CN114288560A - Three-dimensional registration method, system and computer equipment for transcranial magnetic stimulation navigation process - Google Patents
Three-dimensional registration method, system and computer equipment for transcranial magnetic stimulation navigation process Download PDFInfo
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Abstract
The application is applicable to the technical field of medical treatment, provides a three-dimensional registration method, a system and computer equipment for a transcranial magnetic stimulation navigation process, and provides a feasible technical scheme for the three-dimensional registration process in the transcranial magnetic stimulation navigation technology, and the method mainly comprises the following steps: determining a first conversion relation of a probe coordinate system in a camera coordinate system and a second conversion relation of a head tracking coordinate system where the head of the patient is located in the camera coordinate system; when the probe tip of the probe coordinate system touches an actual feature point on the head of a patient, the coordinate of the actual feature point in the head tracking coordinate system is obtained through calculation by utilizing the first conversion relation and the second conversion relation, and then the virtual feature point corresponding to the actual feature point in the three-dimensional virtual head model is registered, so that a third conversion relation between the head tracking coordinate system and the three-dimensional virtual head model coordinate system is obtained, and the three-dimensional virtual head model is mapped to the head tracking coordinate system by utilizing the third conversion relation, so that the registration of the head of the patient and the three-dimensional virtual head model is realized.
Description
Technical Field
The application belongs to the technical field of medical treatment, and particularly relates to a three-dimensional registration method, a three-dimensional registration system and computer equipment in a transcranial magnetic stimulation navigation process.
Background
The Transcranial Magnetic Stimulation (TMS) technology is a non-invasive, non-clear side effect neural regulation technology, and its basic principle is: the pulse magnetic field acts on the central nervous system (mainly cerebral cortex), and induced current generated by the pulse magnetic field can change the membrane potential of cortical nerve cells, thereby influencing metabolic activity and neural activity in the brain. The stimulation modes of the existing transcranial magnetic stimulation technology are mainly as follows: three stimulation modes of single pulse, double pulse and repetitive pulse. Single and double pulse stimulation modes are commonly used in conventional electrophysiological examinations. The repetitive pulse pattern can be applied to the treatment of dyskinesia diseases, mental diseases, pathological pain, epilepsy, addiction, functional recovery after the nervous system is damaged, and the like.
In the using process of the transcranial magnetic stimulation technology, three-dimensional registration is an important part in transcranial magnetic stimulation navigation, and the three-dimensional registration refers to the following steps: a technique for aligning and matching a three-dimensional head model reconstructed based on image data in a transcranial magnetic stimulation system with a patient's head. The three-dimensional head model after the successful three-dimensional registration matching can accurately guide scientific research personnel or doctors to complete treatment or research on the heads of patients.
However, no feasible three-dimensional registration method in transcranial magnetic stimulation navigation is currently available.
Disclosure of Invention
The application aims to provide a three-dimensional registration method, a system and computer equipment for a transcranial magnetic stimulation navigation process, and fills the blank of the three-dimensional registration technology of the conventional transcranial magnetic stimulation navigation process.
In a first aspect, the present application provides a three-dimensional registration method for a transcranial magnetic stimulation navigation process, comprising:
determining a first conversion relation of a probe coordinate system in a camera coordinate system;
determining a second conversion relation of a head tracking coordinate system represented by the marking points of the head of the patient in the camera coordinate system;
when the probe tip of the probe coordinate system respectively touches X actual feature points on the head of the patient, calculating by using the first conversion relation to obtain coordinates of the X actual feature points in the camera coordinate system, wherein X is a positive integer greater than or equal to 3, and at least 3 actual feature points in the X actual feature points are not coplanar and collinear;
calculating the coordinates of the X actual feature points in the head tracking coordinate system by utilizing the second conversion relation;
picking up X virtual feature points which correspond to the X actual feature points in a preset three-dimensional virtual head model respectively, wherein the three-dimensional virtual head model is positioned in a three-dimensional virtual head model coordinate system;
respectively registering X virtual feature points corresponding to the X actual feature points to obtain a third conversion relation between the head tracking coordinate system and the three-dimensional virtual head model coordinate system;
mapping the three-dimensional virtual head model to the head-tracking coordinate system using the third translation relationship such that the patient head is in registration with the three-dimensional virtual head model.
Optionally, the determining a first transformation relationship of the probe coordinate system to the camera coordinate system includes:
acquiring probe images of K marking points of the probe in the probe coordinate system, wherein the K marking points can reflect the outline shape of the probe, K is a positive integer greater than or equal to 3, and at least 3 marking points in the K marking points are not coplanar and collinear;
and determining the first conversion relation of the probe coordinate system in the camera coordinate system according to the K marking points of the probe image.
Optionally, the K is equal to 4, the outline shape of the probe is "Y" shaped, the 4 marking points form the "Y" shaped outline shape, and determining the first conversion relationship of the probe coordinate system in the camera coordinate system according to the K marking points of the probe image includes:
and identifying and classifying shape features formed by the K marking points of the probe image through a trained neural network model to obtain the first conversion relation of the probe coordinate system in the camera coordinate system.
