CN115831341A - Self-adaptive registration system and method for surgical navigation - Google Patents
Self-adaptive registration system and method for surgical navigation Download PDFInfo
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Abstract
The invention belongs to the technical field of operation positioning navigation, and discloses an adaptive registration system and method for operation navigation. According to the invention, the optical tool array only needs to be registered once under the condition of no displacement, the subsequent optical navigation camera moves, the system can automatically perform self-adaptive registration, the operation is convenient and fast, and the operation efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of surgical positioning navigation, and particularly relates to a self-adaptive registration system and a self-adaptive registration method for surgical navigation.
Background
In an operation navigation system using an optical navigation camera, such as a CT operation navigation system, accurate registration of a CT coordinate system and an optical navigation camera coordinate system (i.e., establishing a corresponding relationship between the CT coordinate system and the optical navigation camera coordinate system) is a prerequisite for the operation navigation system to play a navigation role. The registration method includes preoperative registration and intraoperative registration. The common intraoperative registration method is that a mark point which can be identified by both optics and images is placed on a patient for intraoperative registration; the common preoperative registration method is that an optical navigation camera is fixed near an image acquisition device such as a CT machine, the visual field of the optical navigation camera faces the direction of a CT hole, and a registration reference plate is placed on a CT bed. The optical navigation camera acquires the coordinates of a first marking component (optical marking ball) on the registration reference plate under the coordinate system of the optical navigation camera, and then CT scans a second marking component (positioning ball which can be developed under CT) on the registration reference plate. The first and second marker members may or may not coincide. And the registration software identifies the center of the second marking component positioning sphere in the scanned CT image so as to acquire the coordinates of the positioning sphere in the CT coordinate system. According to the known spatial relationship between the optical marker ball and the developing positioning ball during processing, the registration software can calculate the transformation matrix of the optical navigation camera coordinate system and the CT coordinate system through algorithms such as a least square method and the like, and complete the registration of the CT coordinate system and the optical navigation camera coordinate system. After the registration is finished, the registration reference plate can be removed, and in the operation process, the navigation software can determine the corresponding position in the CT scanning image according to the image position shot by the optical navigation camera, so that the operation navigation is realized.
This pre-operative registration method requires that the post-registration optical navigation camera position be fixed relative to the CT position. If the position of the optical navigation camera is changed relative to the CT machine, the registration reference plate needs to be replaced, the CT machine scans the second marking component again, and the optical navigation camera recognizes the first marking component again for registration again. The optical navigation camera is usually not fixed because the operating room is not abundant in space and other devices such as an anesthesia respirator, an ablation device, a monitoring device and the like need to be arranged. Optical navigation cameras often need to be fixed to a movable support trolley. At ordinary times, the optical navigation camera trolley and the robot trolley are stored in the corners of an operating room, and the optical navigation camera trolley and the robot trolley are pushed out for use when navigation is needed. Thus requiring re-registration before each operation. This requires the registration operation to be re-performed, especially if the camera position should move accidentally during the procedure. The registration process is usually time-consuming (usually including procedures of placing a registration reference plate, scanning an image, and verifying the registration), and it takes precious time for the operation, which results in inconvenient use.
Disclosure of Invention
The invention aims to provide a self-adaptive registration system and a self-adaptive registration method for surgical navigation, which aim to solve the technical problem that the optical navigation camera needs to be re-registered after moving.
In order to solve the technical problems, the specific technical scheme of the self-adaptive registration system and method for surgical navigation of the invention is as follows:
the utility model provides a self-adaptation registration system of operation navigation, includes optical navigation camera, registration reference board and calculation module, calculation module and image collector, optical navigation camera communication connection, image collector, optical navigation camera, registration reference board and calculation module cooperation accomplish first registration, the system includes optical tool, optical tool fixed set up on the image collector casing, optical tool has 3 at least, and a plurality of optical tool form optical tool array, when the system carries out first image collector coordinate system and optical navigation camera coordinate system registration, optical navigation camera scans optical tool array simultaneously and acquires optical tool array initial coordinate and save, when optical navigation camera takes place to move, optical navigation camera acquires the new coordinate of optical tool array in optical navigation camera, calculation module calculates the displacement matrix of new coordinate system according to the initial coordinate of optical tool array when first registration, recalculates the conversion matrix of optical navigation camera coordinate system relative to image collector coordinate system according to the displacement matrix, realizes adopting when the registration mode before the optical navigation camera registers the position change self-adaptation registration.
