CN110215285A - The method for correcting error and system of surgical navigational - Google Patents
The method for correcting error and system of surgical navigational Download PDFInfo
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- CN110215285A CN110215285A CN201910642529.6A CN201910642529A CN110215285A CN 110215285 A CN110215285 A CN 110215285A CN 201910642529 A CN201910642529 A CN 201910642529A CN 110215285 A CN110215285 A CN 110215285A
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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
- 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
- A61B2034/101—Computer-aided simulation 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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Abstract
The embodiment of the invention discloses a kind of method for correcting error of surgical navigational and systems, it the described method comprises the following steps: the registration moment before carrying out surgical navigational, patient's lesions position index point coordinate is obtained, and obtains the first three-dimensional coordinate of patient's lesions position based on 3D scanning technique；Calculate the first mapping matrix of patient's lesions position index point coordinate Yu described image path indicator point coordinate；The calibration moment before carrying out surgical navigational, the specific physiological structure characteristic point coordinate for obtaining patient's lesions position, the physical location for verifying the first mapping matrix and the calibration moment patient lesions position based on the specific physiological structure characteristic point coordinate whether there is deviation；There are deviations, then the second three-dimensional coordinate of patient's lesions position is obtained based on 3D scanning technique；Calculate the second mapping matrix of first three-dimensional coordinate Yu second three-dimensional coordinate；Surgical navigational is carried out based on the first mapping matrix and the second mapping matrix.The embodiment of the present invention can guarantee the precision of surgical navigational.
Description
Technical field
The present embodiments relate to intelligent medical technical fields, and in particular to a kind of method for correcting error of surgical navigational and is
System.
Background technique
The correction IGS (Image Guided Surgery) of surgical navigational refers to that doctor utilizes medical imaging device in the preoperative
With the method for computer graphics, three-dimensional reconstruction and visualization processing are carried out to the image data of patient's multi-mode, obtained three-dimensional
Model formulates reasonable, quantitative surgical planning, carries out preoperative simulation；By registration operation in art, threedimensional model and patient
Practical position, the real time position of surgical instrument is unified under a coordinate system in space, and utilize 3 D positioning system opponent
The position of art instrument in space acquires and shows in real time, and doctor passes through surgical instrument and diseased region in observation threedimensional model
Relative positional relationship carries out navigating surgery treatment to patient.
The correction of currently used surgical navigational has electromagnetic navigation and optical guidance, wherein optical guidance is the hand of mainstream
The method for correcting error of art navigation.Optical guidance utilizes three mesh or binocular stereo vision principle, uses visible light or near infrared light imaging
System realizes space orientation.The correction clinical manipulation process of existing surgical navigational is as follows: (1) preoperative to paste scalp in patient's brain
Marker carries out CT scan, and image data is inputted computer workstation, human 3d model reconstruction is carried out, to plan hand
Rationally accurate operation plan is formulated in art path.(2) Infrared locator and frame of reference are set up and starts to acquire image, will be performed the operation
Instrument is clicked scalp marker and is registered, and completes the registration between operative space coordinate system and image space coordinate system, makes hand
Art instrument can be accurately presented in image.(3) it performs the operation under navigation instruction to lesion, navigation system meeting real-time display is worked as
The position of preceding operation devices work point (tip probe) and surrounding image.
The correction of above-mentioned surgical navigational is mainly used in neurosurgery, such as the operation of skull, spinal cord.When operation is led
When the correction of boat is applied to movement focal zone, if still using the above method, mark object in patient head, patient head fortune
It is dynamic to will lead to marker and constantly move, so that accurate coordinate system cannot be established, influence operative space coordinate system and image coordinate
Registration between system cannot achieve the correction of accurate surgical navigational.
Summary of the invention
For this purpose, the embodiment of the present invention provides the method for correcting error and system of a kind of surgical navigational, it is intended at least to a certain degree
It is upper to solve one of above-mentioned technical problem in the prior art.