Optionally, the K marking points include a probe tip of the probe, and after obtaining the first conversion relationship of the probe coordinate system in the camera coordinate system, the method further includes:
and calculating the space coordinate of the probe tip in the camera coordinate system by using the first conversion relation.
Optionally, the determining a second transformation relationship of the head tracking coordinate system represented by the mark points of the head of the patient to the camera coordinate system includes:
acquiring head tracking coordinate system images of L marking points of the head of the patient in the head tracking coordinate system, wherein the L marking points can reflect the space shape of the head tracking coordinate system, L is a positive integer greater than or equal to 3, and at least 3 marking points in the L marking points are not coplanar and collinear;
and determining a second conversion relation of the head tracking coordinate system in the camera coordinate system according to the L mark points of the head tracking coordinate system image.
Optionally, after determining the second transformation relationship of the head tracking coordinate system to the camera coordinate system, the method further includes:
acquiring mark point images of the L mark points of the head of the patient;
and analyzing the running track of the head tracking coordinate system reflected in the mark point image to obtain the motion compensation coordinate of the head tracking coordinate system.
Optionally, before picking up X virtual feature points corresponding to the X actual feature points in the preset three-dimensional virtual head model, the method further includes:
acquiring a nuclear magnetic resonance image of the head of the patient by using a standard template;
converting the nuclear magnetic resonance image into a bitmap image;
constructing the three-dimensional virtual head model of the patient's head using the bitmap image.
Optionally, after constructing the three-dimensional virtual head model of the patient's head using the bitmap images, the method further comprises:
and registering the three-dimensional virtual head model with template data of a standard electrode placement method to obtain 10-20 coordinates on the three-dimensional virtual head model.
In a second aspect, the present application provides a three-dimensional registration system for a transcranial magnetic stimulation navigation process, comprising:
the first determining unit is used for determining a first conversion relation of the probe coordinate system in the camera coordinate system;
the second determining unit is used for determining a second conversion relation of the head tracking coordinate system represented by the marking points of the head of the patient in the camera coordinate system;
the first calculation unit is used for calculating and obtaining the coordinates of the X actual characteristic points in the camera coordinate system by utilizing the first conversion relation when the probe tip of the probe coordinate system respectively touches X actual characteristic points on the head of the patient, wherein X is a positive integer greater than or equal to 3, and at least 3 actual characteristic points in the X actual characteristic points are not coplanar and collinear;
the second calculation unit is used for calculating the coordinates of the X actual feature points in the head tracking coordinate system by utilizing the second conversion relation;
the picking unit is used for picking X virtual feature points which correspond to the X actual feature points in a preset three-dimensional virtual head model respectively, and the three-dimensional virtual head model is positioned in a three-dimensional virtual head model coordinate system;
the registration unit is used for respectively registering X virtual feature points corresponding to the X actual feature points to obtain a third conversion relation between the head tracking coordinate system and the three-dimensional virtual head model coordinate system;
a mapping unit for mapping the three-dimensional virtual head model to the head tracking coordinate system using the third transformation relationship such that the patient head is registered with the three-dimensional virtual head model.
Optionally, when the first determining unit determines the first conversion relationship of the probe coordinate system in the camera coordinate system, the first determining unit is specifically configured to:
acquiring probe images of K marking points of the probe in the probe coordinate system, wherein the K marking points can reflect the outline shape of the probe, K is a positive integer greater than or equal to 3, and at least 3 marking points in the K marking points are not coplanar and collinear;
and determining the first conversion relation of the probe coordinate system in the camera coordinate system according to the K marking points of the probe image.
Optionally, K is equal to 4, the outline shape of the probe is "Y" shaped, the 4 marking points form the "Y" shaped outline shape, and the first determining unit is specifically configured to, when determining the first conversion relationship of the probe coordinate system in the camera coordinate system according to the K marking points of the probe image:
and identifying and classifying shape features formed by the K marking points of the probe image through a trained neural network model to obtain the first conversion relation of the probe coordinate system in the camera coordinate system.
Optionally, the K marking points include a probe tip of the probe, and the system further includes:
and the third calculation unit is used for calculating the space coordinates of the probe tip in the camera coordinate system by using the first conversion relation.
Optionally, when the second determining unit determines the second transformation relationship of the head tracking coordinate system represented by the mark points of the head of the patient in the camera coordinate system, the second determining unit is specifically configured to:
acquiring head tracking coordinate system images of L marking points of the head of the patient in the head tracking coordinate system, wherein the L marking points can reflect the space shape of the head tracking coordinate system, L is a positive integer greater than or equal to 3, and at least 3 marking points in the L marking points are not coplanar and collinear;
and determining a second conversion relation of the head tracking coordinate system in the camera coordinate system according to the L mark points of the head tracking coordinate system image.
Optionally, the system further includes:
the acquisition unit is used for acquiring mark point images of the L mark points on the head of the patient;
and the analysis unit is used for analyzing the running track of the head tracking coordinate system reflected in the mark point image to obtain the motion compensation coordinate of the head tracking coordinate system.
