CN111956327B - Image measurement and registration method - Google Patents

Image measurement and registration method Download PDF

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CN111956327B
CN111956327B CN202010733392.8A CN202010733392A CN111956327B CN 111956327 B CN111956327 B CN 111956327B CN 202010733392 A CN202010733392 A CN 202010733392A CN 111956327 B CN111956327 B CN 111956327B
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tracking tool
component
tracking
matrix
assembly
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CN111956327A (en
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季鹰
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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
    • 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
    • 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
    • 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
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
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  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Veterinary Medicine (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The invention relates to a method for measuring and registering the position and orientation of a physical space and an image space, which comprises the following steps: providing an assembly having a tracking tool; the assembly includes a position and/or orientation component, the position and available orientation of which can be measured using a measurement member based on the coordinate frame of the tracking tool; the measuring member has a measuring surface for measurement without the need for prior calibration with a tracking tool in a tracking system; placing the assembly on a human body and scanning; placing a relative tracking tool on the human body; recording data of the relative tracking tool and data of the tracking tool attached to the component at the same time at registration time; placing a tracking tool on the instrument; recording data of a tracking tool placed on the instrument and data of the relative tracking tool at a later registration time; the position and/or available orientation of the tracking tool attached to the instrument converted in image space is calculated.

Description

Image measurement and registration method
Technical Field
The present invention relates generally to the field of image space and physical space registration, and more particularly to a method for easy measurement preparation to achieve a quick registration.
Background
When using a surgical navigation system to assist in minimally invasive surgery, it is necessary to map an image of a portion of the patient's body of a CT/MR scan into image space and physical space. By registration, a transformation is obtained to associate a location in physical space with a location in image space. The transformation is used to convert a location in physical space to a location in image space. Then, during a surgical procedure assisted by the navigation system, the medical instrument having the physical spatial location tracked by the tracking system may be virtually converted and displayed in the image space of the scanned patient image.
During surgery, the registration step typically requires additional time and additional burden in order for the surgeon to identify locations/directions in physical space and associate them correspondingly in the scanned image space. Thus, in the existing registration method, the registration process is inconvenient and time-consuming.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides an image measurement and registration method.
The technical scheme adopted for solving the technical problems is as follows: in one aspect, a method of measuring and registering locations and orientations in physical space and image space is provided. The method comprises the following steps: providing an assembly comprising a tracking tool; the assembly includes a position component and/or a direction component; the position and the usable direction of which are measured with a measuring element on the basis of the coordinate frame of the tracking tool; the measuring member having a measuring surface measures the position and/or orientation of the component without prior calibration with a tracking tool in the tracking system; placing the assembly on a human body and performing imaging scanning; placing a so-called relative tracking tool on or in the human body; recording data of the relative tracking tool and data of the tracking tool attached to the component at the same time at registration time; placing a tracking tool on the instrument; at a so-called post-registration time, simultaneously recording data of a tracking tool placed on the instrument and data of said relative tracking tool; the position and/or available orientation of the tracking tool attached to the instrument converted in image space is calculated.
In some embodiments, a method of measuring and registering locations and orientations in physical space and image space includes: a) Providing an assembly and tracking tool having six degrees of freedom in position and orientation, wherein: the assembly comprises: at least four non-coplanar position features, or at least one position feature and at least three orthogonal orientation features; all of the components are rigidly placed in the assembly; the tracking tool is removably rigidly secured to the assembly such that the components are secured to each other relative to the tracking tool in position and orientation; measuring a three-dimensional position and an available direction of the component from a coordinate frame of the tracking tool; and the components can be scanned with an imaging system and their three-dimensional positions and available directions can be obtained in the scanned image space; b) Placing the assembly securely on an object and performing an imaging scan with an imaging system; and obtaining a three-dimensional position and an available direction of the component in the scanned image space from the scanned image; c) Calculating a transformation converting the position and orientation from the physical space to the image space based on the position and available orientation of the component in the physical space measured in step a) with respect to the frame of the tracking tool and the position and available orientation of the component in the image space obtained in step b); d) Placing a six degree of freedom relative tracking tool on or in the human body; using the tracking system, at the same time (referred to as registration time), simultaneously recording the orientation and position data of six degrees of freedom with respect to the tracking tool and the tracking tool mounted on the assembly based on the coordinate frame of the tracking system; e) Placing a tracking tool on the instrument to track the pose of the instrument;
Using the tracking system, at the same time (referred to as the post-registration time), recording the position and available direction data of the tracking tool mounted on the instrument and the direction and position data of six degrees of freedom relative to the tracking tool based on the coordinate frame of the tracking system; f) Combining the transformation obtained in step c), the two tracking tool data recorded at the registration time in step d) and the two tracking tool data recorded at the post-registration time in step e) to calculate the position and the usable direction of the converted instrument-mounted tracking tool in the image space.
In some embodiments, the transformation is denoted as T, satisfying the relationship:
OBJECTM1 i T ＝T*OBJECTW1 i T (1)，
wherein OBJECTM1 i T Is OBJECTM1 i Transposed matrix of (OBJECTM 1) i Represents (x, y, x, 1), wherein (x, y, z) represents a position in image space; OBJECTW1 i T Is OBJECTW1 i Transposed matrix of (OBJECTW 1) i Represents (x, y, z, 1), wherein (x, y, z) represents a position in physical space in a tracking tool frame, the tracking tool being removably and rigidly mounted to the assembly; i represents the i-th position of the component, i>=4; the form of the 4x4 transform matrix T is as follows:
wherein R is a 3×3 rotation matrix, x, y, z are translations of coordinates, respectively; t is calculated by solving simultaneous equations of at least four relationships (1) of at least 4 non-coplanar positions.
In some embodiments, the transformation is denoted as T, satisfying the relationship:
OBJECTM2 i ＝T*OBJECTW2 i (2)
wherein OBJECTM2i is a 4x4 matrix as follows:
(Ax M ，ay M ，Az M ) Is the x, y, z cosine component of direction a in image space; (Bx) M By M Bz M ) Is the x, y, z cosine component of direction B in image space; (Cx) M Cy M Cz M ) Is the x, y, z cosine component of direction C in image space, x, y and z are the position components in image space;
OBJECTW2 i is a 4x4 matrix as follows:
(Ax w Ay w Az w ) Is the x, y, z cosine component of direction a in physical space; (Bx) W By W Bz W ) Is the x, y, z cosine component of direction B in physical space; (Cx) W Cy W Cz W ) Is the x, y, z cosine component of direction C in physical space. x, y and z are positional components in physical space; wherein the position and orientation in physical space is based on a coordinate frame of a tracking tool removably and rigidly mounted on the assembly; i represents the i-th position of the component, i>＝1；
The form of the 4x4 transform matrix T is as follows:
where R is a 3×3 rotation matrix and x, y, z is a translation component; obtaining T by solving at least one equation (2) containing at least one position (x, y, z) and three orthogonal directions A, B, C;
r can also be obtained by solving the following equation:
M*R＝W (3)，
wherein M is a 3×3 matrix as follows:
w is the following 3x3 matrix:
In some embodiments, the recorded positions and orientations of the tracking tool and the relative tracking tool attached to the component during the registration time may be represented as 4x4 matrices B and a, respectively; during the post-registration time, the recorded positions and available directions of the tracking tool attached to the instrument may be represented as a 4x4 matrix D; during the post-registration time, the recorded relative tracking tool position and orientation may be represented as a 4x4 matrix E; the position and available direction in the image space converted from physical space of the tracking tool attached to the instrument can be expressed as a 4x4 matrix F, which satisfies the following relationship:
F＝ T * B -1 * A* E -1 * D (4)，
where T is the transformation calculated from converting position and orientation from physical space to image space; the form of the 4x4 transform matrix T is as follows:
r is a 3x3 rotation matrix and x, y, z are translations of coordinates; the 4x4 matrix of B, a, E, D and F is as follows:
r is a 3x3 rotation matrix, and x, y and z are component positions; the position in image space of the instrument tracking tool can be calculated by equation (4) using its corresponding position data (x, y, z) in physical space relative to the coordinate frame of the tracking system; the corresponding direction in image space can be calculated by equation (4) using the direction data of the instrument tracking tool in physical space relative to the coordinate frame of the tracking system.
In some embodiments there is more than one of the components and/or there is more than one tracking tool removably attached to the components and/or there is more than one relative tracking tool on or in the body and/or the relative tracking tool on or in the body is combined with the tracking tool attached to the components.