To achieve the goals above, the embodiment of the present invention provides the following technical solutions:
The embodiment of the present invention provides a kind of method for correcting error of surgical navigational, comprising the following steps:
Image path index point coordinate is chosen in 3-D image in surgical planning software；
The registration moment before carrying out surgical navigational obtains patient's lesions position index point coordinate, and is based on 3D scanning technique
Obtain the first three-dimensional coordinate of patient's lesions position；It calculates patient's lesions position index point coordinate and described image path is marked
First mapping matrix of will point coordinate；
The calibration moment before carrying out surgical navigational obtains the specific physiological structure characteristic point coordinate of patient's lesions position, base
The reality of the first mapping matrix and the calibration moment patient lesions position is verified in the specific physiological structure characteristic point coordinate
Position whether there is deviation；Wherein, the calibration moment is later than the registration moment；
There are deviations, then the second three-dimensional coordinate of patient's lesions position is obtained based on 3D scanning technique；Calculate described first
Second mapping matrix of three-dimensional coordinate and second three-dimensional coordinate；
Surgical navigational is carried out based on the first mapping matrix and the second mapping matrix.
Further, described to calculate patient's lesions position index point coordinate and described image path indicator point coordinate
The step of first mapping matrix, further comprises:
The first mapping matrix M1 is calculated based on following formula；
M1=C2/C1；
Wherein, C1 is described image path indicator point coordinate, and C2 is patient's lesions position index point coordinate.
Further, the step of second mapping matrix for calculating first three-dimensional coordinate and second three-dimensional coordinate
Suddenly, further comprise:
The second mapping matrix M2 is calculated based on following formula；
M2=C3/C2；
Wherein, C3 is second three-dimensional coordinate, and C2 is patient's lesion included in first three-dimensional coordinate
Position index point coordinate.
Further, described the step of being based on the first mapping matrix and the second mapping matrix progress surgical navigational, further
Include:
Current procedure instrument is calculated with respect to surgical navigational software corresponding to patient's lesions position position coordinates C3 ' based on following formula
Image path index point coordinate C1 ' in interior 3-D image；Wherein, the 3-D image in the surgical planning software and described
3-D image in surgical navigational software shares the same coordinate system；
C1 '=C3 ' * M1*M2；
And the C1 ' is shown in the 3-D image in surgical navigational software.
The embodiment of the present invention provides a kind of deviation-rectifying system of surgical navigational, including surgery planning module, coordinate setting module,
Medical image module and surgical navigational server:
Surgery planning module is for choosing image path index point coordinate in the 3-D image in surgical planning software；
Registration moment before carrying out surgical navigational, coordinate setting module are used to obtain patient's lesions position index point coordinate,
Medical image module obtains the first three-dimensional coordinate of patient's lesions position based on 3D scanning technique；Described in surgery planning module obtains
First mapping matrix of patient's lesions position index point coordinate and described image path indicator point coordinate；
Calibration moment before carrying out surgical navigational, surgical navigational server obtain the specific physiological structure of patient's lesions position
Characteristic point coordinate verifies the first mapping matrix and calibration moment patient disease based on the specific physiological structure characteristic point coordinate
Stove site location whether there is deviation；Wherein, the calibration moment is later than the registration moment；
There are deviations, then coordinate setting module is used to obtain the second three-dimensional seat of patient's lesions position based on 3D scanning technique
Mark；Surgical navigational server is used to obtain the second mapping matrix of first three-dimensional coordinate Yu second three-dimensional coordinate；
Surgical navigational server is based on the first mapping matrix and the second mapping matrix carries out surgical navigational.
Further, the surgery planning module, is further used for:
The first mapping matrix M1 is calculated based on following formula；
M1=C2/C1；
Wherein, C1 is described image path indicator point coordinate, and C2 is patient's lesions position index point coordinate.
Further, the surgical navigational server, is further used for:
The second mapping matrix M2 is calculated based on following formula；
M2=C3/C2；
Wherein, C3 is second three-dimensional coordinate, and C2 is patient's lesion included in first three-dimensional coordinate
Position index point coordinate.
Further, surgical navigational server is further used for:
Current procedure instrument is calculated with respect to surgical navigational software corresponding to patient's lesions position position coordinates C3 ' based on following formula
Image path index point coordinate C1 ' in interior 3-D image；Wherein, the 3-D image in the surgical planning software and described
3-D image in surgical navigational software shares the same coordinate system；
C3 '=C1 ' * M1*M2；
And the C1 ' is shown in the 3-D image in surgical navigational software.
The embodiment of the present invention provides a kind of electronic equipment, including memory, processor and storage are on a memory and can be
The computer program run on processor realizes that surgical navigational described in any of the above-described entangles when the processor executes described program
The step of folk prescription method.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, is stored thereon with computer program, should
The step of surgical navigational method for correcting error described in any of the above-described is realized when computer program is executed by processor.