Optionally, the system further includes:
the acquisition unit is also used for acquiring the nuclear magnetic resonance image of the head of the patient by using a standard template;
the converting unit is used for converting the nuclear magnetic resonance image into a bitmap image;
a construction unit for constructing the three-dimensional virtual head model of the patient's head using the bitmap image.
Optionally, the system further includes:
and the registration unit is also used for registering the three-dimensional virtual head model with template data of a standard electrode placement method to obtain 10-20 coordinates on the three-dimensional virtual head model.
In a third aspect, the present application provides a computer device comprising:
the system comprises a processor, a memory, a bus, an input/output interface and a wireless network interface;
the processor is connected with the memory, the input/output interface and the wireless network interface through a bus;
the memory stores a program;
the processor, when executing the program stored in the memory, implements the three-dimensional registration method of the transcranial magnetic stimulation navigation process of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium having stored therein instructions which, when executed on a computer, cause the computer to perform a method of three-dimensional registration of a transcranial magnetic stimulation navigation procedure as described in the first aspect above.
In a fifth aspect, the present application provides a computer program product which, when executed on a computer, causes the computer to perform the three-dimensional registration method of the transcranial magnetic stimulation navigation process according to the first aspect described above.
According to the technical scheme, the embodiment of the application has the following advantages:
the three-dimensional registration method for the transcranial magnetic stimulation navigation process determines a first conversion relation of a probe coordinate system in a camera coordinate system and determines a second conversion relation of a head tracking coordinate system represented by a mark point of the head of a patient in the camera coordinate system; when the probe tip of the probe coordinate system touches an actual feature point on the head of a patient, the coordinate of the actual feature point in a camera coordinate system is calculated by utilizing a first conversion relation, the coordinate of the actual feature point in a head tracking coordinate system is calculated by utilizing a second conversion relation, then virtual feature points corresponding to the actual feature point in a preset three-dimensional virtual head model are picked up, wherein the three-dimensional virtual head model is located in the three-dimensional virtual head model coordinate system, the virtual feature points corresponding to the actual feature points are registered, a third conversion relation between the head tracking coordinate system and the three-dimensional virtual head model coordinate system is obtained, and the three-dimensional virtual head model is mapped to the head tracking coordinate system by utilizing the third conversion relation, so that the registration between the head of the patient and the three-dimensional virtual head model can be realized.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of a three-dimensional registration method of a transcranial magnetic stimulation navigation process according to the present application;
FIG. 2 is a schematic flow chart of another embodiment of the three-dimensional registration method of the transcranial magnetic stimulation navigation process according to the present application;
FIG. 3 is a schematic flow chart of another embodiment of the three-dimensional registration method of the transcranial magnetic stimulation navigation process according to the present application;
FIG. 4 is a schematic structural diagram of an embodiment of a three-dimensional registration system for a transcranial magnetic stimulation navigation process according to the present application;
FIG. 5 is a schematic structural diagram of an embodiment of the computer apparatus of the present application;
FIG. 6 is a graph illustrating the effect of one embodiment of the present application on labeling the 10-20 coordinates of a three-dimensional virtual head model of a patient's head with a sphere of radius 4mm at 3ds Max;
FIG. 7 is a top view of the effect of the embodiment of FIG. 6;
FIG. 8 is a schematic structural view of one embodiment of a probe of the present application;
FIG. 9 is a schematic diagram of a camera of the present application capturing probe images of probe mark points of 6 sets of probes in different poses;
FIG. 10 is a schematic diagram illustrating the effect of one embodiment of the present disclosure in which a positioning reference frame is fixed on the head of a patient.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It is well known that human mental disorders and cortical dysfunction have close relationships, for example, studies have shown that: depression is associated with dysfunction of the prefrontal lobe of the brain, and therefore accurate provision of information on the functional compartments of the cerebral cortex is of great importance for transcranial magnetic stimulation treatment. Transcranial magnetic stimulation navigation refers to: the transcranial magnetic stimulation navigation system converts the virtual characteristic point coordinate selected by the appointed head model into a navigation coordinate of the magnetic stimulation execution mechanism according to the virtual characteristic point coordinate selected by the appointed head model, so that the magnetic stimulation process of the magnetic stimulation execution mechanism to the specific part of the patient according to the navigation coordinate is realized. The three-dimensional registration of the transcranial magnetic stimulation navigation process refers to: the method comprises the following steps of establishing mapping between the head of a patient and a corresponding preset three-dimensional virtual head model before transcranial magnetic stimulation navigation, namely, a technology for calibrating and matching the three-dimensional virtual head model reconstructed based on image data in a transcranial magnetic stimulation system and the head of the patient. The embodiment of the application mainly realizes three-dimensional registration of the transcranial magnetic stimulation navigation process in a camera coordinate system of a camera.
Referring to fig. 1, an embodiment of a three-dimensional registration method for a transcranial magnetic stimulation navigation process of the present application includes:
101. a first transformation relationship of the probe coordinate system to the camera coordinate system is determined.