In some embodiments, the tracking tool having six degrees of freedom positions and orientations is comprised of a plurality of tracking tools having less than six degrees of freedom.
In some embodiments, the third orthogonal direction may be derived from two orthogonal directions.
In some embodiments, the tracking system is an electromagnetic tracking system or an optical tracking system.
In some embodiments, the method of measuring the position of the position component included in the assembly based on a coordinate frame of the tracking tool attached to the assembly comprises the steps of: a. providing the part with a convex measurement surface of a part or all of a sphere such that the center of the convex measurement surface substantially corresponds to the position of the part to be measured; b. providing a measurement member having a concave measurement surface that substantially mates with the convex measurement surface of the component; c. rigidly fixing a six degree of freedom tracking tool to the measurement member; d. keeping the concave measuring surface of the measuring piece in seamless contact with the convex measuring surface of the component, keeping the center of the concave measuring surface unchanged, and simultaneously moving the measuring piece to different positions; recording direction and position data of at least two different positions of the tracking tool attached to the measurement member based on a coordinate frame of the tracking system, and simultaneously recording direction and position data of the tracking tool attached to the assembly based on the coordinate frame of the tracking system; e. using the recorded data of said step d, a calculation is made of the unchanged position of the centre of the concave measuring surface of the measuring element or of the corresponding unchanged position of said component, based on the coordinate frame of the tracking tool attached to the assembly.
In some embodiments, the component includes a first portion and a second portion; the first portion has a spherical shape and is substantially centered in the core of the spherical component; the second portion is located on the outer layer of the spherical component and is arranged such that the core center of the second portion also substantially coincides with the core center of the first portion; and the first and second portions have different material compositions, signals that are relatively weak or strong compared to each other can be generated by the diagnostic imaging scanner, so that in scanning imaging the image position of the center of the first portion of the component can be easily and accurately determined and measured by distinguishing between displayed spots.
In some embodiments, the recorded data of the tracking tool attached to the measurement member may be represented as a 4×4 matrix Bi; the recorded data of the tracking tool attached to the assembly can be represented as a 4x4 matrix Ai; based on the coordinate frame of the tracking tool attached to the assembly, the pose of the tracking tool attached to the measurement member can be expressed as a 4x4 matrix C i The following relationships are satisfied:
C i ＝A i -1 *B i (5)，
4x4 transform matrix A i 、B i And C i The form of (2) is as follows:
where R is a 3×3 rotation matrix, x, y, z are component positions, i represents an i-th position, i > =2;
Based on the coordinate frame of the tracking tool attached to the assembly, the constant position of the concave measuring surface center of the measuring element can be expressed as XS, YS, ZS, satisfying the relation:
XS＝XBi+X O *C i (1，1)+Y O *C i (2，1)+Z O *C i (3，1)
YS ＝ YBi + X O * C i (1，2) + Y O * C i (2，2) + Z O * C i (3，2) (6)；
ZS＝ZBi+X O *C i (1，3)+Y O *C i (2，3)+Z O *C i (3，3)
X O ，Y O ，Z O is the offset distance from the center of the measurement tracking tool to the center of the core of the concave measurement surface; c (C) i (m, n) is a matrix C i Is XB of the rotating element of (2) i ，YB i ，ZB i Is matrix C i X, Y, Z positions of (C). With i>=2 solving at least two sets of equations (6), resulting in a measured position (XS, YS, ZS) of the core center of the concave measuring surface or the center of the component, which position is based on the coordinate frame of the tracking tool attached to the assembly.
In some embodiments, the recorded data of the tracking tool attached to the measurement member based on the tracking system coordinate frame may be represented as a 4x4 matrix B i The method comprises the steps of carrying out a first treatment on the surface of the Recorded data of the tracking tool attached to the assembly based on the tracking system coordinate frame may be expressed as a 4x4 matrix a i ；
4x4 transform matrix A i And B i The form of (2) is as follows:
where R is a 3×3 rotation matrix, x, y, z are component positions, i represents an i-th position, i > =2;
based on the coordinate frame of the tracking system, the constant position of the center of the concave measuring surface of the measuring piece can be X S ，Y S ，Z S Representing that the relationship is satisfied:
X S ＝XBi+XO*B i (1，1)+YO*B i (2，1)+ZO*B i (3，1)
Y S ＝ YBi + XO * B i (1，2) + YO * B i (2，2) + ZO * B i (3，2) (7)；
Z S ＝ZBi+XO*B i (1，3)+YO*B i (2，3)+ZO*B i (3，3)
XO, YO, ZO is the offset distance from the center of the measurement tracking tool to the center of the core of the concave measurement surface; b (B) i (m, n) is matrix B i Is XB of the rotating element of (2) i ，YB i ，ZB i Is matrix B i X, Y, Z positions in i>Solving at least two sets of equations (7) with =2 to obtain a measured position (XS, YS, ZS) of the concave measuring surface center or the part center, the position being based on a tracking system coordinate frame;
let AA denote group a i An inverse matrix of the average value of (a) or one of a i And (X' S ，Y' S ，Z' S ) Representing the center of the concave measuring surface or the center of the part, in the coordinate frame of the tracking tool attached to the assembly. Obtain (X' S ，Y' S ，Z' S ) Based on:
X’ S ＝XB+X S *AA(1，1)+Y S *AA(2，1)+Z S *AA(3，1)
Y’ S ＝ YB + X S * AA(1，2) + Y S * AA(2，2) + Z S * AA(3，2) (8)；
Z’ S ＝ZB+X S *AA(1，3)+Y S *AA(2，3)+Z S *AA(3，3)；
AA (m, n) is the rotating element of matrix AA, X B ，Y B ，Z B Is the X, Y, Z position of matrix AA.
In some embodiments, the method of measuring the orientation of the orientation component included in the assembly based on the coordinate frame of the tracking tool attached to the assembly comprises the steps of: a. providing the directional component with a measuring surface or other elongated measuring surface of a partially or fully cylindrical convex body, comprising at least a first partial or fully circular cross section and a second partial or fully circular cross section, such that the axis of the tongue rod or elongated component coincides with the direction of the directional component; b. providing a measuring member having a concave or part or full cylindrical cavity measuring surface, comprising at least two concave parts or full circular cross sections, substantially mating with the convex measuring surface of the orientation component; c. rigidly attaching a tracking tool for at least direction tracking to the measurement member; d. keeping the concave measuring surface of the measuring piece in seamless contact with the convex measuring surface of the component, so that the axial direction of the concave measuring surface is unchanged, and simultaneously, enabling the measuring piece to rotate under different rotation angles; applying a tracking system, simultaneously recording direction data of at least two different rotation angles of a tracking tool attached to the measurement member and direction and position data of the tracking tool attached to the assembly based on a coordinate frame of the tracking system; e. using the data recorded in step d, it is calculated that the axis of the concave measuring surface of the measuring element or the axis of the component is not changed in direction based on the coordinate frame of the tracking tool attached to the assembly.
In some embodiments, the directional component includes a first portion and a second portion. The first portion has an elongated shape and is arranged with its axis coinciding with the axis of the directional component; the second portion is located on the outer layer of the component and is arranged such that the axis of the second portion is also substantially coincident with the axis of the first portion; and the first and second portions have different material compositions, signals that are relatively weak or strong compared to each other can be generated by the diagnostic imaging scanner, so that in scanning imaging the image orientation of the first portion of the component can be easily and accurately determined and measured by distinguishing between the displayed lines.
In some embodiments of the present invention, in some embodiments,
the recorded data of the tracking tool attached to the measurement member can be expressed as a 4 x 4 matrix B based on the coordinate frame of the tracking system i The method comprises the steps of carrying out a first treatment on the surface of the The recorded data of the tracking tool attached to the assembly can be represented as a 4 x 4 matrix a based on the coordinate frame of the tracking system i ；
Wherein 4 x 4 transform matrix a i And B i The form of (2) is as follows:
r is a 3x3 rotation matrix, x, y, z are component positions, i represents the i-th position, i > =2;
in the tracking system framework, the unchanged direction of the axis of the concave measuring surface of the measuring element can be represented by δx, δy, δz, satisfying the relation:
δx＝X off *B i (1，1)+Y off *B i (2，1)+Z off *B i (3，1)
δy ＝ X off * B i (1，2) + Y off * B i (2，2) + Z off * B i (3，2) (9)；
δz＝X off *B i (1，3)+Y off *B i (2，3)+Z off *B i (3，3)
X off ，Y off ，Z off Is a component direction offset/calibration parameter between the direction of the tracking tool attached to the measurement member and the axis direction of the concave measurement surface of the measurement member, B i (m, n) is matrix B i The rotation element of (1) is i>-solving at least two sets of equations (9) for the measurement direction (δx, δy, δz) of the axis of the measurement face of the concave surface of the measurement element in the tracking system frame, =2;
let AA denote one of A i Inverse matrix or group a i Is the inverse of the average value of (2)The matrix, (delta 'x, delta' y, delta 'z) represents the measurement direction of the axis of the concave measurement surface of the measurement member or of the axis of the directional component in the frame of the tracking tool fitted on the assembly, the calculation (delta' x, delta 'y, delta' z) being based on:
δx＝δx*AA(1，1)+δy*AA(2，1)+δz*AA(3，1)
δ’y＝δx*AA(1，2)+δy*AA(2，2)+δz*AA(3，2) (10)，
δ’z＝δx*AA(1，3)+δy*AA(2，3)+δz*AA(3，3)
where AA (m, n) is the rotating element of matrix AA.