Furthermore, each optical tool is respectively distributed at different positions on the shell of the image collector, and any three optical tools are not on the same straight line.
Furthermore, the optical tool body is a rigid base, at least 3 light-reflecting marks are arranged on the optical tool, the distance between every two light-reflecting marks is unequal, and a polygonal figure formed by connecting the light-reflecting marks cannot be a rotationally symmetric figure.
Furthermore, the last alignment mark that has of optical tool, the alignment mark is a pair of sticker, have the alignment symbol on the sticker, one pastes in optical tool surface, and another pastes on the image collector casing, the alignment symbol is aligned and is placed for whether optical tool and casing take place the check-up instruction that the position moved.
Further, fixed mounting has casing displacement detector on image collector's the casing, casing displacement detector includes control circuit board and battery, the battery provides required power for control circuit board, control circuit board includes host system, wireless communication module, sensing module and warning prompt module, wireless communication module, sensing module, warning prompt module are connected with host system electricity, host system is used for controlling other each module work, sensing module is displacement sensor, wireless communication module is used for establishing casing displacement detector and monitor terminal's wireless communication, warning prompt module is used for providing displacement when the casing takes place dismouting or overall position and removes and reports to the police.
Further, the optical navigation camera is a binocular optical camera; the image collector is a CT machine, a nuclear magnetic machine or a CBCT machine.
The invention also discloses a self-adaptive registration method, which comprises the following steps:
step 1: the image collector, the optical navigation camera, the registration reference plate and the calculation module are matched to complete first registration, and a conversion matrix M from a medical image coordinate system to a camera coordinate system is obtained, wherein the matrix is a 4x4 transfer matrix;
step 2: recording the three-dimensional coordinates of all optical tools of the optical tool array on the image collector under the coordinate system of the optical navigation camera,
wherein n represents the number of optical tools;
and step 3: when the optical navigation camera moves, the optical navigation camera acquires three-dimensional new coordinates of all optical tools of the optical tool array after the position of the camera is moved,
；
and 4, step 4: defining the distance between three-dimensional coordinate points (a, b):
wherein, the point a represents the initial coordinates of the optical tool array, and the point b represents the coordinates of the optical tool array after the optical navigation camera moves;
and 5: computing a displacement matrix for an array of optical tools by an optimization algorithm
So that
Minimum, thereby obtaining the transfer matrix from the image collector to the new camera coordinate system
；
Step 6: the calculation module obtains the result of the self-adaptive re-registration
Converting the target point in the medical image coordinate to the coordinate system of the optical navigation camera, thereby performing intraoperative navigationNavigating.
The self-adaptive registration system and method for surgical navigation of the invention have the following advantages: the optical tool array is fixedly arranged on the image collector and used as a self-adaptive registration reference, a setting program is arranged in the calculation module, the position of the optical tool array is fixed under the normal condition, once the optical navigation camera moves, the calculation module can calculate the changed displacement matrix according to the reference position of the optical tool array, so that the optical tool array can be automatically re-registered, the optical navigation camera only needs to be registered once under the condition that the optical tool array does not move, the subsequent optical navigation camera moves, the system can automatically perform self-adaptive registration, convenience and quickness are realized, re-registration is not needed after multiple use, the optical navigation camera is moved to a storage position after the use on the same day, the optical navigation camera can be automatically registered after the use on the same day, the working time is saved compared with the fact that rescanning registration is performed before each use, and the operation efficiency is improved. Meanwhile, the invention can accurately identify whether a single optical tool moves relative to the shell or not by designing the shape of the optical tool and the design of the moving identifier; the casing displacement detector is arranged on the image collector, when the casing of the image collector is detected to be displaced integrally, a worker is reminded of registering again, and the registration accuracy is guaranteed.
