CN116269828A - Automatic registration method, device, electronic equipment and medium - Google Patents
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Abstract
The embodiment of the application provides an automatic registration method, an automatic registration device, electronic equipment and a medium, which relate to the technical field of intelligent medical treatment and comprise the following steps: and acquiring an X-ray image obtained by shooting the calibration plate, and identifying a first position of each marking ball included in the calibration plate in an X-ray image coordinate system to obtain a first point set. And acquiring a second position of each marking ball in the coordinate system of the calibration plate to obtain a second point set. And then determining the probability of the corresponding relation between each first position and each second position to obtain a probability matrix, wherein the physical positions represented by the first position and the second position with the corresponding relation are the same. And then, according to the first point set, the second point set and the probability matrix, determining the coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image. The method has no complex requirements on the size and arrangement of the pellets, is more widely applicable to operation, and improves the accuracy and the robustness of determining the conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image.
Description
Technical Field
The application relates to the technical field of intelligent medical treatment, in particular to an automatic registration method, an automatic registration device, electronic equipment and a medium.
Background
The operation and positioning are more accurate when the operation robot is used for operation, the mechanical arm of the operation robot grabs the operation tool more stably and forcefully, meanwhile, fatigue brought by a surgeon in long-time operation can be avoided, and the operation precision, stability and safety are improved. In the procedure using a surgical robot, a calibration plate is required to be placed near a lesion, then an X-ray image is taken of the calibration plate and the lesion, the position of the lesion is located by the X-ray image, and then a surgical tool is used to perform the procedure at the position of the lesion. Therefore, in the surgical navigation process, accurate positioning of the surgical tool is required to be realized based on the conversion relation between the calibration plate coordinate system and the X-ray image coordinate system.
The conversion relation needs to be determined according to the mark points in the X-ray image and the arrangement sequence of the mark points. When extracting the mark points, candidate points in the calibration plate need to be extracted from the X-ray image, then the distance between every two candidate points is calculated, and the candidate points with the distance not meeting the condition are deleted. And then detecting three mark points forming a preset included angle from the screened candidate points, estimating a fourth mark point through the three mark points, and sequencing and numbering the mark points.
Because the structure and the placement posture of the calibration plate can influence the positions of the mark points in the calibration plate in the X-ray image, the included angles between the mark points in the X-ray image are arbitrary, and the mark points are difficult to screen through preset included angles, so that the mark points are difficult to sort and number accurately. The accuracy of the conversion relation determined by this method is low.
Disclosure of Invention
An embodiment of the application aims to provide an automatic registration method, an automatic registration device, electronic equipment and a medium, so as to improve accuracy of determining a conversion relation between a calibration plate coordinate system and an X-ray image coordinate system. The specific technical scheme is as follows:
in a first aspect of embodiments of the present application, there is provided an automatic registration method, the method including:
acquiring an X-ray image obtained by shooting a calibration plate, and identifying a first position of each marking ball in an X-ray image coordinate system included in the calibration plate to obtain a first point set;
acquiring a second position of each marking ball in a calibration plate coordinate system to obtain a second point set;
determining the probability of the existence of a corresponding relation between each first position in the first point set and each second position in the second point set, and obtaining a probability matrix, wherein the physical positions represented by the first positions and the second positions with the corresponding relation are the same;
And determining a coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the probability matrix.
Optionally, the determining the probability that each first position in the first point set has a correspondence with each second position in the second point set includes:
and converting the second position into the X-ray image coordinate system based on the initial coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system for each first position included in the first point set and each second position included in the second point set to obtain a projection position, determining an error between the projection position and the first position, and obtaining the probability of the corresponding relation between the first position and the second position according to the determined error.
Optionally, for each first position included in the first point set and each second position included in the second point set, converting the second position to the X-ray image coordinate system based on an initial coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system, to obtain a projection position, determining an error between the projection position and the first position, and obtaining a probability that the first position and the second position have a corresponding relationship according to the determined error, where the determining step includes:
Determining the probability that each first position has a corresponding relation with each second position through the following formula:
wherein m is ij For the probability that the ith first position and the jth second position have a corresponding relation, exp represents an exponential function based on e, alpha and beta are preset constants, R 0 T is the rotation relation of the initial coordinate conversion relation 0 For the translation relation of the initial coordinate conversion relation, p i For the i first position, y Ri Is the j second position.
Optionally, before determining the coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the probability matrix, the method further includes:
performing row and column standardization on the probability matrix to obtain a probability matrix after row and column standardization;
the determining, according to the first point set, the second point set and the probability matrix, a coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system includes:
and determining a coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image according to the first point set, the second point set and the probability matrix after line and column standardization.
