WO2017211040A1 - 一种三维图像专用标定器、手术定位***及定位方法 - Google Patents

一种三维图像专用标定器、手术定位***及定位方法 Download PDF

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WO2017211040A1
WO2017211040A1 PCT/CN2016/103503 CN2016103503W WO2017211040A1 WO 2017211040 A1 WO2017211040 A1 WO 2017211040A1 CN 2016103503 W CN2016103503 W CN 2016103503W WO 2017211040 A1 WO2017211040 A1 WO 2017211040A1
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image
calibrator
points
patient
surgical
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PCT/CN2016/103503
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English (en)
French (fr)
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张送根
田伟
刘亚军
徐进
张维军
王彬彬
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北京天智航医疗科技股份有限公司
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Priority to US16/307,475 priority Critical patent/US20190142359A1/en
Publication of WO2017211040A1 publication Critical patent/WO2017211040A1/zh

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58Testing, adjusting or calibrating thereof
    • A61B6/582Calibration
    • A61B6/583Calibration using calibration phantoms
    • A61B6/584Calibration using calibration phantoms determining position of components of the apparatus or device using images of the phantom
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477Coupling
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681Aspects not otherwise provided for
    • A61B2017/00725Calibration or performance testing
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2055Optical tracking systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364Correlation of different images or relation of image positions in respect to the body
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3966Radiopaque markers visible in an X-ray image
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983Reference marker arrangements for use with image guided surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots

Definitions

  • the invention relates to a three-dimensional image special calibrator, a surgical positioning system and a positioning method, and belongs to the technical field of surgical positioning.
  • the principle realization of this kind of product usually includes several steps, firstly spatial mapping and image registration, that is, using a spatial coordinate mapping method to calculate the space between the coordinate axes of the surgical target (patient), surgical image and auxiliary positioning device. Mapping relationships, this step is often referred to as multi-coordinate system calibration or image registration.
  • the surgical path positioning that is, guiding the doctor to hold the surgical tool guide to the surgical path or directly controlling the actuator such as the robot arm to accurately place the guide on the surgical path to ensure the guiding of the surgical path Accuracy, the doctor completes the operation of the surgical instrument through the guide.
  • a very critical step in spatial mapping and image registration which generally means multiple coordinate systems (usually including image coordinate system, tool (auxiliary positioning device) coordinate system, patient in image guided surgical positioning system)
  • the coordinate system is unified into the same coordinate system. This process is called registration or registration.
  • the accuracy of registration determines the accuracy of assisted positioning or surgical navigation.
  • the commonly used image registration methods are as follows:
  • Scene 1 The image registration requirement is “Get a 3D image before surgery, register during surgery”
  • the image registration method for realizing the image registration requirement is as follows: (1) In the operation, the spatial coordinate measuring device is used to measure the human anatomical feature points and the corresponding feature points in the image are paired to realize image registration. 2 In the operation, the spatial coordinate measuring device is used to continuously acquire the coordinate information corresponding to the contour of the human body and then perform point cloud matching with the corresponding position shape information in the pre-operative image to realize image registration. 3 The external fixation points of the surgical site were obtained by preoperative three-dimensional image acquisition. The space coordinate measurement device was used to obtain the coordinates of the marker points and the corresponding points in the image were paired, and the markers at multiple different positions were repeated. Image registration.
  • Scene 2 Image registration invitation is “Get 3D image before surgery, register with intraoperative and perspective images”
  • the image registration method for realizing the image registration requirement is: using a special algorithm to identify the contour or edge shape of the anatomical structure in the fluoroscopic image and compare it with the preoperative three-dimensional image, and realize registration of the pre-operative three-dimensional image to the intraoperative fluoroscopic image.
  • Scene 3 The image registration requirement is “Get a 2D perspective image during surgery, register on site”
  • the image registration method for realizing the image registration requirement is: introducing a space coordinate positioner to track the patient tracer and the robot tracer, and the patient tracer is fixedly mounted on the patient body, and the special calibration device of the double parallel plane structure is installed at At the end of the arm, a robotic tracer is mounted on the robot arm, and a fluoroscopic image is acquired from at least two different angles during the operation, and the intraoperative fluoroscopic image registration is realized by identifying the calibrator marking points in the image.
  • the image registration method for realizing the image registration requirement is: obtaining the coordinate information of the intraoperative three-dimensional imaging device (intraoperative CT, intraoperative magnetic resonance, intraoperative three-dimensional C-arm) by using a spatial coordinate positioner, and simultaneously acquiring and installing A patient tracker at a patient's body or a position relatively fixed to the patient's body to obtain patient coordinate information, and to convert the spatial transformation relationship of the intraoperative three-dimensional image coordinate system to the patient coordinate system by implementing calibration or imaging device manufacturer-provided parameters within the imaging device (Rotation and translation matrix) to achieve intraoperative 3D image registration.
  • the method used in the above scenario 4 relies on the installation of the tracer on the intraoperative imaging device, and requires a series of imaging parameters of the imaging device to be calibrated in advance, and therefore, the method is not easy to implement.
  • an object of the present invention is to provide a three-dimensional image-specific calibrator, a surgical positioning system, and a positioning method, which can implement three-dimensional image registration and is independent of the parameters of the three-dimensional imaging device itself, and is easy to implement.
  • a three-dimensional image-specific calibrator which comprises a calibrator surface and a calibrator shank, the calibrator surface is a plane or a curved surface, At least four marking points for being recognized by the three-dimensional imaging device are disposed on the calibrator surface; one end of the calibrator handle is fixedly connected to the calibrator surface, and the other end is provided with a connector for connecting with the surgical robot arm .
  • the arrangement shape of each of the marking points on the surface of the calibrator has anisotropy.
  • the calibrator face is made of an X-ray permeable material; the marking points are made of a material that is opaque to X-rays.
  • a surgical positioning system comprising: a surgical robot, a host computer, a space coordinate positioner, a robot tracer, a patient tracer, a three-dimensional imaging device, and a three-dimensional image-specific calibrator
  • the surgical robot is a mechanical arm having at least three translational degrees of freedom and three rotational degrees of freedom
  • the upper computer is electrically connected to the surgical robot for controlling the movement of the surgical robot
  • the end of the surgical robot is detachably coupled to the three-dimensional image-specific calibrator and the robotic tracer
  • the patient tracer is fixed on the patient
  • the spatial coordinate positioner is configured to measure the robotic tracer
  • the three-dimensional imaging device is configured to scan the three-dimensional image-specific calibrator and the patient surgical site and transmit the marker point image and the patient image to the upper computer
  • the upper computer correspondingly identifies the marked points in the image and the marked points on the three-dimensional image-specific calibrator.
  • a guide is also included, the guide being detachably coupled to an end of the surgical robot.
  • a positioning method includes the following steps: 1) placing a three-dimensional image-specific calibrator carried by the surgical robot on the surface of the patient's body surgical site, and using a three-dimensional imaging device to scan the three-dimensional image-specific calibrator and the patient's surgical site together, three-dimensional imaging
  • the device acquires the image of the marked point on the three-dimensional image-specific calibrator and the patient image, and transmits the image to the upper computer; at the same time, the spatial coordinate positioner acquires the coordinates of the robotic tracer and the patient tracer and transmits the coordinates to the upper computer; 2)
  • the upper computer compares the marked points in the image with the preset geometric features of the marked points to realize the corresponding recognition of the marked points in the three-dimensional image-specific calibrator and the marked points in the image; 3) the upper computer passes the three-dimensional image
  • the known coordinate relationship between the marker point on the calibrator and the robotic tracer, the coordinate transformation relationship between the patient image and the robot tracer is calculated, and then the coordinate transformation relationship between the patient image and the
  • the specific process of identifying between the marked points in the three-dimensional image-specific calibrator and the marked points in the image is as follows: 1 dividing the marked points on the three-dimensional image-specific calibrator into group A and group B, Each group includes more than 3 marking points; 2 reading the marking point information included in the group A group B in step 1 and the information of the three-dimensional image-specific calibrator 1, reading the image obtained by scanning in step 1); Performing threshold segmentation on the image acquired in step 2 and extracting and generating valid polygon data; 4 fitting and determining the polygon data acquired in step 3 according to the information of the three-dimensional image-specific calibrator obtained in step 2, thereby filtering out the image in the image Marking points; 5 calculating each of the two markers in the image marker points obtained in step 4 The distance between the points; 6 selects 3 points from the calibrator points of group A to form a triangle as a triangle template, and finds a triangle with an approximately equal shape in the image; if it cannot be found, the calibrator from group B Select 3 points in the
  • the present invention adopts the above technical solution, and has the following advantages: the present invention adopts a three-dimensional image-dedicated calibrator, and realizes a high patient coordinate system, an image coordinate system, and a robot coordinate system by using an optical tracking camera together with a patient tracker and a robot tracker. Accuracy fusion or registration, and no need to manually participate in point-to-point identification and identification, high degree of automation, independent of the special support of medium-dimensional imaging equipment, wide applicability.