In this step, the first transformation relationship of the probe coordinate system where the probe is located in the camera coordinate system of the camera is required to be known, the camera is preferably an infrared binocular vision camera, for example, the binocular vision system of the infrared binocular vision camera is an MV-VS220 binocular stereo vision system developed by the visuals builder, and the system is a relatively perfect system integrating image acquisition, processing, matching and measurement, and is convenient for processing image data.
Specifically, probe images of K mark points of a probe in a probe coordinate system are obtained through an infrared binocular vision camera, wherein the K mark points can reflect the outline shape of the probe, K is a positive integer larger than or equal to 3, at least 3 mark points in the K mark points are not coplanar and collinear, the distance between every two mark points on the probe is calculated under a space coordinate system constructed by the infrared binocular vision camera, so that a probe coordinate system of the probe can be created, the probe coordinate system is located in the camera coordinate system, and a first conversion relation of the probe coordinate system in the camera coordinate system can be determined according to the K mark points of the probe images.
In one possible embodiment, the binocular vision system may use a trained neural network model to recognize and classify the shape features formed by the K marking points of the probe image, so as to obtain a first transformation relationship of the probe coordinate system in the camera coordinate system, and the training process of the neural network model is a mature prior art and will not be described in detail herein.
Further, referring to fig. 8, fig. 8 shows a schematic structural diagram of a probe, wherein the outline of the probe is "Y" shaped, and 4 marking points on the probe form the "Y" shaped outline.
The spatial coordinates of the probe tip of the probe in the camera coordinate system can also be calculated by using the first conversion relation. For example, referring to fig. 8 and 9, a passive optical mark point may be fixed at the probe tip position, so that the probe tip is exactly located at the center of the passive optical mark point, and then probe images of 4 mark points of the probe in the probe coordinate system are acquired by the infrared binocular vision camera, and the obtained coordinate of the center of the passive optical mark point in the camera coordinate system is the space coordinate of the probe tip in the camera coordinate system. Specifically, probe images of 6 groups of probes in different postures can be collected, space coordinates of the probe tip positions of the probes in a camera coordinate system are respectively calculated, then the average value of each group of postures is respectively calculated to be used as the space coordinates of the probe tip in the camera coordinate system, and then accurate coordinates of the probe tip in the different postures of the camera coordinate system are obtained.
102. A second transformation relationship of the head tracking coordinate system represented by the marker points of the patient's head to the camera coordinate system is determined.
This step requires knowing a second transformation relationship of the head tracking coordinate system represented by the mark points of the patient's head to the camera coordinate system of the camera, which is preferably an infrared binocular vision camera, for example, the binocular vision system of the infrared binocular vision camera is MV-VS220 binocular stereo vision system developed by visuals manufacturers. It will be appreciated that it is difficult to accurately locate the spatial position of the patient's head directly in the camera coordinate system directly through the binocular vision system of the camera, due to the varying head shape of different patients. In order to solve the technical problem, the method adopted in the step is to identify the head tracking coordinate system represented by the mark points of the patient's head through the infrared camera, and since the mark points can be fixed on the patient's head through a standard positioning reference frame in the form of a strap, the mark points on the positioning reference frame can be accurately identified by the binocular vision system of the camera, so that the camera can determine the second conversion relation of the head tracking coordinate system represented by the mark points of the patient's head in the camera coordinate system, and at the moment, the camera still does not know the actual spatial position of the patient's head in the head tracking coordinate system, but the camera can determine the position of the head tracking coordinate system represented by the mark points of the patient's head in the camera coordinate system. Referring to fig. 10, fig. 10 is a schematic diagram showing an effect of an embodiment in which a positioning reference frame is fixed on a head model of a patient, and in fig. 10, the positioning reference frame (the positioning reference frame is provided with 3 infrared light reflecting small balls) is fixed on the head model and keeps a relative position with the head model unchanged.
103. And when the probe tip of the probe coordinate system respectively touches X actual feature points on the head of the patient, calculating the coordinates of the X actual feature points in the camera coordinate system by utilizing the first conversion relation.
After the camera knows the first conversion relationship of the probe coordinate system in the camera coordinate system in step 101, and after the camera knows the second conversion relationship of the head tracking coordinate system represented by the mark points of the patient's head in the camera coordinate system in step 102, the probe tip of the probe coordinate system can be taken to touch the actual feature points on the patient's head, so as to implement tool setting by taking the probe tip and the actual feature points of the patient's head, and to draw the spatial position of the patient's head in the camera space coordinate system for the camera coordinate system. For example, when the probe tip of the probe coordinate system touches X actual feature points on the head of the patient, the coordinates of the X actual feature points in the camera coordinate system are calculated by using the first conversion relationship, where X is a positive integer greater than or equal to 3, and at least 3 actual feature points in the X actual feature points are not coplanar and collinear. Specifically, the probe tip may sequentially touch a left ear anterior point, a right ear anterior point, and a nose tip of the head of the patient to obtain coordinates of the left ear anterior point, the right ear anterior point, and the nose tip under the camera coordinates, that is, when the probe tip touches the left ear anterior point, the right ear anterior point, and the nose tip respectively, the coordinates of the probe tip corresponding to the camera coordinate system at that time are the coordinates of the left ear anterior point, the right ear anterior point, and the nose tip.
