CN113040908B - Registration method, device, computer equipment and storage medium for surgical navigation - Google Patents
Registration method, device, computer equipment and storage medium for surgical navigation Download PDFInfo
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Abstract
The application relates to a registration method, a registration device, a computer device and a storage medium for surgical navigation. The method comprises the steps of obtaining a CT image of a patient and at least two X-Ray images obtained by shooting a C arm under different postures, determining the coordinates of an anatomical point in an operation coordinate system according to imaging parameters of the C arm under different postures and pixel coordinates of the anatomical point in the X-Ray images corresponding to the different postures, and finally determining target registration parameters according to the space coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the operation coordinate system. The method realizes the application of the C-arm to the registration of the space coordinate of the CT image and the operation space coordinate, and solves the problem of large registration error caused by the fact that the registration is carried out depending on the experience of a doctor in the existing operation registration process. In addition, when the registration method of the surgical navigation needs to be re-registered, the re-registration can be realized only by shooting an X-Ray image by using a C arm, and the method has stronger applicability.
Description
Technical Field
The present application relates to the field of medical device technology, and in particular, to a registration method, apparatus, computer device, and storage medium for surgical navigation.
Background
In acetabular replacement surgery, it is generally necessary to perform a preoperative Computed Tomography (CT) scan of the patient's acetabulum and perform a preoperative planning on the scan data. During surgery, in order to perform surgery according to a preoperative plan, the pose of the intraoperative patient needs to be correlated with the pose in the preoperative CT scan data.
Existing methods employ identifying a series of anatomical points at the acetabulum in the preoperative CT scan data and having the surgeon find these anatomical points at the patient acetabulum, thereby establishing a registration relationship between the anatomical points in the CT scan data and the anatomical points found by the surgeon.
However, during surgery, when the surgeon is working on the patient's bone tissue, re-registration is required if the patient moves. However, at this time, the bone tissue of the patient is already different from the bone tissue in the CT scan data, and therefore, the registration cannot be performed according to the above registration method, so the above registration method has low applicability.
Disclosure of Invention
In view of the above, there is a need to provide a registration method, apparatus, computer device and storage medium for surgical navigation, which can effectively improve the applicability.
In a first aspect, a method of registration for surgical navigation, the method comprising:
acquiring a CT image and at least two X-Ray images of a patient; different X-Ray images are obtained by shooting the C arm at different postures;
determining the coordinates of the anatomical points in an operation coordinate system according to the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical points in the X-Ray images corresponding to the different postures;
and determining target registration parameters according to the space coordinates of the anatomical points in the CT image and the coordinates of the anatomical points in a surgical coordinate system.
In one embodiment, the determining target registration parameters according to the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system includes:
obtaining a first registration parameter according to the space coordinate of the anatomical point in the CT image and the coordinate of the anatomical point in an operation coordinate system;
determining different postures of the C arm under a CT coordinate system according to the first registration parameter and the imaging parameters of the C arm under different postures;
generating virtual X-Ray images corresponding to different postures according to the different postures of the C arm in the CT coordinate system and the CT images;
and registering the virtual X-Ray images of all the postures with the X-Ray images of the corresponding postures to obtain the target registration parameters.
In one embodiment, the determining different postures of the C-arm in the CT coordinate system according to the first registration parameter and the imaging parameter of the C-arm in the different postures comprises:
determining different postures of the C-arm under the operation coordinate system according to the imaging parameters of the C-arm under the different postures;
and determining different postures of the C-arm in the CT coordinate system according to the different postures of the C-arm in the operation coordinate system and the first registration parameter.
In one embodiment, the registering the virtual X-Ray images in each posture with the X-Ray images in the respective corresponding postures to obtain the target registration parameters includes:
registering the virtual X-Ray images of all the postures with the X-Ray images of the corresponding postures to obtain second registration parameters;
and determining the target registration parameter according to the second registration parameter and the first registration parameter.
In one embodiment, before determining the coordinates of the anatomical point in the surgical coordinate system according to the imaging parameters of the C-arm at different postures and the pixel coordinates of the anatomical point in the X-Ray images corresponding to the different postures, the method further comprises:
acquiring imaging parameters of the C arm under different postures;
the acquiring of the imaging parameters of the C-arm under different postures comprises:
acquiring pixel coordinates of the marking points in the X-Ray images under different postures; the X-Ray image comprises a tissue structure and a calibration target of the region to be operated of the patient; the calibration target carries the marking points;
acquiring coordinates of the marking points in the X-Ray images under different postures in the operation coordinate system through a tracking system;
and determining imaging parameters of the C arm under different postures according to the pixel coordinates of the mark points in the X-Ray images under different postures and the coordinates of the mark points in the operation coordinate system.
In one embodiment, after the acquiring the CT image and the at least two X-Ray images of the patient, the method further comprises:
determining the anatomical points in the X-Ray images under different postures to obtain pixel coordinates of the anatomical points in the X-Ray images under different postures;
and determining a space coordinate corresponding to the position of the anatomical point in the X-Ray image in the CT image to obtain the space coordinate of the anatomical point in the CT image.