  • FIG. 1 is a schematic structural view of a three-dimensional image-specific calibrator of the present invention
  • FIG. 2 is a schematic structural view of a surgical positioning system of the present invention
  • Figure 3 is a schematic view showing the structure of the guide of the present invention.
  • the present invention proposes a three-dimensional image-specific calibrator 1 comprising a calibrator face 11 and a calibrator shank 12.
  • the calibrator surface 11 is a plane or an arc surface, and at least four marking points 111 are disposed on the calibrator surface 1 for marking and scanning imaging by the three-dimensional imaging device; one end of the calibrator shank 12 and calibration
  • the face 11 is fixedly connected and the other end is provided with a joint 13 for connection to the surgical robot arm.
  • each of the marking points 111 on the calibrator surface 1 has an anisotropy (for example, the distance between any two marking points 111 is not equal).
  • the calibrator surface 1 is made of an X-ray transparent material; the marking point 111 is made of an X-ray opaque material. Made of materials.
  • the present invention also provides a surgical positioning system, which comprises a three-dimensional image-specific calibrator 1, a surgical robot 2, and a host computer (not shown in the figure).
  • the surgical robot 2 is a robotic arm having at least three translational degrees of freedom and three rotational degrees of freedom.
  • the upper computer is electrically connected to the surgical robot 2 for controlling the movement of the surgical robot 2.
  • a three-dimensional image-dedicated calibrator 1 and a robotic tracer 4 are connected at the end of the surgical robot through a quick-loading quick-release mechanism; the patient tracer 5 is fixed to the patient.
  • the space coordinate position measuring device 3 can measure the spatial coordinates of the robot tracer 4 and the patient tracer 5 and perform coordinate refreshing at a certain frequency to realize real-time tracking.
  • the spatial coordinate position measuring device 3 can adopt a high stereo vision principle. Precision optical tracking camera or other principles, and transfer position data to the host computer.
  • the three-dimensional imaging device 6 is configured to scan the three-dimensional image-dedicated calibrator 1 to image the marker point 111, and the marker point in the image is correspondingly identified by the upper computer to the marker point 111 on the three-dimensional image-dedicated calibrator 1.
  • the guide 7 is a device for fixing the needle path, which is connected to the surgical robot 2 by the same quick loading and unloading structure as the calibrator 1, and is used according to the surgical needs and the three-dimensional image during use.
  • the dedicated calibrator 1 is alternately installed and used.
  • the present invention preferably employs a CBCT machine (cone beam CT machine) as a three-dimensional imaging device.
  • CBCT machine cone beam CT machine
  • the present invention proposes a positioning method which can be used for spatial positioning of a surgical path, the method comprising the steps of: 1) placing a three-dimensional image-specific calibrator 1 carried by the surgical robot 2 on a patient's body surgery The surface of the part (near but not in contact) is scanned by the three-dimensional imaging device 6 for the three-dimensional image-specific calibrator 1 and the surgical site of the patient (only one-dimensional image scanning is performed without multiple perspectives of different angles), three-dimensional imaging The device 6 acquires the image of the marker point 111 on the three-dimensional image-dedicated calibrator 1 and the patient image, and transmits it to the upper computer; at the same time, the spatial coordinate positioner 3 acquires the coordinates of the robotic tracer 4 and the patient tracer 5. And transmitted to the host computer.