The embodiment of the present invention provides the method for correcting error and system of a kind of surgical navigational, the described method comprises the following steps:
Image path index point coordinate is chosen in 3-D image in surgical planning software；It at the registration moment before carrying out surgical navigational, obtains
Patient's lesions position index point coordinate is taken, and obtains the first three-dimensional coordinate of patient's lesions position based on 3D scanning technique；It calculates
First mapping matrix of patient's lesions position index point coordinate and described image path indicator point coordinate；Carry out surgical navigational
The preceding calibration moment obtains the specific physiological structure characteristic point coordinate of patient's lesions position, special based on the specific physiological structure
Sign point coordinate verifies the first mapping matrix and the physical location of the calibration moment patient lesions position whether there is deviation；Its
In, the calibration moment is later than the registration moment；There are deviations, then obtain the of patient's lesions position based on 3D scanning technique
Two three-dimensional coordinates；Calculate the second mapping matrix of first three-dimensional coordinate Yu second three-dimensional coordinate；Based on the first mapping
Matrix and the second mapping matrix carry out surgical navigational.
The embodiment of the present invention, which has the advantages that, is able to verify that in surgical procedure that operating bed where patient is with navigation equipment
It is no that method that is mobile and being modified after moving to navigation error occurs, guarantee the precision of surgical navigational, performs the operation simultaneously
Body surface symbol object can be removed in the process, and body surface symbol object is avoided to generate the beneficial effect of interference to operation pathway.
Detailed description of the invention
It, below will be to embodiment party in order to illustrate more clearly of embodiments of the present invention or technical solution in the prior art
Formula or attached drawing needed to be used in the description of the prior art are briefly described.It should be evident that the accompanying drawings in the following description is only
It is merely exemplary, it for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer, which is extended, obtains other implementation attached drawings.
Structure depicted in this specification, ratio, size etc., only to cooperate the revealed content of specification, for
Those skilled in the art understands and reads, and is not intended to limit the invention enforceable qualifications, therefore does not have technical
Essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the function of the invention that can be generated
Under effect and the purpose that can reach, should all still it fall in the range of disclosed technology contents obtain and can cover.
Fig. 1 is a kind of method for correcting error overall flow schematic diagram of surgical navigational provided in an embodiment of the present invention；
Fig. 2 is a kind of deviation-rectifying system overall structure diagram of surgical navigational provided in an embodiment of the present invention；
Fig. 3 is a kind of electronic equipment structural schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily, it is clear that described embodiment is the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Review of computer aided surgery system is early 1990s to initially enter clinical application in European and American developed countries to be
Surgeon provides the advanced Medical Devices of surgical navigational, operation guiding system by patient is preoperative or art in image data and operation
Differences in patient accurately corresponds on bed, in operation track surgical instrument and by the position of surgical instrument on patient's image with void
The form real-time update of quasi- probe is shown, is kept doctor very clear with respect to the position of differences in patient to surgical instrument, is made outer
Section perform the operation more rapidly, it is more accurate, safer.
The mode that existing operation guiding system is all made of preoperative coordinate system registration carries out spatial position registration, preoperative in patient
Body surface pastes witness marker object and carries out image (CT or nuclear-magnetism) scanning, picks up the patient's body surface witness marker object on operating bed in art
Coordinate, by the coordinate of the body surface symbol object picked up in the coordinate of body surface symbol object in image and art establish mapping relations carry out hand
Art navigation.But after operating bed or navigation equipment move where patient in surgical procedure, the relative positional relationship of the two occurs
Variation, can introduce spatial registration errors, the precision of image surgical navigational.
The mode that existing operation guiding system is all made of preoperative coordinate system registration carries out spatial position registration, preoperative in patient
Body surface pastes witness marker object and carries out image (CT or nuclear-magnetism) scanning, picks up the patient's body surface witness marker object on operating bed in art
Coordinate, by the coordinate of the body surface symbol object picked up in the coordinate of body surface symbol object in image and art establish mapping relations carry out hand
Art navigation.But after operating bed or navigation equipment move where patient in surgical procedure, the relative positional relationship of the two occurs
Variation, can introduce spatial registration errors, the precision of image surgical navigational.
For solve the problems, such as it is in the prior art at least one, the embodiment of the present invention provides a kind of correction side of surgical navigational
Method.As shown in Figure 1, the method for correcting error of the surgical navigational, generally comprises following steps:
Step S1 chooses image path index point coordinate in the 3-D image in surgical planning software.