Drawings
FIG. 1 is a schematic diagram of the overall application of the adaptive registration system of the present invention;
FIG. 2 is a schematic diagram of an embodiment of an optical tool according to the present invention;
FIG. 3 is a schematic diagram of a second embodiment of an optical tool according to the present invention;
FIG. 4 is a schematic diagram of a third embodiment of an optical tool of the present invention;
FIG. 5 is a schematic view of a housing displacement detector module according to the present invention;
FIG. 6 is a schematic circuit diagram of a housing displacement detector module of the present invention;
the notation in the figure is: 1. an image collector; 11. a CT gantry; 12. a CT bed; 2. registering a reference plate; 21. a first marking member; 22. a second marking member; 3. an optical navigation camera; 4. an array of optical tools; 41. an optical tool; 411. branching; 42. reflecting marks; 43. aligning the mark; 5. a casing displacement detector.
Detailed Description
For better understanding of the purpose, structure and function of the present invention, the following describes an adaptive surgical navigation registration system and method in further detail with reference to the accompanying drawings.
As shown in fig. 1, an adaptive registration system for surgical navigation includes an optical navigation camera 3, a registration reference plate 2 and a calculation module. The computing module is an industrial personal computer running control software. The calculation module is in communication connection with the image collector 1 and the optical navigation camera 3, and the image collector 1, the optical navigation camera 3, the registration reference plate 2 and the calculation module self-adaptive registration system are matched to complete the first registration.
The image collector can be a CT machine, a nuclear magnetic machine or a CBCT machine which are commonly used in the operation.
The optical navigation camera 3 may be a near-infrared binocular optical camera or a visible light binocular camera.
The present invention is described by taking a CT machine as an example, and the CT machine includes a CT gantry 11 and a CT table 12. The registration reference plate 2 has a first marking member 21 and a second marking member 22 thereon. The first marker 21 is a marker that can be recognized by the optical navigation camera, preferably, the first marker is a plurality of optical marker balls, the second marker 22 is a marker that can be recognized by the CT image, and preferably, the second marker 22 is a developing positioning ball. The first marking member 21 and the second marking member 22 may be physically separated or physically overlapped, and the physical overlapping may be realized by coating a reflective material on the outer surface of the metal developing ball. The visual field of the optical navigation camera 3 faces to the hole direction of the CT frame 11, the registration reference plate 2 is placed on the CT bed 12 during registration, and the optical navigation camera can be removed after the registration is finished.
The self-adaptive registration system for surgical navigation further comprises an optical tool array 4, wherein the optical tool array 4 is fixedly arranged on a machine shell of the CT machine frame 11 facing the optical navigation camera 3, the optical tool array 4 comprises at least 3 optical tools 41, the size and the shape of each optical tool 41 are the same, the optical tools 41 are respectively distributed at different positions on the machine shell of the CT machine frame 11, and in order to obtain spatial reference positions in different directions, all the optical tools 41 cannot be on the same straight line. In order to allow the optical navigation camera 3 to easily identify the optical tools 41 at different positions to determine whether the camera position changes, the polygon formed by connecting all the optical tools 41 cannot be a rotationally symmetric polygon.
At the time of first registration, the optical navigation camera 3 simultaneously acquires the coordinates of the first marking part 21 on the registration reference plate 2 in the camera coordinate system and the coordinates of the optical tool array 4 in the camera coordinate system, while the CT machine scans the second marking part 22 on the registration reference plate 2. The calculation module identifies the positioning ball in the scanned CT image so as to acquire the coordinates of the positioning ball in a CT coordinate system. According to the known spatial relationship between the first marking unit 21 and the second marking unit 22 during processing, the calculation module can calculate the transformation matrix between the coordinate system of the optical navigation camera and the coordinate system of the CT, and complete the first registration. At this time, the registered reference plate 2 may be removed.
