CN114668460A - Method and system for unifying spatial poses of puncture needles - Google Patents
Method and system for unifying spatial poses of puncture needles Download PDFInfo
- Publication number
- CN114668460A CN114668460A CN202210183474.9A CN202210183474A CN114668460A CN 114668460 A CN114668460 A CN 114668460A CN 202210183474 A CN202210183474 A CN 202210183474A CN 114668460 A CN114668460 A CN 114668460A
- Authority
- CN
- China
- Prior art keywords
- puncture needle
- coordinate system
- position information
- point
- puncture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention discloses a puncture needle space pose unifying method and a puncture needle space pose unifying system, wherein the method comprises the following steps: acquiring first position information of a mark point of a puncture object in a first coordinate system; positioning second position information of the mark point in a second coordinate system by operating the puncture needle; obtaining a position transfer matrix according to the first position information and the second position information; unifying the positions of the puncture needles based on the position transfer matrix; acquiring second direction information of the puncture needle in the second coordinate system; and obtaining the attitude information of the puncture needle in the first coordinate system according to the second direction information and the position transfer matrix. The invention can improve the accuracy of unified pose of the puncture needle.
Description
Technical Field
The invention relates to the technical field of engineering, in particular to a puncture needle space pose unifying method and a puncture needle space pose unifying system.
Background
Liver cancer is the first leading killer of cancer, both in china and in the world. Currently, liver puncture, biopsy surgery and the like based on CT guidance are used as an important diagnosis mode. The puncture operation is a treatment or examination method in which a puncture needle is inserted into a body cavity in a body, a liquid is extracted and further assayed, or a chemical substance, air, or the like is injected into the body cavity, and thus the puncture operation is widely used clinically. According to different disease conditions, puncture operations at different parts can be performed. Common clinical procedures include epidural puncture, thoracocentesis, abdominal puncture, lumbar puncture, arteriovenous puncture and the like. The puncture needle belongs to interventional radiology equipment and is one of necessary consumables for puncture surgery, the surgery mainly depends on a doctor to perform needle inserting operation by hands at present, and then is confirmed by medical images. In order to solve the above problems, surgical robot-assisted surgery has become a popular surgical method in recent years, and there is a certain time for the research of inserting needles with robot assistance. Using robotically assisted surgery, the problems involved include: puncture needle degree space registration among puncture instruments, CT medical imaging equipment, mechanical arms and other peripheral equipment, and puncture precision. At present, a part of operations in the market are completed by a surgical robot matched with a doctor, the surgical robot plans a puncture path and an angle, the doctor only needs to complete a needle inserting action according to the angle, but a certain error exists, and if the recommended path and the recommended angle are not appropriate, the doctor is required to predict a tumor position, a needle inserting angle and the like according to experience and medical knowledge of the doctor so as to manually modify the needle inserting path.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a method and a system for unifying the spatial pose of a puncture needle, which can improve the accuracy of unifying the pose of the puncture needle.
In one aspect, the embodiment of the invention provides a method for unifying spatial poses of puncture needles, which comprises the following steps: acquiring first position information of a mark point of a puncture object in a first coordinate system; positioning second position information of the mark point in a second coordinate system by operating the puncture needle; obtaining a position transfer matrix according to the first position information and the second position information; unifying the positions of the puncture needles based on the position transfer matrix; acquiring second direction information of the puncture needle in the second coordinate system; and obtaining the attitude information of the puncture needle in the first coordinate system according to the second direction information and the position transfer matrix.
According to some embodiments of the invention, the acquiring the position information of the marker point of the puncture object in the first coordinate system comprises: acquiring original data containing the information of the marker points through CT imaging; and segmenting the mark points through a medical image segmentation algorithm to obtain the position information of each mark point in the first coordinate system.
According to some embodiments of the invention, the positioning the second position information of the marker point in the second coordinate system by operating the puncture needle comprises: operating the needle point of the puncture needle at the center of each mark point; positioning and tracking a plurality of passive small balls arranged on the puncture needle through optical equipment to obtain position information of the passive small balls under the second coordinate system; and obtaining second position information of the mark point in the second coordinate system according to the position information and the structure of the puncture needle.
According to some embodiments of the invention, the puncture needle is of a Y-shaped structure and comprises a pen body and a sub-pen point; the plurality of passive small balls comprise a first passive small ball, a second passive small ball, a third passive small ball and a fourth passive small ball; the method further comprises the following steps: establishing a rectangular coordinate system by taking the needle point of the puncture needle as an origin and the pen body as an X axis to obtain a third coordinate system; wherein the first passive small ball and the second passive small ball are positioned on the X axis.
