Registration method of body surface positioning device, puncture guiding method and equipment
阅读说明：本技术 体表定位装置的配准方法、穿刺引导方法及设备 (Registration method of body surface positioning device, puncture guiding method and equipment ) 是由 陈向前 安学亮 史纪鹏 何万亮 张强强 陈小刚 于 2021-08-24 设计创作，主要内容包括：本发明提供一种体表定位装置的配准方法、穿刺引导方法及设备,所述配准方法包括：获取布置于体表的光学跟踪装置中各个跟踪点的图像空间坐标；采集定位装置根据所述光学跟踪装置中各个跟踪点的当前位置所生成的手术空间坐标；根据所述图像空间坐标和所述手术空间坐标,确定所述各个跟踪点在图像空间和手术空间中的对应关系,并计算旋转矩阵和/或平移矩阵；根据所述各个跟踪点的图像空间坐标、所述旋转矩阵和所述平移矩阵计算光学跟踪装置的配准误差数据。(The invention provides a registration method, a puncture guiding method and a device of a body surface positioning device, wherein the registration method comprises the following steps: acquiring image space coordinates of each tracking point in an optical tracking device arranged on a body surface; collecting operation space coordinates generated by a positioning device according to the current position of each tracking point in the optical tracking device; determining the corresponding relation of each tracking point in the image space and the operation space according to the image space coordinate and the operation space coordinate, and calculating a rotation matrix and/or a translation matrix; and calculating registration error data of the optical tracking device according to the image space coordinates, the rotation matrix and the translation matrix of each tracking point.)
1. A registration method of a body surface positioning device, wherein the body surface positioning device comprises a plurality of tracking points, and the distance between any pair of tracking points is different, the method comprising:
acquiring image space coordinates of each tracking point in an optical tracking device arranged on a body surface;
collecting operation space coordinates generated by a positioning device according to the current position of each tracking point in the optical tracking device;
determining the corresponding relation of each tracking point in the image space and the operation space according to the image space coordinate and the operation space coordinate, and calculating a rotation matrix and/or a translation matrix;
and calculating registration error data of the optical tracking device according to the image space coordinates, the rotation matrix and the translation matrix of each tracking point.
2. The method of claim 1, wherein the image space coordinates are three-dimensional coordinates of the respective tracking point in computed tomography image data.
3. The method of claim 1, wherein the surgical space coordinates are three-dimensional coordinates provided by a binocular camera capturing the respective tracking points.
4. The method according to claim 1, wherein determining the correspondence between the tracking points in the image space and the surgical space comprises:
calculating a distance matrix D of each tracking point in the image space according to the image space coordinatesQCalculating a distance matrix D of each tracking point in the operation space according to the operation space coordinatesP；
According to the distance matrix DQAnd a distance matrix DPCalculating the distance of each column to obtain an error matrix M;
and determining the corresponding relation of each tracking point in the image space and the operation space according to the minimum element in each column in the error matrix M.
5. Method according to claim 4, characterized in that the distance matrix DQAnd a distance matrix DPThe distances between any two tracking points are respectively included in the middle.
6. Method according to claim 4, characterized in that it is based on the distance matrix DQAnd the spacing matrix DPCalculating the distance of each column to obtain an error matrix M, specifically comprising:
respectively to the space matrix DQAnd the spacing matrix DPPerforming ascending arrangement;
and respectively calculating the distance of each column in the two matrixes after the ascending sequence arrangement to obtain an error matrix M.
7. The method according to claim 1, characterized in that in the step of calculating the registration error data of the optical tracking device from the image space coordinates of the respective tracking points, the rotation matrix and the translation matrix, the registration error data FRE is calculated in particular by:
wherein n represents the number of said tracking points, qiThe image space coordinates of the ith tracking point are represented, R represents the translation matrix, and T represents the rotation matrix.
8. The method of any one of claims 1-7, wherein the plurality of tracking points are connected in series by a flexible connection such that the surgical space coordinates of each tracking point can be independently varied.
9. A puncture guiding method, comprising:
calculating registration error data for at least one breathing cycle of the punctured subject according to the method of any one of claims 1 to 8, wherein the image space coordinates are fixed values and the surgical space coordinates vary with body surface fluctuations of the punctured subject as it breathes such that the registration error data are dynamic values;
and determining the moment corresponding to the minimum value of the registration error data, and guiding the puncture action according to the moment.
10. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the one processor to cause the at least one processor to perform a registration method of a body surface localization apparatus as claimed in any one of claims 1-8 and/or a puncture guidance method as claimed in claim 9.
Technical Field
The invention relates to the field of medical image data processing, in particular to a registration method, a puncture guiding method and equipment of a body surface positioning device.
Background
The operation navigation positioning system can realize positioning in an optical tracking mode, a matched optical tracking device is arranged in the system, a light reflecting small ball is arranged in the device, and the optical system realizes real-time tracking and positioning of a target by tracking the light reflecting small ball.
In the current clinical operation navigation positioning system, for example, in the fields of orthopedics and neurosurgery, a tracking device is fixed on a skeleton or a skull frame and is kept attached to an operation part, and the navigation positioning system realizes the positioning of the operation part by tracking the corresponding tracking device.
For a thoracoabdominal position, the breathing motion of the person can cause a rolling motion of the body surface, which can lead to deviations in positioning. For the puncture, a puncture path needs to be determined from a CT image before an operation, and then the puncture is performed according to a predetermined puncture path during the operation, but due to the influence of the body surface fluctuation caused by human respiration, an actual puncture path may be different from the predetermined puncture path, which is referred to as a registration error in the present application. The too large registration error will cause the puncture needle not to reach the target point accurately, so the difficulty of the doctor to carry out the puncture operation is large.
Disclosure of Invention
In view of the above, the present invention provides a registration method for a body surface positioning device, where the body surface positioning device includes a plurality of tracking points, and the distances between any pair of tracking points are different, the method including:
acquiring image space coordinates of each tracking point in an optical tracking device arranged on a body surface;
collecting operation space coordinates generated by a positioning device according to the current position of each tracking point in the optical tracking device;
determining the corresponding relation of each tracking point in the image space and the operation space according to the image space coordinate and the operation space coordinate, and calculating a rotation matrix and/or a translation matrix;
and calculating registration error data of the optical tracking device according to the image space coordinates, the rotation matrix and the translation matrix of each tracking point.
Optionally, the image space coordinates are three-dimensional coordinates of the respective tracking point in computed tomography image data.
Optionally, the surgical space coordinates are three-dimensional coordinates provided by a binocular camera capturing the respective tracking points.
Optionally, determining a corresponding relationship between the tracking points in the image space and the surgical space specifically includes:
calculating a distance matrix D of each tracking point in the image space according to the image space coordinatesQCalculating a distance matrix D of each tracking point in the operation space according to the operation space coordinatesP；
According to the distance matrix DQAnd a distance matrix DPCalculating the distance of each column to obtain an error matrix M;
and determining the corresponding relation of each tracking point in the image space and the operation space according to the minimum element in each column in the error matrix M.
Optionally, a distance matrix DQAnd a distance matrix DPThe distances between any two tracking points are respectively included in the middle.
Optionally according to a pitch matrix DQAnd the spacing matrix DPCalculating the distance of each column to obtain an error matrix M, specifically comprising:
respectively to the space matrix DQAnd the spacing matrix DPPerforming ascending arrangement;
and respectively calculating the distance of each column in the two matrixes after the ascending sequence arrangement to obtain an error matrix M.
Optionally, in the step of calculating the registration error data of the optical tracking apparatus according to the image space coordinates of each tracking point, the rotation matrix, and the translation matrix, the registration error data FRE is calculated specifically by using the following method:
wherein n represents the number of said tracking points, qiThe image space coordinates of the ith tracking point are represented, R represents the translation matrix, and T represents the rotation matrix.
Optionally, the plurality of tracking points are connected in series through a flexible connecting piece, so that the surgical space coordinates of each tracking point can be changed independently.
The invention also provides a puncture guiding method, which comprises the following steps: calculating registration error data in at least one respiratory cycle of the puncture object according to the method, wherein the image space coordinate is a fixed value, and the operation space coordinate changes along with the body surface fluctuation of the puncture object during respiration, so that the registration error data is a dynamic value; and determining the moment corresponding to the minimum value of the registration error data, and guiding the puncture action according to the moment.
The present invention also provides an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the one processor to cause the at least one processor to perform the registration method of the body surface localization apparatus.
The present invention also provides an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the one processor to cause the at least one processor to perform the above-described puncture guiding method.