Optionally, the determining, according to the first point set, the second point set and the probability matrix, a coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system includes:
constructing an objective function according to the first point set, the second point set and the probability matrix; the objective function is used for determining an error between each obtained projection position and each obtained first position after each second position included in the second point set is projected to the X-ray image coordinate system based on a coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system;
and when the objective function is solved and the minimum value is obtained, the coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system is obtained.
Optionally, the objective function is:
wherein E is an objective function value, n x For a first number of positions, n, included in the first set of points y For the second number of positions, m, comprised by the second set of points ij For the probability that the ith first position and the jth second position have a corresponding relation, p i For the i first position, y Rj For the j-th second position, R k-1 To solve the rotation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, t k-1 In order to solve the translation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, k is the current iteration number, and alpha and beta are preset constants.
Optionally, after determining the coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the probability matrix, the method further includes:
projecting each second position in the second set of points onto the X-ray image based on the coordinate transformation relationship;
displaying the X-ray image after projection;
adjusting the first point set based on an adjustment instruction of a user;
determining the probability that each first position in the adjusted first point set has a corresponding relation with each second position in the second point set, and obtaining an updated probability matrix;
and determining an updated coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the updated probability matrix.
Optionally, the adjusting the first point set based on the adjustment instruction of the user includes:
receiving an increasing instruction of a user, and increasing a first position appointed by the user for the first point set;
Receiving a deleting instruction of a user, and deleting a first position designated by the user in the first point set;
receiving a modification instruction of a user, and modifying a first position designated by the user in the first point set; and/or the number of the groups of groups,
and receiving a sequencing instruction of a user, and adjusting the sequence of each first position included in the first point set.
In a second aspect of embodiments of the present application, there is provided an automatic registration apparatus, the apparatus comprising:
the identification module is used for acquiring an X-ray image obtained by shooting the calibration plate and identifying a first position of each marking ball in an X-ray image coordinate system included in the calibration plate to obtain a first point set;
the acquisition module is used for acquiring a second position of each marking ball in the coordinate system of the calibration plate to obtain a second point set;
the determining module is used for determining the probability that each first position in the first point set identified by the identifying module and each second position in the second point set acquired by the acquiring module have a corresponding relation to obtain a probability matrix, wherein the first position and the second position with the corresponding relation represent the same physical position;
the determining module is further configured to determine a coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set, and the probability matrix.
The determining module is specifically configured to:
and converting the second position into the X-ray image coordinate system based on the initial coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system for each first position included in the first point set and each second position included in the second point set to obtain a projection position, determining an error between the projection position and the first position, and obtaining the probability of the corresponding relation between the first position and the second position according to the determined error.
Optionally, the determining module is specifically configured to:
determining the probability that each first position has a corresponding relation with each second position through the following formula:
wherein m is ij For the probability that the ith first position and the jth second position have a corresponding relation, exp represents an exponential function based on e, alpha and beta are preset constants, R 0 T is the rotation relation of the initial coordinate conversion relation 0 For the translation relation of the initial coordinate conversion relation, p i For the i first position, y Ri Is the j second position.
Optionally, the apparatus further includes:
the normalization module is used for performing row and column normalization on the probability matrix before determining the coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the probability matrix to obtain a probability matrix after row and column normalization;
The determining module is specifically configured to:
and determining a coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image according to the first point set, the second point set and the probability matrix after line and column standardization.
Optionally, the determining module is specifically configured to:
constructing an objective function according to the first point set, the second point set and the probability matrix; the objective function is used for determining an error between each obtained projection position and each obtained first position after each second position included in the second point set is projected to the X-ray image coordinate system based on a coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system;
and when the objective function is solved and the minimum value is obtained, the coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system is obtained.
Optionally, the objective function is:
wherein E is an objective function value, n x For a first number of positions, n, included in the first set of points y For the second number of positions, m, comprised by the second set of points ij For the probability that the ith first position and the jth second position have a corresponding relation, p i For the i first position, y Rj For the j-th second position, R k-1 To solve the rotation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, t k-1 In order to solve the translation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, k is the current iteration number, and alpha and beta are preset constants.
Optionally, the apparatus further includes:
a projection module, configured to, after determining a coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set, and the probability matrix, project each second position in the second point set onto the X-ray image based on the coordinate conversion relationship;
the display module is used for displaying the X-ray image projected by the projection module;
the adjusting module is used for adjusting the first point set based on an adjusting instruction of a user;
the determining module is further configured to determine a probability that a correspondence exists between each first position in the first point set and each second position in the second point set after the adjustment by the adjusting module, so as to obtain an updated probability matrix; and determining an updated coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the updated probability matrix.
Optionally, the adjusting module is specifically configured to:
receiving an increasing instruction of a user, and increasing a first position appointed by the user for the first point set;
receiving a deleting instruction of a user, and deleting a first position designated by the user in the first point set;
receiving a modification instruction of a user, and modifying a first position designated by the user in the first point set; and/or the number of the groups of groups,
and receiving a sequencing instruction of a user, and adjusting the sequence of each first position included in the first point set.
In a third aspect of the embodiments of the present application, an electronic device is provided, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any one of the first aspects when executing a program stored on a memory.
In a fourth aspect of embodiments of the present application, there is provided a computer readable storage medium having stored therein a computer program which, when executed by a processor, implements the method steps of any of the first aspects.
In a fifth aspect of embodiments of the present application, a computer program product comprising instructions, which when run on a computer, causes the computer to perform the automatic registration method of any of the above-mentioned first aspects is provided.
The beneficial effects of the embodiment of the application are that:
according to the automatic registration method, the automatic registration device, the electronic equipment and the medium, the first positions of the marking balls can be identified from the X-ray image to obtain a first point set, and the second positions of the marking balls in the coordinate system of the calibration plate are obtained to obtain a second point set. And determining the probability of the corresponding relation between each first position and each second position to obtain a probability matrix, and determining the coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image according to the first point set, the second point set and the probability matrix. That is, the embodiment of the application determines the coordinate conversion relation based on the probability that the first position and the second position have the corresponding relation, and does not need to determine the specific ordering of the first position, so that the problem of inaccurate registration caused by the ordering error can be eliminated, and the accuracy of determining the conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image is improved. Meanwhile, the method has no complex requirements on the size of the steel ball and the arrangement of the steel ball, and can be well adapted to the situation that part of misidentification exists in the image position of the steel ball, the algorithm has good robustness, the adaptation is wider, and the reliability is stronger.
Of course, not all of the above-described advantages need be achieved simultaneously in practicing any one of the products or methods of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other embodiments may also be obtained according to these drawings to those skilled in the art.
Fig. 1 is a flowchart of an automatic registration method provided in an embodiment of the present application;
FIG. 2 is an exemplary schematic diagram of a display interface according to an embodiment of the present application;
FIG. 3 is a flowchart of another automatic registration method provided in an embodiment of the present application;
FIG. 4 is an exemplary schematic diagram of another display interface provided by embodiments of the present application;
fig. 5 is a schematic structural diagram of an automatic registration device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. Based on the embodiments herein, a person of ordinary skill in the art would be able to obtain all other embodiments based on the disclosure herein, which are within the scope of the disclosure herein.
In order to improve accuracy of determining a conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system, the embodiment of the application provides an automatic registration method, which can be applied to an electronic device, for example, an electronic device is a surgical robot or a computer communicatively connected to the surgical robot, and the embodiment of the application is not limited thereto in particular. As shown in fig. 1, the method comprises the steps of:
s101, acquiring an X-ray image obtained by shooting a calibration plate, and identifying a first position of each marking ball included in the calibration plate in an X-ray image coordinate system to obtain a first point set.
The calibration plate may be placed near the lesion, then X-ray images of the calibration plate and the lesion may be taken, after which marker balls may be identified from the X-ray images using digital image processing techniques, such as a general speckle (SimpleBlob) algorithm, resulting in a first location of each marker ball center in the X-ray image coordinate system, constituting a first set of points.
The X-ray image coordinate system is a two-dimensional coordinate system, coordinate axes included in the X-ray image coordinate system are all located on a plane where an X-ray image is located, and a first position of each marking ball center in the X-ray image coordinate system is a 2D position.
S102, acquiring a second position of each marking ball in the coordinate system of the calibration plate to obtain a second point set.
And (3) calibrating by a three-coordinate instrument to obtain a second position of the sphere center of each marking sphere in the coordinate system of the calibration plate, thereby forming a second point set. Alternatively, the second positions may be obtained by other measurement methods, which are not specifically limited in the embodiments of the present application. The second position of the sphere center of each marking sphere in the coordinate system of the calibration plate is a 3D position.
The calibration plate coordinate system is a three-dimensional coordinate system, the center of the calibration plate can be used as a coordinate origin, a vector passing through the coordinate origin and perpendicular to the calibration plate is used as one coordinate axis, and two mutually perpendicular vectors passing through the coordinate origin and parallel to the plane where the registration plate is located are used as the other two coordinate axes, so that the calibration plate coordinate system is obtained. Alternatively, the calibration plate coordinate system may be established by other means, which is not particularly limited in the embodiments of the present application.
S103, determining the probability that each first position in the first point set has a corresponding relation with each second position in the second point set, and obtaining a probability matrix.
Wherein the physical positions represented by the first position and the second position having the corresponding relationship are the same. That is, each element in the probability matrix represents a probability that the physical location represented by one first location is the same as the physical location represented by one second location.
S104, determining a coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the probability matrix.
Alternatively, when the X-ray image capturing device belongs to the C-arm, the coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system may also be referred to as a C-arm external parameter.
According to the automatic registration method provided by the embodiment of the application, the first positions of the marking balls can be identified from the X-ray image to obtain a first point set, and the second positions of the marking balls in the coordinate system of the calibration plate are obtained to obtain a second point set. And determining the probability of the corresponding relation between each first position and each second position to obtain a probability matrix, and determining the coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image according to the first point set, the second point set and the probability matrix. That is, the embodiment of the application determines the coordinate conversion relation based on the probability that the first position and the second position have the corresponding relation, and does not need to determine the specific ordering of the first position, so that the problem of inaccurate registration caused by the ordering error can be eliminated, and the accuracy of determining the conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image is improved. The calculation method and the calculation process provided by the patent have no special requirements on the size of the steel ball and the arrangement mode of the steel ball, meanwhile, the conversion relation can be calculated under the condition that the small ball is partially shielded in the small ball identification process, the adaptation operation formula is wider, the algorithm robustness is better, and the reliability is stronger.
In some embodiments of the present application, the manner of identifying the first position of each marker ball included in the calibration plate in the X-ray image coordinate system in S101 may be implemented as follows: and converting the X-ray image into a binary image by utilizing each preset threshold value, wherein a plurality of preset threshold values exist, so that a plurality of binary images are obtained. And extracting connected domains from each binary image, and merging the connected domains with the distance between the central points smaller than the preset distance. And screening out connected domains with the parameters of the connected domains, such as the area, the roundness, the inertia ratio, the convexity and the like, meeting preset conditions, and taking the central point of each screened connected domain as a first position.
Compared with a mode of extracting the positions of the marking balls by adopting fixed thresholds, the method and the device for determining the positions of the marking balls by using the multiple thresholds divide the binary image, so that the method and the device are suitable for identifying the positions of the marking balls with different image gray scales, and accuracy of determining the first point set is improved.
The above manner of determining the probability that each first position in the first point set corresponds to each second position in the second point set in S102 may be implemented as follows: and converting each first position included in the first point set and each second position included in the second point set into an X-ray image coordinate system based on an initial coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system to obtain a projection position, determining an error between the projection position and the first position, and obtaining the probability of the corresponding relation between the first position and the second position according to the determined error.
The initial coordinate conversion relationship may be randomly generated, or may be obtained by other calibration methods, for example, by extracting calibration points from an X-ray image and sorting, and then sequentially corresponding the sorted calibration points extracted from the X-ray image and the sorted calibration points extracted from the calibration plate coordinate system one by one according to the sorting, and obtaining the initial coordinate conversion relationship based on the one-to-one calibration points. The coordinate conversion relation obtained by other calibration methods has certain precision although the precision is not high, so that the determined probability matrix has certain precision, and the conversion relation between the calibration plate coordinate system and the X-ray image coordinate system which are more accurate in subsequent determination can be accelerated.
The probability that each first position has a correspondence relationship with each second position can be determined by the following equation (1) and equation (2):
wherein m is ij For the probability that the ith first position and the jth second position have a corresponding relation, exp represents an exponential function based on e, alpha and beta are preset constants, R 0 T is the rotation relation of the initial coordinate conversion relation 0 For translation relation of initial coordinate conversion relation, p i For the i first position, y Ri Is the j second position.
The probability matrix is recorded as m= (M ij )，i＝1,2,…n x ，j＝1,2,…n y 。
In the embodiment of the present application, it is assumed that each first position and each second position may have a corresponding relationship, so that the relationship is represented by a probability matrix, and probabilities that the same first position and each second position have a corresponding relationship in the probability matrix are different from each other, so that the corresponding relationship between the first point set and the second point set is reflected. Therefore, the embodiment of the application can obtain the corresponding relation between the first point set and the second point set without ordering the first point set, so that errors caused by ordering errors are avoided.
In some embodiments of the present application, before determining the coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set, and the probability matrix in S103, the electronic device may further perform rank normalization on the probability matrix, to obtain a rank-normalized probability matrix. So that when S103 is performed, a coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system may be determined according to the first point set, the second point set, and the probability matrix after the row and column normalization. The manner of determining the coordinate conversion relationship specifically may be referred to the following description.
The probability matrix may be rank normalized by the following equations (3) and (4):
wherein m is ij For the probability that the ith first position and the jth second position have a corresponding relation, n x For a first number of positions, n, included in a first set of points y A second number of locations included for the second set of points.
After the row and column standardization is carried out on the probability matrix, the sum of elements in each row of the probability matrix is 1, and the sum of elements in each column is 1, so that the corresponding relation between the first position and the second position can be more intuitively embodied, and the convergence speed of the objective function can be further accelerated to be solved by using the probability matrix.