According to some embodiments of the invention, the unifying the positions of the puncture needles based on the position transfer matrix comprises: and obtaining fourth position information of the passive small ball of the puncture needle in the first coordinate system according to the third position information of the passive small ball of the puncture needle in the second coordinate system and the position transfer matrix.
According to some embodiments of the invention, the acquiring the second direction information of the puncture needle in the second coordinate system comprises: and obtaining second direction information of the puncture needle in the second coordinate system according to the position information of the first passive small ball and the second passive small ball in the second coordinate system.
According to some embodiments of the present invention, the obtaining the posture information of the puncture needle in the first coordinate system according to the second direction information and the position transfer matrix includes: acquiring a direction vector in the second direction information, and acquiring position information of a point on the direction vector; obtaining the position information of the point in the first coordinate system according to the position transfer matrix; and obtaining a linear direction vector of the puncture needle in a first coordinate system according to the position information of the point, and obtaining corresponding posture information.
According to some embodiments of the invention, the needle tip point at which the needle is operated is at the center of each of the marker points; positioning and tracking a plurality of passive small balls arranged on the puncture needle through optical equipment to obtain the position information of the passive small balls under the second coordinate system, wherein the position information comprises the following steps: and stopping the needle tip at the central point of each mark point for a plurality of seconds, acquiring a plurality of pieces of position information at each central point, and calculating the average value of the position information to obtain the position information of the central point of each mark point.
Another aspect of the embodiments of the present invention provides a system for unifying spatial poses of puncture needles, which is used for implementing the method for unifying spatial poses of puncture needles, and includes: the puncture needle comprises a body and a plurality of passive small balls arranged on the body; the puncture object comprises an object body and a plurality of mark points arranged on the object body; an optical device for positioning and tracking the passive ball; and the CT imaging module is used for carrying out CT imaging on the puncture object.
The embodiment of the invention at least has the following beneficial effects: the embodiment of the invention provides a high-precision puncture needle pose real-time unifying method based on optical equipment, which can accurately calculate the multi-system transformation relation among a puncture needle, a CT (computed tomography), a marker and the optical equipment without manual intervention of a doctor. The method for matching the surgical needle and the marker by using the image before the operation simultaneously provides a method for accurately acquiring the position information of the workpiece by using an error feedback compensation method, reduces the registration error to a certain extent, and simultaneously ensures the accuracy of the posture. The integral registration method is high in precision, easy to implement and easy to apply to engineering implementation.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a lancet configuration according to an embodiment of the present invention;
FIG. 3 is a schematic representation of a needle in NDI coordinates in accordance with an embodiment of the present invention;
FIG. 4 is a block schematic diagram of modules of a system of an embodiment of the present invention;
fig. 5 is a schematic field layout for an embodiment of the present invention.
Reference numerals are as follows:
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In order to accurately realize the unification of the positions and postures of the puncture needles under different coordinate systems, including the unification of positions and postures, the invention provides an engineering realization method for the real-time unification of the spatial positions and postures based on self-defined markers.
In order to overcome the defect of real-time unified pose, the invention designs a user-defined workpiece (puncture needle) as a marker, and realizes a high-precision real-time unified pose method through the pose information of the marker under different coordinate systems. Firstly, the positions are unified: acquiring position information under different coordinate systems, and acquiring corresponding conversion matrixes according to corresponding position information under the two coordinate systems, so that the positions under the different coordinate systems are unified; secondly, the postures are unified: the method comprises the steps of rotating a workpiece, acquiring direction information of the workpiece under a current coordinate system according to a designed workpiece structure, acquiring a workpiece direction vector according to mathematical space geometry knowledge, and combining a conversion matrix generated by position unification to realize corresponding unification of postures of the workpiece.
Referring to fig. 1, a method of an embodiment of the present invention includes the steps of: acquiring first position information of a mark point of a puncture object in a first coordinate system; second position information of the puncture needle positioning mark point under a second coordinate system is operated; obtaining a position transfer matrix according to the first position information and the second position information; based on the position transfer matrix, the positions of the puncture needles are unified; acquiring second direction information of the puncture needle in a second coordinate system; and obtaining the attitude information of the puncture needle in the first coordinate system according to the second direction information and the position transfer matrix.