In some embodiments, the recorded data of the tracking tool attached to the measurement member may be represented as a 4×4 matrix B i The method comprises the steps of carrying out a first treatment on the surface of the The recorded data of the tracking tool attached to the component can be expressed as a 4x4 matrix a i The method comprises the steps of carrying out a first treatment on the surface of the The pose of the tracking tool attached to the measurement member, in the coordinate frame of the tracking tool attached to the assembly, may be represented as a 4x4 matrix C i The following relationships are satisfied:
C i ＝A i -1 *B i (11)，
4x4 transform matrix A i ，B i And C i The form of (2) is as follows:
Where R is a 3×3 rotation matrix, x, y, z are component positions, i represents an i-th position, i > =2; in the coordinate frame of the tracking tool attached to the assembly, the direction of the axis of the concave measuring surface of the measuring member or the axis of the component can be expressed by (δ ' x, δ ' y, δ ' z), satisfying the relation:
δ’x＝X off *C i (1，1)+Y off *C i (2，1)+Z off *C i (3，1)
δ’y＝X off *C i (1，2)+Y off *C i (2，2)+Z off *C i (3，2) (12)
δ’z＝X off *C i (1，3)+Y off *C i (2，3)+Z off *C i (3，3)
X off ，Y off ，Z off is a component direction offset/calibration parameter between the direction of the tracking tool attached to the measurement member and the axis direction of the concave measurement surface of the measurement member; c (C) i (m, n) is a matrix C i Solving at least two sets of equations (12), wherein i>=2 to obtain a measurement direction of the axis of the concave measurement surface of the measurement member or of the axis of the directional component, which direction is based on the coordinate frame of the tracking tool attached to the assembly.
The image measurement and registration method has the following beneficial effects: is convenient and quick.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic illustration of registration with a tracking system in accordance with the present invention;
FIG. 2 is a spherical component of the present invention having a convex measurement surface;
FIG. 3 is a measurement member for position measurement with a tracking tool in accordance with the present invention;
FIG. 4 is a schematic diagram of a position measurement using a tracking system in accordance with the present invention;
FIG. 5A is a cross-sectional view of the part of the present invention having a spherical shape with two-part components;
FIG. 5B is a cross-sectional view of the component of the present invention having a non-spherical shape with two-part composition;
FIG. 6 is an elongate member of an embodiment of the present invention;
FIG. 7 is a measurement member for directional measurements having a concave measurement surface with a tracking tool attached thereto in accordance with the present invention;
FIG. 8 is a schematic diagram of the measurement of directions using a tracking system in the present invention;
FIG. 9A is a two-part component part of the present invention having a cylindrical surface;
FIG. 9B is a part of the present invention having a part cylindrical shape with two-part components;
FIG. 10 is a schematic diagram of a registered post-registration tracking instrument in accordance with the present invention;
FIG. 11A is a first portion of a flow chart for registering the location and orientation of a registered physical space with an image space in the present invention;
fig. 11B is a second portion of a flow chart for registering the location and orientation of registering physical space with image space in the present invention.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
Fig. 1 shows a schematic diagram of registration with a tracking system. As shown, the tracking tool 4 is attached to the patient's body 5, may be included at the surface of the patient's body or within the patient's body, and is considered to be an opposing reference tracking tool. The registration assembly 6 comprises an attached tracking tool 1 and an ad hoc part 2 consisting of at least four non-coplanar position parts or at least one position part and at least three orthogonal orientation parts. The ad hoc component may be a shape such as a point, a sphere, a line, a curve, etc., as long as the shape contains at least four non-coplanar position components or includes at least one position component and at least three orthogonal direction components. Each position component has a mathematically, ideally unique three dimensional position in physical space and each orientation component has a mathematically, ideally unique orientation in physical space.
The tracking tool 1 is considered as a registered tracking tool. Registration component 6 is rigid such that the relative position and orientation of tracking tool 1 and part 2 is fixed. The position and available orientation of the component 2 can be measured by a number of methods based on registering the coordinate frame of the tracking tool 1. The measurement process is considered to be in preparation for using the registration component 6.
The ad hoc part 2 consists of at least four non-coplanar position parts, or at least one position part and at least three orthogonal direction parts. They may be scanned into images by a CT/MR system or other device. The component 2 may be displayed in a scanned image with a known three-dimensional position and or orientation available.
As shown in fig. 1, the reference tracking tool 4 and the registration tracking tool 1 may each associate the tracking device in a wireless or wired manner and acquire data containing position and orientation of six degrees of freedom via the tracking device/system, respectively, based on the coordinate frame of the tracking device (e.g., the coordinate frame of the transmitter 3).
The following section describes the preliminary measurement of the component 6 and the registration process of the tracking tools 1 and 4.
S1, preliminary measurement of the component
Both the position and the orientation of the component 2 need to be measured based on the coordinate frame of the tracking tool attached to the assembly.
S1.1, position measurement
The position of the component 2 may be measured by some known method, such as an electromagnetic tracking system. Placing registration component 6 in a trackable region; using a registration pen, the position of the nib of which is known relative to the tracking system, with which each component 2 is contacted to obtain the position of each component 2 in the coordinate frame of the tracking system; at the same time, recording gesture data of the registered tracking tool 1 relative to the tracking system frame; the position of each component 2 is then calculated and translated from a position relative to the tracking system frame to a position relative to the registration tool 1 frame.
The present disclosure describes a position measurement method that does not have to measure the position of the pen tip.
An electromagnetic tracking system typically comprises a plurality of tracking tools and a transmitter 3. The transmitter 3 is used to generate an electromagnetic field. The tracking tool typically includes an induction coil for generating an induced voltage in an electromagnetic field. The tracking system further comprises an electronic unit, which is associated with the induction coil and the transmitter and calculates position and orientation data of the tracking tool based on the induced voltages generated in the induction coil.
The measuring means 2 are based on the position of the frame of the tracking tool 1 attached to the assembly, one embodiment comprising:
a) Providing the component with a raised measuring surface configured as part or all of a sphere such that the center of the raised measuring surface substantially corresponds to the position of the component to be measured;
as shown in fig. 2, the member 100 has a convex measuring surface 100A with a radius r1 of the spherical member and a center O of the convex measuring surface.
b) Providing a measurement member having a concave measurement surface that substantially mates with the convex measurement surface of the component;
c) Rigidly attaching a six degree of freedom tracking tool to the measurement;
as shown in fig. 3, the measuring member 211 has a concave measuring surface 211B. The tracking tool 221 is attached to the measurement 211. The concave measuring surface 211B has a radius r2 that is substantially the same as the radius r1 of the sphere of the convex surface in the component 100.
d) Keeping the concave measuring surface of the measuring piece in seamless contact with the convex measuring surface of the component, keeping the center of the concave measuring surface unchanged, and simultaneously moving the measuring piece to different positions; recording direction and position data of at least two different positions of the tracking tool attached to the measurement member based on a coordinate frame of the tracking system, and simultaneously recording direction and position data of the tracking tool attached to the assembly based on the coordinate frame of the tracking system;
as shown in fig. 4, both the data of the tracking tool 221 attached to the measurement member 211 and the data of the tracking tool 1 attached to the assembly are recorded simultaneously, while keeping the concave measurement surface 211B of the measurement member in seamless contact with the convex measurement surface of the component 100 and moving the measurement member 211 in different positions. The transmitter 3 is configured to generate an electromagnetic field.
e) Using the recorded data of said step d), a calculation is made of the unchanged position of the centre of the concave measuring surface of the measuring element or of the corresponding unchanged position of said component, based on the coordinate frame of the tracking tool attached to the assembly.