Step S2 at the registration moment before carrying out surgical navigational, obtains patient's lesions position index point coordinate, and sweep based on 3D
Retouch the first three-dimensional coordinate that technology obtains patient's lesions position；Calculate patient's lesions position index point coordinate and described image
First mapping matrix of path indicator point coordinate.
Step S2 at the calibration moment before carrying out surgical navigational, obtains the specific physiological structure characteristic point of patient's lesions position
Coordinate verifies the first mapping matrix and the calibration moment patient lesions position based on the specific physiological structure characteristic point coordinate
Physical location whether there is deviation；Wherein, the calibration moment is later than the registration moment.
Step S3, there are deviations, then the second three-dimensional coordinate of patient's lesions position is obtained based on 3D scanning technique；Calculate institute
State the second mapping matrix of the first three-dimensional coordinate Yu second three-dimensional coordinate.
Step S4 carries out surgical navigational based on the first mapping matrix and the second mapping matrix.
Wherein, described to calculate the first of patient's lesions position index point coordinate and described image path indicator point coordinate
The step of mapping matrix, further comprises: calculating the first mapping matrix M1 based on following formula；M1=C2/C1；Wherein, C1 is described
Image path index point coordinate, C2 are patient's lesions position index point coordinate.
It should be noted that second mapping matrix for calculating first three-dimensional coordinate and second three-dimensional coordinate
The step of, further comprise: the second mapping matrix M2 is calculated based on following formula；M2=C3/C2；Wherein, C3 is described second three-dimensional
Coordinate, C2 are patient's lesions position index point coordinate included in first three-dimensional coordinate.
Further, it described the step of being based on the first mapping matrix and the second mapping matrix progress surgical navigational, further wraps
It includes: current procedure instrument is calculated with respect in surgical navigational software corresponding to patient's lesions position position coordinates C3 ' based on following formula
Image path index point coordinate C1 ' in 3-D image；Wherein, the 3-D image in the surgical planning software and the operation
3-D image in navigation software shares the same coordinate system；C1 '=C3 ' * M1*M2；And by the C1 ' in surgical navigational software
It is shown in interior 3-D image.
The embodiment of the present invention provides a kind of method for correcting error of surgical navigational, the described method comprises the following steps: advising in operation
It draws and chooses image path index point coordinate in the 3-D image in software；The registration moment before carrying out surgical navigational obtains patient
Lesions position index point coordinate, and the first three-dimensional coordinate based on 3D scanning technique acquisition patient's lesions position；Calculate the disease
First mapping matrix of people's lesions position index point coordinate and described image path indicator point coordinate；School before carrying out surgical navigational
It is punctual to carve, the specific physiological structure characteristic point coordinate of patient's lesions position is obtained, is sat based on the specific physiological structure characteristic point
The physical location of mark the first mapping matrix of verifying and the calibration moment patient lesions position whether there is deviation；Wherein, described
The calibration moment is later than the registration moment；There are deviations, then the second three-dimensional of patient's lesions position is obtained based on 3D scanning technique
Coordinate；Calculate the second mapping matrix of first three-dimensional coordinate Yu second three-dimensional coordinate；Based on the first mapping matrix and
Second mapping matrix carries out surgical navigational.The embodiment of the present invention, which has the advantages that, to be able to verify that in surgical procedure where patient
Whether operating bed and navigation equipment occur method that is mobile and being modified after moving to navigation error, guarantee that operation is led
The precision of boat, while body surface symbol object can be removed in surgical procedure, avoid body surface symbol object from generating interference to operation pathway
Beneficial effect.
On the basis of the above embodiment of the present invention, a kind of method for correcting error of surgical navigational is provided, it is described to calculate the disease
The step of first mapping matrix of people's lesions position index point coordinate and described image path indicator point coordinate, further comprise:
The first mapping matrix M1 is calculated based on following formula；M1=C2/C1；Wherein, C1 is described image path indicator point coordinate, and C2 is described
Patient's lesions position index point coordinate.
If coordinate system is image coordinate system in surgical navigational software, described image path indicator point coordinate is C1；With mark
As initial patient coordinate system, the coordinate points in initial patient coordinate system are C2 for patient coordinate system when point is registered；After primary registration
Obtain image coordinate system to initial patient coordinate system transition matrix M1, then by putting in image coordinate system to initial patient coordinate system
The conversion of interior point can be obtained by following relationship: C2=C1*M1.
The embodiment of the present invention, which has the advantages that, is able to verify that in surgical procedure that operating bed where patient is with navigation equipment
It is no that method that is mobile and being modified after moving to navigation error occurs, guarantee the precision of surgical navigational, performs the operation simultaneously
Body surface symbol object can be removed in the process, and body surface symbol object is avoided to generate the beneficial effect of interference to operation pathway.
On the basis of any above-described embodiment of the invention, a kind of method for correcting error of surgical navigational, the calculating institute are provided
The step of stating the second mapping matrix of first three-dimensional coordinate with second three-dimensional coordinate further comprises: being calculated based on following formula
Second mapping matrix M2；M2=C3/C2；Wherein, C3 is second three-dimensional coordinate, and C2 in first three-dimensional coordinate by wrapping
The patient's lesions position index point coordinate contained.
Wherein, the conversion square of patient coordinate system after secondary registration obtains initial patient coordinate system to movement after patient is mobile
Battle array M2 can then be obtained: C3 by the conversion put in patient coordinate system after putting in initial patient coordinate system to movement by following relationship
=C2*M2.
The embodiment of the present invention, which has the advantages that, is able to verify that in surgical procedure that operating bed where patient is with navigation equipment
It is no that method that is mobile and being modified after moving to navigation error occurs, guarantee the precision of surgical navigational, performs the operation simultaneously
Body surface symbol object can be removed in the process, and body surface symbol object is avoided to generate the beneficial effect of interference to operation pathway.
On the basis of any above-described embodiment of the invention, a kind of method for correcting error of surgical navigational is provided, it is described to be based on the
The step of one mapping matrix and the second mapping matrix carry out surgical navigational further comprises: calculating current procedure device based on following formula
Tool is with respect to the image path index point in the 3-D image in surgical navigational software corresponding to patient's lesions position position coordinates C3 '
Coordinate C1 '；Wherein, the 3-D image in the 3-D image in the surgical planning software and the surgical navigational software is shared same
One coordinate system；C1 '=C3 ' * M1*M2；And the C1 ' is shown in the 3-D image in surgical navigational software.This
Inventive embodiments have the advantages that be able to verify that in surgical procedure whether operating bed where patient moves with navigation equipment
And the method that navigation error is modified after moving, guarantee the precision of surgical navigational, while can be in surgical procedure
Body surface symbol object is removed, body surface symbol object is avoided to generate the beneficial effect of interference to operation pathway.
To solve at least one technical problem in the prior art, a kind of deviation-rectifying system of surgical navigational is provided, such as Fig. 2 institute
Show, the system comprises surgery planning module 21, coordinate setting module 22, medical image module 23 and surgical navigational servers
24:
Surgery planning module 21 is for choosing image path index point coordinate in the 3-D image in surgical planning software；
At the registration moment before carrying out surgical navigational, coordinate setting module 22 is for obtaining patient's lesions position index point seat
Mark, medical image module 23 obtain the first three-dimensional coordinate of patient's lesions position based on 3D scanning technique；Surgery planning module 21
Obtain the first mapping matrix of patient's lesions position index point coordinate Yu described image path indicator point coordinate；
Calibration moment before carrying out surgical navigational, surgical navigational server 24 obtain the specific physiology knot of patient's lesions position
Structure characteristic point coordinate verifies the first mapping matrix and the calibration moment patient based on the specific physiological structure characteristic point coordinate
Lesions position position whether there is deviation；Wherein, the calibration moment is later than the registration moment；
There are deviations, then coordinate setting module 22 is used to obtain the second three-dimensional of patient's lesions position based on 3D scanning technique
Coordinate；Surgical navigational server 24 is used to obtain the second mapping square of first three-dimensional coordinate and second three-dimensional coordinate
Battle array；
Surgical navigational server 24 is based on the first mapping matrix and the second mapping matrix carries out surgical navigational.
The surgery planning module 21, is further used for: calculating the first mapping matrix M1 based on following formula；M1=C2/C1；Its
In, C1 is described image path indicator point coordinate, and C2 is patient's lesions position index point coordinate.
The surgical navigational server 24, is further used for: calculating the second mapping matrix M2 based on following formula；M3=C3/C2；
Wherein, C3 is second three-dimensional coordinate, and C2 is patient's lesions position mark included in first three-dimensional coordinate
Point coordinate.
