CN112006776A - Surgical navigation system and registration method thereof - Google Patents

Surgical navigation system and registration method thereof Download PDF

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CN112006776A
CN112006776A CN202011029940.5A CN202011029940A CN112006776A CN 112006776 A CN112006776 A CN 112006776A CN 202011029940 A CN202011029940 A CN 202011029940A CN 112006776 A CN112006776 A CN 112006776A
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刘勇
邵言亮
李亮
武利成
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Anhui Aikesuo Medical Robot Co ltd
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Abstract

The invention discloses an operation navigation system and a registration method of the operation navigation system. The medical image scanning device is used for scanning a surgical site before and during surgery to acquire scanning images; the optical tracking system is used for acquiring real-time spatial data on the surgical site before and during surgery; the computer processing device and the control software are used for processing the three-dimensional scanning image and the real-time data so as to calculate the feature matching point of any point on the real-time image in the three-dimensional scanning image. The operation navigation system can reduce the error of manual operation in the registration process, shorten the operation time, reduce the radiation in the operation, further reduce the operation risk and meet the requirement of minimally invasive operation.

Description

Surgical navigation system and registration method thereof
Technical Field
The invention relates to the field of medical treatment, in particular to a surgical navigation system and a registration method of the surgical navigation system.
Background
With the development of scientific technology, the surgical navigation robot is widely used in clinic, and is far superior to common manual surgery in the aspects of positioning accuracy, motion stability and the like. In the traditional operation, a doctor needs to repeatedly take intraoperative two-dimensional pictures for a plurality of times in order to clearly see the operation part; or open surgery in which a large area of the patient's surgical site is exposed during surgery. The most commonly adopted surgical navigation system is intraoperative real-time CT, which requires special influencing equipment, shadowless bed and larger operating room environment matching in the surgical process so as to carry out surgery, and this condition causes high cost of surgical instruments and difficult comprehensive popularization and application.
In order to solve the problem, the invention provides an operation navigation system and a registration method of the operation navigation system, in the operation process, the actual 2D medical image of the operation part and the three-dimensional image of the operation part obtained by preoperative scanning are registered to guide the operation, so that the operation cost and the radiation in the operation can be reduced, and more patients can enjoy more accurate advanced scientific and technological achievements.
Disclosure of Invention
The invention provides a surgical navigation system and a registration method of the surgical navigation system.
The surgical navigation system comprises a medical image scanning device, an optical tracking system, a computer processing device and control software, a robot positioning navigation system, a tracer (Tracker) and a matched scale tool;
the medical image scanning device is used for scanning the operation site before and during operation to acquire a medical image, and the information scanned by the medical image scanning device comprises an image coordinate system;
the optical tracking system for pre-operatively and intra-operatively acquiring real-time data of the tracer-bearing object at the surgical site, the optical tracking system comprising a world coordinate system;
the robot positioning navigation system comprises a mechanical arm, a positioning navigation structure at the tail end of the mechanical arm and a matched component, and the positioning system comprises a robot coordinate system;
the tracer (Tracker) is used for being matched with an optical tracking system to mark objects under world coordinates, the Tracker can be in hard connection with bones of a patient or can be arranged on an external fixed support of the patient and objects needing to be marked, such as a matched scale, a positioning navigation part and the like, and the objects of the tracer comprise a real-time tool coordinate system;
the matched scale tool is provided with a plurality of rigid mark points which are opaque to X-rays and serve as characteristic points (Marker), is used for assisting a computer to process the transformation of an image coordinate system and a world coordinate system before or during operation, can design different specifications according to different operation parts and body types of patients, and is used for calculating the image coordinate system.
The computer processing device and the control software are used for processing the image information and the spatial data, so as to convert the world coordinate system and the image coordinate system (preoperative scanning and intraoperative scanning) and calculate the characteristic matching point of any point of the world coordinate system in the image coordinate system.
The medical image scanning device comprises an image coordinate system, scans the information of the surgical site of a patient with a ruler or a mark frame tool, can select medical image scanning devices such as a CT (computed tomography), a Magnetic Resonance Imaging (MRI), a CBCT (cone beam computed tomography), an O-shaped arm, an X-ray machine and the like, and outputs standard medical images;