In some embodiments, the component includes a first portion and a second portion; the first portion has a spherical shape and is substantially centered in the core of the spherical component; the second portion is located on the outer layer of the spherical component and is arranged such that the core center of the second portion also substantially coincides with the core center of the first portion; and the first and second portions have different material compositions, signals that are relatively weak or strong compared to each other can be generated by the diagnostic imaging scanner, so that in scanning imaging the image position of the center of the first portion of the component can be easily and accurately determined and measured by distinguishing between displayed spots.
Fig. 5A is a cross-sectional view of the component in two parts. As shown, the component 100 is a substantially spherical component having a radius r 1. The first portion 110 has a small spherical shape and is substantially centered on the core of the spherical component 100 (i.e., the core center of the first portion 110 substantially coincides with the core center of the spherical component 100). The second portion 120 is located at the outer layer of the spherical component 100 and is arranged such that the core center of the second portion 120 also substantially coincides with the core center of the first portion 110.
Fig. 5B illustrates a cross-sectional view of a component 100 having a non-spherical shape according to some other embodiments. Similar to the embodiment of the component shown in fig. 5A, the component 100 also includes a first portion 110 having a pellet shape and is embedded in a second portion 120. The second portion 120 includes a convex surface 120A (as indicated by the arrow in fig. 5B) configured to be a portion of a sphere having a radius r 1. The configuration is set such that the first portion 110 is substantially centered on the core of the convex surface 120A of the second portion 120 (i.e., the core center of the convex surface 120A of the second portion 120 is substantially the core center of the sphere to which the convex surface 120A belongs.)
In addition to arranging the first portion 110 and the second portion 120 in the component 100, as shown in fig. 5A and 5B, other arrangements are possible. For example, the first portion 110 may be on the surface of the second portion 120, as long as the first portion is still a small sphere, substantially centered on the center of the convex surface 120A of the second portion 120.
In some embodiments, the recorded data of the tracking tool attached to the measurement member may be expressed as a 4x4 momentArray Bi; the recorded data of the tracking tool attached to the assembly may be represented as a 4x4 matrix Ai, as shown in fig. 4; based on the coordinate frame of the tracking tool attached to the assembly, the pose of the tracking tool attached to the measurement member can be expressed as a 4x4 matrix C i The following relationships are satisfied:
C i ＝A i -1 *B i (1)，
4x4 transform matrix A i 、B i And C i The form of (2) is as follows:
where R is a 3×3 rotation matrix, x, y, z are component positions, i represents an i-th position, i > =2;
in the coordinate frame of the tracking tool attached to the assembly, the invariant position of the center of the concave measuring surface of the measuring member may be represented by XS, YS, ZS, satisfying the relation:
XS＝XBi+XO*C i (1，1)+YO*C i (2，1)+ZO*C i (3，1)
YS＝YBi+XO*C i (1，2)+YO*C i (2，2)+ZO*Ci(3，2) (2)
ZS＝ZBi+XO*C i (1，3)+YO*C i (2，3)+ZO*C i (3，3)
XO, YO, ZO is the offset distance from the center of the measurement tracking tool to the center of the core of the concave measurement surface. Ci (m, n) is the rotating element of matrix Ci. XBI, YBI, ZBi are the X, Y, Z positions of matrix Ci. Solving at least two sets of equations (2) with i > =2, in a tracking tool coordinate frame attached to the assembly, yields a core center of the concave measurement surface or a measurement location (XS, YS, ZS) of the part center.
In some embodiments, the recorded data of the tracking tool attached to the measurement member, relative to the coordinate frame of the tracking system, may be represented as a 4x4 matrix Bi; the recorded data of the tracking tool attached to the assembly, relative to the coordinate frame of the tracking system, may be represented as a 4x4 matrix Ai, as shown in fig. 4;
4x4 transform matrix A i And B i The form of (2) is as follows:
where R is a 3×3 rotation matrix, x, y, z are component positions, i represents an i-th position, i > =2;
in the coordinate frame of the tracking system, the invariant position of the center of the concave measuring surface of the measuring element may be represented by XS, YS, ZS, satisfying the relation:
XS＝XBi+XO*B i (1，1)+YO*B i (2，1)+ZO*B i (3，1)
YS＝YBi+XO*B i (1，2)+YO*B i (2，2)+ZO*Bi(3，2)(3).
ZS＝ZBi+XO*B i (1，3)+YO*B i (2，3)+ZO*B i (3，3)
XO, YO, ZO is the offset distance from the center of the measurement tracking tool to the center of the core of the concave measurement surface. Bi (m, n) is a rotating element of the matrix Bi. XBI, YBI, ZBi are the X, Y, Z positions of the matrix Bi. Solving at least two sets of equations (3) with i > =2, in a tracking system coordinate frame, yields a measured position (XS, YS, ZS) of the center of the concave measuring surface or the center of the component.
Suppose MA is one of the average value of the Ai group or Ai. Let AA represent the inverse of MA. Let (X 'S, Y' S, Z 'S) denote that in a tracking tool frame attached to the assembly, the concave surface measurement surface center or center measurement position of the part, (X' S, Y 'S, Z' S) can be calculated by the following formula:
X’S＝XB+XS*AA(1，1)+YS*AA(2，1)+ZS*AA(3，1)
Y’S＝YB+XS*AA(1，2)+YS*AA(2，2)+ZS*AA(3，2)(4).
Z’S＝ZB+XS*AA(1，3)+YS*AA(2，3)+ZS*AA(3，3)
AA (m, n) is a rotation element of the matrix AA. XB, YB, ZB are the X, Y, Z positions of matrix AA.
In some embodiments, the position component has a concave measuring surface and the measuring member has a convex measuring surface, the two measuring surfaces being in seamless engagement.
S1.2, direction measurement
An embodiment of measuring the orientation of the orientation member 2 in relation to the coordinate frame of the tracking tool 1 attached to the assembly comprises:
a) Providing the directional component with a measuring surface of a part or all of a cylindrical body or other elongated measuring surface, including at least a first part or full circular cross section and a second part or full circular cross section, such that the axis of the grooved bars or elongated components coincides with the direction of the directional component;
as shown in fig. 6, the part 100 has a convex measuring surface 100A, the radius of the cylindrical part being r1 and the axis of the convex measuring surface of the grooved bar being AX.
In some embodiments, the first and second cross-sections have different radii, while the axis of the tongue or elongated member remains coincident with the direction of the directional member;
b) Providing a measuring member having a concave or part or full cylindrical cavity measuring surface, comprising at least two concave parts or full circular cross sections, substantially mating with the convex measuring surface of the orientation component;
c) Rigidly attaching a tracking tool for at least direction tracking to the measurement member;
as shown in fig. 7, the measuring member 211 has a concave measuring surface 211B. The tracking tool 221 is attached to the measurement 211. The concave measuring surface 211B has a radius r2 that is substantially the same as the radius r1 of the cylindrical convex surface in the component 100.
d) Keeping the concave measuring surface of the measuring piece in seamless contact with the convex measuring surface of the component, so that the axial direction of the concave measuring surface is unchanged, and simultaneously, enabling the measuring piece to rotate under different rotation angles; applying a tracking system, simultaneously recording direction data of at least two different rotation angles of a tracking tool attached to the measurement member and direction and position data of the tracking tool attached to the assembly based on a coordinate frame of the tracking system;
as shown in fig. 8, the orientation data of the tracking tool 221 attached to the measuring member 211 and the orientation and position data of the tracking tool 1 mounted on the assembly 6 are recorded simultaneously while keeping the concave measuring surface 211B of the measuring member in seamless contact with the convex measuring surface of the component 100 and rotating the measuring member 211 at different angles of rotation. The transmitter 3 is configured to generate an electromagnetic field.
e) Using the data recorded in step d, it is calculated that the axis of the concave measuring surface of the measuring element or the axis of the component is not changed in direction based on the coordinate frame of the tracking tool attached to the assembly.
In some embodiments, the directional component includes a first portion and a second portion. The first portion has an elongated shape and is arranged with its axis coinciding with the axis of the directional component; the second portion is located on the outer layer of the component and is arranged such that the axis of the second portion is also substantially coincident with the axis of the first portion; and the first and second portions have different material compositions, signals that are relatively weak or strong compared to each other can be generated by the diagnostic imaging scanner, so that in scanning imaging the image orientation of the first portion of the component can be easily and accurately determined and measured by distinguishing between the displayed lines.