Because the position of the optical tool array 4 is fixed and unchangeable, when the optical navigation camera 3 moves, the optical navigation camera 3 acquires new coordinates of the optical tool array 4 in the optical navigation camera 3, a calculation module is provided with a preset calculation program, a displacement matrix of a new coordinate system can be automatically calculated according to the initial coordinates of the optical tool array 4 during first registration, and a conversion matrix of the camera coordinate system relative to a CT coordinate system is recalculated according to the displacement matrix, so that the intraoperative position self-adaptive registration of the optical navigation camera is realized.
The optical tool 41 is used as a positioning reference point, and the position of the optical tool 41 is fixed and cannot move, so that the body of the optical tool 41 is a rigid base, has certain rigidity and is not easy to deform. The bottom of the rigid base is provided with a self-adhesive sticker which is used for being fixed on the CT machine. The optical tool 41 has at least 3 reflective marks 42, and the reflective marks 42 may be reflective balls or reflective stickers, preferably reflective stickers. The distance between the reflective marks 42 is unequal two by two, and the polygonal figure formed by connecting the reflective marks 42 cannot be a rotationally symmetric figure. Preferably, the spacing between the reflective markers 42 is not equal to the spacing before the first marker component 21 on the registration reference plate 2, and is used for the optical navigation camera 3 to perform classification recognition.
First embodiment of the optical tool:
as shown in fig. 2, in order to indicate the displacement of the optical tool 41, the optical tool 41 is designed to have a non-rotational symmetrical structure, and when the optical tool 41 rotates, the change of the shape and position can be recognized by the naked eye, so that the adjustment and registration can be performed again. In this embodiment, the optical tool 41 is designed with at least 3 differently oriented branches 411, preferably 4. Each branch 411 has different lengths and is fixed in a designated direction when the optical tool 41 is fixed, so that the displacement which may be generated is easily recognized. Each branch 411 has a light reflecting mark 42 at its end, and the light reflecting mark 42 may be a light reflecting ball or a light reflecting sticker, preferably a light reflecting sticker. Preferably, the distance between each of the reflective markers 42 is not equal.
Optical tool embodiment two:
however, the identification by naked eyes is not accurate, as shown in fig. 3, in order to indicate the displacement of the optical tool 41 more accurately, the present invention further provides another scheme for indicating the displacement of the optical tool 41, in this embodiment, the shape of the optical tool 41 may be any shape, the optical tool 41 has a plurality of reflective marks 42, and the distances between each reflective mark 42 are not equal, so that the optical navigation camera 3 performs the classification and identification. The optical tool 41 is provided with at least 2 alignment marks 43, and at least 2 of the plurality of alignment marks are not in the same direction and are used for alignment in different directions. Each alignment mark 43 has a pair of stickers, each sticker has an alignment mark thereon, one is attached to the surface of the optical tool 41, and the other is attached to the casing of the CT machine, the alignment marks may be any pattern capable of performing alignment verification, the alignment marks in the embodiment of the present invention are two opposite arrows, alignment of the two arrows indicates that the optical tool 41 has not moved, and if one of the arrows is not aligned, the optical tool 41 is shifted. The alignment mark 43 can more intuitively reflect the displacement of the optical tool 41, which is convenient for the worker to find out and adjust.
Optical tool example three:
the third embodiment combines the first embodiment with the second embodiment to achieve double indication function and have more accurate identification function. As shown in fig. 4, the optical tool 41 has 4 branches 411 with different directions, each branch 411 has different lengths, and the optical tool 41 is fixed according to the specified direction when being fixed, so that the displacement which may be generated is easy to identify. Each branch 411 has a reflective mark 42 at the end, wherein at least 2 branches 411 have alignment marks 43 thereon.