Surgical navigational server 24, is further used for: calculating current procedure instrument with respect to patient's lesions position based on following formula
Image path index point coordinate C1 ' in 3-D image in surgical navigational software corresponding to position coordinates C3 '；Wherein, described
The 3-D image in 3-D image and the surgical navigational software in surgical planning software shares the same coordinate system；C3 '=
C1 ' * M1*M2；And the C1 ' is shown in the 3-D image in surgical navigational software.
The embodiment of the present invention provides a kind of deviation-rectifying system of surgical navigational, the system comprises: surgery planning module, coordinate
Locating module, medical image module and surgical navigational server: surgery planning module is for the three-dimensional in surgical planning software
Image path index point coordinate is chosen in image；At the registration moment before carrying out surgical navigational, coordinate setting module is for obtaining disease
People's lesions position index point coordinate, medical image module obtain the first three-dimensional seat of patient's lesions position based on 3D scanning technique
Mark；Surgery planning module obtains patient's lesions position index point coordinate and reflects with the first of described image path indicator point coordinate
Penetrate matrix；Calibration moment before carrying out surgical navigational, surgical navigational server obtain the specific physiological structure of patient's lesions position
Characteristic point coordinate verifies the first mapping matrix and calibration moment patient disease based on the specific physiological structure characteristic point coordinate
Stove site location whether there is deviation；Wherein, the calibration moment is later than the registration moment；There are deviation, then coordinate settings
Module is used to obtain the second three-dimensional coordinate of patient's lesions position based on 3D scanning technique；Surgical navigational server is for obtaining institute
State the second mapping matrix of the first three-dimensional coordinate Yu second three-dimensional coordinate；Surgical navigational server is based on the first mapping matrix
Surgical navigational is carried out with the second mapping matrix.The embodiment of the present invention, which has the advantages that, is able to verify that patient institute in surgical procedure
Method that is mobile and being modified after moving to navigation error whether occurs in operating bed and navigation equipment, guarantees operation
The precision of navigation, while body surface symbol object can be removed in surgical procedure, avoid body surface symbol object from generating interference to operation pathway
Beneficial effect.
On the basis of well-behaved any above-described embodiment, a kind of deviation-rectifying system of surgical navigational, the surgery planning are provided
Module is further used for: calculating the first mapping matrix M1 based on following formula；M1=C2/C1；Wherein, C1 is described image path mark
Will point coordinate, C2 are patient's lesions position index point coordinate.
If coordinate system is image coordinate system in surgical navigational software, described image path indicator point coordinate is C1；With mark
As initial patient coordinate system, the coordinate points in initial patient coordinate system are C2 for patient coordinate system when point is registered；After primary registration
Obtain image coordinate system to initial patient coordinate system transition matrix M1, then by putting in image coordinate system to initial patient coordinate system
The conversion of interior point can be obtained by following relationship: C2=C1*M1.
The embodiment of the present invention, which has the advantages that, is able to verify that in surgical procedure that operating bed where patient is with navigation equipment
It is no that method that is mobile and being modified after moving to navigation error occurs, guarantee the precision of surgical navigational, performs the operation simultaneously
Body surface symbol object can be removed in the process, and body surface symbol object is avoided to generate the beneficial effect of interference to operation pathway.
On the basis of any above-described embodiment of the invention, a kind of deviation-rectifying system of surgical navigational is provided, the operation is led
Navigate server, is further used for: calculating the second mapping matrix M2 based on following formula；M2=C3/C2；Wherein, C3 is the described 2nd 3
Coordinate is tieed up, C2 is patient's lesions position index point coordinate included in first three-dimensional coordinate.
Wherein, the conversion square of patient coordinate system after secondary registration obtains initial patient coordinate system to movement after patient is mobile
Battle array M2 can then be obtained: C3 by the conversion put in patient coordinate system after putting in initial patient coordinate system to movement by following relationship
=C2*M2.
The embodiment of the present invention, which has the advantages that, is able to verify that in surgical procedure that operating bed where patient is with navigation equipment
It is no that method that is mobile and being modified after moving to navigation error occurs, guarantee the precision of surgical navigational, performs the operation simultaneously
Body surface symbol object can be removed in the process, and body surface symbol object is avoided to generate the beneficial effect of interference to operation pathway.