In this embodiment, the first coordinate system is a coordinate system under an image after CT imaging, and the second coordinate system is implemented by NDI optical equipment for tracking the position of the puncture needle.
The puncture needle provided by the embodiment of the invention is a self-defined workpiece, is realized based on NDI optical equipment, and meets the mechanism requirements of the optical equipment in the design of the workpiece.
Referring to fig. 2, the puncture needle is of a Y-shaped structure, and includes a pen body and a sub-pen tip; the plurality of passive balls comprise a passive ball 1, a passive ball 2, a passive ball 3 and a passive ball 4; the method of the present invention further comprises: and establishing a rectangular coordinate system by taking the needle point of the puncture needle as an origin and the pen body as an X axis to obtain a third coordinate system. The puncture needle of the embodiment meets the structural requirements of workpieces, and is convenient for practical application. In this embodiment, according to the practical requirement of the workpiece of the optical device, the basic parameter information of the workpiece is preset, the needle point is the origin position, the 4 beads are on the xy plane, and the passive beads 1 and 2 are on the x axis and in the negative direction of the x axis.
Because the NDI optical navigation equipment is used in the embodiment of the invention, the structural design of the workpiece is mainly designed according to the official requirement of the NDI navigation equipment, because not all mechanism designs can be directly used, all small balls are not on the same plane and cannot be simultaneously arranged on the same straight line because of the tool design requirement of the NDI, the angle cannot be a right angle, and the distance between two small balls is not less than 45 mm. The workpiece of the embodiment of the invention is of a Y-shaped structure and adopts 4 small balls. Because the NDI official self-contained tool can acquire the position information of the user-defined central point in real time according to the position of the small ball on the workpiece, in some embodiments, the position of the needle point is set as the central point of the workpiece.
On hardware, the whole workpiece is made of an aluminum alloy material and comprises a sub-pen point, a pen body, an NDI small ball component and the like. The multifunctional pen is provided with a battery, can continuously work for 4 hours, the side face of the pen body is provided with a power on/off key to start and shut down the pen, the front side of the pen body is provided with a signal acquisition confirmation and deletion key, and functions of self pickup, deletion, editing and the like of a position point pointed by a pen point can be realized through a built-in wireless wifi signal. In addition, the pen body is provided with the status indicator lamp, so that a user can conveniently confirm whether the related operation is finished according to the status indicator lamp. The small ball is a passive identification small ball produced by an original factory of an NDI company, and the structural design is overall, so that the structural requirements of the NDI company are met on one hand, and the attitude calculation is convenient to consider on the other hand.
In some embodiments, the method of acquiring position information of a marker point of a puncture object in a first coordinate system includes: acquiring original data containing information of the mark points through CT imaging; and segmenting the mark points by a medical image segmentation algorithm to obtain the position information of each mark point in the first coordinate system.
In some embodiments, locating the second position information of the marker point in the second coordinate system by operating the lancet comprises: the needle point of the operation puncture needle is at the center of each mark point; positioning and tracking a plurality of passive small balls arranged on the puncture needle through optical equipment to obtain position information of the passive small balls under a second coordinate system; and obtaining second position information of the mark point in a second coordinate system according to the position information and the structure of the puncture needle. In the embodiment, the needle point position is taken as the central point of the puncture needle. The NDI official self-contained tool can acquire the position information of a user-defined central point (namely a needle point) in real time according to the position of the passive small ball on the puncture needle, so that second position information of the mark point in a second coordinate system is obtained.