Although the above embodiment can identify the position change of the reference frame array 4, the CT machine sometimes needs to disassemble the housing for maintenance, and once the housing is disassembled for maintenance and then is returned, the reference frame array 4 is difficult to be completely consistent with the original spatial position, which results in poor positioning accuracy. In order to solve the problem, the casing displacement detector 5 is fixedly installed at the bottom of the casing of the CT machine, as shown in fig. 5, the casing displacement detector 5 includes a control circuit board and a lithium battery, and the lithium battery provides a required power supply for the control circuit board. The control circuit board comprises a main control module, a wireless communication module, a sensing module, a key module and an alarm prompt module, wherein the wireless communication module, the sensing module, the key module and the alarm prompt module are electrically connected with the main control module, and the main control module is used for controlling other modules to work. The sensing module is a displacement sensor, and the displacement sensor is preferably a mercury switch. The wireless communication module is used for establishing wireless communication between the casing displacement detector 5 and the monitoring terminal, and preferably, the wireless communication module is a bluetooth communication module. The key module is used to start, pause and reset the casing displacement detector 5. The alarm prompt module can be a sound-light alarm and comprises an LED lamp and a voice module. At ordinary times, the main control module is in a dormant state, the mercury switch is switched on to generate an interrupt signal when the shell of the CT machine moves due to external force, the main control module receives the interrupt signal and is awakened, and the main control module controls the alarm prompt module to send out a shell position change alarm prompt. And meanwhile, the wireless communication module sends a shell position change warning to the external monitoring host. The user is alerted that the housing as a whole has moved and needs to be re-registered to improve accuracy. Fig. 6 shows a schematic circuit diagram of the housing displacement detector module.
The computing module is internally provided with registration software which is used for realizing self-adaptive registration after the optical navigation camera 3 is moved. The self-adaptive registration method comprises the following steps:
step 1: the method comprises the steps of placing a registration reference plate 2 on a CT bed 12, scanning the registration reference plate 2 by a CT rack 11, obtaining coordinates A of a first marking component on the registration reference plate 2 by an optical navigation camera 3, leading a CT image of the registration reference plate 2 into a calculation module, identifying coordinates B of a second marking component on the registration reference plate 2, calibrating coordinate systems of a CT and a camera according to the spatial position corresponding relation of the first marking component 21 and the second marking component 22 in the processing of the registration reference plate 2, and obtaining a conversion matrix M from the CT coordinate system to the camera coordinate system, wherein the matrix is a 4x4 transfer matrix.
Step 2: simultaneously with the step 1, recording the three-dimensional coordinates of all optical tools 41 of the optical tool array 4 on the hole of the CT frame 11 under the coordinate system of the optical navigation camera 3,
where n denotes the number of optical tools 41.
And step 3: when the optical navigation camera 3 sends a movement, the optical navigation camera 3 is aimed near the opening of the CT frame, the three-dimensional coordinates of all optical tools 41 of the moved optical tool array 4 are recorded,
。
and 4, step 4: defining the distance between three-dimensional coordinate points (a, b):
where point a represents the initial coordinates of the optical tool array 4 and point b represents the coordinates of the optical tool array 4 after the optical navigation camera 3 has moved.
And 5: calculating the displacement matrix Z of the optical tool array 4 by means of an optimization algorithm such that
Minimum, thereby obtaining, the transfer matrix of the CT machine to the new camera coordinate system
. The optimization algorithm can use the existing algorithms such as LM (Levenberg-Marquardt), L-BFGS-B and the like, but is not limited to the existing algorithms.
Step 6: the re-registration is completed, the calculation module is based on
And converting the target point in the medical image coordinate into the optical navigation camera coordinate system, thereby performing intraoperative navigation.
The device only needs to register once under the condition that the optical tool array 4 does not displace, the subsequent optical navigation camera moves, the system can automatically perform preoperative self-adaptive registration, the device is convenient and quick, the device is not required to be re-registered after being used for multiple times, the optical navigation camera is moved to the storage position after being used for the same day, the device can automatically register after being moved to the working position in the next day, and compared with the method that rescanning registration is required before each use, the working time is greatly saved, and the operation efficiency is improved.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (7)
1. An adaptive registration system for surgical navigation comprises an optical navigation camera (3), a registration reference plate (2) and a calculation module, the computing module is in communication connection with the image collector (1) and the optical navigation camera (3), the image collector (1), the optical navigation camera (3), the registration reference plate (2) and the computing module are matched to complete the first registration, characterized in that the system comprises an optical tool (41), the optical tool (41) is fixedly arranged on the shell of the image collector (1), the optical tools (41) have at least 3, a plurality of optical tools (41) form an optical tool array (4), when the system registers the coordinate system of the image collector and the coordinate system of the optical navigation camera for the first time, the optical navigation camera (3) scans the optical tool array (4) at the same time to obtain the initial coordinate of the optical tool array (4) and stores the initial coordinate, when the optical navigation camera (3) moves, the optical navigation camera (3) acquires new coordinates of the optical tool array (4) in the optical navigation camera (3), the calculation module automatically calculates a displacement matrix of a new coordinate system according to the initial coordinates of the optical tool array (4) at the time of first registration, and recalculating the transformation matrix of the optical navigation camera coordinate system relative to the image collector coordinate system according to the displacement matrix, and realizing self-adaptive registration when the position of the optical navigation camera (3) changes after registration when a preoperative registration working mode is adopted.