  • the host computer compares the marker points in the image with the preset marker point geometric feature loops, and realizes the corresponding recognition of the marker points 111 in the three-dimensional image-dedicated calibrator 1 and the marker points in the image.
  • the host computer calculates the coordinate transformation relationship between the patient image and the robot tracer 4 through the known coordinate relationship between the marker point 111 on the three-dimensional image-dedicated calibrator 1 and the robotic tracer 4 (requires declaration It is also possible to further calculate the coordinate transformation relationship between the patient image and the patient tracer 5 according to the coordinates of the robot tracer 4 and the patient tracer 5 acquired by the space coordinate positioner 3, and then further calculate the patient image. Coordinate transformation relationship with the surgical robot 2. This step can also be The host computer directly calculates the coordinate transformation relationship between the patient image and the surgical robot 2 by the known coordinate relationship between the marker point 111 on the three-dimensional image-dedicated calibrator 1 and the surgical robot 2.
  • the doctor can draw the surgical path on the registered image according to the treatment needs.
  • the precise movement of the surgical robot 2 can be controlled to connect with the end.
  • the guiding structure of the guide 7 is directed to this surgical path.
  • the space coordinate position measuring device 3 with real-time tracking function monitors the patient tracer 5 (that is, the movement of the patient) in real time, and calculates the direction and size of the movement, and the surgical robot 2 can be based on the direction and size of the movement.
  • the data is corrected for its own motion to ensure that the guide is exactly the same as the planned surgical path.