In one embodiment, before the acquiring the CT image and the at least two X-Ray images of the patient, the method further comprises:
marking on the patient;
determining pixel coordinates corresponding to the marks in the X-Ray images under different postures as pixel coordinates of anatomical points in the X-Ray images under different postures;
and determining the space coordinate corresponding to the mark in the CT image as the space coordinate of the anatomical point in the CT image.
In a second aspect, a surgical navigational registration apparatus, the apparatus comprising:
the acquisition module is used for acquiring a CT image and at least two X-Ray images of a patient;
the determining module is used for determining the coordinates of the anatomical points in an operation coordinate system according to the imaging parameters of the C arm under different postures and the pixel coordinates of the anatomical points in the X-Ray images corresponding to the different postures;
and the registration module is used for determining target registration parameters according to the space coordinates of the anatomical points in the CT images and the coordinates of the anatomical points in an operation coordinate system.
In a third aspect, a computer device comprises a memory storing a computer program and a processor implementing the method of the first aspect when the processor executes the computer program.
In a fourth aspect, a computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method of the first aspect described above.
According to the surgical navigation registration method, the surgical navigation registration device, the computer equipment and the storage medium, the CT image of the patient and at least two X-Ray images obtained by shooting the C arm in different postures are obtained, the coordinates of the anatomical point in the surgical coordinate system are determined according to the imaging parameters of the C arm in different postures and the pixel coordinates of the anatomical point in the X-Ray images corresponding to different postures, and finally the target registration parameters are determined according to the space coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system. The method realizes the application of the C-arm to the registration of the space coordinate of the CT image and the operation space coordinate, and solves the problem of large registration error caused by the fact that the registration is carried out depending on the experience of a doctor in the existing operation registration process. In addition, the registration is carried out based on the X-Ray image shot by the C arm, so that even if the patient moves in the operation process and needs to be re-registered, the registration can be realized by using the X-Ray image shot by the C arm and taken by the moved patient.
Drawings
FIG. 1 is a diagram illustrating an internal structure of a computer device according to an embodiment;
FIG. 2 is a schematic flow chart diagram of a registration method of surgical navigation in one embodiment;
FIG. 3 is a flowchart illustrating the step S103 in the embodiment of FIG. 2;
FIG. 4 is a flowchart illustrating the step S202 in the embodiment of FIG. 3;
FIG. 5 is a flowchart illustrating the step S204 in the embodiment of FIG. 3;
FIG. 6 is a flow diagram illustrating a registration method of surgical navigation according to one embodiment;
FIG. 7 is a flowchart illustrating the step S104 in the embodiment of FIG. 6;
FIG. 8 is a flowchart illustrating a registration method of surgical navigation according to an embodiment;
FIG. 9 is a schematic flow chart diagram illustrating a registration method for surgical navigation in one embodiment;
FIG. 10 is a flowchart illustrating a registration method of surgical navigation according to an embodiment;
FIG. 11 is a schematic structural diagram of a registration system for surgical navigation in one embodiment;
FIG. 12 is a block diagram of a registration apparatus for surgical navigation in one embodiment;
FIG. 13 is a block diagram of a registration apparatus for surgical navigation in one embodiment;
FIG. 14 is a block diagram of a registration apparatus for surgical navigation in one embodiment;
FIG. 15 is a block diagram of a registration apparatus for surgical navigation in one embodiment;
FIG. 16 is a block diagram of a registration apparatus for surgical navigation in one embodiment;
FIG. 17 is a block diagram of a registration apparatus for surgical navigation in one embodiment;
fig. 18 is a block diagram of a registration apparatus for surgical navigation in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The surgical navigation registration method provided by the present application may be applied to a computer device shown in fig. 1, where the computer device may be a server, the computer device may also be a terminal, and an internal structure diagram of the computer device may be as shown in fig. 1. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a surgical navigational registration method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 1 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, as shown in fig. 2, a surgical navigation registration method is provided, which is exemplified by the application of the method to the computer device in fig. 1, and includes the following steps:
s101, acquiring a CT image and at least two X-Ray images of a patient; different X-Ray images are taken by the C-arm at different poses.
The C-arm is called C-type arm, C-type arm X-ray machine, and as the name suggests, the equipment is composed of a C-type frame, a bulb tube for generating X-rays, an image intensifier and a CCD camera for collecting images, and a workstation for processing images. The device is mainly used for radiography, photography and other work in various operations. In addition, differences are also made with other x-ray devices such as: u-shaped arms, G-shaped arms, etc. The CT image includes the tissue structure of the lesion site of the patient, the X-Ray image also includes the tissue structure of the lesion site of the patient, and the CT image and the X-Ray image include the tissue structure of the same lesion site of the same patient. Optionally, the CT image may include tissue structures of the acetabulum, and may also include other tissue structures that need to be operated, which is not limited herein.
In this embodiment, before an operation, a CT imaging device is used to scan and image a lesion site of a patient, so as to obtain a CT image of the patient. In the operation process, when a patient lies on an operation bed, the C-arm (C-arm) is moved to respectively shoot an X-Ray image of the patient in at least two different postures, so as to obtain at least two X-Ray images, and each X-Ray image contains the same tissue structure as a focus part in a CT image shot before the operation.
S102, determining the coordinates of the anatomical points in the operation coordinate system according to the imaging parameters of the C-arm in different postures and the pixel coordinates of the anatomical points in the X-Ray images corresponding to the different postures.
Wherein, the imaging parameters of the C arm under different postures comprise: and the coordinate system of the X-Ray images under different postures corresponds to the operation coordinate system. The surgical coordinate System may be a three-dimensional coordinate System of an Optical Tracking System (OTS). The anatomical points are physiological feature points on the patient's bones, which can be predetermined by the physician before or during surgery.
In this embodiment, when the computer device acquires at least two X-Ray images, the anatomical point of the patient may be further found on each X-Ray image, and the pixel coordinates of the anatomical point on each X-Ray image are determined. Correspondingly, the computer equipment can also determine the imaging parameters of the C arm under different postures according to the X-Ray images under different postures, and optionally, the computer equipment can also calibrate the C arm in advance to obtain the imaging parameters of the C arm under different postures. It should be noted that the computer device may determine the position of the anatomical point on each X-Ray image according to the experience of the doctor, and specifically may determine at least three anatomical points, and the positions of the anatomical points in the X-Ray images in different postures correspond to each other. When the computer equipment obtains the imaging parameters of the C arm under different postures and the pixel coordinates of the anatomical points in the X-Ray images corresponding to different postures, the pixel coordinates of the anatomical points in the X-Ray images under different postures can be converted into the coordinates of the anatomical points in the operation coordinate system according to the imaging parameters of the C arm under different postures. For example, when the computer device obtains the imaging parameters of the C-arm in the pose 1 and the imaging parameters of the C-arm in the pose 2, the coordinates of the anatomical point in the surgical coordinate system can be obtained by combining the pixel coordinates of the anatomical point in the X-Ray image in the pose 1 and the pixel coordinates of the anatomical point in the X-Ray image in the pose 2.
S103, determining target registration parameters according to the space coordinates of the anatomical points in the CT image and the coordinates of the anatomical points in the operation coordinate system.
The target registration parameters comprise the corresponding relation between a CT image coordinate system and an operation coordinate system, and in the operation process, after computer equipment obtains the target registration parameters, the CT image coordinate system and the operation coordinate system can be automatically registered according to the target registration parameters so as to facilitate preoperative path planning and further determine the path of a doctor operating a patient in the operation process.
In this embodiment, when the computer device determines an anatomical point of a patient on each X-Ray image, the computer device may correspondingly determine a corresponding anatomical point on a CT image of the patient, and acquire a spatial coordinate of the anatomical point in the CT image. Therefore, when the computer device obtains the coordinates of the anatomical point in the surgical coordinate system and the spatial coordinates of the anatomical point in the CT image based on the foregoing steps, the transformation matrix between the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system can be obtained. The computer device may determine the transformation matrix directly as the target registration parameter. Optionally, the computer device may also simulate C-arm imaging to obtain a virtual X-Ray image, and then correct the relative pose of the C-arm and the CT data of the patient in the CT image coordinate system by using the difference between the virtual X-Ray image and the real X-Ray image to obtain a transformation matrix between the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system, thereby obtaining the target registration parameters.
The method for determining the spatial coordinates of the anatomical points in the CT images according to the pixel coordinates of the anatomical points in the X-Ray images under different postures is exemplarily described, taking the image at the acetabulum as an example, and specifically comprises the following steps: firstly, scanning a patient before operation to obtain CT images of the patient, and shooting images at the acetabulum of the patient under two different angles (such as an orthostatic image and a lateral image) by using a C arm during operation (namely X-Ray images under different postures); selecting 3 anatomical points on an X-Ray orthostatic image, according to the position relation between the orthostatic image and a side image, obtaining 3 anatomical points on the side image according to the corresponding anatomical points on the constrained selected orthostatic image on the side image (namely, determining polar lines on the side image, and then according to the constrained selected anatomical points on the polar lines), and then calculating the three-dimensional coordinates of the anatomical points according to the two-dimensional coordinates of the anatomical points on the orthostatic image and the two-dimensional coordinates of the anatomical points on the side image. And finally, correspondingly finding the three-dimensional coordinates (CT coordinate system) of the corresponding anatomical points on the CT image. The anatomical points may include, but are not limited to: the suprapubic margin, the inferior endpoint of the obturator foramen, the distal ischial point, the anterior superior iliac spine, the center of the acetabular fossa, and the like. It is understood that the above embodiment is only an example of the image at the acetabulum, and the above method for determining the anatomical points can be applied to other types of images, and the corresponding anatomical points are changed accordingly.
The surgical navigation registration method provided in the above embodiment obtains a CT image of a patient and at least two X-Ray images obtained by shooting a C-arm in different postures, determines coordinates of an anatomical point in a surgical coordinate system according to imaging parameters of the C-arm in different postures and pixel coordinates of the anatomical point in the X-Ray images corresponding to the different postures, and finally determines target registration parameters according to spatial coordinates of the anatomical point in the CT image and coordinates of the anatomical point in the surgical coordinate system. The method realizes the application of the C-arm to the registration of the space coordinate of the CT image and the operation space coordinate, and solves the problem of large registration error caused by the fact that the registration is carried out depending on the experience of a doctor in the existing operation registration process. In addition, the registration is carried out based on the X-Ray image shot by the C arm, so that even if the patient moves in the operation process and needs to be re-registered, the registration can be realized by using the X-Ray image shot by the C arm and taken by the moved patient.
In one embodiment, an implementation of the above S103 is provided, as shown in fig. 3, the above S103 "determining the target registration parameter according to the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system" includes:
s201, obtaining a first registration parameter according to the space coordinate of the anatomical point in the CT image and the coordinate of the anatomical point in the operation coordinate system.
Wherein the first registration parameters include: the corresponding relation between the CT image coordinate system and the operation coordinate system. In this embodiment, when the computer device determines an anatomical point of a patient on each X-Ray image, the computer device may correspondingly determine a corresponding anatomical point on a CT image of the patient, and acquire a spatial coordinate of the anatomical point in the CT image. Therefore, when the computer device obtains the coordinates of the anatomical point in the surgical coordinate system and the spatial coordinates of the anatomical point in the CT image based on the foregoing steps, a transformation matrix between the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system can be obtained, and the computer device can directly determine the transformation matrix as the first registration parameter.
S202, determining different postures of the C arm under the CT coordinate system according to the first registration parameters and the imaging parameters of the C arm under the different postures.
In this embodiment, since the imaging parameter of the C-arm represents a correspondence between a coordinate system of the X-Ray image and an operation coordinate system, and the first registration parameter represents a correspondence between a coordinate system of the CT image (CT coordinate system for short) and the operation coordinate system, the computer device may determine the posture of the C-arm in the CT coordinate system according to the posture of the C-arm in the operation coordinate system based on the first registration parameter and the imaging parameter of the C-arm. For example, when the computer device acquires the imaging parameters of the C-arm in pose 1 and pose 2, pose 1 and pose 2 of the C-arm in the surgical coordinate system may be further converted into the CT coordinate system according to the first registration parameters, so as to obtain pose 1 and pose 2 of the C-arm in the CT coordinate system.
And S203, generating virtual X-Ray images corresponding to different postures according to the different postures of the C-arm in the CT coordinate system and the CT images.
In this embodiment, when the computer device acquires different postures of the C arm in the CT coordinate system, the X-Ray images taken by the C arm in the different postures can be simulated to perform virtual projection according to the CT image data, so as to obtain virtual X-Ray images in the different postures.
And S204, registering the virtual X-Ray images of all the postures with the X-Ray images of the corresponding postures to obtain target registration parameters.
In this embodiment, the computer device may register the virtual X-Ray images of each posture with the X-Ray images of the respective corresponding posture, and continuously adjust the posture of the CT image data according to the registration result until the virtual X-Ray images of each posture are overlapped with the X-Ray images of the respective corresponding posture, calculate to obtain a registration matrix in this process, and then correct the first registration parameter according to the registration matrix, thereby determining the corrected first registration parameter as the target registration parameter. In the above embodiment, the relative pose of the C-arm and the patient in the CT coordinate system is corrected through the difference between the virtual X-ray image and the real X-ray image, so that the finally obtained target registration parameter can overcome the problem that the first registration parameter is inaccurate.
In an embodiment, an implementation of S202 is further provided, as shown in fig. 4, the determining, by S202 ", different poses of the C-arm in the CT coordinate system according to the first registration parameter and the imaging parameter of the C-arm at the different poses includes:
s301, determining different postures of the C-arm under the operation coordinate system according to the imaging parameters of the C-arm under the different postures.
When the computer equipment obtains the imaging parameters of the C arm under different postures, the corresponding relation between the coordinate system of the X-Ray image and the operation coordinate system can be obtained, therefore, in the operation process, when the C arm is used for shooting the patient to obtain the X-Ray images under different postures, the imaging parameters under the corresponding postures can be referred to determine the different postures of the C arm under the operation coordinate system.
S302, determining different postures of the C arm under the CT coordinate system according to the different postures of the C arm under the operation coordinate system and the first registration parameter.
When the computer device obtains the first registration parameter, the corresponding relation between the CT coordinate system and the operation coordinate system can be obtained, therefore, in the operation process, when the computer device obtains different postures of the C arm under the operation coordinate system, the corresponding relation between the CT coordinate system and the operation coordinate system can be referred, and different postures of the C arm under the CT coordinate system can be determined according to the different postures of the C arm under the operation coordinate system.
In an embodiment, an implementation manner of the foregoing S204 is further provided, as shown in fig. 5, the foregoing S204 "registering the virtual X-Ray images of the respective poses and the X-Ray images of the respective corresponding poses to obtain target registration parameters" includes:
s401, registering the virtual X-Ray images of all the postures with the X-Ray images of the corresponding postures to obtain second registration parameters.
In this embodiment, the computer device may register the virtual X-Ray images of each posture with the X-Ray images of the respective corresponding posture, and continuously adjust the posture of the CT image data according to the registration result until the virtual X-Ray images of each posture are overlapped with the X-Ray images of the respective corresponding posture, and calculate to obtain a registration matrix in this process, and then directly use the registration matrix as the second registration parameter.
S402, determining target registration parameters according to the second registration parameters and the first registration parameters.
When the computer device obtains the second registration parameter and the first registration parameter, the second registration parameter can be used for correcting the first configuration parameter, and the corrected first registration parameter is determined as a target registration parameter; optionally, the computer device may also calculate a new registration parameter according to the second registration parameter and the first registration parameter, and determine the new registration parameter as the target registration parameter.
In practical applications, before the computer device performs the step of S102, as shown in fig. 6, the computer device further needs to perform the steps of:
s104: and acquiring imaging parameters of the C arm under different postures.
Based on this, the present application further provides a method for acquiring imaging parameters of a C-arm at different poses, as shown in fig. 7, the method includes:
s501, acquiring pixel coordinates of mark points in X-Ray images under different postures; the X-Ray image comprises a tissue structure and a calibration target of a region to be operated of a patient; the calibration target carries a marker point.
In this embodiment, the C-arm may be calibrated by using a calibration target, and the specific method includes: when a patient lies on the operating table, the C-arm is used for shooting the tissue structure of the region to be operated of the patient in different postures, and the calibration target is arranged in the region near the tissue structure, so that the C-arm can be used for shooting the tissue structure and the calibration target of the region to be operated of the patient at the same time, and X-Ray images including the tissue structure of the region to be operated and the calibration target in different postures are obtained. Then, the computer equipment finds the marking points on the calibration target in the X-Ray images under different postures, and the pixel coordinates of the marking points in the X-Ray images under different postures can be obtained.
S502, coordinates of the marking points in the X-Ray images under different postures in the operation coordinate system are obtained through the tracking system.
In this embodiment, when the marker target is disposed in the vicinity of the tissue structure of the patient, the position of the marker point on the marker target can be tracked using a tracking system (OTS), and the coordinates of the marker point in the surgical coordinate system (OTS coordinate system) can be obtained. Therefore, when the patient is shot by the C-arm under different postures to obtain the X-Ray images, the tracking system (OTS) can be adopted to track the positions of the marking points on the marking targets at the same time, and the coordinates of the marking points in the X-Ray images under different postures in the operation coordinate system (OTS coordinate system) can be obtained.
S503, determining imaging parameters of the C arm under different postures according to the pixel coordinates of the mark points in the X-Ray images under different postures and the coordinates of the mark points in the operation coordinate system.
When the computer equipment acquires the pixel coordinates of the mark points in the X-Ray images under different postures and the coordinates of the mark points in the X-Ray images under different postures in the operation coordinate system, the corresponding relation between the pixel coordinates of the mark points in the X-Ray images under different postures and the coordinates of the mark points in the operation coordinate system, namely the corresponding relation between the pixel coordinate system of the X-Ray images under different postures and the operation coordinate system, can be created, and the imaging parameters of the C arm under different postures are obtained. In the embodiment, the imaging parameters of the C arm under different postures are determined by using the calibration target and tracking system, and the calibration of the C arm is realized by fully utilizing the assistance of available equipment in an operation field, so that the imaging parameters of the C arm under different postures are determined, and a reliable reference basis is provided for the later registration process.
In practical applications, after performing the step of S101, the computer device further needs to acquire an anatomical point on the X-Ray image and an anatomical point on the CT image, and as shown in fig. 8, the acquiring method includes:
s601, determining anatomical points in the X-Ray images under different postures to obtain pixel coordinates of the anatomical points in the X-Ray images under different postures.
In this embodiment, a doctor can select an anatomical point on the X-Ray image, and then obtain the pixel coordinates of the anatomical point in the X-Ray image under different postures. Optionally, the computer device may first determine two-dimensional pixel coordinates of the anatomical point on the X-Ray image in different postures (first determine the position of the anatomical point on the X-Ray image in one posture, and then determine the anatomical point at the corresponding position on the X-Ray image in another posture), and then calculate the three-dimensional pixel coordinates according to the two-dimensional coordinates of the anatomical point in different postures, so as to solve the spatial coordinates of the anatomical point in the CT image according to the three-dimensional pixel coordinates, and this process may be specifically referred to the description implemented in fig. 2, which is not repeated here.
S602, determining a spatial coordinate corresponding to the position of the anatomical point in the X-Ray image in the CT image to obtain the spatial coordinate of the anatomical point in the CT image.
In this embodiment, after the doctor selects an anatomical point on the X-Ray image, the computer device may further find a corresponding anatomical point in the CT image according to the determined position of the anatomical point, and then obtain a spatial coordinate of the found anatomical point in the CT image. It should be noted that, when the doctor selects the anatomical point on the X-Ray image, the position of the anatomical point may be determined by triggering a selection instruction on the computer device, so that the computer device may determine the spatial coordinates of the anatomical point in the CT image according to the selection of the doctor. For example, a doctor can mark the position of an anatomical point on a touch interface displayed with a CT image, and the computer device can determine the spatial coordinates of the anatomical point in the CT image in response to a marking instruction triggered by the doctor. The triggering method is not limited in this embodiment.
In practical applications, another method for acquiring an anatomical point on an X-Ray image and an anatomical point on a CT image is provided, and as shown in fig. 9, the acquiring method includes:
and S701, marking on the patient.
Before operation, when a CT imaging device scans and images a patient, a mark may be attached to the patient in advance to mark the position of a specific point, so that the mark can be visualized under an X-ray and can be visualized in a CT image.
S702, pixel coordinates corresponding to the marks in the X-Ray images in different postures are determined as pixel coordinates of anatomical points in the X-Ray images in different postures.
When the C-arm is used for shooting to obtain the X-Ray images under different postures, the marks attached to the patient can be displayed in the X-Ray images, and the computer equipment can determine the pixel coordinates of the anatomical points in the X-Ray images under different postures according to the positions of the marks.
And S703, determining the space coordinate corresponding to the mark in the CT image as the space coordinate of the anatomical point in the CT image.
Before an operation, when the CT imaging device scans and images a patient, a mark may be attached to the patient in advance to mark the position of an anatomical point, and then when a CT image is obtained, the mark attached to the patient may be displayed in the CT image, and the computer device may determine the spatial coordinate of the anatomical point in the CT image according to the position of the mark.
In combination with the above embodiments, the following embodiments exemplarily illustrate the registration method of the surgical navigation, as shown in fig. 10 (it should be noted that the following embodiments take X-ray images taken at two different poses as an example, which is only an exemplary illustration method, and does not limit the number of poses), and the method includes:
s801, shooting the patient with the calibration target under the posture 1 by using the C arm to obtain an X-Ray image 1 of the patient with the calibration target.
S802, shooting the patient with the calibration target under the posture 2 by using the C arm to obtain an X-Ray image 2 of the patient with the calibration target.
S803, acquiring the pixel coordinate 1 of the marking point on the calibration target in the X-Ray image 1.
S804, obtaining the pixel coordinate 2 of the marking point on the calibration target in the X-Ray image 2.
And S805, acquiring the coordinate 1 of the mark point on the calibration target in the posture 1 in the OTS coordinate system through the OTS.
And S806, acquiring the coordinate 2 of the mark point on the calibration target in the posture 2 in the OTS coordinate system through the OTS.
S807, determining an imaging parameter 1 of the C arm according to the pixel coordinate 1 of the mark point on the calibration target in the X-Ray image 1 and the coordinate 1 of the mark point on the calibration target in the OTS coordinate system.
And S808, determining an imaging parameter 2 of the C arm according to the pixel coordinate 2 of the mark point on the calibration target in the X-Ray image 2 and the coordinate 2 of the mark point on the calibration target in the OTS coordinate system.
And S809, obtaining the posture 1 of the C-arm in the OTS coordinate system according to the imaging parameter 1 of the C-arm.
And S810, obtaining the attitude 2 of the C arm under the OTS coordinate system according to the imaging parameter 2 of the C arm.
S811, 3 anatomical points are found on the X-Ray image 1.
S812, 3 anatomical points are found on the X-Ray image 2.
S813, determining the coordinates of the anatomical point in the OTS coordinate system according to the imaging parameter 1 of the C arm, the imaging parameter 2 of the C arm, the 3 anatomical points found on the X-Ray image 1 and the 3 anatomical points found on the X-Ray image 2.
S814, acquiring data of the CT image.
And S815, determining the coordinates of the corresponding anatomical point on the CT image in the CT coordinate system according to the data of the CT image.
And S816, determining a coarse registration parameter according to the coordinate of the anatomical point in the CT coordinate system and the coordinate of the anatomical point in the OTS coordinate system.
And S817, obtaining the posture 1 of the C arm in the CT coordinate system according to the coarse registration matrix and the posture 1 of the C arm in the OTS coordinate system.
And S818, obtaining the posture 2 of the C arm in the CT coordinate system according to the rough registration matrix and the posture 2 of the C arm in the OTS coordinate system.
S819, according to the data of the CT image and the posture 1 of the C arm in the CT coordinate system, simulating the imaging of the C arm in the posture 1 to obtain a virtual X-Ray image 1.
S820, simulating imaging of the C arm under the posture 2 according to data of the CT image and the posture 2 of the C arm under the CT coordinate system to obtain a virtual X-Ray image 2.
And S821, performing iterative registration on the virtual X-Ray image 1 and the X-Ray image 1, and performing iterative registration on the virtual X-Ray image 2 and the X-Ray image 2 to obtain a fine registration parameter.
And S822, obtaining target registration parameters according to the fine registration parameters and the coarse registration parameters.
For the detailed description of the above steps, refer to the foregoing contents, which are not repeated herein.
Based on the surgical navigation registration method according to any embodiment, the present application further provides a surgical navigation registration system, as shown in fig. 11, the system includes: the calibration system comprises a C-arm system, a calibration target and an OTS device, wherein the C-arm system comprises a C-shaped arm, a flat panel detector and a bulb tube. The bulb tube is used for generating X rays, the flat panel detector is used for collecting detection signals to acquire X-ray images, the calibration target is provided with a mark, and the OTS device is used for tracking the mark on the calibration target. The registration method according to any of the above embodiments can be implemented by applying the above registration system, and for a specific implementation process, reference is made to the foregoing description, which is not repeated herein.
It should be understood that although the various steps in the flow charts of fig. 2-10 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-10 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 12, there is provided a surgical navigational registration apparatus, comprising:
the acquisition module 11 is used for acquiring a CT image and at least two X-Ray images of a patient;
the determining module 12 is configured to determine coordinates of an anatomical point in an operation coordinate system according to the imaging parameters of the C-arm in different postures and pixel coordinates of the anatomical point in the X-Ray images corresponding to the different postures;
and the registration module 13 is configured to determine a target registration parameter according to the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system.
In one embodiment, as shown in fig. 13, the registration module 13 includes:
a first determining unit 131, configured to obtain a first registration parameter according to a spatial coordinate of the anatomical point in the CT image and a coordinate of the anatomical point in an operation coordinate system;
a second determining unit 132, configured to determine different postures of the C-arm in a CT coordinate system according to the first registration parameter and the imaging parameter of the C-arm in different postures;
a generating unit 133, configured to generate virtual X-Ray images corresponding to different postures according to the CT images and different postures of the C-arm in a CT coordinate system;
and the registration unit 134 is configured to register the virtual X-Ray images in the respective postures with the X-Ray images in the respective corresponding postures to obtain the target registration parameters.
In one embodiment, as shown in fig. 14, the second determining unit 132 includes:
a first determining subunit 1321, configured to determine, according to the imaging parameters of the C-arm at different poses, different poses of the C-arm in the surgical coordinate system;
a second determining subunit 1322 is configured to determine different poses of the C-arm in the CT coordinate system according to the different poses of the C-arm in the surgical coordinate system and the first registration parameter.
In one embodiment, as shown in fig. 15, the registration unit 134 includes:
a first registration subunit 1341, configured to register the virtual X-Ray images in each pose with X-Ray images in respective corresponding poses to obtain a second registration parameter;
a second registration subunit 1342, configured to determine the target registration parameter according to the second registration parameter and the first registration parameter.
In one embodiment, as shown in fig. 16, the above-mentioned surgical navigation registration apparatus further includes:
an imaging parameter obtaining module 14, configured to obtain imaging parameters of the C-arm in different postures;
an acquire imaging parameters module 14, comprising:
a first obtaining unit 141, configured to obtain pixel coordinates of a mark point in the X-Ray images in different postures; the X-Ray image comprises a tissue structure and a calibration target of the region to be operated of the patient; the calibration target carries the marking points;
a second obtaining unit 142, configured to obtain, through a tracking system, coordinates of marker points in the X-Ray images in the different postures in the surgical coordinate system;
the third determining unit 143 is configured to determine imaging parameters of the C-arm in different postures according to the pixel coordinates of the marker point in the X-Ray images in different postures and the coordinates of the marker point in the surgical coordinate system.
In one embodiment, as shown in fig. 17, the above-mentioned surgical navigation registration apparatus further includes:
the first coordinate determining module 15 is configured to determine the anatomical point in the X-Ray images in the different postures to obtain pixel coordinates of the anatomical point in the X-Ray images in the different postures;
and a second coordinate determining module 16, configured to determine, in the CT image, a spatial coordinate corresponding to a position of an anatomical point in the X-Ray image, so as to obtain a spatial coordinate of the anatomical point in the CT image.
In one embodiment, as shown in fig. 18, the above-mentioned surgical navigation registration apparatus further includes:
a marking module 17 for marking on the patient;
a third coordinate determining module 18, configured to determine pixel coordinates corresponding to the marks in the X-Ray images in the different postures as pixel coordinates of anatomical points in the X-Ray images in the different postures;
a fourth coordinate determining module 19, configured to determine a spatial coordinate corresponding to the mark in the CT image as a spatial coordinate of the anatomical point in the CT image.