Figure 9 shows the part containing two-part components. As shown, component 100 has a segment 110 and a segment 120. The first portion 110 has an elongated shape and is arranged such that its axis coincides with the axis of the directional component. The second portion 120 is located on the outer layer of the elongate member 100 and is arranged such that the axis of the second portion 120 is also substantially coincident with the axis of the first portion 110.
In some embodiments, the recorded data of the tracking tool attached to the measurement member may be represented as a 4x4 matrix B based on the coordinate frame of the tracking system i The method comprises the steps of carrying out a first treatment on the surface of the The recorded data of the tracking tool attached to the assembly may be represented as a 4x4 matrix a based on the coordinate frame of the tracking system, as shown in fig. 8.
The form of the 4x4 transformation matrices Ai and Bi is as follows:
r is a 3x3 rotation matrix. x, y, z are component positions. i represents the i-th position, i > =2;
in the tracking system framework, the unchanged direction of the axis of the concave measuring surface of the measuring element can be represented by δx, δy, δz, satisfying the relation:
δx＝X off *B i (1，1)+Y off *B i (2，1)+Z off *B i (3，1)
δy＝X off *B i (1，2)+Y off *B i (2，2)+Z off *Bi(3，2) (5).
δz＝X off *B i (1，3)+Y off *B i (2，3)+Z off *B i (3，3)
X off ，Y off ，Z off is a component direction offset/calibration parameter between the direction of the tracking tool attached to the measurement member and the axis direction of the concave measurement surface of the measurement member, B i (m, n) is matrix B i The rotation element of (1) is i>-solving at least two sets of equations (5) for the measurement direction (δx, δy, δz) of the axis of the measurement face of the concave surface of the measurement element in the tracking system frame, =2;
suppose MA is one of the average value of the Ai group or Ai. Let AA represent the inverse of MA. Let (δ 'x, δ' y, δ 'z) denote the axis of the concave measuring surface of the measuring element, or the measuring direction of the axis of the directional component, in the frame of the tracking tool fitted on the assembly, by calculating (δ' x, δ 'y, δ' z):
δ’x＝δx*AA(1，1)+δy*AA(2，1)+δz*AA(3，1)
δ’y＝δx*AA(1，2)+δy*AA(2，2)+δz*AA(3，2) (6)，
δ’z＝δx*AA(1，3)+δy*AA(2，3)+δz*AA(3，3)
Where AA (m, n) is the rotating element of matrix AA.
In some embodiments, the recorded data of the tracking tool attached to the measurement member may be represented as a 4×4 matrix B i The method comprises the steps of carrying out a first treatment on the surface of the The recorded data of the tracking tool attached to the component can be expressed as a 4 x 4 matrix a i As shown in the figure; the pose of the tracking tool attached to the measurement member, in the coordinate frame of the tracking tool attached to the assembly, may be represented as a 4 x 4 matrix C i The following relationships are satisfied:
C i ＝A i -1 *B i (7)，
the form of the 4×4 transformation matrices Ai, bi, and Ci is as follows:
where R is a 3×3 rotation matrix, x, y, z are component positions, i represents an i-th position, i > =2;
in the coordinate frame of the tracking tool attached to the assembly, the constant direction of the axis of the concave measuring surface of the measuring member or of the axis of the component can be expressed by (δ ' x, δ ' y, δ ' z), satisfying the relation:
δ’x＝X off *C i (1，1)+Y off *C i (2，1)+Z off *C i (3，1)
δ’y＝X off *C i (1，2)+Y off *C i (2，2)+Z off *C i (3，2) (8).
δz＝X off *C i (1，3)+Y off *C i (2，3)+Z off *C i (3，3)
X off ，Y off ，Z off is a component direction offset/calibration parameter between the direction of the tracking tool attached to the measurement member and the axis direction of the concave measurement surface of the measurement member; c (C) i (m, n) is a matrix C i Solving at least two sets of equations (12), wherein i>=2 to obtain the measuring direction of the axis of the concave measuring surface of the measuring element or of the axis of the directional component, which is based on the attachment to the assembly In the coordinate frame of the tool.
In some embodiments, the directional component has a concave groove or a partial or full cylindrical cavity measurement surface, and the measurement member has a measurement surface with a partial or full cylindrical convex groove, with the two measurement surfaces being in seamless engagement.
S2, registering with a tracking tool
The work of preparing the registration assembly 6 prior to surgery does not involve the patient or surgeon, by measuring, the fixed position and available orientation of the three-dimensional physical space of the component 2 relative to the coordinate frame of the tracking tool 1'. The registration tracking tool 1 is removable.
When a surgical procedure is initiated, registration assembly 6 is rigidly attached to the patient such that the relative position and orientation between registration assembly 6 and the patient (and more specifically, the area of the patient's body that is relevant to the procedure) is fixed. The registration assembly 6 is then brought into the scanner with the patient, an image is obtained comprising the patient and the component 2, and the position and available orientation of the component 2 is obtained through some imaging process.
In some embodiments, the component 2 includes at least four non-coplanar positions. The position of the component 2 in the physical space may be denoted as object wi (x, y, z), and its position in the image space may be denoted as object mi (x, y, z), where i > =4.
Using the known OBJECTM and OBJECW, transform T can be calculated by the following equations.
OBJECTM1 i T ＝T*OBJECTW1 i T (9)，
Wherein T is a 4×4 matrix, OBJECTM1i T Is (x, y, z, 1) or (OBJECTMI, 1), OBJECTW1i T Is the transpose of (x, y, z, 1) or (OBJECTwi, 1). i represents i>The i-th position of=4.
There are at least four equations (9) s, where i > =4. By solving simultaneous equation (9) s, t. can be obtained, at which step the registration of the position and orientation parameters of the tracking tool 1 and the relative reference tracking tool 4 is not required.
In some embodiments, object 2 includes at least one position (x, y, z) and at least three orthogonal directions a, B, and C. The transformation is denoted as T, satisfying the relationship:
OBJECTM2 i ＝T*OBJECTW2 i (10)，
wherein,
OBJECTM2 i is a 4x4 matrix as follows:
(Ax M ，Ay M ，Az M ) Is the x, y, z cosine component of direction a in image space; (Bx) M By M Bz M ) Is the x, y, z cosine component of direction B in image space; (Cx) M Cy M Cz M ) Is the x, y, z cosine component of direction C in image space. X is x M ，y M And z M Is a position component in image space.
OBJECTW2 i Is a 4x4 matrix as follows:
(Ax w Ay w Az w ) Is the x, y, z cosine component of direction a in physical space; (Bx) W By W Bz W ) Is the x, y, z cosine component of direction B in physical space; ((Cx) W Cy W Cz W ) Is the x, y, z cosine component of direction C in physical space. X is x W ，y W And z W Is a location component in physical space. Here the position and orientation in physical space is in the coordinate frame of the tracking tool attached to the component. i denotes the i-th position/orientation of the component 2, i>＝1。
The form of the 4 x 4 transform matrix T is as follows:
r is a 3x3 rotation matrix and x, y, z are translations of components.
T is obtained by solving at least one equation (10) for at least one position (x, y, z) and at least three orthogonal directions A, B and C.
R can also be obtained by solving the following equation:
M*R＝W (11)，
wherein M is a 3x3 matrix and is as follows:
w is a 3x3 matrix as follows:
at this step, there is no need to register the position and orientation parameters of the tracking tool 1 and the relative reference tracking tool 4.
The following steps are related to timing and positioning and are considered as registration times, wherein the relative reference tracking tool 4 is actively placed on or inside the patient's body and the registration tracking tool 1 is actively attached to the original position of the assembly 6, wherein the position and available orientation of the three-dimensional physical space of the component 2 is known from previous measurements relative to the registration tracking tool 1. The word "actively" means that the tracking tool (1 or 4)) is associated to the tracking system and obtains its position and orientation parameters in six degrees of freedom.
The relative reference tracking tool 4 is fixedly attached to or within the patient during said registration time, and during a later surgical procedure. While maintaining the registration component 6 in its original position, i.e. the position during the imaging scan (in other words, the relative position and orientation between the registration component 6 and the patient remains fixed). The position and orientation parameters of the six degrees of freedom of the registered tracking tool 1 and the associated reference tracking tool 4 relative to the coordinate frame of the tracking system are recorded, represented by a 4x4 transformation matrix B and a 4x4 transformation matrix a, respectively, as shown in fig. 1. The form of the 4x4 transform matrices a and B is as follows:
r is a 3x3 rotation matrix. x, y, z are coordinates of the position of the tracking tool in the tracking system frame.