In the above S103, the method for determining the coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the probability matrix may be implemented as follows: and constructing an objective function according to the first point set, the second point set and the probability matrix, and solving the coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image when the objective function obtains the minimum value. Alternatively, the probability matrix may be a probability matrix that is not subjected to row-column normalization, or may be a probability matrix that is subjected to row-column normalization.
The objective function is used for determining an error between each projection position and each first position obtained after each second position included in the second point set is projected to the X-ray image coordinate system based on the coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system.
Wherein the objective function may be formula (5):
wherein E is an objective function value, n x For a first number of positions, n, included in a first set of points y For a second number of positions, m, comprised by the second set of points ij For the probability that the ith first position and the jth second position have a corresponding relation, p i For the i first position, y Rj For the j-th second position, R k-1 To solve the rotation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, t k-1 In order to solve the translation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, k is the current iteration number, and alpha and beta are preset constants.
Alternatively, the objective function may be solved using a least squares method, a gradient descent method, or the like.
Taking the gradient descent method as an example, in the first iteration, k=1, m will be obtained based on the initial coordinate transformation relationship ij Carrying out formula (5), deriving the formula (5), and obtaining R according to the direction of the derivative of the preset step length 2-1 And t 2-1 . On the second iteration, m is updated in the same manner based on equation (1) and equation (2) ij I.e. R is to 2-1 And t 2-1 Bringing into formula (6), and then obtaining the result of formula (6)Bringing into formula (1) to obtain a new m ij . Will be new m ij Carrying out formula (5), deriving the formula (5), and obtaining R according to the direction of the derivative of the preset step length 3-1 And t 3-1 And the same is done until the formula (5) is obtained and the minimum value is obtained, the corresponding R k And t k As a coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system.
Wherein m is ij For the probability that the ith first position and the jth second position have a corresponding relation, exp represents an exponential function based on e, alpha and beta are preset constants, R k-1 To solve the rotation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, t k-1 For solving the translation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, k is the current iteration number, and p i For the i first position, y Ri Is the j second position.
Optionally, in the iterative process, a new m is obtained each time ij After that, can be applied to new m ij Performing rank normalization, and then normalizing the rank to m ij And (5) carrying out formula, and continuing to solve the objective function.
By the method, the coordinate conversion relation and the probability matrix can be continuously optimized in the process of solving the objective function, so that the error of the probability matrix determined based on the initial coordinate conversion relation is reduced, and the accuracy of determining the coordinate conversion relation and the probability matrix is improved.
Because the arrangement posture of the calibration plate with the double-layer structure is not parallel to the imaging surface of the X-ray shooting device, and the influence of ambient light, obstacles and the like around the calibration plate, the condition that the marking ball is blocked or the gray scale is uneven in the X-ray image can occur, so that the accuracy of identifying the first position of the marking ball from the X-ray image is influenced. The embodiment of the application allows the user to adjust the first point set and generate the optimized coordinate transformation relation.
After identifying the first position of each marking ball included in the calibration plate in the X-ray image coordinate system at S101 to obtain the first point set, each first position may be marked when the X-ray image is displayed. Referring to fig. 2, fig. 2 shows an X-ray image display interface, in which the left half of the interface is an X-ray image, and each black dot pointed by the mark 1 in the X-ray image is a first position. The area pointed by the upper mark 3 of the right half of the interface displays a total of 7 mark points, each mark point representing a first position in the X-ray image, for example mark point 1 (100.0,200.5) representing a first position in the X-ray image for a pixel point with coordinates (100.0,200.5). When the positions of the marking points are displayed, coordinates can be displayed, and the radius of the connected domain where the marking points are located can be displayed, so that a user can conveniently judge whether the connected domain corresponds to the marking balls. When detecting that the user selects a first position on the left half part of the interface, displaying an enlarged image of the area where the first position is located in the area pointed by the mark 2 in the area below the right half part of the interface, and when the user triggers the button pointed by the mark 6, the selected first position can be adjusted in four directions, namely up, down, left and right. When the user triggers the button pointed by the mark 7, the magnification of the area where the selected first position is located can be reduced in the pointed area of the mark 2; when the user activates the button pointed at by the marker 8, the magnification of the area in which the selected first position is located can be increased in the area pointed at by the marker 2. The first position may be increased when the user triggers the add mark button pointed to by the mark 5. The user may also trigger a delete marker button to delete the automatically identified first location, the delete marker button not being shown in fig. 2. When the user triggers the re-registration button pointed by the mark 4, an optimized coordinate conversion relation can be generated according to the adjustment of the user.
Referring to fig. 3, after determining the coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set, and the probability matrix in S103, the electronic device may further perform the following steps:
s105, based on the coordinate conversion relation, each second position in the second point set is projected onto the X-ray image. The coordinate conversion relation is obtained by solving the objective function.
For example, referring to fig. 4, the labels 1-8 in fig. 4 have the same meaning as the corresponding labels in fig. 2, and the label 9 points to the white dots inside the black dots in the X-ray image, i.e. the projection positions of each second position onto the X-ray image.
Optionally, after the projection, for each second position, a first position with the highest probability of having a corresponding relation with the second position is determined from the latest probability matrix, and an error between the second position and the first position is calculated. The average of the errors obtained for each second position is taken as a reprojection error, and the reprojection error is displayed. For example, the region indicated by the reference numeral 10 in fig. 4 shows a reprojection error of 0.01.
S106, displaying the X-ray image after projection.
For example, referring to fig. 4, an X-ray image is presented in the left half of the presentation interface and the first locations included in the first set of points are marked, along with the projected locations of each second location.
As can be seen from fig. 4, the user can observe the error between the projection position and the first position through the projected X-ray image, so that the error of the coordinate conversion relationship can be intuitively understood. Moreover, the user can also see the error of the coordinate conversion relation by displaying the numerical value of the reprojection error displayed by the interface.
S107, adjusting the first point set based on the adjustment instruction of the user.
Because the first position is marked in the X-ray image, a user can conveniently see the error between the automatically identified first position and the position of the center of the marked ball in the X-ray image; and the user can also see the error of the coordinate conversion relation from the numerical value of the reprojection error displayed on the display interface, so that when any error is larger, the error is reduced by adjusting the first point set.
Wherein, the user adding instruction can be received, and the first position appointed by the user is added to the first point set; receiving a deleting instruction of a user, and deleting a first position designated by the user in a first point set; receiving a modification instruction of a user, and modifying a first position designated by the user in a first point set; and/or receiving a sequencing instruction of the user, and adjusting the sequence of each first position included in the first point set. I.e. adding, deleting, position modifying and sequence adjusting the first set of points.
Referring to fig. 4, when it is detected that the user clicks the add mark button, a position selected or input by the user is added in the first point set as a newly added first position. When it is detected that the user selects a first position and clicks the delete marker button, which is not shown in fig. 4, the first position is deleted. When it is detected that the user drags the mark point in the area pointed by the mark 3, the order of updating the first positions is the order of the mark points after the dragging. When it is detected that a user selects a first position, an enlarged image of the area where the first position is located is displayed in the area pointed by the mark 2, and when it is detected that the user clicks the button pointed by the mark 6, the first position is adjusted in four directions up, down, left and/or right according to the user selection.
S108, determining the probability that each first position in the first point set and each second position in the second point set after adjustment have a corresponding relation, and obtaining an updated probability matrix.
S109, determining an updated coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the updated probability matrix.
Referring to fig. 4, after the user adjusts the first point set, if it is detected that the user clicks the re-registration button, S108 and S109 are performed, wherein the specific implementation of S108 may refer to S103 and the specific implementation of S109 may refer to S104.
Optionally, after determining the updated coordinate transformation relationship in S109, the second point set may be reprojected based on the updated coordinate transformation relationship, and an updated reprojection error may be calculated, and the projected X-ray image and the updated reprojection error may be redisplayed.
In the related art, the included angles between the marking points in the image can be matched through the characteristic triangle template table, and the marking points are ordered. However, since the calibration plate with a double-layer structure and the imaging surface of the shooting device may form any angle, the included angle between the marking points forms any angle on the X-ray image, and the matching of templates is difficult, the accuracy of determining the ordering of the marking points by the method is low, and the robustness is poor. Moreover, due to the fact that the marked points in the X-ray image may have shielding and uneven gray scale, the marked points cannot be accurately extracted from the X-ray image, so that the number of the marked points extracted from the X-ray image is wrong, and the coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image cannot be determined. If errors occur in the number or the sequence of the marking points, the calibration plate and the focus can only be subjected to X-ray images again, and the radiation amount of X-rays of a patient is greatly increased.
In the embodiment of the application, the coordinate conversion relation and the probability matrix can be optimized in the process of solving the objective function, so that the coordinate conversion relation with the minimum projection error is obtained, and the accuracy of the coordinate conversion relation is improved. And the first point set can be manually adjusted, so that the interactivity is improved, errors caused by missed detection and false detection generated by automatically identifying the first point set are reduced, and the robustness of determining the coordinate conversion relation is improved. In addition, the coordinate conversion relation can be optimized by manually adjusting the first point set, the success rate of X-ray registration is high, namely the accuracy of determining the coordinate conversion relation is high, the X-ray image is not required to be shot again, and the radiation amount of X-rays born by a patient is reduced.
Based on the same inventive concept, corresponding to the above method embodiments, an embodiment of the present application provides an automatic registration apparatus, as shown in fig. 5, including: an identification module 501, an acquisition module 502 and a determination module 503;
the identifying module 501 is configured to obtain an X-ray image obtained by photographing the calibration board, and identify a first position of each marker ball included in the calibration board in an X-ray image coordinate system, so as to obtain a first point set;
the obtaining module 502 is configured to obtain a second position of each marker ball in the calibration plate coordinate system, to obtain a second point set;
A determining module 503, configured to determine a probability that each first location in the first set of points identified by the identifying module 501 has a correspondence with each second location in the second set of points acquired by the acquiring module 502, to obtain a probability matrix, where the first location and the second location having the correspondence represent the same physical location;
the determining module 503 is further configured to determine a coordinate transformation relationship between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set, and the probability matrix.
The determining module 503 is specifically configured to:
and converting each first position included in the first point set and each second position included in the second point set into an X-ray image coordinate system based on an initial coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system to obtain a projection position, determining an error between the projection position and the first position, and obtaining the probability of the corresponding relation between the first position and the second position according to the determined error.
Optionally, the determining module 503 is specifically configured to:
determining the probability that each first position has a corresponding relation with each second position through the following formula:
wherein m is ij For the probability that the ith first position and the jth second position have a corresponding relation, exp represents an exponential function based on e, alpha and beta are preset constants, R 0 T is the rotation relation of the initial coordinate conversion relation 0 For translation relation of initial coordinate conversion relation, p i For the i first position, y Ri Is the j second position.
Optionally, the apparatus may further include:
the normalization module is used for performing row-column normalization on the probability matrix before determining the coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image according to the first point set, the second point set and the probability matrix to obtain a probability matrix after row-column normalization;
the determining module 503 is specifically configured to:
and determining a coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image according to the first point set, the second point set and the probability matrix after row and column standardization.
Optionally, the determining module 503 is specifically configured to:
constructing an objective function according to the first point set, the second point set and the probability matrix; the objective function is used for determining an error between each projection position and each first position obtained after each second position included in the second point set is projected to the X-ray image coordinate system based on a coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system;
and when the objective function is solved to obtain the minimum value, the coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image is obtained.
Optionally, the objective function is:
wherein E is an objective function value, n x For a first number of positions, n, included in a first set of points y For a second number of positions, m, comprised by the second set of points ij For the probability that the ith first position and the jth second position have a corresponding relation, p i For the i first position, y Rj For the j-th second position, R k-1 To solve the rotation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, t k-1 In order to solve the translation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, k is the current iteration number, and alpha and beta are preset constants.
Optionally, the apparatus may further include:
the projection module is used for projecting each second position in the second point set onto the X-ray image based on the coordinate conversion relation after determining the coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image according to the first point set, the second point set and the probability matrix;
the display module is used for displaying the X-ray image projected by the projection module;
the adjusting module is used for adjusting the first point set based on an adjusting instruction of a user;
the determining module 503 is further configured to determine a probability that each first position in the first point set and each second position in the second point set after adjustment by the adjusting module have a corresponding relationship, so as to obtain an updated probability matrix; and determining an updated coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the updated probability matrix.
Optionally, the adjusting module is specifically configured to:
receiving an increasing instruction of a user, and increasing a first position appointed by the user for a first point set;
receiving a deleting instruction of a user, and deleting a first position designated by the user in a first point set;
receiving a modification instruction of a user, and modifying a first position designated by the user in a first point set; and/or the number of the groups of groups,
and receiving a sequencing instruction of a user, and adjusting the sequence of each first position included in the first point set.
The embodiment of the present application further provides an electronic device, as shown in fig. 6, including a processor 601, a communication interface 602, a memory 603, and a communication bus 604, where the processor 601, the communication interface 602, and the memory 603 perform communication with each other through the communication bus 604,
a memory 603 for storing a computer program;
the processor 601 is configured to implement the method steps in the above-described method embodiment when executing the program stored in the memory 603.
The communication bus mentioned above for the electronic devices may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In yet another embodiment provided herein, there is also provided a computer readable storage medium having stored therein a computer program which, when executed by a processor, implements the steps of any of the above-described automatic registration methods.
In yet another embodiment provided herein, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the automatic registration methods of the above embodiments.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. that are within the spirit and principles of the present application are intended to be included within the scope of the present application.
Claims (11)
1. An automatic registration method, the method comprising:
acquiring an X-ray image obtained by shooting a calibration plate, and identifying a first position of each marking ball in an X-ray image coordinate system included in the calibration plate to obtain a first point set;
acquiring a second position of each marking ball in a calibration plate coordinate system to obtain a second point set;
determining the probability of the existence of a corresponding relation between each first position in the first point set and each second position in the second point set, and obtaining a probability matrix, wherein the physical positions represented by the first positions and the second positions with the corresponding relation are the same;
and determining a coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the probability matrix.
2. The method of claim 1, wherein the determining a probability that each first location in the first set of points has a correspondence with each second location in the second set of points comprises:
And converting the second position into the X-ray image coordinate system based on the initial coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system for each first position included in the first point set and each second position included in the second point set to obtain a projection position, determining an error between the projection position and the first position, and obtaining the probability of the corresponding relation between the first position and the second position according to the determined error.
3. The method according to claim 2, wherein said converting the second position to the X-ray image coordinate system based on the initial coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system for each first position included in the first point set and each second position included in the second point set to obtain a projection position, determining an error between the projection position and the first position, and obtaining a probability that the first position and the second position have a correspondence relationship according to the determined error, comprises:
determining the probability that each first position has a corresponding relation with each second position through the following formula:
wherein m is ij For the probability that the ith first position and the jth second position have a corresponding relation, exp represents an exponential function based on e, alpha and beta are preset constants, R 0 T is the rotation relation of the initial coordinate conversion relation 0 For the translation relation of the initial coordinate conversion relation, p i For the i first position, y Ri Is the j second position.
4. A method according to claim 2 or 3, characterized in that before determining the coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system from the first set of points, the second set of points and the probability matrix, the method further comprises:
performing row and column standardization on the probability matrix to obtain a probability matrix after row and column standardization;
the determining, according to the first point set, the second point set and the probability matrix, a coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system includes:
and determining a coordinate conversion relation between the coordinate system of the calibration plate and the coordinate system of the X-ray image according to the first point set, the second point set and the probability matrix after line and column standardization.
5. A method according to any of claims 1-3, wherein said determining a coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system from the first set of points, the second set of points and the probability matrix comprises:
Constructing an objective function according to the first point set, the second point set and the probability matrix; the objective function is used for determining an error between each obtained projection position and each obtained first position after each second position included in the second point set is projected to the X-ray image coordinate system based on a coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system;
and when the objective function is solved and the minimum value is obtained, the coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system is obtained.
6. The method of claim 5, wherein the objective function is:
wherein E is an objective function value, n x For a first number of positions, n, included in the first set of points y For the second number of positions, m, comprised by the second set of points ij For the probability that the ith first position and the jth second position have a corresponding relation, p i For the i first position, y Rj For the j-th second position, R k-1 To solve the rotation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, t k-1 In order to solve the translation relation of the coordinate conversion relation obtained by the (k-1) th iteration in the process, k is the current iteration number, and alpha and beta are preset constants.
7. A method according to any of claims 1-3, characterized in that after determining a coordinate transformation relation between the calibration plate coordinate system and the X-ray image coordinate system from the first set of points, the second set of points and the probability matrix, the method further comprises:
projecting each second position in the second set of points onto the X-ray image based on the coordinate transformation relationship;
displaying the X-ray image after projection;
adjusting the first point set based on an adjustment instruction of a user;
determining the probability that each first position in the adjusted first point set has a corresponding relation with each second position in the second point set, and obtaining an updated probability matrix;
and determining an updated coordinate conversion relation between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set and the updated probability matrix.
8. The method of claim 7, wherein adjusting the first set of points based on the user adjustment instructions comprises:
receiving an increasing instruction of a user, and increasing a first position appointed by the user for the first point set;
receiving a deleting instruction of a user, and deleting a first position designated by the user in the first point set;
Receiving a modification instruction of a user, and modifying a first position designated by the user in the first point set; and/or the number of the groups of groups,
and receiving a sequencing instruction of a user, and adjusting the sequence of each first position included in the first point set.
9. An automatic registration device, the device comprising:
the identification module is used for acquiring an X-ray image obtained by shooting the calibration plate and identifying a first position of each marking ball in an X-ray image coordinate system included in the calibration plate to obtain a first point set;
the acquisition module is used for acquiring a second position of each marking ball in the coordinate system of the calibration plate to obtain a second point set;
the determining module is used for determining the probability that each first position in the first point set identified by the identifying module and each second position in the second point set acquired by the acquiring module have a corresponding relation to obtain a probability matrix, wherein the first position and the second position with the corresponding relation represent the same physical position;
the determining module is further configured to determine a coordinate conversion relationship between the calibration plate coordinate system and the X-ray image coordinate system according to the first point set, the second point set, and the probability matrix.
10. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any one of claims 1-8 when executing a program stored on a memory.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-8.
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| CN117522780B (en) * | 2023-10-13 | 2024-10-18 | 骨圣元化机器人(深圳)有限公司 | C-arm image error calculation method, device and computer equipment |
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