In some embodiments, the abdominal membrane is used as a puncture object for experiment, and the method for unifying the positions of puncture needles comprises the following steps:
the first step is as follows: placing 6 marking points on an abdominal phantom, acquiring original data of the phantom containing marking point information through CT imaging, dividing the marking points through currently popular film reading software, and acquiring position information P1(x, y, z) under each marking point image;
the second step is that: acquiring position information of each marker point under the optical device, first with the tip point of the puncture needle at the center of each marker point, thereby acquiring position coordinates P2(x, y, z) of each marker point under the optical device;
the third step: the position information of the marking points under different coordinate systems is obtained through the first two steps, and the position conversion matrix T1 of the abdomen phantom is obtained. Because only the position information under two coordinate systems is considered at present, the rotation is not involved, and the transformation matrix of the object can be obtained according to the translation of the midpoint in the three-dimensional space. That is, the point P (x, y, z) is translated in the x, y, z directions by a certain distance d to obtain a point P1(x1, y1, z1), and the relationship between the two points is:
x1-x+d1；y1＝y+d2；z1＝z+d3。
thus, the corresponding homogeneous transition matrix can be expressed as:
the unification of puncture needle positions is mainly to unify TP straight lines of the puncture needle to corresponding virtual human body coordinates, and according to 5 small balls pasted on a body membrane surface, a vtk calibration function library is used for acquiring a corresponding conversion matrix to realize the unification of spatial positions, wherein the small ball position point information in an NDI coordinate system is-the position information of a small ball point in a virtual human body, the small balls are divided through a medical image division algorithm, then the gravity center of each small ball is acquired to determine the position information in the virtual human body, and the corresponding conversion matrix is as follows:
Tndi_virtual＝vtk.landmark(Sx，Tx)。
In some embodiments, the method of obtaining second orientation information of the needle in a second coordinate system comprises: and obtaining second direction information of the puncture needle in a second coordinate system according to the position information of the passive small ball 1 and the passive small ball 2 in the second coordinate system. Because the puncture needle structure design of the embodiment enables the two passive small balls 1 and 2 in the direction of the needle point to be on the X axis at the same time, and the direction of the two passive small balls is parallel to the direction of the needle point, the direction information of the current posture can be obtained through the positions of the two passive small balls, and the direction information is also the direction of the puncture needle.
In some embodiments, the method for obtaining the posture information of the puncture needle in the first coordinate system according to the second direction information and the position transfer matrix comprises: acquiring a direction vector in the second direction information, and acquiring position information of a point on the direction vector; obtaining position information of the point in a first coordinate system according to the position transfer matrix; and obtaining a linear direction vector of the puncture needle under the first coordinate system according to the position information of the point, and obtaining corresponding posture information.
In some embodiments, taking the above experiment using abdominal membrane as an example, the method for unifying the postures of the puncture needles includes: considering the structure of the puncture needle for actual operation, the posture is unified to realize the unification of the directions of the needle points. The direction information of the current posture is obtained through the positions of the two passive small balls, and the direction information is also the direction of the puncture needle. The position information of the other point in the direction of the needle point is obtained according to the direction information, and the position coordinates of the corresponding point in the image coordinate system can be obtained by combining the position transfer matrix T1, so that corresponding posture unification is realized.
By vx-x 1-x; y 1-y; obtaining a linear direction vector in phantom coordinate system 1 by vz ═ z1-z, and obtaining coordinates R (x, y, z) of another point of P (x, y, z) in the direction vector according to a spatial linear equation because the vector is not changed in different coordinate systems, so that the corresponding coordinates in the current coordinate system are:
R1(x，y，z)＝T1*R(x，y，z)
therefore, the attitude information under the corresponding coordinate system can be obtained.
Referring to fig. 3, in the NDI coordinate system, coordinate information of a point A, B, O can be obtained, since the puncture needle is a straight one, here we simulate a dotted line TP as the puncture needle, and convert it into the virtual human body coordinate system to unify the position and the posture, and each coordinate point corresponding to the coordinate in the virtual human body coordinate system can be directly obtained by Tndi _ virtual, for example, a (x, y, z) ═ Tndi _ virtualvirtualA (x, y, z). The calculation of the pose here directly acquires the pose of TP from the AB pose,
Vab＝b(x，y，z)-a(x，y，z)
P(x，y，z)＝O(x，y，z)+Vab*160
T(x，y，z)＝O(x，y，z)-Vab*160
according to the position information of the PT, a line is directly drawn on the virtual human body for real-time correspondence, so that unified postures are achieved.
In some embodiments, the tip point of the operative needle is at the center of each marker point; the method for obtaining the position information of the passive small balls under the second coordinate system by positioning and tracking the passive small balls arranged on the puncture needle through the optical equipment comprises the following steps: and stopping the needle tip at the central point of each mark point for a plurality of seconds, acquiring a plurality of pieces of position information at each central point, and calculating the average value of the position information to obtain the position information of the central point of each mark point. The present embodiment adopts error feedback compensation: due to the fact that the point is manually calculated by the workpiece, certain errors exist, including shaking hands, the size of a marker and the like, and the errors are large. To reduce the above error, the position information of the mark point is obtained by adopting a five-second point collecting method, and since the points under the optical equipment fluctuate in real time, here, the position information of the center of each mark point is determined by taking an average value of 5 points at the center of each mark point and 5 pieces of position information at the position of each center point. The error can be effectively reduced to a certain extent.