  • step 2) the specific process for identifying between the marker point 111 in the three-dimensional image-dedicated calibrator 1 and the marker point in the image is as follows:
  • the marker point 111 on the three-dimensional image-specific calibrator 1 is divided into group A and group B, each group includes more than three marker points 111;

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Abstract

一种三维图像专用标定器(1)、手术定位***及定位方法,所述的三维图像专用标定器(1)包括一标定器面(11)和一标定器柄(12),所述标定器面(11)为平面或者弧形面,在所述标定器面(11)上设置有至少四个用于被三维成像设备识别的标记点(111);所述标定器柄(12)的一端与所述标定器面(11)固定连接,另一端设置一用于与手术机械臂连接的接头(13)。

Description

一种三维图像专用标定器、手术定位***及定位方法 技术领域
本发明涉及一种三维图像专用标定器、手术定位***及定位方法,属于手术定位技术领域。
现有技术
随着近年来微创手术的普遍应用和对手术当中器械或者内植入物定位精度的要求不断提高,基于医学图像引导的辅助定位或者手术导航产品有了很大的发展。该类产品的原理实现通常包括几个步骤,首先是空间映射与图像注册,即利用某种空间坐标映射方法,计算出手术目标(患者)、手术图像、辅助定位装置各自坐标系之间的空间映射关系,该步骤通常称为多坐标系标定或者图像注册。接下来是手术规划与引导,即显示映射关系准确的术前或术中图像,由医生在图像上或者重建的三维模型上规划手术路径。接着是手术实施部分,主要是手术路径定位,即引导医生手持手术工具引导器放置到手术路径上或者直接控制机械臂等执行机构准确的将引导器摆放到手术路径上,保证手术路径的引导精度,医生通过引导器完成手术器械置入等操作。
在上述步骤中,空间映射与图像注册时极为关键的一步,其通常含义是指在图像引导手术定位***当中将多个坐标系(通常包括图像坐标系、工具(辅助定位装置)坐标系、患者坐标系)统一到同一坐标系下,此过程即称为注册或配准。注册的精度决定着辅助定位或者手术导航的精度。
按照所用的医学图像的类型(透视图像、三维图像)和医学图像的来源(术前获取的图像、术中现场获取的图像),目前常用的图像注册方法如下:
场景1:图像注册要求为“术前获取三维图像,术中注册”
用于实现该图像注册要求的图像注册方法有:①术中采用空间坐标测量设备测量人体解剖特征点与图像当中的对应特征点进行配对后,实现图像注册。②术中采用空间坐标测量设备连续获取人体特征轮廓对应的坐标信息后与术前图像当中的相应位置形状信息进行点云配对后,实现图像注册。③患者手术部位外部固定标记点进行术前三维图像获取,术中采用空间坐标测量设备获取标记点坐标同时配对标出图像当中对应点,重复多个不同位置上的标记点后实现 图像注册。
场景2:图像注册邀请为“术前获取三维图像,术中与透视图像进行注册”
用于实现该图像注册要求的图像注册方法为:采用特殊算法识别透视图像当中的解剖结构的轮廓或边缘形状与术前三维图像进行比对,实现术前三维图像到术中透视图像的注册。
场景3:图像注册要求为“术中获取二维透视图像,现场注册”
用于实现该图像注册要求的图像注册方法为:引入空间坐标测位仪跟踪患者示踪器与机器人示踪器,患者身体上固定安装患者示踪器,双平行平面结构的专用标定器安装在机械臂末端,机械臂上安装机器人示踪器,术中从至少两个不同的角度获取透视图像,通过识别图像当中的标定器标记点,实现术中透视图像注册
场景4:图像注册要求为“术中获取三维图像,现场注册”
用于实现该图像注册要求的图像注册方法为:采用空间坐标测位仪获取术中三维成像设备(术中CT、术中磁共振、术中三维C臂)的坐标信息后,同时获取安装在患者身体或者与患者身体相对固定的位置的患者***来获取患者坐标信息,通过实现标定或者成像设备厂家提供的成像设备内参数,换算出术中三维图像坐标系到患者坐标系的空间变换关系(旋转与平移矩阵),实现术中三维图像注册。
对于上述场景4所用的方法,其依赖于在术中成像设备上安装示踪器,同时需要事先标定成像设备的一系列成像参数,因此,该方法不易实现。