2. The adaptive registration system according to claim 1, wherein each optical tool (41) is distributed at different positions on the housing of the image capturing device (1), and any three optical tools (41) are not in a straight line.
3. The adaptive registration system according to claim 1, wherein the optical tool (41) is a rigid base, the optical tool (41) has at least 3 reflective marks (42), the distance between the reflective marks (42) is unequal two by two, and the polygonal figure formed by connecting the reflective marks (42) cannot be a rotational symmetric figure.
4. The adaptive registration system of claim 1, wherein the optical tool (41) has alignment marks (43), the alignment marks (43) are a pair of stickers, the stickers have alignment symbols, one of the stickers is attached to the surface of the optical tool (41), the other is attached to the housing of the image collector (1), and the alignment symbols are aligned for checking indication whether the optical tool and the housing are moved.
5. The self-adaptive registration system of claim 1, wherein the casing displacement detector (5) is fixedly mounted on the casing of the image collector (1), the casing displacement detector (5) comprises a control circuit board and a battery, the battery provides a required power supply for the control circuit board, the control circuit board comprises a main control module, a wireless communication module, a sensing module and an alarm prompt module, the wireless communication module, the sensing module and the alarm prompt module are electrically connected with the main control module, the main control module is used for controlling the work of other modules, the sensing module is a displacement sensor, the wireless communication module is used for establishing the wireless communication between the casing displacement detector (5) and a monitoring terminal, and the alarm prompt module is used for providing displacement alarm when the casing is disassembled or moved in the whole position.
6. The adaptive registration system according to claim 1, wherein the optical navigation camera (3) is a binocular optical camera; the image collector (1) is a CT machine, a nuclear magnetic machine or a CBCT machine.
7. An adaptive registration method of an adaptive registration system according to any of claims 1-6, characterized by the steps of:
step 1: the image collector (1), the optical navigation camera (3), the registration reference plate (2) and the calculation module are matched to complete first registration, and a transformation matrix M from a medical image coordinate system to a camera coordinate system is obtained, wherein the transformation matrix M is a 4x4 transfer matrix;
and 2, step: recording the three-dimensional coordinates of all optical tools (41) of the optical tool array (4) on the image collector (1) under the coordinate system of the optical navigation camera,
wherein n represents the number of optical tools (41);
and step 3: when the optical navigation camera (3) moves, the optical navigation camera (3) acquires three-dimensional new coordinates of all optical tools (41) of the optical tool array (4) after the camera position moves,
；
and 4, step 4: defining the distance between three-dimensional coordinate points (a, b):
wherein, the point a represents the initial coordinate of the optical tool array (4), and the point b represents the coordinate of the optical tool array (4) after the optical navigation camera (3) moves;
and 5: calculating a displacement matrix of an optical tool array (4) by means of an optimization algorithm
So that
Minimum to obtain the transfer matrix from the image collector to the new camera coordinate system
；
Step 6: the calculation module obtains the result of the self-adaptive re-registration
And converting the target point in the medical image coordinate into the optical navigation camera coordinate system, thereby performing intraoperative navigation.
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| CN107133637A (en) * | 2017-03-31 | 2017-09-05 | 精劢医疗科技南通有限公司 | A kind of surgical navigational image registers equipment and method automatically |
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