According to the registration method, the puncture guiding method and the equipment of the body surface positioning device, the calculated registration error data can quantitatively express the matching degree of the human respiratory posture and the human respiratory posture during the preoperative CT scanning, so that a doctor can perform puncture at a proper time, the actual puncture path is ensured to be consistent with the preset puncture path, the difficulty of the puncture is reduced, and the operation efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an optical tracking apparatus according to an embodiment of the present invention;
fig. 2 is a flowchart of a registration method of a body surface positioning device in an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The optical tracking device is arranged on the surface of the human body, and therefore can also be called a body surface positioning device. The binocular camera in the surgical navigation system can acquire the position of the optical tracking device, so that the position of the human body and the position where puncture is to be performed are accurately determined.
As shown in fig. 1, the present embodiment provides an optical tracking device for use with an optical navigation positioning system, where the optical navigation positioning system may be an infrared optical navigation positioning system or a visible optical navigation positioning system, and the optical tracking device of the present embodiment may be used in general. Specifically, the optical tracking device of the present embodiment includes more than two small reflective ball assemblies and a plurality of individual meter positioning bands 3.
The small reflective ball assembly is used for being matched and positioned with the operation navigation positioning system. The working principle of the small reflective ball assembly used for the operation navigation positioning system to cooperate with positioning belongs to the known technology in the field, and is not described herein.
A plurality of individual table location area 3 are soft structure, and the quantity of body surface location area 3 is the same with reflection of light bobble subassembly number quantity, and two above reflection of light bobble subassemblies loop through body surface location area 3 and connect and form the closed loop.
As a preferred embodiment of the optical tracking device of the present application, in the present embodiment, the reflective small ball assemblies are arranged in 5 groups, and accordingly, the body surface positioning bands 3 are arranged in 5 strips. It should be understood that, according to different actual requirements, those skilled in the art can also use 3 sets, 4 sets, 6 sets, and 7 sets of the reflective small ball assemblies, and accordingly, the number of the body surface positioning bands 3 is 3, 4, 6, and 7.
The ball assemblies in this embodiment are arranged in 5 groups. Experiments show that 5 groups of balls can meet the requirements of precision and efficiency, and the structure and the algorithm are simplified.
As shown in figure 1, every 2 groups of the 5 groups of small reflective ball components are connected through 1 body surface positioning belt, and the 5 groups of small reflective ball components are connected through the body surface positioning belt in sequence to form a closed loop. This application does not do specific limit to 5 mutual positions of group's reflection of light bobble subassembly and the length of the body surface location area 3 of connecting between every 2 groups of reflection of light bobble subassemblies, needs set for according to actual need.
This embodiment is fixed guaranteeing the basic shape of the overall positioning structure who comprises a plurality of location structure by adopting soft body surface location area on the one hand, and on the other hand can independent motion again between each location structure owing to be soft material. The advantage lies in, when the body surface location area laminating with the skin body surface, can be dynamic between each location structure along with the motion of body table, like this alright with the motion range of dynamic tracking body surface skin to realize dynamic navigation positioning, solved current rigid body positioner can only static problem of tracking.
In order to further improve the dynamic positioning effect, in this embodiment, the body surface positioning belt 3 is a flexible structure. Preferably, in the present embodiment, the body surface positioning belt 3 is a silica gel belt. It should be understood that any body surface positioning band 3 made of flexible material should fall within the scope of the present application. The body surface positioning belt 3 is of a soft structure, is made of silica gel, has good biocompatibility and better adsorption force, and can be flexibly adjusted on a human body, so that the positioning structures connected with the two ends of the body surface positioning belt 3 can be adapted to the body surface and can be attached to the skin.
In order to guarantee that the body surface dynamic positioning device of this embodiment can laminate the human surface better when placing corresponding human surface, improve body surface dynamic positioning's precision, in this embodiment, take the bottom surface of 3 and location structure's bottom surface parallel and level with the body surface location for the bottom surface of 3 and location structure of body surface location is laminated with the body surface and is not left the clearance. In addition, still be convenient for follow-up medical sticky tape of adopting of being convenient for fix body surface location area 3 with the bottom surface parallel and level of body surface location area 3 and location structure's bottom surface, then be convenient for develop real-time tracking location.