发明内容
针对上述问题,本发明的目的是提供一种三维图像专用标定器、手术定位***及定位方法,该定位方法能够实现三维图像注册并且不依赖于三维成像设备自身的参数,易于实现。
为实现上述目的,本发明采用以下技术方案:一种三维图像专用标定器,其特征在于:它包括一标定器面和一标定器柄,所述标定器面为平面或者弧形面,在所述标定器面上设置有至少四个用于被三维成像设备识别的标记点;所述标定器柄的一端与所述标定器面固定连接,另一端设置一用于与手术机械臂连接的接头。
位于所述标定器面上的各所述标记点的排布形状具有各向异性。
所述标定器面由透X光的材料制成;所述标记点由不透X光的材料制成。
一种手术定位***,其特征在于:它包括一手术机器人、一上位机、一空间坐标测位仪、一机器人示踪器、一患者示踪器、一三维成像设备以及一三维图像专用标定器;所述手术机器人为一具有至少三个平移自由度和三个旋转自由度的机械臂;所述上位机与所述手术机器人电连接,用于对所述手术机器人的运动进行控制;在所述手术机器人的末端可拆卸地连接所述三维图像专用标定器和机器人示踪器;所述患者示踪器固定在患者的身上;所述空间坐标测位仪用于测量所述机器人示踪器和患者示踪器的空间坐标并将位置数据传输给上位机;所述三维成像设备用于扫描所述三维图像专用标定器和患者手术部位并将标记点图像和患者图像传输给所述上位机;所述上位机对图像中标记点与所述三维图像专用标定器上的标记点进行对应识别。
还包括导向器,所述导向器与所述手术机器人的末端可拆卸地连接。
一种定位方法,包括以下步骤:1)将手术机器人所携带的三维图像专用标定器放置在患者身体手术部位表面,采用三维成像设备对三维图像专用标定器和患者手术部位共同进行扫描,三维成像设备获取三维图像专用标定器上的标记点的图像和患者图像,并传输给上位机;与此同时,空间坐标测位仪获取机器人示踪器和患者示踪器的坐标并传输给上位机;2)上位机对图像中的标记点与预先设置的标记点几何特征循环进行比较,实现三维图像专用标定器中的标记点与图像中的标记点的对应识别;3)上位机通过三维图像专用标定器上的标记点与机器人示踪器之间的已知的坐标关系,计算出患者图像与机器人示踪器之间的坐标变换关系,然后进一步计算患者图像与手术机器人之间的坐标变换关系;4)根据患者图像与手术机器人之间的坐标变换关系,计算出患者图像中任意点对应的空间点在机器人坐标系下的坐标,进而计算出在患者图像中所确定的手术路径在机器人坐标系下的坐标。
所述步骤2)中,对三维图像专用标定器中的标记点与图像中的标记点之间的识别的具体过程如下:①将三维图像专用标定器上的标记点分成组A和组B,每一组均包括3个以上的标记点;②读取步骤①中组A合组B所包括的标记点信息和三维图像专用标定器1的信息,读取步骤1)扫描获得的图像;③对步骤②获取的图像进行阈值分割并提取生成有效的多边形数据;④根据步骤②获得的三维图像专用标定器的信息,对步骤③获取的多边形数据进行拟合和判定,从而筛选出图像中的标记点;⑤计算步骤④获取的图像标记点中的每两个标记 点之间的距离;⑥从组A的标定器标记点中选取3个标记点组成一个三角形作为三角形模板,在图像中寻找与其近似全等的三角形;若无法找到,则从组B的标定器标记点中选取3个标记点组成一个三角形作为三角形模板,在图像中寻找与其近似全等的三角形;若依然无法找到,则选取来自组A和组B的标定器标记点组成一个三角形作为三角形模板,在图像中寻找与其近似全等的三角形;⑦按照一一对应的关系保持该对全等三角形的顶点编号形成匹配点对,并以该全等三角形模板为参照在图像中寻找三角形模板以外的标定器标记点的对应图像标记点,直至图像标记点与标定器标记点全部匹配。
本发明由于采取以上技术方案,其具有以下优点:本发明采用三维图像专用标定器,并且借助光学跟踪相机与患者***和机器人***共同实现患者坐标系、图像坐标系和机器人坐标系的高精度融合或者说配准,并且不需要人工参与进行点对识别和标识,自动化程度高,不依赖于中三维成像设备的特殊支持,适用性广。
附图说明
以下结合附图来对本发明进行详细的描绘。然而应当理解,附图的提供仅为了更好地理解本发明,它们不应该理解成对本发明的限制。
图1是本发明三维图像专用标定器的结构示意图;
图2是本发明手术定位***的结构示意图;
图3是本发明导向器的结构示意图。
具体实施方式
下面结合附图和实施例对本发明进行详细的描述。
如图1所示,本发明提出了一种三维图像专用标定器1,它包括一标定器面11和一标定器柄12。其中,标定器面11为平面或者弧形面,在标定器面1上设置有至少四个标记点111,标记点111用于被三维成像设备识别及扫描成像;标定器柄12的一端与标定器面11固定连接,另一端设置一用于与手术机械臂连接的接头13。