For specific definition of the registration device for surgical navigation, reference may be made to the above definition of the registration method for surgical navigation, which is not described herein again. The various modules in the above-described surgical navigational registration apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a CT image and at least two X-Ray images of a patient; different X-Ray images are obtained by shooting the C arm at different postures;
determining the coordinates of the anatomical points in an operation coordinate system according to the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical points in the X-Ray images corresponding to the different postures;
and determining target registration parameters according to the space coordinates of the anatomical points in the CT image and the coordinates of the anatomical points in a surgical coordinate system.
The implementation principle and technical effect of the computer device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a CT image and at least two X-Ray images of a patient; different X-Ray images are obtained by shooting the C arm at different postures;
determining the coordinates of the anatomical points in an operation coordinate system according to the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical points in the X-Ray images corresponding to the different postures;
and determining target registration parameters according to the space coordinates of the anatomical points in the CT image and the coordinates of the anatomical points in a surgical coordinate system.
The implementation principle and technical effect of the computer-readable storage medium provided by the above embodiments are similar to those of the above method embodiments, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A surgical navigational registration method, the method comprising:
acquiring a CT image and at least two X-Ray images of a patient; different X-Ray images are obtained by shooting the C arm at different postures;
determining the coordinates of the anatomical points in an operation coordinate system according to the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical points in the X-Ray images corresponding to the different postures;
obtaining a first registration parameter according to the space coordinate of the anatomical point in the CT image and the coordinate of the anatomical point in an operation coordinate system;
determining different postures of the C arm under a CT coordinate system according to the first registration parameter and the imaging parameters of the C arm under different postures;
generating virtual X-Ray images corresponding to different postures according to the different postures of the C arm in the CT coordinate system and the CT images;
and registering the virtual X-Ray images of all the postures with the X-Ray images of the corresponding postures to obtain target registration parameters.
2. The method of claim 1, wherein the X-Ray images at different poses are obtained by moving the C-arm to take X-Ray images of the patient at different poses.
3. The method according to claim 1 or 2, wherein the determining different poses of the C-arm in the CT coordinate system from the first registration parameters and imaging parameters of the C-arm in the different poses comprises:
determining different postures of the C-arm under the operation coordinate system according to the imaging parameters of the C-arm under the different postures;
and determining different postures of the C-arm in the CT coordinate system according to the different postures of the C-arm in the operation coordinate system and the first registration parameter.
4. The method according to claim 1 or 2, wherein the registering the virtual X-Ray image of each pose with the X-Ray image of each corresponding pose to obtain the target registration parameters comprises:
registering the virtual X-Ray images of all the postures with the X-Ray images of the corresponding postures to obtain second registration parameters;
and determining the target registration parameter according to the second registration parameter and the first registration parameter.
5. The method of claim 1, wherein before determining coordinates of an anatomical point in a surgical coordinate system based on imaging parameters of the C-arm at different poses and pixel coordinates of the anatomical point in X-Ray images corresponding to the different poses, the method further comprises:
acquiring imaging parameters of the C arm under different postures;
the acquiring of the imaging parameters of the C-arm under different postures comprises:
acquiring pixel coordinates of the marking points in the X-Ray images under different postures; the X-Ray image comprises a tissue structure and a calibration target of the region to be operated of the patient; the calibration target carries the marking points;
acquiring coordinates of the marking points in the X-Ray images under different postures in the operation coordinate system through a tracking system;
and determining imaging parameters of the C arm under different postures according to the pixel coordinates of the mark points in the X-Ray images under different postures and the coordinates of the mark points in the operation coordinate system.
6. The method of claim 1, wherein after acquiring the CT image and the at least two X-Ray images of the patient, the method further comprises:
determining the anatomical points in the X-Ray images under different postures to obtain pixel coordinates of the anatomical points in the X-Ray images under different postures;
and determining a space coordinate corresponding to the position of the anatomical point in the X-Ray image in the CT image to obtain the space coordinate of the anatomical point in the CT image.
7. The method of claim 1, wherein prior to acquiring the CT image and the at least two X-Ray images of the patient, the method further comprises:
marking on the patient;
determining pixel coordinates corresponding to the marks in the X-Ray images under different postures as pixel coordinates of anatomical points in the X-Ray images under different postures;
and determining the space coordinate corresponding to the mark in the CT image as the space coordinate of the anatomical point in the CT image.
8. A surgical navigational registration apparatus, the apparatus comprising:
the acquisition module is used for acquiring a CT image and at least two X-Ray images of a patient;
the determining module is used for determining the coordinates of the anatomical points in an operation coordinate system according to the imaging parameters of the C arm under different postures and the pixel coordinates of the anatomical points in the X-Ray images corresponding to the different postures;
the registration module is used for obtaining a first registration parameter according to the space coordinate of the anatomical point in the CT image and the coordinate of the anatomical point in an operation coordinate system; determining different postures of the C arm under a CT coordinate system according to the first registration parameter and the imaging parameters of the C arm under different postures; generating virtual X-Ray images corresponding to different postures according to the different postures of the C arm in the CT coordinate system and the CT images; and registering the virtual X-Ray images of all the postures with the X-Ray images of the corresponding postures to obtain target registration parameters.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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