104. And calculating the coordinates of the X actual characteristic points in the head tracking coordinate system by utilizing the second conversion relation.
After the coordinates of the X actual feature points of the patient's head in the camera coordinate system are obtained in step 103, since the second transformation relationship of the head tracking coordinate system in the camera coordinate system is already obtained in step 102, and the patient's head is located in the head tracking coordinate system, that is, the patient's head is in an absolute position relationship in the head tracking coordinate system, the coordinates of the X actual feature points of the patient's head in the head tracking coordinate system can be calculated by using the second transformation relationship. For example, the coordinates of the left and right anterior ear points and the tip of the nose of the patient in the head tracking coordinate system are calculated by using the second conversion relation.
105. And picking up X virtual characteristic points which correspond to the X actual characteristic points in a preset three-dimensional virtual head model respectively, wherein the three-dimensional virtual head model is positioned in a three-dimensional virtual head model coordinate system.
It should be noted that in the transcranial magnetic stimulation navigation process, after the preset spatial coordinates of the three-dimensional virtual head model are registered with the real spatial coordinates of the head of the patient (i.e., the head coordinates of the patient in the head tracking coordinate system in the camera coordinate system), the three-dimensional virtual head model and the head coordinates of the patient are in one-to-one correspondence, and when the three-dimensional virtual head model specifies that transcranial magnetic stimulation is performed on a specific coordinate point, the magnetic stimulation execution mechanism is correspondingly directed to perform magnetic stimulation on the specific coordinate point corresponding to the head of the patient in reality. Based on this understanding, this step requires picking up X virtual feature points in a preset three-dimensional virtual head model for the X actual feature points whose coordinate positions are determined in the camera coordinate system in step 104, where the three-dimensional virtual head model is located in the three-dimensional virtual head model coordinate system. For example, this step may respectively pick up three coordinate points, namely, a left anterior ear point, a right anterior ear point and a nasion, in the three-dimensional virtual head model based on the vtkpickpicker class. Vtk (visualization toolkit) is a free, open-source software system, mainly used for three-dimensional computer graphics, image processing and visualization.
106. And respectively registering X virtual feature points corresponding to the X actual feature points to obtain a third conversion relation between the head tracking coordinate system and the three-dimensional virtual head model coordinate system.
The X virtual feature points picked up in step 105 are registered with the X actual feature points whose coordinate positions are determined in the camera coordinate system in step 104, respectively. For example, the registration may be implemented by Landmark in the VTK, and a third transformation relationship between the head tracking coordinate system and the three-dimensional virtual head model coordinate system is obtained. The vtkLandmarkTransform class is one of more classical registration algorithms in the VTK, and based on the mark points, linear transformation is adopted to minimize the average distance between two point sets (a patient head and a three-dimensional virtual head model) after registration, the vtklandmarkk algorithm is also simpler, a source point set (for example, a coordinate set of the three-dimensional virtual head model) and a target point set (for example, a coordinate set of the patient head in a camera coordinate system) are respectively set through setsourcemarks and settargetmarks functions, transformation types are set through setmodes, for example, a setmodetorridbeddecision () function sets the registration transformation type as a rigid transformation, a setmodesimilitity () function sets a similarity transformation, and a transformation matrix is obtained through setting a GetMatrix (), so that errors caused by manual operation can be reduced, treatment time can be shortened, and surgical risks can be reduced.
It can be understood that since X is a positive integer greater than or equal to 3, and at least 3 of the X actual feature points are not coplanar and collinear, after the X virtual feature points corresponding to the X actual feature points are respectively registered, it is equivalent to substantially determining a third transformation relationship between the entire three-dimensional virtual head model and the head of the patient in the camera coordinate system.
107. And mapping the three-dimensional virtual head model to a head tracking coordinate system by using a third conversion relation, so that the head of the patient is registered with the three-dimensional virtual head model.
The three-dimensional virtual head model may be entirely mapped to the head tracking coordinate system using the third transformation relationship of step 106, such that the patient's head and the three-dimensional virtual head model are registered in the camera coordinate system.
The embodiment of the application can also realize the motion tracking of the head tracking coordinate system through a binocular vision system of the camera so as to know the real-time motion condition of the head of the patient, provide accurate head motion data support for the transcranial magnetic stimulation treatment process of the patient, so as to command the motion compensation of the magnetic stimulation executing mechanism when the head of the patient runs, and realize dynamic accurate magnetic stimulation treatment. Referring to fig. 2, after step 102 of fig. 1, another embodiment of the three-dimensional registration method for transcranial magnetic stimulation navigation process of the present application includes:
201. and acquiring mark point images of L mark points on the head of the patient.
For example, the infrared binocular vision camera acquires the marking point images of the L marking points on the positioning reference frame fixed on the head of the patient in real time.
202. And analyzing the running track of the head tracking coordinate system reflected in the mark point image to obtain the motion compensation coordinate of the head tracking coordinate system.