The six degrees of freedom position and orientation parameters of the relative reference tracking tool 4 with respect to the coordinate frame of the tracking tool 1 can be further expressed as:
C ＝ B -1 * A (12)，
wherein B is -1 Is the inverse of matrix B of registration tracking tool 1, and C is a 4x4 matrix. A new TT may then be defined and calculated:
TT ＝ T * C ＝ T * B -1 * A (13)，
where TT is a constant 4x4 matrix, considered as an already registered transformation matrix, reflecting a specific relationship between the patient physical space and the scanned image space. The registered transformation matrix TT transforms the relative reference tracking tool 4 from its pose with respect to the coordinate frame of the tracking system into image space. During the registration time, the specific relationship represented by the matrix TT is locked and calculated.
Several factors are locked during the registration time. The first is fixedly attached to or within the patient (more specifically, at the region of interest of the patient where the procedure is being performed) relative to the reference tracking tool 4. In other words, the relative position and orientation between the relative reference tracking tool 4 and the region of interest of the patient is fixed during the enrollment time (and during the subsequent surgical procedure). Although the placement of the relative reference tracking tool 4 is fixed relative to the patient, the relative reference tracking tool 4 is removable and may be returned to its original position after removal. The second factor of the lock is that the registration tracking tool 1 is fixedly placed on the registration component 6 in its original position, wherein the three-dimensional physical space position and the available orientation of the component 2 are measured in advance with respect to the registration tracking tool 1. The third locking factor is that the registration component 6 is in its original position during the imaging scan, wherein the relative position and orientation between the registration component 6 and the patient is fixed. The fourth locking factor is the region of interest of the patient for performing the surgical procedure, and the pose relationship between the registration tracking tool 1 and the relative reference tracking tool 4 is rigid. In other words, there is no relative position and orientation change between the registration tracking tool 1 and the relative reference tracking tool 4 in the region of interest of the patient's surgery.
After the registration transformation matrix is determined, the surgical navigation system will begin to operate to assist in the surgical procedure, while the registration component 6 with the registration tracking tool 1 does not have to remain present or otherwise be removable from the patient. The surgical instrument (needle, ultrasound probe) can be tracked with an attached tracking tool 7, as shown in fig. 10. The pose of the surgical instrument may be represented using the pose of the tracking tool 7. For example, after calibration between the tip of the needle instrument and the zero position of the origin of the tracking tool 7, the tip of the needle instrument is known by the tracking tool 7. The pose of the tracking tool 7 is obtained by the tracking system and expressed as a 4x4 transformation matrix D in the coordinate frame of the tracking system. Its pose with respect to the coordinate frame of the relative reference tracking tool 4, still attached to or within the patient's body surface, may be denoted as E -1 * D, where the pose of the relative reference tracking tool 4 is represented as a 4x4 matrix E relative to the coordinate frame of the tracking system. The form of the 4x4 transform matrices D and E is as follows:
r is a 3x3 rotation matrix. x, y, z are coordinates of the position of the tracking tool in the tracking system frame.
It should be noted that matrix E is not necessarily the same as matrix a, as the patient's body may be moved from its original position. Since the registration transformation matrix TT has been determined, it can be further expressed that the pose of the tracking tool 7 converted from the physical space into the image space is as follows:
F＝TT*E -1* D
Or f=t×b -1 *A*E -1* D (14).
If the tracking tool 7, with respect to the position of the coordinate frame of the tracking system, is represented by OBJECTS (x, y, z) from the fourth column of D, the position in image space represented by OBJECTS (x, y, z) can be obtained from the fourth column of F. If the tracking tool 7 has only three position data instead of six degrees of freedom data including rotation information, its corresponding image position can be calculated by equation (14).
Similarly, if the tracking tool 7 has only direction data instead of position data, its corresponding direction in the image space can also be calculated by equation (14) by considering the first three rows and the first three columns of the matrix.
Fig. 11A and 11B show flowcharts of an embodiment of registering a position and an orientation in a physical space and an image space.
In some embodiments, the tracking tool having six degrees of freedom positions and orientations is comprised of a plurality of tracking tools having less than six degrees of freedom.
In some embodiments, the third orthogonal direction may be derived from the two orthogonal directions.
Still other embodiments. For example, there is more than one of the components and/or there is more than one tracking tool removably attached to the components. In some embodiments, there is more than one relative reference tracking tool on or within the patient's body. In some embodiments, a relative tracking tool on or in the human body is combined with a tracking tool attached to the assembly. More components integrated can register and navigate more accurately.
The measurement and registration methods of the present disclosure have significant advantages, as described below.
Since the registration component 6 includes the components for registration, known location and available orientation, the physician does not need to process each component for registration. For example, the registration task of the existing method may be to attach each component to the patient, obtain its physical spatial location, and map it one by one to its corresponding image. The registration method of the present disclosure avoids such tasks.
The position and usable orientation of the components on the assembly are measured in a simple manner using a measuring member. For a tracking tool attached thereto, the tip or orientation of the measurement member need not be calibrated. According to the invention, the measuring element can directly measure the position and usable orientation of the components on the assembly without prior calibration.
And the imaging scanning is convenient. No scan tracking tool is required. Only the scanning assembly 6 and the patient's body are required. There is no need for a tracking tool to scan the attached component during an imaging scan. No relative tracking tool for placement of the scan plan on the patient's anatomy is required during an imaging scan. This is an important advantage when performing MR imaging scans. Some tracking tools have metal components. While MR imaging scans are performed without the use of metals.
The relative tracking tool 4 may be placed freely and independently on the surface of the patient or within the patient, regardless of the placement of the assembly 6 and the attached tracking tool 1. After registration time, the posture parameters of the relative tracking tool 4 and the tracking tool 1 attached to the assembly 6 are recorded, the patient is allowed to move to a different bed or to a different operating room as long as the original position of the relative reference tracking tool 4 is still maintained. In some embodiments, there is a small base/support fixedly attached to the patient to allow the base/support to be replaced to its original position relative to the reference tracking tool 4. The patient can move while the patient remains with the small mount/support fixed to the body. In some embodiments, a marker is placed on the patient with a position pen to put the relative reference tracking tool 4 back in its original position.
Since the frame of reference is based on the patient (on the surface of the patient's body or some anatomical organ within the patient's body), the relative positions and orientations of the patient and surgical instrument as the patient/organs move will still be properly consistent as the image navigation displays. In some embodiments, the relative reference tracking tool 4 or its holder may be inserted into an organ of the patient. If the organ moves due to breathing or other reasons, the navigation of the image display will not be affected and still be correct. The relative reference tracking tool 4 and its holder may be small enough to be attached to or inserted into the patient only.
Registration is simple and quick. It is only necessary to attach the relative reference tracking tool 4 to the patient and to record the instantaneous six degrees of freedom pose parameters of the relative reference tracking tool 4 and the registration tracking tool 1 by the tracking system. In some embodiments, the surgeon simply presses a button. After recording the posture parameters, the registration component 6 may be detached from the patient.
The tracking system may employ one or more different types of positioning methods and devices, such as electromagnetic tracking systems, optical tracking systems, radio Frequency (RF) tracking systems, ultrasound tracking systems, and the like.
The foregoing description of the embodiments has been presented for the purposes of illustration and example. It is not intended to be exhaustive or to limit the invention. The individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable where applicable, and may be used in selected embodiments, even if not specifically shown or described. As well as in various ways. Such variations are not to be regarded as a departure from the invention, and all such modifications are intended to be included within the scope of the invention.
Those of ordinary skill in the art will recognize that the functional blocks, methods, units, devices, and systems described in this disclosure may be integrated or divided into different combinations of systems, units, devices, and functional blocks. The routines of the particular embodiments may be implemented using any suitable programming language and programming techniques. Different programming techniques may be employed, such as, for example, a program or object-oriented. The routines may execute on a single processor or multiple processors. Although steps, operations, or computations may be presented in a specific order, the order may be changed in different specific embodiments. In some particular embodiments, multiple steps shown as being performed sequentially in this disclosure may also be performed simultaneously.
In some embodiments, software or program code is provided to implement the above-described methods.
It is to be understood that the above examples only represent preferred embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention; it should be noted that, for a person skilled in the art, the above technical features can be freely combined, and several variations and modifications can be made without departing from the scope of the invention; therefore, all changes and modifications that come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims (16)

1. A method of measuring and registering the position and orientation of a physical space and an image space, the method comprising:
a) Providing an assembly comprising components having positions and orientations with six degrees of freedom, and a tracking tool, wherein:
the assembly comprises: at least four non-coplanar position features, or at least one position feature and at least three orthogonal orientation features; wherein the position component has a unique three-dimensional position in the physical space and the direction component has a unique direction in the physical space;
All components are rigidly placed in the assembly;
the tracking tool is removably rigidly secured to the assembly such that the components are secured to each other relative to the tracking tool in position and orientation;
measuring a three-dimensional position and an available direction of a physical space of the component according to a coordinate frame of the tracking tool; and is also provided with
The components may be scanned with an imaging system and their three-dimensional positions and available directions may be obtained in the scanned image space;
b) Placing the assembly securely on an object and performing an imaging scan with an imaging system; and obtaining a three-dimensional position and an available direction of the component in the scanned image space from the scanned image;
c) Calculating a transformation converting the position and orientation from physical space to image space based on the position and available orientation of the component in physical space measured in step a) with respect to the coordinate frame of the tracking tool and the position and available orientation of the component in the image space obtained in step b);
d) Placing a six-degree-of-freedom relative tracking tool on the human body;
using a tracking system, simultaneously recording, at registration time, orientation and position data of six degrees of freedom relative to a tracking tool and a tracking tool mounted on the assembly based on a coordinate frame of the tracking system;
e) Placing a tracking tool on the tracked instrument to track the pose of the instrument;
registering a time later by using a tracking system, and simultaneously recording position and available direction data of a tracking tool mounted on the instrument based on a coordinate frame of the tracking system, and direction and position data of six degrees of freedom relative to the tracking tool;
f) In combination with the transformation obtained in step c), the data of the relative tracking tool and the tracking tool mounted on the assembly recorded at the registration time in step d) and the data of the relative tracking tool and the tracking tool mounted on the instrument recorded at the post-registration time in step e) to calculate the position and the usable direction of the converted tracking tool mounted on the instrument in the image space.
2. The method of claim 1, wherein the transformation is denoted as T, satisfying the following relationship:
OBJECTM1 i T ＝ T * OBJECTW1 i T (1)；
wherein the method comprises the steps of
OBJECTM1 i T Is OBJECTM1 i Transposed matrix of (OBJECTM 1) i Represents (x, y, x, 1), wherein (x, y, z) represents a position in image space; OBJECTW1 i T Is OBJECTW1 i Transposed matrix of (OBJECTW 1) i Represents (x, y, z, 1), where (x, y, z) represents a position in physical space in a tracking tool frame, the tracking tool being removable And is mounted on the assembly in a detachable and rigid manner; i represents the i-th position of the component, i.gtoreq.4; the form of the 4x4 transform matrix T is as follows:
wherein R is a 3×3 rotation matrix, x, y, z are translations of coordinates, respectively;
t is calculated by solving simultaneous equations of at least four relationships (1) of at least 4 non-coplanar positions.
3. The method of claim 1, wherein the transformation is denoted as T, satisfying the following relationship:
OBJECTM2 i ＝ T * OBJECTW2 i (2)
wherein the method comprises the steps of
OBJECTM2 i Is a 4x4 matrix as follows:
(Ax M ，Ay M ，Az M ) Is the x, y, z cosine component of direction a in image space; (Bx) M By M Bz M ) Is the x, y, z cosine component of direction B in image space; (Cx) M Cy M Cz M ) Is the x, y, z cosine component of direction C in image space, x, y and z are the position components in image space;
OBJECTW2 i is a 4x4 matrix as follows:
(Ax W Ay W Az W ) Is the x, y, z cosine component of direction a in physical space; (Bx) W By W Bz W ) Is the x, y, z cosine component of direction B in physical spaceAn amount of; (Cx) W Cy W Cz W ) Is the x, y, z cosine component of direction C in physical space, x, y and z are the position components in physical space; wherein the position and orientation in physical space is based on a coordinate frame of a tracking tool removably and rigidly mounted on the assembly; i represents the i-th position of the component, i.gtoreq.1;
The form of the 4x4 transform matrix T is as follows:
where R is a 3×3 rotation matrix and x, y, z is a translation component;
obtaining T by solving at least one equation (2) containing at least one position (x, y, z) and three orthogonal directions A, B, C;
r can also be obtained by solving the following equation:
M*R＝W (3)，
wherein M is a 3×3 matrix as follows:
w is the following 3x3 matrix:
4. the method of claim 1, wherein the recorded positions and orientations of the tracking tool and the relative tracking tool attached to the component during the registration time are represented as 4x4 matrices B and a, respectively; during the post-registration time, the recorded positions and available directions of the tracking tool attached to the instrument may be represented as a 4x4 matrix D; during the post-registration time, the recorded relative tracking tool position and orientation may be represented as a 4x4 matrix E; the position and available direction in the image space converted from physical space of the tracking tool attached to the instrument can be expressed as a 4x4 matrix F, which satisfies the following relationship:
F＝ T * B -1 * A* E -1 * D (4)，
where T is the transformation calculated from converting position and orientation from physical space to image space; the form of the 4x4 transform matrix T is as follows:
R is a 3x3 rotation matrix and x, y, z are translations of coordinates;
the 4 x 4 matrix of B, a, E, D and F is as follows:
r is a 3x3 rotation matrix, and x, y and z are component positions;
the position in image space of the instrument tracking tool can be calculated by equation (4) using its corresponding position data (x, y, z) in physical space relative to the coordinate frame of the tracking system; the corresponding direction in image space can be calculated by equation (4) using the direction data of the instrument tracking tool in physical space relative to the coordinate frame of the tracking system.
5. Method according to claim 1, characterized in that there is more than one of said components and/or there is more than one tracking tool removably attached to said components and/or there is more than one relative tracking tool on the person and/or there is a combination of relative tracking tools on the person and tracking tools attached to said components.
6. The method of claim 1, wherein the tracking tool having six degrees of freedom positions and orientations is comprised of a plurality of tracking tools having less than six degrees of freedom.
7. The method of claim 1, wherein the third orthogonal direction is derivable from two orthogonal directions.
8. The method of claim 1, wherein the tracking system is an electromagnetic tracking system or an optical tracking system.
9. The method according to claim 1, wherein the method of measuring the position of the position component included in the assembly based on the coordinate frame of the tracking tool attached to the assembly comprises the steps of:
a. providing the part with a convex measurement surface of a part or all of a sphere such that the center of the convex measurement surface substantially corresponds to the position of the part to be measured;
b. providing a measurement member having a concave measurement surface that substantially mates with the convex measurement surface of the component;
c. rigidly fixing a six degree of freedom tracking tool to the measurement member;
d. keeping the concave measuring surface of the measuring piece in seamless contact with the convex measuring surface of the component, keeping the center of the concave measuring surface unchanged, and simultaneously moving the measuring piece to different positions; recording direction and position data of at least two different positions of the tracking tool attached to the measurement member based on a coordinate frame of the tracking system, and simultaneously recording direction and position data of the tracking tool attached to the assembly based on the coordinate frame of the tracking system;
e. Using the recorded data of said step d, a calculation is made of the unchanged position of the centre of the concave measuring surface of the measuring element or of the corresponding unchanged position of said component, based on the coordinate frame of the tracking tool attached to the assembly.
10. The method of claim 9, wherein the component comprises a first portion and a second portion; the first portion has a spherical shape and is substantially centered in the core of the spherical component; the second portion is located on the outer layer of the spherical component and is arranged such that the core center of the second portion also substantially coincides with the core center of the first portion; and the first and second portions have different material compositions, signals that are relatively weak or strong compared to each other can be generated by the diagnostic imaging scanner, so that in scanning imaging the image position of the center of the first portion of the component can be easily and accurately determined and measured by distinguishing between displayed spots.
11. The method according to claim 9, characterized in that the recorded data of the tracking tool attached to the measuring member can be represented as a 4 x 4 matrix Bi; the recorded data of the tracking tool attached to the assembly can be represented as a 4 x 4 matrix Ai; based on the coordinate frame of the tracking tool attached to the assembly, the pose of the tracking tool attached to the measurement member can be expressed as a 4 x 4 matrix C i The following relationships are satisfied:
C i ＝A i -1 *B i (5)，
4x4 transform matrix A i 、B i And C i The form of (2) is as follows:
where R is a 3×3 rotation matrix, x, y, z are component positions, i represents an i-th position, i > =2;
based on the coordinate frame of the tracking tool attached to the assembly, the constant position of the concave measuring surface center of the measuring element can be expressed as XS, YS, ZS, satisfying the relation:
XS＝XBi+X O *C i (1，1)+Y O *C i (2，1)+Z O *C i (3，1)
YS ＝ YBi + X O * C i (1， 2) + Y O * C i (2， 2) + Z O * C i (3， 2) (6)；
ZS＝ZBi+X O *C i (1，3)+Y O *C i (2，3)+Z O *C i (3，3)
X O ，Y O ，Z O is the offset distance from the center of the measurement tracking tool to the center of the core of the concave measurement surface; c (C) i (m, n) is a matrix C i Is XB of the rotating element of (2) i ，YB i ，ZB i Is matrix C i X, Y, Z positions of (C); with i>=2 solving at least two sets of equations (6), resulting in a measured position (XS, YS, ZS) of the core center of the concave measuring surface or the center of the component, which position is based on the coordinate frame of the tracking tool attached to the assembly.