The connected mode of reflection of light bobble subassembly and body surface location area 3 can be joint, threaded connection or hot melt bonding or other fixed connection modes, and as the preferred embodiment of this application, in this embodiment, reflection of light bobble subassembly includes:
the body surface base 5 is used for connecting the body surface positioning belt 3, the bottom surface of the body surface base 5 is flush with the bottom surface of the body surface positioning belt 3 connected with the body surface base 5, and the body surface base 5 is formed with a limiting groove 6;
the body surface base 5 is of a cylindrical structure and is used for connecting the body surface positioning belts 3, and the body surface base 5 and the body surface positioning belts 3 are consistent in number and are sequentially connected with each other to form a closed loop; the body surface positioning belt 3 is connected on the outer side surface of the body surface base 5, and meanwhile, in order to be attached to the skin, the bottom surface of the body surface base 5 is flush with the bottom surface of the body surface positioning belt 3 connected with the body surface base;
meanwhile, a limiting groove 6 is formed on the top surface of the body surface base 5 and used for mounting the small ball fixing seat 2;
the small ball fixing seat 2 is used for installing the small light reflecting ball 1, the small ball fixing seat 2 is installed in the limiting groove 6, and the structure of the small ball fixing seat is matched with that of the limiting groove 6;
the small ball fixing column 4 is inserted into the small ball fixing seat 2 to fix the small ball fixing seat 2 and the body surface base 5. The small ball fixing column 4 can be a bolt and other components, the bottom of the limiting groove 6 is communicated, and the small ball fixing column 4 is inserted into and matched with the small ball fixing seat 2 in the limiting groove 6 from the lower part to be connected. The connection mode can be simultaneously set up the screw hole in the bottom surface of bobble fixing base 2, and the bobble fixed column 4 gets into and screw in the screw hole that the bottom surface of bobble fixing base 2 set up from the through-hole.
The operation navigation system and the optical tracking device can track the respiratory action of the human body. The embodiment of the invention provides a registration method of a body surface positioning device, which can be executed by electronic equipment such as a computer or a server, and comprises the following steps as shown in fig. 2:
s1, obtaining image space coordinates of each tracking point in the optical tracking device arranged on the body surface. The tracking point in this embodiment may be, but is not limited to, a reflective ball in the above embodiments. Specifically, a part of a human body wearing an optical tracking device can be scanned by, for example, a computed tomography method before operation to obtain CT image data (three-dimensional), and then the position of each tracking point is identified therein to obtain its spatial coordinates in the CT image data, which is called image spatial coordinates, and this data is a static value. In a particular embodiment, the optical tracking device has 5 tracking points and the image space coordinates are denoted as Q ═ Q1, Q2, Q3, Q4, Q5], where Q1 … Q5 represents the three-dimensional coordinates of the 5 tracking points.
And S2, acquiring surgical space coordinates generated by the positioning device according to the current position of each tracking point in the optical tracking device. Specifically, the current position of each tracking point can be tracked through a positioning device (a navigation binocular camera) during the operation to obtain the coordinates of each tracking point in the operation space, which is called as operation space coordinates, and the operation space coordinates are dynamic values changing along with the respiration of a person due to the movement of an optical tracking device caused by the fluctuation of the respiration of the person. In a specific embodiment, the optical tracking device has 5 tracking points, and the surgical space coordinate is P ═ P1, P2, P3, P4, P5], wherein P1 … P5 represents the three-dimensional coordinates of the 5 tracking points.
And S3, determining the corresponding relation of each tracking point in the image space and the operation space according to the image space coordinates and the operation space coordinates, and calculating a rotation matrix and/or a translation matrix. The arrangement of the image coordinates of each tracking point of the optical tracking device and the coordinates of the operation space are disordered, and in order to perform real-time tracking and registration, the corresponding relation of each tracking point in the two spaces needs to be identified. The distances of any 2 points in each tracking point of the optical tracking device are different, so that the corresponding matched points can be determined by matching according to the inconsistency of the distances between the points. Because the CT device and the binocular camera have different scanning and shooting orientations for the same target, after the correspondence is determined, a rotation matrix and/or a translation matrix needs to be calculated. The algorithm for calculating the rotation matrix and the translation matrix for two coordinate systems belongs to the common knowledge, and is not described in detail in this application.