进一步地,位于标定器面1上的各标记点111的排布形状具有各向异性(例如任意两个标记点111之间的距离均不相等)。
进一步地,标定器面1由透X光的材料制成;标记点111由不透X光的材 料制成。
如图2所示,基于上述三维图像专用标定器1,本发明还提出了一种手术定位***,它包括一三维图像专用标定器1、一手术机器人2、一上位机(图中未示出)、一空间坐标测位仪3、一机器人示踪器4、一患者示踪器5、一三维成像设备6和一导向器7。其中,手术机器人2为一具有至少三个平移自由度和三个旋转自由度的机械臂。上位机与手术机器人2电连接,用于对手术机器人2的运动进行控制。在手术机器人的末端通过快装快卸机构连接三维图像专用标定器1和机器人示踪器4;患者示踪器5固定在患者的身上。其中空间坐标测位仪3可以测量机器人示踪器4和患者示踪器5的空间坐标并以一定频率进行坐标刷新以实现实时跟踪,该空间坐标测位仪3可以采用基于立体视觉原理的高精度光学跟踪相机或者其它原理,并将位置数据传输给上位机。三维成像设备6用于扫描三维图像专用标定器1使标记点111成像,并由上位机对图像中标记点与三维图像专用标定器1上的标记点111进行对应识别。如图3所示,导向器7为一种用于固定入针路径的装置,它通过与标定器1相同的快装快卸结构与手术机器人2连接,在使用过程中根据手术需要与三维图像专用标定器1交替安装使用。
本发明优选采用CBCT机(锥形束CT机)作为三维成像设备。
基于上述定位***,本发明提出了一种定位方法,其可以用于手术路径的空间定位,该方法包括以下步骤:1)将手术机器人2所携带的三维图像专用标定器1放置在患者身体手术部位表面(靠近但不接触),采用三维成像设备6对三维图像专用标定器1和患者手术部位共同进行扫描(只需进行一次三维图像扫描而不需要进行多次不同角度的透视),三维成像设备6获取三维图像专用标定器1上的标记点111的图像和患者图像,并传输给上位机;与此同时,空间坐标测位仪3获取机器人示踪器4和患者示踪器5的坐标并传输给上位机。
2)上位机对图像中的标记点与预先设置的标记点几何特征循环进行比较,实现三维图像专用标定器1中的标记点111与图像中的标记点的对应识别。
3)上位机通过三维图像专用标定器1上的标记点111与机器人示踪器4之间的已知的坐标关系,计算出患者图像与机器人示踪器4之间的坐标变换关系(需要声明的是还可以进一步根据空间坐标测位仪3获取的机器人示踪器4和患者示踪器5的坐标计算出患者图像与患者示踪器5之间坐标变换关系),然后再进一步计算患者图像与手术机器人2之间的坐标变换关系。该步骤亦可以是 上位机通过三维图像专用标定器1上的标记点111与手术机器人2之间的已知的坐标关系,直接计算出患者图像与手术机器人2之间的坐标变换关系。
4)根据3步骤)的获得的患者图像与手术机器人2之间的坐标变换关系,计算出患者图像中任意点对应的空间点在机器人坐标系下的坐标。如果将手术路径表示为患者图像中的直线,则可以计算出该手术路径在机器人坐标系下的坐标。
借助专用软件,医生可以根据治疗需要在注册后的图像上画出手术路径,通过上述手术路径的空间定位方法计算出手术路径空间坐标后,可以控制手术机器人2精确运动,使与其末端相连接的导向器7的导向结构指向此手术路径。在上述过程中,具有实时跟踪功能的空间坐标测位仪3实时监控患者示踪器5(也就是患者的移动),并计算出移动的方向和大小,手术机器人2可以根据移动的方向和大小等数据进行自身运动的修正,从而保证导向器与规划手术路径精确一致。
上述步骤2)中,对三维图像专用标定器1中的标记点111与图像中的标记点之间的识别的具体过程如下:
①将三维图像专用标定器1上的标记点111分成组A和组B,每一组均包括3个以上的标记点111;
②读取步骤①中组A合组B所包括的标记点信息和三维图像专用标定器1的信息,读取步骤1)扫描获得的图像;
③对步骤②获取的图像进行阈值分割并提取生成有效的多边形数据;
④根据步骤②获得的三维图像专用标定器1的信息,对步骤③获取的多边形数据进行拟合和判定,从而筛选出图像中的标记点;
⑤计算步骤④获取的图像标记点中的每两个标记点之间的距离;
⑥从组A的标定器标记点中选取3个标记点组成一个三角形作为三角形模板,在图像中寻找与其近似全等的三角形;若无法找到,则从组B的标定器标记点中选取3个标记点组成一个三角形作为三角形模板,在图像中寻找与其近似全等的三角形;若依然无法找到,则选取来自组A和组B的标定器标记点组成一个三角形作为三角形模板,在图像中寻找与其近似全等的三角形;
⑦按照一一对应的关系保持该对全等三角形的顶点编号形成匹配点对,并以该全等三角形模板为参照在图像中寻找三角形模板以外的标定器标记点的对应图像标记点,直至图像标记点与标定器标记点全部匹配。
上述各实施例仅用于对本发明的目的、技术方案和有益效果进行了进一步详细说明,并不用于限制本发明,凡在本发明的精神和原则之内,所做的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。

Claims (7)

  1. 一种三维图像专用标定器,其特征在于:它包括一标定器面和一标定器柄,所述标定器面为平面或者弧形面,在所述标定器面上设置有至少四个用于被三维成像设备识别的标记点;所述标定器柄的一端与所述标定器面固定连接,另一端设置一用于与手术机械臂连接的接头。
  2. 如权利要求1所述的一种三维图像专用标定器,其特征在于:位于所述标定器面上的各所述标记点的排布形状具有各向异性。
  3. 如权利要求1或2所述的一种三维图像专用标定器,其特征在于:所述标定器面由透X光的材料制成;所述标记点由不透X光的材料制成。
  4. 一种手术定位***,其特征在于:它包括一手术机器人、一上位机、一空间坐标测位仪、一机器人示踪器、一患者示踪器、一三维成像设备以及一如权利要求1至3任一项所述的三维图像专用标定器;所述手术机器人为一具有至少三个平移自由度和三个旋转自由度的机械臂;所述上位机与所述手术机器人电连接,用于对所述手术机器人的运动进行控制;在所述手术机器人的末端可拆卸地连接所述三维图像专用标定器和机器人示踪器;所述患者示踪器固定在患者的身上;所述空间坐标测位仪用于测量所述机器人示踪器和患者示踪器的空间坐标并将位置数据传输给上位机;所述三维成像设备用于扫描所述三维图像专用标定器和患者手术部位并将标记点图像和患者图像传输给所述上位机;所述上位机对图像中标记点与所述三维图像专用标定器上的标记点进行对应识别。
  5. 如权利要求4所述的手术定位***,其特征在于:还包括导向器,所述导向器与所述手术机器人的末端可拆卸地连接。
  6. 一种基于权利要求4或5所述手术定位***而实施的定位方法,包括以下步骤:
    1)将手术机器人所携带的三维图像专用标定器放置在患者身体手术部位表面,采用三维成像设备对三维图像专用标定器和患者手术部位共同进行扫描,三维成像设备获取三维图像专用标定器上的标记点的图像和患者图像,并传输给上位机;与此同时,空间坐标测位仪获取机器人示踪器和患者示踪器的坐标并传输给上位机;
    2)上位机对图像中的标记点与预先设置的标记点几何特征循环进行比较, 实现三维图像专用标定器中的标记点与图像中的标记点的对应识别;
    3)上位机通过三维图像专用标定器上的标记点与机器人示踪器之间的已知的坐标关系,计算出患者图像与机器人示踪器之间的坐标变换关系,然后进一步计算患者图像与手术机器人之间的坐标变换关系;
    4)根据患者图像与手术机器人之间的坐标变换关系,计算出患者图像中任意点对应的空间点在机器人坐标系下的坐标,进而计算出在患者图像中所确定的手术路径在机器人坐标系下的坐标。
  7. 如权利要求6所述的定位方法,其特征在于:所述步骤2)中,对三维图像专用标定器中的标记点与图像中的标记点之间的识别的具体过程如下:
    ①将三维图像专用标定器上的标记点分成组A和组B,每一组均包括3个以上的标记点;
    ②读取步骤①中组A合组B所包括的标记点信息和三维图像专用标定器1的信息,读取步骤1)扫描获得的图像;
    ③对步骤②获取的图像进行阈值分割并提取生成有效的多边形数据;
    ④根据步骤②获得的三维图像专用标定器的信息,对步骤③获取的多边形数据进行拟合和判定,从而筛选出图像中的标记点;
    ⑤计算步骤④获取的图像标记点中的每两个标记点之间的距离;
    ⑥从组A的标定器标记点中选取3个标记点组成一个三角形作为三角形模板,在图像中寻找与其近似全等的三角形;若无法找到,则从组B的标定器标记点中选取3个标记点组成一个三角形作为三角形模板,在图像中寻找与其近似全等的三角形;若依然无法找到,则选取来自组A和组B的标定器标记点组成一个三角形作为三角形模板,在图像中寻找与其近似全等的三角形;
    ⑦按照一一对应的关系保持该对全等三角形的顶点编号形成匹配点对,并以该全等三角形模板为参照在图像中寻找三角形模板以外的标定器标记点的对应图像标记点,直至图像标记点与标定器标记点全部匹配。
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