12. The method of claim 9, wherein the recorded data of the tracking tool attached to the measurement member based on the coordinate frame of the tracking system is represented as a 4x4 matrix B i The method comprises the steps of carrying out a first treatment on the surface of the Recorded data of the tracking tool attached to the assembly based on the tracking system coordinate frame may be expressed as a 4x4 matrix a i ；
4x4 transform matrix A i And B i The form of (2) is as follows:
Where R is a 3×3 rotation matrix, x, y, z are component positions, i represents an i-th position, i > =2;
based on the coordinate frame of the tracking system, the constant position of the center of the concave measuring surface of the measuring piece can be X S ，Y S ，Z S Representing that the relationship is satisfied:
X S ＝XBi+XO*B i (1，1)+YO*B i (2，1)+ZO*B i (3，1)
Y S ＝ YBi + XO * B i (1， 2) + YO * B i (2， 2) + ZO * B i (3， 2) (7)；
Z S ＝ZBi+XO*B i (1，3)+YO*B i (2，3)+ZO*B i (3，3)
XO, YO, ZO is the offset distance from the center of the measurement tracking tool to the center of the core of the concave measurement surface; b (B) i (m, n) is matrix B i Is XB of the rotating element of (2) i ，YB i ，ZB i Is matrix B i X, Y, Z positions in i>Solving at least two sets of equations (7) with =2 to obtain a measured position (XS, YS, ZS) of the concave measuring surface center or the part center, the position being based on a tracking system coordinate frame;
let AA denote group a i An inverse matrix of the average value of (a) or one of a i And (X' S ，Y' S ，Z' S ) Representing the center of the concave measuring surface or the center of the part, a measuring position in a coordinate frame of a tracking tool attached to the assembly; obtain (X' S ，Y' S ，Z' S ) Based on:
X’ S ＝XB+X S *AA(1，1)+Y S *AA(2，1)+Z S *AA(3，1)
Y’ S ＝ YB + X S * AA(1，2) + Y S * AA(2， 2) + Z S * AA(3， 2) (8)；
Z’ S ＝ZB+X S *AA(1，3)+Y S *AA(2，3)+Z S *AA(3，3)；
AA (m, n) is the rotating element of matrix AA, X B ，Y B ，Z B Is the X, Y, Z position of matrix AA.
13. The method according to claim 1, wherein the method of measuring the direction of the directional component included in the assembly based on the coordinate frame of the tracking tool attached to the assembly comprises the steps of:
a. Providing the directional component with a measuring surface of a part or all of a cylindrical body or other elongated measuring surface, including at least a first part or full circular cross section and a second part or full circular cross section, such that the axis of the grooved bars or elongated components coincides with the direction of the directional component;
b. providing a measuring member having a concave or part or full cylindrical cavity measuring surface, comprising at least two concave parts or full circular cross sections, substantially mating with the convex measuring surface of the orientation component;
c. rigidly attaching a tracking tool for at least direction tracking to the measurement member;
d. keeping the concave measuring surface of the measuring piece in seamless contact with the convex measuring surface of the component, so that the axial direction of the concave measuring surface is unchanged, and simultaneously, enabling the measuring piece to rotate under different rotation angles; applying a tracking system, simultaneously recording direction data of at least two different rotation angles of a tracking tool attached to the measurement member and direction and position data of the tracking tool attached to the assembly based on a coordinate frame of the tracking system;
e. using the data recorded in step d, it is calculated that the axis of the concave measuring surface of the measuring element or the axis of the component is not changed in direction based on the coordinate frame of the tracking tool attached to the assembly.
14. The method of claim 13, wherein the directional component comprises a first portion and a second portion; the first portion has an elongated shape and is arranged with its axis coinciding with the axis of the directional component; the second portion is located on the outer layer of the component and is arranged such that the axis of the second portion is also substantially coincident with the axis of the first portion; and the first and second portions have different material compositions, signals that are relatively weak or strong compared to each other can be generated by the diagnostic imaging scanner, so that in scanning imaging the image orientation of the first portion of the component can be easily and accurately determined and measured by distinguishing between the displayed lines.
15. The method of claim 13, wherein the tracking system basedThe coordinate frame, the recorded data of the tracking tool attached to the measuring member can be expressed as a 4×4 matrix B i The method comprises the steps of carrying out a first treatment on the surface of the The recorded data of the tracking tool attached to the assembly can be represented as a 4 x 4 matrix a based on the coordinate frame of the tracking system i ；
Wherein 4 x 4 transform matrix a i And B i The form of (2) is as follows:
r is a 3x3 rotation matrix, x, y, z are component positions, i represents the i-th position, i > =2;
In the tracking system framework, the unchanged direction of the axis of the concave measuring surface of the measuring element can be represented by δx, δy, δz, satisfying the relation:
δx＝X off *B i (1，1)+Y off *B i (2，1)+Z off *B i (3，1)
δy＝X off *B i (1，2)+Y off *B i (2，2)+Z off *B i (3，2) (9)；
δz＝X off *B i (1，3)+Y off *B i (2，3)+Z off *B i (3，3)
X off ，Y off ，Z off is a component direction offset/calibration parameter between the direction of the tracking tool attached to the measurement member and the axis direction of the concave measurement surface of the measurement member, B i (m, n) is matrix B i The rotation element of (1) is i>-solving at least two sets of equations (9) for the measurement direction (δx, δy, δz) of the axis of the measurement face of the concave surface of the measurement element in the tracking system frame, =2;
let AA denote one of A i Inverse matrix or group a i (delta 'x, delta' y, delta 'z) representing the measuring direction of the axis of the concave measuring surface of the measuring element or of the axis of the directional component in the frame of the tracking tool fitted to the assembly, the calculation (delta' x, delta 'y, delta' z) being based on：
δ’x＝δx*AA(1，1)+δy*AA(2，1)+δz*AA(3，1)
δ’y＝δx*AA(1，2)+δy*AA(2，2)+δz*AA(3，2) (10)，
δ’z＝δx*AA(1，3)+δy*AA(2，3)+δz*AA(3，3)
Where AA (m, n) is the rotating element of matrix AA.
16. The method of claim 13, wherein the recorded data of the tracking tool attached to the measurement member is represented as a 4 x 4 matrix B i The method comprises the steps of carrying out a first treatment on the surface of the The recorded data of the tracking tool attached to the component can be expressed as a 4 x 4 matrix a i The method comprises the steps of carrying out a first treatment on the surface of the The pose of the tracking tool attached to the measurement member, in the coordinate frame of the tracking tool attached to the assembly, may be represented as a 4 x 4 matrix C i The following relationships are satisfied:
C i ＝A i -1 *B i (11)，
4x4 transform matrix A i ，B i And C i The form of (2) is as follows:
where R is a 3×3 rotation matrix, x, y, z are component positions, i represents an i-th position, i > =2;
in the coordinate frame of the tracking tool attached to the assembly, the direction of the axis of the concave measuring surface of the measuring member or the axis of the component can be expressed by (δ ' x, δ ' y, δ ' z), satisfying the relation:
δ’x＝X off *C i (1，1)+Y off *C i (2，1)+Z off *C i (3，1)
δ’y＝X off *C i (1，2)+Y off *C i (2，2)+Z off *C i (3，2) (12)
δ’z＝X off *C i (1，3)+Y off *C i (2，3)+Z off *C i (3，3)
X off ，Y off ，Z off is a component direction offset/calibration parameter between the direction of the tracking tool attached to the measurement member and the axis direction of the concave measurement surface of the measurement member; c (C) i (m, n) is a matrix C i Solving at least two sets of equations (12), wherein i>=2 to obtain a measurement direction of the axis of the concave measurement surface of the measurement member or of the axis of the directional component, which direction is based on the coordinate frame of the tracking tool attached to the assembly.
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