S4, calculating registration error data of the optical tracking device based on the image space coordinates, the rotation matrix, and/or the translation matrix of each tracking point. The registration error data is used to represent a matching degree between a current (intra-operative) human respiratory posture and a pre-operative CT scan, for example, the error data is more matched if the error data is about small.
According to the registration method of the body surface positioning device provided by the embodiment of the invention, the calculated registration error data can quantitatively express the matching degree of the human respiratory posture and the human respiratory posture during the preoperative CT scanning, so that a doctor can perform puncture at a proper time, the actual puncture path is ensured to be consistent with the preset puncture path, the difficulty of the puncture is reduced, and the operation efficiency is improved.
In a preferred embodiment, for the body surface positioning belt made of flexible material, the registration error data FRE is calculated in step S4 by specifically using the following method:
where n denotes the number of tracking points (e.g., n-5), qiThe image space coordinates of the ith tracking point are represented, R represents a translation matrix, and T represents a rotation matrix. The registration error data calculated by the scheme has high accuracy, and the difference between the respiratory fluctuation state of the body surface in the operation and the respiratory fluctuation state of the preoperative scanned image can be reflected more accurately.
Regarding the matching manner of the tracking point in the surgical space and the tracking point in the image space in the above step S3, the present application provides a preferred matching method:
and S31, respectively calculating the distance between every two tracking points in the operation space and the distance between every two tracking points in the image space. Taking 5 tracking points as an example, the distance (Euclidean distance) between the ith tracking point and other tracking points in the operation space is recorded as dpi＝[‖pi-p1‖…‖pi-p5‖]Wherein i is 1 … 5; the distance between the ith tracking point and other tracking points in the image space is recorded as dqi＝[‖qi-q1‖…‖qi-q5‖]Where i is 1 … 5.
From this, a distance matrix D of the individual tracking points in image space can be derivedQAnd a distance matrix D of the various tracking points in the operating spaceP，DP＝[dp1 dp2 dp3 dp4 dp5]、DQ＝[dq1 dq2 dq3 dq4 dq5]。
S32, according to the distance matrix DQAnd a distance matrix DPCalculating the distance of each column to obtain an error matrix M. As a preferred embodiment, the distance matrix D can be first aligned separatelyQAnd the spacing matrix DPPerforming ascending arrangement to obtain a new matrixAndthen respectively calculating the distance m of each column in the two matrixes after the ascending order arrangementijThe calculation formula is as follows:
mij＝‖dpj-dqi‖
wherein d ispjRepresents a distance matrix DQJ-th column of (1), dqiDistance matrix DPColumn i in (1). And calculating the distance of each column in the two matrixes to form an error matrix M.
And S33, determining the corresponding relation of each tracking point in the image space and the operation space according to the minimum element in each column in the error matrix M. For 5 tracking points, the obtained error matrix M is a 5 x 5 dimensional matrix, the minimum element in each column in the matrix M is found, for example, if the ith element in the jth column is minimum, the jth tracking point P in the point set P is representedjAnd the ith tracking point Q in the point set QiAnd matching, so that the matching corresponding relation of all tracking points in the two point sets can be obtained.
Based on the above embodiments, another embodiment of the present invention provides a puncture guide system including a positioning device (binocular camera and processor, etc.), a puncture device (mechanical arm and puncture needle holding structure, etc.), and an optical tracking device, the puncture guide system being configured to perform operations including:
by utilizing the registration method of the embodiment, the registration error data in at least one respiratory cycle of the puncture object is calculated in real time, wherein the image space coordinate is a fixed value, and the operation space coordinate changes along with the body surface fluctuation of the puncture object during respiration, so that the registration error data is a dynamic value;
an error curve of the registration error data FRE varying periodically with time, i.e. corresponding to the breathing cycle of the person, can thus be obtained. In a respiratory cycle, when the error value is minimum, the current respiratory state of the person is most matched with the respiratory state of the preoperative scanned image.
And determining the moment corresponding to the minimum value of the registration error data, and guiding the puncture action according to the moment. When the puncture device is aligned with the puncture part, the system can guide a doctor to puncture according to the registration error data, thereby effectively reducing the positioning error caused by respiratory deformation. The specific guiding action may be an audible prompt, such as an audible prompt to indicate the magnitude of the registration error value at the current time, or an audible prompt may be issued when the registration error data is smaller than a preset threshold, so as to prompt the doctor to insert the puncture needle into the human body at a proper time.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.