Referring to fig. 4, an embodiment of the present invention further provides a puncture needle space pose unifying system, which is used for implementing the above puncture needle space pose unifying method, and includes: the puncture needle 100 comprises a body and a plurality of passive balls arranged on the body; the puncture object 200 comprises an object body and a plurality of mark points arranged on the body; an optical device 300 for position tracking of the passive ball; and the CT imaging module 400 is used for carrying out CT imaging on the puncture object.
Referring to fig. 5, a CT imaging apparatus, an abdominal membrane, a puncture needle, an optical apparatus, and a computer are provided on site. In the experimental process, position registration information is verified by drawing a small ball, a puncture needle is used for dotting next position point information on a phantom, and the position information of a point at a corresponding position under an image is acquired through an acquired position transfer matrix. Whether the position transfer matrix is correct is confirmed by drawing a small sphere with a radius of 2 pixels at the corresponding position of the image.
Meanwhile, in order to verify the direction information of the workpiece, a small ball is drawn for verification, the small ball is drawn at the needle point and the other point in the direction of the needle point, the radius of the small ball is unified to be 5 pixels for convenience of display, and meanwhile, a straight line between the two balls is visualized to check the corresponding direction information.
Although specific embodiments have been described herein, those of ordinary skill in the art will recognize that many other modifications or alternative embodiments are equally within the scope of this disclosure. For example, any of the functions and/or processing capabilities described in connection with a particular device or component may be performed by any other device or component. In addition, while various illustrative implementations and architectures have been described in accordance with embodiments of the present disclosure, those of ordinary skill in the art will recognize that many other modifications of the illustrative implementations and architectures described herein are also within the scope of the present disclosure.
It should be recognized that the method steps in embodiments of the present invention may be embodied or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The method may use standard programming techniques. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) executing collectively on one or more microprocessors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more microprocessors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (9)
1. A puncture needle space pose unifying method is characterized by comprising the following steps:
acquiring first position information of a mark point of a puncture object in a first coordinate system;
positioning second position information of the mark point in a second coordinate system by operating the puncture needle;
obtaining a position transfer matrix according to the first position information and the second position information;
based on the position transfer matrix, unifying the positions of the puncture needles;
Acquiring second direction information of the puncture needle in the second coordinate system;
and obtaining the attitude information of the puncture needle in the first coordinate system according to the second direction information and the position transfer matrix.
2. The puncture needle space pose unifying method according to claim 1, wherein the acquiring position information of the marker point of the puncture object in the first coordinate system comprises:
acquiring original data containing the information of the marker points through CT imaging;
and segmenting the mark points through a medical image segmentation algorithm to obtain the position information of each mark point in the first coordinate system.
3. The puncture needle spatial pose unifying method according to claim 1, wherein the positioning the second position information of the marker point in the second coordinate system by operating the puncture needle comprises:
operating the needle point of the puncture needle at the center of each mark point;
positioning and tracking a plurality of passive small balls arranged on the puncture needle through optical equipment to obtain position information of the passive small balls under the second coordinate system;
and obtaining second position information of the mark point in the second coordinate system according to the position information and the structure of the puncture needle.
4. The puncture needle spatial pose unifying method according to claim 3, wherein the puncture needle is of a Y-shaped structure and comprises a pen body and a sub-pen tip; the plurality of passive small balls comprise a first passive small ball, a second passive small ball, a third passive small ball and a fourth passive small ball; the method further comprises the following steps:
establishing a rectangular coordinate system by taking the needle point of the puncture needle as an origin and the pen body as an X axis to obtain a third coordinate system; wherein the first passive small ball and the second passive small ball are positioned on the X axis.
5. The puncture needle spatial pose unifying method according to claim 1, wherein the unifying the puncture needles in position based on the position transition matrix comprises:
and obtaining fourth position information of the passive small ball of the puncture needle in the first coordinate system according to the third position information of the passive small ball of the puncture needle in the second coordinate system and the position transfer matrix.
6. The puncture needle spatial pose unifying method according to claim 4, wherein the acquiring of the second direction information of the puncture needle in the second coordinate system comprises:
and obtaining second direction information of the puncture needle in the second coordinate system according to the position information of the first passive small ball and the second passive small ball in the second coordinate system.
7. The puncture needle space pose unifying method according to claim 1, wherein the obtaining the pose information of the puncture needle in the first coordinate system according to the second direction information and the position transfer matrix comprises:
acquiring a direction vector in the second direction information, and acquiring position information of one point on the direction vector;
obtaining the position information of the point in the first coordinate system according to the position transfer matrix;
and obtaining a linear direction vector of the puncture needle in a first coordinate system according to the position information of the point, and obtaining corresponding posture information.