The head tracking coordinate system represented by the mark points of the head of the patient is identified through the infrared camera, the mark points can be fixed on the head of the patient in a binding band mode through a standard positioning reference frame, so that the mark points on the positioning reference frame can be well and accurately identified by a binocular vision system of the camera, the motion compensation coordinates of the head tracking coordinate system are obtained by analyzing the running track of the head tracking coordinate system reflected in the mark point images before and after time, at the moment, the camera does not need to know the actual space position of the head of the patient in the head tracking coordinate system, only needs to know the motion compensation coordinates of the head tracking coordinate system, and is the motion compensation coordinates of the head of the patient, and the head of the patient is in an absolute position relation in the head tracking coordinate system. In the step, a GPU module in opencv software can be used for accelerating an image processing process, then L mark points are tracked by adopting a CV _ TM _ CCOEFF _ NORMED normalized correlation coefficient matching method, the operation tracking effect on the head of the patient is realized, the head movement of the patient is compensated, a magnetic stimulation coil in the transcranial magnetic stimulation process is driven by a magnetic stimulation execution mechanism to be in the most appropriate stimulation position, and the better magnetic stimulation treatment effect is realized. The magnetic stimulation actuating mechanism of the embodiment of the application is generally a multi-axis mechanical arm, and a magnetic stimulation coil is fixedly mounted at the tail end of the multi-axis mechanical arm.
Referring to fig. 3, before step 105 of the embodiment of fig. 1, the application needs to construct a three-dimensional virtual head model of the head of the patient in advance, and another embodiment of the three-dimensional registration method of the transcranial magnetic stimulation navigation process of the application comprises:
301. a magnetic resonance image of the patient's head is acquired using a standard template.
For example, a standard template with an image resolution of 256 × 256 and a voxel size of 1mm × 1mm × 1mm employs ICBM152 data. This step uses the standard template to acquire a magnetic resonance image of the head of the patient to obtain standardized magnetic resonance image data.
302. And converting the nuclear magnetic resonance image into a bitmap image.
For example, in this step, the magnetic resonance image data acquired in step 301 is segmented by the medical image analysis software MRIcron and stored as a bmp picture sequence, which is a Bitmap image.
303. A three-dimensional virtual head model of the patient's head is constructed using the bitmap images.
For example, the Bitmap image in step 302 is imported into simplex software to construct a three-dimensional virtual head model of the head of the patient, and the three-dimensional virtual head model is exported and saved in STL format.
304. And registering the three-dimensional virtual head model with template data of a standard electrode placement method to obtain 10-20 coordinates on the three-dimensional virtual head model.
Further, in order to obtain a more accurate three-dimensional virtual head model of the patient's head, a template three-dimensional virtual head model of a standard template may be created, and then the three-dimensional virtual head model of the patient's head and data of the template three-dimensional virtual head model are registered by using a three-dimensional geometry processing system MeshLab, so as to obtain a more accurate three-dimensional virtual head model of the patient's head.
Then, the method uses Brainstarm software to obtain 10-20 coordinates of the template three-dimensional virtual head model, wherein the 10-20 coordinates refer to: 10-20 system electrode placement coordinates for standard electrode placement as defined by the international electroencephalogram society. The 10-20 coordinate is used for better selection of a stimulation target point by a subsequent transcranial magnetic stimulation coil. Since the data of the three-dimensional virtual head model of the patient's head and the data of the template three-dimensional virtual head model are registered, the accurate 10-20 coordinates of the three-dimensional virtual head model of the patient's head can be obtained as well, please refer to fig. 6 and fig. 7, which is an embodiment effect of the present application that the 10-20 coordinates of the three-dimensional virtual head model of the patient's head are marked by a sphere with a radius of 4mm in 3ds Max. Based on 10-20 system be convenient for the operating personnel to the target area location of patient's head, command the magnetic stimulation actuating mechanism better and carry out the treatment of magnetic stimulation coil to the target area.
The above embodiment describes the three-dimensional registration method of the transcranial magnetic stimulation navigation process of the present application, and the following describes the three-dimensional registration system of the transcranial magnetic stimulation navigation process of the present application, referring to fig. 4, an embodiment of the three-dimensional registration system of the transcranial magnetic stimulation navigation process includes:
a first determination unit 401 for determining a first conversion relationship of the probe coordinate system in the camera coordinate system;
a second determining unit 402, configured to determine a second transformation relationship of the head tracking coordinate system represented by the mark points of the patient's head in the camera coordinate system;
a first calculating unit 403, configured to calculate, by using the first conversion relationship, coordinates of X actual feature points in the camera coordinate system when a probe tip of the probe coordinate system respectively touches X actual feature points on the head of the patient, where X is a positive integer greater than or equal to 3, and at least 3 actual feature points in the X actual feature points are not coplanar and are not collinear;
a second calculating unit 404, configured to calculate, by using the second transformation relationship, coordinates of the X actual feature points in the head tracking coordinate system;
a picking unit 405, configured to pick up X virtual feature points in a preset three-dimensional virtual head model, where the X virtual feature points correspond to the X actual feature points, and the three-dimensional virtual head model is located in a three-dimensional virtual head model coordinate system;
a registration unit 406, configured to register X virtual feature points corresponding to the X actual feature points, respectively, to obtain a third conversion relationship between the head tracking coordinate system and the three-dimensional virtual head model coordinate system;
a mapping unit 407 for mapping the three-dimensional virtual head model to the head-tracking coordinate system using the third transformation relationship such that the patient head is in registration with the three-dimensional virtual head model.