On the basis of any above-described embodiment of the invention, a kind of deviation-rectifying system of surgical navigational, surgical navigational clothes are provided
Business device, is further used for: calculating current procedure instrument with respect to the corresponding operation of patient's lesions position position coordinates C3 ' based on following formula
Image path index point coordinate C1 ' in 3-D image in navigation software；Wherein, the three-dimensional figure in the surgical planning software
3-D image in picture and the surgical navigational software shares the same coordinate system；C3 '=C1 ' * M1*M2；And the C1 ' is existed
It is shown in 3-D image in surgical navigational software.The embodiment of the present invention, which has the advantages that, is able to verify that surgical procedure
Whether operating bed and navigation equipment where middle patient occur method that is mobile and being modified after moving to navigation error,
Guarantee the precision of surgical navigational, while body surface symbol object can be removed in surgical procedure, avoids body surface symbol object to operation pathway
Generate the beneficial effect of interference.
Fig. 3 illustrates the entity structure schematic diagram of a kind of electronic equipment, as shown in figure 3, the electronic equipment may include: place
Manage device (processor) 310, communication interface (Communications Interface) 320,330 He of memory (memory)
Communication bus 340, wherein processor 310, communication interface 320, memory 330 complete mutual lead to by communication bus 340
Letter.Processor 310 can call the logical order in memory 330, to execute following method: three in surgical planning software
It ties up and chooses image path index point coordinate in image；The registration moment before carrying out surgical navigational obtains patient's lesions position mark
Point coordinate, and the first three-dimensional coordinate based on 3D scanning technique acquisition patient's lesions position；Calculate patient's lesions position mark
First mapping matrix of will point coordinate and described image path indicator point coordinate；The calibration moment before carrying out surgical navigational obtains
The specific physiological structure characteristic point coordinate of patient's lesions position is reflected based on the specific physiological structure characteristic point coordinate verifying first
The physical location of matrix and the calibration moment patient lesions position is penetrated with the presence or absence of deviation；Wherein, the calibration moment is later than
The registration moment；There are deviations, then the second three-dimensional coordinate of patient's lesions position is obtained based on 3D scanning technique；Described in calculating
Second mapping matrix of the first three-dimensional coordinate and second three-dimensional coordinate；Based on the first mapping matrix and the second mapping matrix into
Row surgical navigational.
In addition, the logical order in above-mentioned memory 330 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
Substantially the part of the part that contributes to existing technology or the technical solution can be in other words for the technical solution of invention
The form of software product embodies, which is stored in a storage medium, including some instructions to
So that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation of the present invention
The all or part of the steps of example the method.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, RandomAccess Memory), magnetic or disk etc. it is various
It can store the medium of program code.
On the other hand, the embodiment of the present invention also provides a kind of non-transient computer readable storage medium, is stored thereon with meter
Calculation machine program, the computer program are implemented to carry out the transmission method of the various embodiments described above offer when being executed by processor, such as
It include: selection image path index point coordinate in the 3-D image in surgical planning software；Registration before carrying out surgical navigational
Moment obtains patient's lesions position index point coordinate, and the first three-dimensional seat of patient's lesions position is obtained based on 3D scanning technique
Mark；Calculate the first mapping matrix of patient's lesions position index point coordinate Yu described image path indicator point coordinate；It carries out
The calibration moment before surgical navigational obtains the specific physiological structure characteristic point coordinate of patient's lesions position, is based on the specific life
The physical location that reason structure feature point coordinate verifies the first mapping matrix and the calibration moment patient lesions position whether there is
Deviation；Wherein, the calibration moment is later than the registration moment；There are deviations, then obtain patient's lesion based on 3D scanning technique
Second three-dimensional coordinate at position；Calculate the second mapping matrix of first three-dimensional coordinate Yu second three-dimensional coordinate；It is based on
First mapping matrix and the second mapping matrix carry out surgical navigational.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. a kind of method for correcting error of surgical navigational, which comprises the following steps:
Image path index point coordinate is chosen in 3-D image in surgical planning software；
The registration moment before carrying out surgical navigational is obtained patient's lesions position index point coordinate, and is obtained based on 3D scanning technique
First three-dimensional coordinate of patient's lesions position；Calculate patient's lesions position index point coordinate and described image path indicator point
First mapping matrix of coordinate；
The calibration moment before carrying out surgical navigational obtains the specific physiological structure characteristic point coordinate of patient's lesions position, is based on institute
State the physical location that specific physiological structure characteristic point coordinate verifies the first mapping matrix and the calibration moment patient lesions position
With the presence or absence of deviation；Wherein, the calibration moment is later than the registration moment；
There are deviations, then the second three-dimensional coordinate of patient's lesions position is obtained based on 3D scanning technique；It is three-dimensional to calculate described first
Second mapping matrix of coordinate and second three-dimensional coordinate；
Surgical navigational is carried out based on the first mapping matrix and the second mapping matrix.