8. The puncture needle space pose unifying method according to claim 3, wherein the needle tip point operating the puncture needle is at the center of each of the marker points; positioning and tracking a plurality of passive small balls arranged on the puncture needle through optical equipment to obtain the position information of the passive small balls under the second coordinate system, wherein the position information comprises the following steps:
and stopping the needle tip at the central point of each mark point for a plurality of seconds, acquiring a plurality of pieces of position information at each central point, and calculating the average value of the position information to obtain the position information of the central point of each mark point.
9. A puncture needle space pose unifying system for realizing the puncture needle space pose unifying method according to any one of claims 1 to 8, characterized by comprising:
the puncture needle comprises a body and a plurality of passive small balls arranged on the body;
the puncture object comprises an object body and a plurality of mark points arranged on the object body;
an optical device for positioning and tracking the passive ball;
and the CT imaging module is used for carrying out CT imaging on the puncture object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210183474.9A CN114668460A (en) | 2022-02-24 | 2022-02-24 | Method and system for unifying spatial poses of puncture needles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210183474.9A CN114668460A (en) | 2022-02-24 | 2022-02-24 | Method and system for unifying spatial poses of puncture needles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114668460A true CN114668460A (en) | 2022-06-28 |
Family
ID=82071707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210183474.9A Pending CN114668460A (en) | 2022-02-24 | 2022-02-24 | Method and system for unifying spatial poses of puncture needles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114668460A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117281615A (en) * | 2023-01-29 | 2023-12-26 | 真健康(珠海)医疗科技有限公司 | Kinematic modeling method and equipment for puncture surgical robot |
-
2022
- 2022-02-24 CN CN202210183474.9A patent/CN114668460A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117281615A (en) * | 2023-01-29 | 2023-12-26 | 真健康(珠海)医疗科技有限公司 | Kinematic modeling method and equipment for puncture surgical robot |
| CN117281615B (en) * | 2023-01-29 | 2024-05-28 | 真健康(珠海)医疗科技有限公司 | Kinematic modeling method and equipment for puncture surgical robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3254621B1 (en) | 3d image special calibrator, surgical localizing system and method | |
| CN112006779B (en) | Precision detection method of surgical navigation system | |
| CN110876643B (en) | Medical operation navigation system and method | |
| EP2953569B1 (en) | Tracking apparatus for tracking an object with respect to a body | |
| CN113288429A (en) | Space registration and real-time navigation method of breast minimally invasive interventional operation robot | |
| Özgüner et al. | Camera-robot calibration for the da vinci robotic surgery system | |
| CN113940755A (en) | Surgical operation planning and navigation method integrating operation and image | |
| WO2022218389A1 (en) | Ultrasonic and x-ray combined execution operation method, device and system, and computer-readable storage medium | |
| CN113316429A (en) | System and method for registration and navigation between coordinate systems | |
| Wang et al. | Robotic ultrasound: View planning, tracking, and automatic acquisition of transesophageal echocardiography | |
| CN109498156A (en) | A kind of head operation air navigation aid based on 3-D scanning | |
| CN112168357B (en) | System and method for constructing spatial positioning model of C-arm machine | |
| CN112043382A (en) | Surgical navigation system and use method thereof | |
| CN110916799A (en) | Puncture robot navigation system based on 5G network | |
| CN113768624B (en) | Working face positioning control method, device, computer equipment and readable storage medium | |
| CN110751681A (en) | Augmented reality registration method, device, equipment and storage medium | |
| CN115105175A (en) | Puncture navigation system, method, device, storage medium, and puncture device | |
| CN114668460A (en) | Method and system for unifying spatial poses of puncture needles | |
| US20220125518A1 (en) | Tool for inserting an implant and method of using same | |
| CN117084790B (en) | Puncture azimuth control method and device, computer equipment and storage medium | |
| Wang et al. | Real-time marker-free patient registration and image-based navigation using stereovision for dental surgery | |
| CN111477318B (en) | Virtual ultrasonic probe tracking method for remote control | |
| CN116269812A (en) | Master-slave operation puncture system and planning method | |
| CN115429429A (en) | Surgical instrument calibration and visual tracking method for optical navigation surgery | |
| CN209032410U (en) | A kind of collecting device for outline |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |