CN110279467A - Ultrasound image under optical alignment and information fusion method in the art of puncture biopsy needle - Google Patents
Ultrasound image under optical alignment and information fusion method in the art of puncture biopsy needle Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The present invention discloses information fusion method in the art of the ultrasound image and puncture biopsy needle under a kind of optical alignment, comprising the following steps: utilizes real-time ultrasonic image in acquiring ultrasound image system acquisition art；The real-time spatial pose information of operation puncture biopsy needle is obtained using optical tracking system；The real-time ultrasonic image and real-time pose information are carried out fusion treatment by image processing workstations, are showing real time fusion under three-dimensional virtual environment as a result, relative positional relationship to reflect between navigation puncture biopsy needle and ultrasound image plane.The present invention can accurately reflect the relative positional relationship under the three-dimensional space between navigation puncture biopsy needle and ultrasound image, it carries out surgical guide in conjunction with image information in puncture biopsy needle posture information and art, help that the relative positional relationship of puncture biopsy needle and lesion visualize under three-dimensional virtual environment, promotes surgical procedure convenience and safety.
Description
Technical field
The present invention relates to medical operating technical fields, more particularly to the ultrasound image under a kind of optical alignment and puncture work
Examine information fusion method in the art of needle.
Background technique
For the percutaneous Surgery of ultrasound guidance, often there is that surgical field of view is insufficient, information is more in art
Single problem, operating difficulty is larger, operation accuracy is difficult to ensure, it is therefore desirable to doctor have complete anatomical knowledge and
Fine surgical instrument operation is horizontal.When being operated, doctor carries out typically only by observation art traditional Chinese medicine image
Surgical procedure, and detailed posture information of the surgical instrument relative to the medical image of observation can not be obtained, it can only be by shadow in art
Picture and clinical experience judge, and one side safety can not ensure, on the other hand reduce the rapidity of surgical operation.
This brings big inconvenience for the operation of doctor.
Image-guided surgery system helps to reduce the difficulty and risk of the surgical procedures such as percutaneous intervention, however its precision
There is vital effect for the accurate implementation of operation.For ultrasonic system, ultrasound calibration can accurately provide super
Relativeness between sonic probe and ultrasound image, this is for image-guided surgery, it can be ensured that the precision for implementation of performing the operation.And
Existing ultrasonic navigation system (such as patent CN102860841A) in the case where not demarcating may result in ultrasonic probe and ultrasound
Relativeness between image is inaccurate.
Existing free arm ultrasound scaling method (such as patent CN103584885A) is flat using manual alignment needle point and imaging
Face, in this case, ultrasonic imaging plane will receive pseudomorphism when scanning instrument needle point point with the presence of thickness, ultrasonic probe
Influence.Therefore free arm ultrasound scaling method is in the positioning side for realizing needle point and imaging plane Accurate align and needle point point
Face can bring biggish error.
For existing navigating surgery, the usually preoperative three-dimensional ring that operating space is obtained using imaging devices such as MRI, CT
Border (such as patent CN104739512A), however do not have the imaging function of real-time but, it is therefore desirable to it is imaged in guarantee in the preoperative
Afterwards, the relative positional relationship of patient etc. cannot change in art.
Summary of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide the ultrasounds under a kind of optical alignment
Information fusion method in the art of image and puncture biopsy needle.System is guided using the ultrasound image under three-dimensional virtual environment, it can be real
Puncture biopsy needle is now tracked in operation and by the posture information of instrument and ultrasonic image data real time fusion, accurately reflection puncture
The relative pose relationship under three-dimensional space between biopsy needle and the scanned ultrasound image of ultrasonic device, so that doctor is for operation
Instrument is very clear relative to the position of lesion structure, to improve procedure efficiency, reduce operating difficulty, facilitates doctor and realizes more
Add the surgical procedures such as safe percutaneous intervention, further promotes accuracy, the safety of surgical operation, reduce potential complication
With the discomfort of patient.
The technical solution adopted to achieve the purpose of the present invention is:
A kind of ultrasound image under optical alignment and information fusion method in the art of puncture biopsy needle, comprising the following steps:
Utilize real-time ultrasonic image in acquiring ultrasound image system acquisition art；
The ultrasonic probe and operation puncture biopsy needle of acquiring ultrasound image system are obtained using optical tracking system
Real-time spatial pose information；
The real-time ultrasonic image and real-time pose information are carried out fusion treatment by image processing workstations, three-dimensional empty
Real time fusion is shown under near-ring border as a result, closing with the relative position reflected between navigation puncture biopsy needle and ultrasound image plane
System.
Wherein, the reflective marker positioning dress that can be identified by the optical tracking system is fixed on the ultrasonic probe
Set A；
The operation on puncture biopsy needle with being fixed with and can be determined by the reflective marker that the optical tracking system is identified
Position device B；
Described image processing workstation is connected with optical tracking system, and described image processing workstation real-time reception comes from
In the spatial pose information of the collected reflective marker positioning device A of the optical tracking system, reflective marker positioning device B,
And the display of the Visualization Model matching and spatial pose information under three-dimensional virtual environment is carried out by information fusion system in art；
The image processing workstations are connected with acquiring ultrasound image system, and described image processing workstation passes through figure
As capture card reception image information in the real-time art of acquiring ultrasound image system, and pass through information fusion system in the art
System carries out the visualization real-time display under three-dimensional virtual environment.
Ultrasound image under the optical alignment and information fusion method in the art of puncture biopsy needle further include having ultrasonic mark
Determine device, the ultrasound caliberating device is the sink shape model that several equidistant gap apertures are disposed on four sides, top
One jiao on face be fixed with can be by reflective marker positioning device C that the optical tracking system identifies；Described image handles work
Station is equipped with matched ultrasonic probe off-line calibration system, acquires ultrasound image by the level transmitting between different coordinates and sits
Transition matrix between mark system and ultrasonic probe coordinate system, to realize the calibration to ultrasonic probe.
Wherein, the method and step calibrated using the ultrasonic caliberating device and ultrasonic probe off-line calibration system is such as
Under:
Step 1: checking ultrasonic caliberating device, it is ensured that the wirerope on ultrasonic caliberating device keeps straight state, avoid because
The influence of the true three-dimension position for wirerope crosspoint generated for deformation；
Step 2: installation optical tracking system, ultrasonic probe, and keep between optical tracking system, ultrasonic caliberating device
Relative positional relationship is fixed, and ultrasound caliberating device is placed in warm water；
Step 3: starting optical tracking system, acquiring ultrasound image system and ultrasonic probe；
Step 4: ultrasonic probe acquisition plane being placed in the water surface hereinafter, the target point to underwater ultrasound caliberating device carries out
Acquiring ultrasound image；In collection process, move back and forth ultrasonic probe, until the ultrasound image of target point clearly can with the naked eye be seen
It examines out；
Step 5: by the two-dimensional points location information on each collected ultrasound image and positioning obtained ultrasound calibration dress
The three-dimensional dot position information set is matched；
Step 6: using least square method find two and three dimensions point between corresponding relationship matrix, solve ultrasound image and
Matrix relationship between ultrasonic probe carries out ultrasonic calibration using ultrasonic probe off-line calibration system.
Wherein, the three dimensional local information of the two-dimensional position information of the ultrasound image target point and ultrasonic caliberating device is utilized
Between existing carry out ultrasonic calibration as calibration equation such as down space transformational relation matrix:
Wherein, PCFor the three-dimensional location coordinates [X of ultrasonic caliberating device characteristic pointC,YC,ZC, 1], PIFor acquiring ultrasound image
The two-dimensional pixel coordinate of the ultrasound image of system acquisition；For turning for ultrasonic probe coordinate system to optical tracking system coordinate system
Change matrix；For ultrasound image coordinates system to the transition matrix of ultrasonic probe coordinate system；
Calibration obtains the three-dimensional location coordinates and ultrasound image two-dimensional image of a ultrasonic caliberating device feature point for calibration every time
Plain coordinate carries out the solution of calibrating parameters when calibration ultrasound image number N meets N >=3.
In the present invention, the medical image information and location information reflected in real time by ultrasound image, doctor can be to disease
Pathological tissues are judged relative to the position orientation relation of operation instrument inside human body table, direct feel to navigation puncture biopsy needle needle
The relative positional relationship between characteristic point on cusp and ultrasound image.
Target tissue region under the ultrasound image that puncture biopsy needle needle point point is gradually scanned to ultrasonic probe is close,
When starting to occur high brightness hickie on the real-time ultrasonic image of acquisition, it is true super to illustrate that puncture biopsy needle needle point has arrived at
Acoustic image plane.The target feature point and puncture biopsy needle needle point point reflected on ultrasound image at this time is in three-dimensional virtual environment system
Under be overlapped.
When the puncture biopsy needle needle point point under three-dimensional fusion environment is overlapped with target feature point, illustrate to be accurately positioned
Target point, doctor can observe the relative positional relationship of medical image and biopsy needle model under virtual environment, to lesion group
Knit the surgical procedure refined.
Information fusion method in art provided by the invention based on optically tracked ultrasound image and navigation puncture biopsy needle,
Compared with prior art, it has the advantages that
1. information merges in the art under three-dimensional virtual environment, the excellent of computer-asisted intra-operative navigation system can be given full play to
Gesture carries out surgical guide in conjunction with image information in puncture biopsy needle posture information and art, relative positional relationship is carried out three-dimensional empty
Visualization under near-ring border improves the rapidity of operation to bring bigger convenience in the operation of doctor；
2. facilitating doctor couple using the relative positional relationship of ultrasound image acquisition body surface internal information and operating point position
The judgement of the relativeness of puncture biopsy needle needle point point and lesion target facilitates the safety for promoting surgical procedure；
3. compared to the preoperative imaging technique of MRI, CT, ultrasound image can imaging in real-time perfoming art without it is preoperative at
The variation of surgical environments can be reflected in ultrasound image by picture in real time；
4., by stereo calibration model, it is flat to reduce ultrasonic imaging compared to the method demarcated using instrument needle point
The influence of face thickness and artifact for calibration result；The constraint during calibrated and calculated can be enhanced in three-dimensional peg model simultaneously
Condition promotes the reliability of calibration result；
5. calibration equationIn unknown quantity only haveCalibration can be reduced when carrying out ultrasound calibration
The complexity of calculating；
6. compared to other positioning methods such as electromagnetic location, electromagnetic field deformation band is not present in optictracking device during surgery
The problems such as position error come；Label when positioning do not have to through conducting wire connection, it is possible to reduce for the operating space of doctor
Constraint.
, using the image guidance system of ultrasound, accurately reflect in short, the present invention passes through using under three-dimensional virtual environment
The relative positional relationship under three-dimensional space between navigation puncture biopsy needle and the scanned ultrasound image of ultrasonic device, in conjunction with puncture
Image information carries out surgical guide in biopsy needle posture information and art, helps to close the relative position of puncture biopsy needle and lesion
System carries out the visualization under three-dimensional virtual environment, promotes convenience and the safety of surgical procedure.
Detailed description of the invention
Fig. 1 is the schematic diagram of the hardware composition of information fusion system in art of the invention；
Fig. 2 is the schematic diagram of ultrasonic caliberating device of the invention；
Fig. 3 is the schematic diagram of ultrasonic calibration process of the invention；
Fig. 4 is the procedure chart of information mixing operation in ultrasound image and aspiration biopsy pyonex of the invention；
Fig. 5 is the schematic diagram operated under surgical environments of the invention；
Fig. 6 is that information syncretizing effect is demonstrated in the art of ultrasound image and puncture biopsy needle under three-dimensional virtual environment of the invention
Figure.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
Ultrasound image under optical alignment of the present invention and information fusion method in the art of puncture biopsy needle, using such as Fig. 1 institute
The platform shown is realized, before realization, needs to build navigational hardware facility platform in art in advance, component part includes optical tracking
System 1, acquiring ultrasound image system 2, operation puncture biopsy needle 3, image processing workstations 4.Wherein, the present invention to be merged
Information has two major classes, first is that real-time ultrasonic image in the art of ultrasound image system acquisition, second is that optical tracking system acquisition is worn
Pierce the real-time pose information of biopsy needle；Finally fusion results are shown under three-dimensional virtual environment.It can be according to ultrasonic probe and hand
Viewpoint is estimated in the relative position of art puncture biopsy needle, obtains the sighting distance appropriate of a virtual view and the plane of delineation.
Wherein, information in the art of ultrasound image and navigation puncture biopsy needle is installed on the image processing workstations 4
Fusion software system can carry out ultrasonic probe calibration, information fusion software system using ultrasonic caliberating device and optical tracking system
System can acquire in real time optical tracking system posture information, to ultrasonic probe, perform the operation with wearing by acquiring intraoperative ultrasound image in real time
It pierces biopsy needle and carries out real-time pose tracking, aspiration biopsy needle mould is determined based on collected location information under three-dimensional virtual environment
The spatial pose of type matches the Visualization Model of definition with collected posture information, will under three-dimensional virtual environment
Optically tracked ultrasound image carries out information in art with navigation puncture biopsy needle and merges；And it can be according to ultrasonic probe and operation with wearing
Virtual view is estimated in the relative position for piercing biopsy needle, obtains the sighting distance appropriate of a virtual view and the plane of delineation, with convenient
Operation is watched in art.
After putting up hardware platform used by method of the invention, it is operable to realize by following operating procedure.
Step 1.1: being visited according to corresponding operation specification starting optical tracking system, acquiring ultrasound image system and ultrasound
Head；
Step 1.2: referring to Fig.1, reflective marker positioning device A6 being fixed on ultrasonic probe, reflective marker is positioned and is filled
It sets B7 to be fixed on puncture biopsy needle, optical tracking system 1 can track this 2 reflective marker positioning devices in real time
With positioning.
Step 1.3: referring to Fig.1, image processing workstations 4 being connected with optical tracking system 1, it is ensured that image procossing work
Make station 4 can real-time reception from the collected reflective marker positioning device of optical tracking system posture information.
Step 1.4: referring to Fig.1, image processing workstations 4 are connected with acquiring ultrasound image system 2, image procossing work
Make station 4 and passes through image pick-up card real-time reception image information in the real-time art of acquiring ultrasound image system.
Step 2: referring to Fig. 2 and Fig. 3, carrying out ultrasonic probe calibration using ultrasonic caliberating device 8 and optical alignment, acquire super
Transition matrix between acoustic image coordinate system and ultrasonic probe coordinate system.Ultrasonic caliberating device 8 is arranged on four sides
Have a sink shape model of several equidistant gap apertures 9, each of which aperture relative to the relative positional relationship of itself be it is known,
One jiao on top surface is fixed with the reflective marker positioning device C11 that can be identified by the optical tracking system 1, and inside has ten
The wirerope 10 for the multiple groups straight state of shape arranged crosswise being arranged above and below, every group from top to bottom horizontal interval vertical arrangement set
It sets.
Step 2.1: checking ultrasonic caliberating device, it is ensured that the wirerope 10 on ultrasonic caliberating device keeps straight state, keeps away
Exempt from the influence of the true three-dimension position for wirerope generated because of deformation；
Step 2.2: the fixed ultrasonic caliberating device of installation is placed in sink 12, by reflective marker positioning device C11
One jiao be fixed on ultrasonic 8 top surface of caliberating device, and keep optical tracking system bracket, optical tracking system, ultrasound calibration
Relative positional relationship between device is fixed.The distinguishable ultrasound acquisition image of human eye in order to obtain, ultrasonic caliberating device
It is placed in warm water；
Step 2.3: ultrasonic probe collection surface being placed in the water surface hereinafter, the target point to underwater ultrasound caliberating device carries out
The acquisition of ultrasound image.In the process of acquisition, ultrasonic probe can be moved back and forth, until the ultrasound image of target point can be with
Clearly detect by an unaided eye out；
Step 2.4: being filled by the two-dimensional points location information on each collected ultrasound image and theoretically ultrasound calibration
The three dimensional local information set is corresponded；
Step 2.5: finding the corresponding relationship matrix between two and three dimensions point using least square method, solve ultrasound image
Matrix relationship between ultrasonic probe carries out ultrasonic calibration.
Wherein, under the two-dimensional position information of ultrasound image target point detected and true environment ultrasonic caliberating device three
It ties up and there is fixed space transformational relation matrix between location information:
Wherein, PI--- the two-dimensional pixel coordinate of the ultrasound image of ultrasonic system acquisition；
PM--- the three-dimensional location coordinates of ultrasonic caliberating device under true environment；
--- transition matrix of the optictracking device coordinate system to ultrasonic caliberating device；
--- transition matrix of the ultrasonic probe coordinate system to optictracking device coordinate system；
--- transition matrix of the ultrasound image coordinates system to ultrasonic probe coordinate system；
Utilize three-dimensional position of the homemade ultrasonic available ultrasonic caliberating device of caliberating device under optical tracking coordinate system
Set coordinate PC, because of the three-dimensional location coordinates without solving ultrasonic caliberating device under true environment.Space transformational relation can at this time
To be simplified are as follows:
Therefore, in the present invention, ultrasound calibration can be operated on ultrasonic probe off-line calibration software.Using above-mentioned
Under the two-dimensional position information and true environment of ultrasound image target point detected the three dimensional local information of ultrasonic caliberating device it
Between there is fixed space transformational relation matrix and can fast implement ultrasonic calibration as fixed setting；Wherein, PCFor ultrasound
Three-dimensional location coordinates [the X of caliberating device characteristic pointC,YC,ZC, 1], when calibration ultrasound image number N meets N >=3, Ke Yijin
The solution of row calibrating parameters.
When specific experiment operates, the accuracy of ultrasound calibration can be improved by the method for increase ultrasound image number N,
Reduce calibrated error.
Step 3: referring to Fig. 4, information in art is opened in image processing workstations 4 and merges three-dimensional virtual environment, observation is real
When the received three-dimensional fusion image 13 from optical tracking system 1 and the transmission data of acquiring ultrasound image system 2.Optics
Tracking system 1 acquires the location information of reflective marker positioning device A and reflective marker positioning device B, acquiring ultrasound image in real time
System 2 acquires the ultrasound image of ultrasonic probe 5 in real time.
Step 4: referring to Fig. 4 and Fig. 5, before being operated, doctor contacts the patient's body surface 14, scanning by ultrasonic probe
The intracorporal ultrasound image information of human body determines the target feature point region for carrying out puncture procedure.
Step 5: referring to Fig. 4 and Fig. 5, the operation of puncture biopsy needle is carried out at the body surface near target feature point, is passed through
Human body surface is punctured to inside target soft tissue.
Step 6: referring to Fig. 6, the medical image information reflected in real time by ultrasound image and location information, doctor can be with
The patient's body surface inside pathological tissues are judged relative to the position orientation relation for operating instrument, direct feel to navigation puncture biopsy
The relative positional relationship of needle needle point point and true ultrasound image plane region.
Step 7: the mesh referring to Fig. 6, under the ultrasound image that puncture biopsy needle needle point point is gradually scanned to ultrasonic probe
It is close to mark tissue regions.When starting to occur high brightness hickie on the real-time ultrasonic image of acquisition, illustrate puncture biopsy needle needle point
Have arrived at true ultrasound image plane region.At this point, the target feature point and puncture biopsy needle needle that reflect on ultrasound image
Cusp is to be overlapped under three-dimensional virtual environment system.
Step 8: when the puncture biopsy needle needle point point under information integrated environment in art has been overlapped with target feature point, saying
The target feature point under true environment has been accurately positioned in bright puncture biopsy needle needle point point, and doctor can observe to be cured under virtual environment
Learn the relative pose relationship of image and biopsy needle model, the surgical procedure refined to lesion tissue.
The present invention is by, using the image guidance system of ultrasound, can accurately reflect navigation puncture under three-dimensional virtual environment
The relative positional relationship under three-dimensional space between biopsy needle and the scanned ultrasound image of ultrasonic device, in conjunction with puncture biopsy needle position
Image information carries out surgical guide in appearance information and art, helps to carry out three to the relative positional relationship of puncture biopsy needle and lesion
The visualization under virtual environment is tieed up, convenience and the safety of surgical procedure are promoted.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (5)
1. the ultrasound image under optical alignment and information fusion method in the art of puncture biopsy needle, which is characterized in that including following
Step:
Utilize real-time ultrasonic image in acquiring ultrasound image system acquisition art；
Using optical tracking system obtain acquiring ultrasound image system ultrasonic probe and operation puncture biopsy needle it is real-time
Spatial pose information；
The real-time ultrasonic image and real-time pose information are carried out fusion treatment by image processing workstations, in three-dimensional ring
Real time fusion is shown under border as a result, relative positional relationship to reflect between navigation puncture biopsy needle and ultrasound image plane.
2. information fusion method in the art of the ultrasound image under optical alignment and puncture biopsy needle according to claim 1,
It is characterized in that, the reflective marker positioning device A that can be identified by the optical tracking system is fixed on the ultrasonic probe；
The operation is filled with the reflective marker that can be identified by optical tracking system positioning is fixed on puncture biopsy needle
Set B；
Described image processing workstation is connected with optical tracking system, and described image processing workstation real-time reception is from institute
The spatial pose information of the collected reflective marker positioning device A of optical tracking system, reflective marker positioning device B are stated, and is led to
Cross the display of Visualization Model matching and spatial pose information that information fusion system in art carries out under three-dimensional virtual environment；
The image processing workstations are connected with acquiring ultrasound image system, and described image processing workstation is adopted by image
Truck receive in the real-time art of acquiring ultrasound image system image information, and by information fusion system in the art into
Visualization real-time display under row three-dimensional virtual environment.
3. information fusion method in the art of the ultrasound image under optical alignment and puncture biopsy needle according to claim 1,
Be characterized in that, further include having ultrasonic caliberating device, the ultrasound caliberating device be disposed on four sides it is several equidistant
The sink shape model of gap aperture, one jiao on top surface is fixed with and can be positioned by the reflective marker that the optical tracking system identifies
Device C；Described image processing workstation is equipped with matched ultrasonic probe off-line calibration system, by between different coordinates
Level transmitting acquires the transition matrix between ultrasound image coordinates system and ultrasonic probe coordinate system, to realize the mark to ultrasonic probe
It is fixed.
4. information fusion method in the art of the ultrasound image under optical alignment and puncture biopsy needle according to claim 3,
It is characterized in that, the method and step calibrated using the ultrasonic caliberating device and ultrasonic probe off-line calibration system is as follows:
Step 1: checking ultrasonic caliberating device, it is ensured that the wirerope on ultrasonic caliberating device keeps straight state, avoids because of shape
The influence of the true three-dimension position for wirerope crosspoint of change and generation；
Step 2: installation optical tracking system, ultrasonic probe, and keep opposite between optical tracking system, ultrasonic caliberating device
Positional relationship is fixed, and ultrasound caliberating device is placed in warm water；
Step 3: starting optical tracking system, acquiring ultrasound image system and ultrasonic probe；
Step 4: ultrasonic probe acquisition plane being placed in the water surface hereinafter, the target point to underwater ultrasound caliberating device carries out ultrasound
Image Acquisition；In collection process, move back and forth ultrasonic probe, until the ultrasound image of target point can clearly detect by an unaided eye out
Come；
Step 5: by the two-dimensional points location information on each collected ultrasound image and positioning obtained ultrasonic caliberating device
Three-dimensional dot position information is matched；
Step 6: finding the corresponding relationship matrix between two and three dimensions point using least square method, solve ultrasound image and ultrasound
Matrix relationship between calibration probe carries out ultrasonic calibration using ultrasonic probe off-line calibration system.
5. information fusion method in the art of the ultrasound image under optical alignment and puncture biopsy needle according to claim 4,
It is characterized in that, using between the two-dimensional position information of the ultrasound image target point and the three dimensional local information of ultrasonic caliberating device
It is existing to carry out ultrasonic calibration as calibration equation such as down space transformational relation matrix:
Wherein, PcFor the three-dimensional location coordinates [X of ultrasonic caliberating device characteristic pointc,Yc,Zc, 1], PIFor acquiring ultrasound image system
The two-dimensional pixel coordinate of the ultrasound image of acquisition；For the conversion square of ultrasonic probe coordinate system to optical tracking system coordinate system
Battle array；For ultrasound image coordinates system to the transition matrix of ultrasonic probe coordinate system；
Calibration obtains the three-dimensional location coordinates of a ultrasonic caliberating device feature point for calibration every time and ultrasound image two-dimensional pixel is sat
Mark carries out the solution of calibrating parameters when calibration ultrasound image number N meets N >=3.
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| CN113048878A (en) * | 2019-12-27 | 2021-06-29 | 苏州因确匹电子科技有限公司 | Optical positioning system and method and multi-view three-dimensional reconstruction system and method |
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| CN113974830A (en) * | 2021-11-02 | 2022-01-28 | 中国人民解放军总医院第一医学中心 | Surgical navigation system for ultrasonically guiding thyroid tumor thermal ablation |
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| CN115553880B (en) * | 2022-03-29 | 2024-08-16 | 中国人民解放军总医院第一医学中心 | Positioning method and system for puncture needle tip |
| CN117137628A (en) * | 2023-09-26 | 2023-12-01 | 磅客策(上海)智能医疗科技有限公司 | Biopsy needle and biopsy method based on magnetic navigation |
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