2. the method for correcting error of surgical navigational according to claim 1, which is characterized in that calculating patient's lesion portion
The step of first mapping matrix of bit flag point coordinate and described image path indicator point coordinate, further comprise:
The first mapping matrix M1 is calculated based on following formula；
M1=C2/C1；
Wherein, C1 is described image path indicator point coordinate, and C2 is patient's lesions position index point coordinate.
3. the method for correcting error of surgical navigational according to claim 2, which is characterized in that described to calculate the described first three-dimensional seat
The step of second mapping matrix of mark and second three-dimensional coordinate, further comprise:
The second mapping matrix M2 is calculated based on following formula；
M2=C3/C2；
Wherein, C3 is second three-dimensional coordinate, and C2 is patient's lesions position included in first three-dimensional coordinate
Index point coordinate.
4. the method for correcting error of surgical navigational according to claim 3, which is characterized in that it is described be based on the first mapping matrix and
Second mapping matrix carries out the step of surgical navigational, further comprises:
Current procedure instrument is calculated with respect in surgical navigational software corresponding to patient's lesions position position coordinates C3 ' based on following formula
Image path index point coordinate C1 ' in 3-D image；Wherein, the 3-D image in the surgical planning software and the operation
3-D image in navigation software shares the same coordinate system；
C1 '=C3 ' * M1*M2；
And the C1 ' is shown in the 3-D image in surgical navigational software.
5. a kind of deviation-rectifying system of surgical navigational, which is characterized in that including surgery planning module, coordinate setting module, medicine shadow
As module and surgical navigational server:
Surgery planning module is for choosing image path index point coordinate in the 3-D image in surgical planning software；
At the registration moment before carrying out surgical navigational, coordinate setting module is for obtaining patient's lesions position index point coordinate, medicine
Image module obtains the first three-dimensional coordinate of patient's lesions position based on 3D scanning technique；Surgery planning module obtains the patient
First mapping matrix of lesions position index point coordinate and described image path indicator point coordinate；
Calibration moment before carrying out surgical navigational, surgical navigational server obtain the specific physiological structure feature of patient's lesions position
Point coordinate verifies the first mapping matrix and calibration moment patient lesion portion based on the specific physiological structure characteristic point coordinate
Position position whether there is deviation；Wherein, the calibration moment is later than the registration moment；
There are deviations, then coordinate setting module is used to obtain the second three-dimensional coordinate of patient's lesions position based on 3D scanning technique；
Surgical navigational server is used to obtain the second mapping matrix of first three-dimensional coordinate Yu second three-dimensional coordinate；
Surgical navigational server is based on the first mapping matrix and the second mapping matrix carries out surgical navigational.
6. the deviation-rectifying system of surgical navigational according to claim 5, which is characterized in that the surgery planning module, into one
Step is used for:
The first mapping matrix M1 is calculated based on following formula；
M1=C2/C1；
Wherein, C1 is described image path indicator point coordinate, and C2 is patient's lesions position index point coordinate.
7. the deviation-rectifying system of surgical navigational according to claim 6, which is characterized in that the surgical navigational server, into
One step is used for:
The second mapping matrix M2 is calculated based on following formula；
M2=C3/C2；
Wherein, C3 is second three-dimensional coordinate, and C2 is patient's lesions position included in first three-dimensional coordinate
Index point coordinate.
8. the deviation-rectifying system of surgical navigational according to claim 7, which is characterized in that surgical navigational server, further
For:
Current procedure instrument is calculated with respect in surgical navigational software corresponding to patient's lesions position position coordinates C3 ' based on following formula
Image path index point coordinate C1 ' in 3-D image；Wherein, the 3-D image in the surgical planning software and the operation
3-D image in navigation software shares the same coordinate system；
C3 '=C1 ' * M1*M2；
And the C1 ' is shown in the 3-D image in surgical navigational software.
9. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that realize to perform the operation as described in any one of Claims 1-4 when the processor executes described program and lead
The step of boat method for correcting error.
10. a kind of non-transient computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer
It is realized when program is executed by processor as described in any one of Claims 1-4 the step of surgical navigational method for correcting error.
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