Optionally, when the first determining unit 401 determines the first conversion relationship of the probe coordinate system in the camera coordinate system, it is specifically configured to:
acquiring probe images of K marking points of the probe in the probe coordinate system, wherein the K marking points can reflect the outline shape of the probe, K is a positive integer greater than or equal to 3, and at least 3 marking points in the K marking points are not coplanar and collinear;
and determining the first conversion relation of the probe coordinate system in the camera coordinate system according to the K marking points of the probe image.
Optionally, K is equal to 4, the outline shape of the probe is "Y", the 4 marking points form the outline shape of the "Y", and when the first determining unit 401 determines the first conversion relationship of the probe coordinate system in the camera coordinate system according to the K marking points of the probe image, the first determining unit is specifically configured to:
and identifying and classifying shape features formed by the K marking points of the probe image through a trained neural network model to obtain the first conversion relation of the probe coordinate system in the camera coordinate system.
Optionally, the K marking points include a probe tip of the probe, and the system further includes:
a third calculating unit 408 for calculating the spatial coordinates of the probe tip in the camera coordinate system using the first conversion relationship.
Optionally, when the second determining unit 402 determines the second transformation relationship of the head tracking coordinate system represented by the mark points of the head of the patient in the camera coordinate system, it is specifically configured to:
acquiring head tracking coordinate system images of L marking points of the head of the patient in the head tracking coordinate system, wherein the L marking points can reflect the space shape of the head tracking coordinate system, L is a positive integer greater than or equal to 3, and at least 3 marking points in the L marking points are not coplanar and collinear;
and determining a second conversion relation of the head tracking coordinate system in the camera coordinate system according to the L mark points of the head tracking coordinate system image.
Optionally, the system further includes:
an acquisition unit 409 for acquiring the marker point images of the L marker points of the head of the patient;
the analyzing unit 410 is configured to analyze the moving trajectory of the head tracking coordinate system reflected in the mark point image, so as to obtain a motion compensation coordinate of the head tracking coordinate system.
Optionally, the system further includes:
the acquisition unit 409 is further used for acquiring a nuclear magnetic resonance image of the head of the patient by using a standard template;
a converting unit 411, configured to convert the nuclear magnetic resonance image into a bitmap image;
a construction unit 412 for constructing the three-dimensional virtual head model of the patient's head using the bitmap image.
Optionally, the system further includes:
the registration unit 413 is further configured to register the three-dimensional virtual head model with template data of a standard electrode placement method, so as to obtain 10-20 coordinates on the three-dimensional virtual head model.
The operation of the three-dimensional registration system for the transcranial magnetic stimulation navigation process according to the embodiment of the present application is similar to that of the foregoing embodiments of fig. 1, fig. 2 and fig. 3, and is not repeated herein.
Referring to fig. 5, a computer device according to an embodiment of the present application is described below, where an embodiment of the computer device according to the present application includes:
the computer device 500 may include one or more processors (CPUs) 501 and a memory 502, where the memory 502 stores one or more applications or data. Wherein the memory 502 is volatile storage or persistent storage. The program stored in memory 502 may include one or more modules, each of which may include a sequence of instructions operating on a computer device. Still further, the processor 501 may be arranged in communication with the memory 502 to execute a series of instruction operations in the memory 502 on the computer device 500. The computer device 500 may also include one or more wireless network interfaces 503, one or more input-output interfaces 504, and/or one or more operating systems, such as Windows Server, Mac OS, Unix, Linux, FreeBSD, etc. The processor 501 may perform the operations performed in the embodiments shown in fig. 1 to fig. 3, which are not described herein again.
In the several embodiments provided in the embodiments of the present application, it should be understood by those skilled in the art that the disclosed system, apparatus and method can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the unit is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A three-dimensional registration method for a transcranial magnetic stimulation navigation process, comprising:
determining a first conversion relation of a probe coordinate system in a camera coordinate system;
determining a second conversion relation of a head tracking coordinate system represented by the marking points of the head of the patient in the camera coordinate system;
when the probe tip of the probe coordinate system respectively touches X actual feature points on the head of the patient, calculating by using the first conversion relation to obtain coordinates of the X actual feature points in the camera coordinate system, wherein X is a positive integer greater than or equal to 3, and at least 3 actual feature points in the X actual feature points are not coplanar and collinear;
calculating the coordinates of the X actual feature points in the head tracking coordinate system by utilizing the second conversion relation;
picking up X virtual feature points which correspond to the X actual feature points in a preset three-dimensional virtual head model respectively, wherein the three-dimensional virtual head model is positioned in a three-dimensional virtual head model coordinate system;
respectively registering X virtual feature points corresponding to the X actual feature points to obtain a third conversion relation between the head tracking coordinate system and the three-dimensional virtual head model coordinate system;
mapping the three-dimensional virtual head model to the head-tracking coordinate system using the third translation relationship such that the patient head is in registration with the three-dimensional virtual head model.
2. The three-dimensional registration method according to claim 1, wherein the determining a first transformation relationship of the probe coordinate system to the camera coordinate system comprises:
acquiring probe images of K marking points of the probe in the probe coordinate system, wherein the K marking points can reflect the outline shape of the probe, K is a positive integer greater than or equal to 3, and at least 3 marking points in the K marking points are not coplanar and collinear;
and determining the first conversion relation of the probe coordinate system in the camera coordinate system according to the K marking points of the probe image.
3. The three-dimensional registration method according to claim 2, wherein K is equal to 4, the contour shape of the probe is "Y" shaped, the 4 marker points form the "Y" contour shape, and the determining the first transformation relationship of the probe coordinate system in the camera coordinate system according to the K marker points of the probe image comprises:
and identifying and classifying shape features formed by the K marking points of the probe image through a trained neural network model to obtain the first conversion relation of the probe coordinate system in the camera coordinate system.
4. The three-dimensional registration method according to claim 3, wherein the K marker points comprise probe tips of the probes, and after obtaining the first transformation relationship of the probe coordinate system to the camera coordinate system, the method further comprises:
and calculating the space coordinate of the probe tip in the camera coordinate system by using the first conversion relation.
5. The three-dimensional registration method according to claim 1, wherein the determining a second transformation relationship of the head tracking coordinate system represented by the marker points of the patient's head to the camera coordinate system comprises:
acquiring head tracking coordinate system images of L marking points of the head of the patient in the head tracking coordinate system, wherein the L marking points can reflect the space shape of the head tracking coordinate system, L is a positive integer greater than or equal to 3, and at least 3 marking points in the L marking points are not coplanar and collinear;
and determining a second conversion relation of the head tracking coordinate system in the camera coordinate system according to the L mark points of the head tracking coordinate system image.
6. The three-dimensional registration method according to claim 5, wherein after determining the second transformation relationship of the head-tracking coordinate system to the camera coordinate system, the method further comprises:
acquiring mark point images of the L mark points of the head of the patient;
and analyzing the running track of the head tracking coordinate system reflected in the mark point image to obtain the motion compensation coordinate of the head tracking coordinate system.
7. The three-dimensional registration method according to claim 1, wherein before picking up X virtual feature points in a preset three-dimensional virtual head model corresponding to the X actual feature points, respectively, the method further comprises:
acquiring a nuclear magnetic resonance image of the head of the patient by using a standard template;
converting the nuclear magnetic resonance image into a bitmap image;
constructing the three-dimensional virtual head model of the patient's head using the bitmap image.
8. The three-dimensional registration method according to claim 7, wherein after constructing the three-dimensional virtual head model of the patient using the bitmap image, the method further comprises:
and registering the three-dimensional virtual head model with template data of a standard electrode placement method to obtain 10-20 coordinates on the three-dimensional virtual head model.
9. A three-dimensional registration system for a transcranial magnetic stimulation navigation process, comprising:
the first determining unit is used for determining a first conversion relation of the probe coordinate system in the camera coordinate system;
the second determining unit is used for determining a second conversion relation of the head tracking coordinate system represented by the marking points of the head of the patient in the camera coordinate system;
the first calculation unit is used for calculating and obtaining the coordinates of the X actual characteristic points in the camera coordinate system by utilizing the first conversion relation when the probe tip of the probe coordinate system respectively touches X actual characteristic points on the head of the patient, wherein X is a positive integer greater than or equal to 3, and at least 3 actual characteristic points in the X actual characteristic points are not coplanar and collinear;
the second calculation unit is used for calculating the coordinates of the X actual feature points in the head tracking coordinate system by utilizing the second conversion relation;
the picking unit is used for picking X virtual feature points which correspond to the X actual feature points in a preset three-dimensional virtual head model respectively, and the three-dimensional virtual head model is positioned in a three-dimensional virtual head model coordinate system;
the registration unit is used for respectively registering X virtual feature points corresponding to the X actual feature points to obtain a third conversion relation between the head tracking coordinate system and the three-dimensional virtual head model coordinate system;
a mapping unit for mapping the three-dimensional virtual head model to the head tracking coordinate system using the third transformation relationship such that the patient head is registered with the three-dimensional virtual head model.
10. A computer device, comprising:
the system comprises a processor, a memory, a bus, an input/output interface and a wireless network interface;
the processor is connected with the memory, the input/output interface and the wireless network interface through a bus;
the memory stores a program;
the processor, when executing the program stored in the memory, implements a three-dimensional registration method of the transcranial magnetic stimulation navigation process according to any one of claims 1-8.
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| CN115229806A (en) * | 2022-09-21 | 2022-10-25 | 杭州三坛医疗科技有限公司 | Mechanical arm control method, device, system, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115229806A (en) * | 2022-09-21 | 2022-10-25 | 杭州三坛医疗科技有限公司 | Mechanical arm control method, device, system, equipment and storage medium |
| CN115229806B (en) * | 2022-09-21 | 2023-03-03 | 杭州三坛医疗科技有限公司 | Mechanical arm control method, device, system, equipment and storage medium |
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