauge point in described image in the preoperative comprises:
Region growth method is adopted described pre-operative image to be split to the bianry image obtaining patient's abdominal part;
Calculate the distance map of described bianry image;
From described bianry image, the surface area figure of patient's abdominal part is partitioned into according to described distance map;
The Gaussian curvature calculating the surface area figure of abdominal part obtains curvature chart;
Extract the region that described curvature chart mean curvature value is greater than predetermined threshold value and obtain preoperative gauge point region;
The coordinate meansigma methods calculating all coordinate points in described preoperative gauge point region obtains preoperative gauge point barycenter.
3. according to claim 1 and 2 based on register method real-time in the art of Kinect camera, it is characterized in that, at described scan patients abdominal part, obtain in the step of the pre-operative image of patient's abdominal part, described pre-operative image is the CT image or MRI image that adopt CT technology or mr imaging technique to obtain.
4. according to claim 1 based on register method real-time in the art of Kinect camera, it is characterized in that, describedly utilizing Kinect camera to obtain in the step of image in the art of patient abdominal part, in described art, image comprises the RGB image and the depth image corresponding with described RGB image that utilize Kinect camera to obtain.
5. according to claim 4ly to it is characterized in that based on register method real-time in the art of Kinect camera, describedly in art, in image, extract the step of gauge point in art comprise:
Calculate the two-dimensional coordinate value of gauge point in described RGB image;
According to described depth image, described two-dimensional coordinate value is transformed in Kinect three dimensional coordinate space.
6. according to claim 5 based on register method real-time in the art of Kinect camera, it is characterized in that, in the described RGB image of described calculating, the step of the two-dimensional coordinate value of gauge point comprises:
Patient's skin of abdomen image is extracted from described RGB image;
Gauge point region in art is partitioned into from described skin of abdomen image;
The coordinate meansigma methods calculating all coordinate points in gauge point region in described art obtains gauge point barycenter in art.
7. according to claim 6 based on register method real-time in the art of Kinect camera, it is characterized in that, the described step to the transformation relation that gauge point in preoperative gauge point and art obtains in pre-operative image and art between image as registration comprises:
Method of least square is adopted to make rough registration to gauge point in preoperative gauge point and art;
Nearest neighbor point iterative method is adopted to make smart registration to gauge point in preoperative gauge point and art.
8. according to claim 7 based on register method real-time in the art of Kinect camera, it is characterized in that, described employing method of least square comprises the step that gauge point in preoperative gauge point and art makes rough registration:
According to the coordinate of all coordinate points in preoperative gauge point region and the coordinate of preoperative gauge point barycenter, calculate preoperative local distance figure and reject element similar in described preoperative local distance figure;
Delete the coordinate points in preoperative gauge point region according to the element of rejecting in described preoperative local distance figure, gather residue coordinate points in preoperative gauge point region and obtain amended preoperative labelling point set;
To gather in described art all coordinate points in gauge point region and obtain labelling point set in art, several gauge points are chosen in labelling point set from described art, and make the gauge point number chosen identical with the number of preoperative gauge point centrostigma, and calculate local distance figure in art;
For each element in described preoperative local distance figure, according to the size of local distance, in art, search for local distance the most close with it in local distance figure, be the corresponding element of preoperative local distance, and then obtain the correspondence markings point set of amended preoperative labelling point set;
Method of least square is adopted to make registration to amended preoperative labelling point set and correspondence markings point set.
9. according to claim 8 based on register method real-time in the art of Kinect camera, it is characterized in that, described employing nearest neighbor point iterative method comprises the step that gauge point in preoperative gauge point and art makes smart registration:
Adopt nearest neighbor point iterative method to carry out registration to preoperative labelling point set and the gauge point chosen in labelling point set from art, and obtain registration error and transformation matrix;
Traversal chooses all reconnaissance situations of gauge point from art in labelling point set, calculate the registration error and transformation matrix that obtain in often kind of situation respectively, at the end of all reconnaissance situations calculate, preserves minimum registration error and corresponding transformation matrix.
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| CN104434313A (en) * | 2013-09-23 | 2015-03-25 | 中国科学院深圳先进技术研究院 | Method and system for navigating abdominal surgery operation |
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