the computer processing device and the control software are also used for carrying out coordinate system conversion on the image coordinate system, the world space coordinate system, the robot coordinate system and the real-time tool coordinate system, and further calculating the feature matching points of any point in the world space coordinate system in the scanned image coordinate system so as to obtain the feature matching points of any point on the tool in the scanned image.
The computer processing device and control software are used for processing the medical image and the Tracker tool image;
the Tracker is provided with at least three non-collinear mark points for establishing the dynamic space coordinate system;
the optical tracking system is used for tracking the spatial position of the Tracker in a world coordinate system according to a binocular vision principle, and calculating a coordinate system conversion relation between the optical tracking system and an image coordinate system as well as a real-time tool coordinate system.
The computer processing device and control software are further configured to: calculating the feature matching point of any point in the scanning space coordinate system in the image coordinate system; and calculating the characteristic matching points of any point in the world coordinate system in the scanning space coordinate system and the real-time tool coordinate system.
The feature matching point of any point in the world coordinate system in the scanned image coordinate system is calculated according to the following formula:
1) the 2D image feature point matching formula is as follows:
Figure 565442DEST_PATH_IMAGE001
2) the 3D image feature point matching formula is as follows:
Figure 954442DEST_PATH_IMAGE002
Figure 984846DEST_PATH_IMAGE003
coordinates of any p points of the intraoperative scanned image orthotopic picture coordinate system;
Figure 50891DEST_PATH_IMAGE004
for the intraoperative sweepingDrawing any p point coordinates of an image side position picture coordinate system;
Figure 790439DEST_PATH_IMAGE005
the coordinate of an arbitrary p point in the Tracker coordinate system is obtained;
Figure 119265DEST_PATH_IMAGE006
coordinates of any p point under the preoperative three-dimensional scanning image space coordinate system are obtained;
T1a matrix of the scanned image coordinate system and the ruler coordinate system for intraoperative scanning of an orthostatic image;
T2scanning a lateral position image in an acquisition operation, wherein the scanning image coordinate system and the ruler coordinate system form a matrix;
R13(t) is a transformation matrix of the scale coordinate system relative to the world coordinate system when intraoperative real-time scanning images are acquired;
R12(t) is a transformation matrix of the coordinate system of the movable scale 2 relative to the world coordinate system when intraoperative real-time scanning images are acquired;
Rmis a transformation matrix between the spatial coordinate system of the preoperative scanned image and the coordinate system of the movable scale 1.
The operation navigation system comprises a navigation tail end and a matched tool, the navigation tail end and the matched tool are used for navigation and positioning on the operation part, the navigation and positioning robot comprises a robot coordinate system, and the computer processing device and the control software are used for converting the operation matched tool coordinate system and the world coordinate system to obtain the feature matching points of the comparison points in the scanned image coordinate system so as to realize the navigation and positioning of the operation navigation system in the operation.
The matching relationship between the navigation positioning points and the features in the scanning image coordinate system is as follows:
1) the 2D image feature point matching formula is as follows:
Figure 484518DEST_PATH_IMAGE001
2) the 3D image feature point matching formula is as follows:
Figure 218119DEST_PATH_IMAGE002
Figure 112257DEST_PATH_IMAGE003
coordinates of any p points of the intraoperative scanned image orthotopic picture coordinate system;
Figure 662799DEST_PATH_IMAGE004
coordinates of any p points of the intraoperative scanned image side position picture coordinate system are obtained;
Figure 831743DEST_PATH_IMAGE005
the coordinate of an arbitrary p point in the Tracker coordinate system is obtained;
Figure 91955DEST_PATH_IMAGE006
coordinates of any p point under the preoperative three-dimensional scanning image space coordinate system are obtained;
T1a matrix of the scanned image coordinate system and the ruler coordinate system for intraoperative scanning of an orthostatic image;
T2scanning a lateral position image in an acquisition operation, wherein the scanning image coordinate system and the ruler coordinate system form a matrix;
R13(t) is a transformation matrix of the scale coordinate system relative to the world coordinate system when intraoperative real-time scanning images are acquired;
R12(t) is a transformation matrix of the coordinate system of the movable scale 2 relative to the world coordinate system when intraoperative real-time scanning images are acquired;
Rmfor the change between the spatial coordinate system of the preoperative scanned image and the coordinate system of the movable scale 1And (5) matrix changing.
The operation navigation system and the registration of the operation navigation system comprise the following steps:
a staff gauge is fixed at the operation part of the operator, and the staff gauge can be selected according to the operation part and the body position of the patient;
acquiring a scan image of the surgical site preoperatively;
converting the coordinate system of the scanned image and the coordinate system of the world;
acquiring a real-time X-ray image of the surgical site intraoperatively;
and calculating the characteristic matching point of any point on the real-time image in the scanning image coordinate system.
The step of converting the coordinate system of the scanned image coordinate system and the world coordinate system comprises the following steps:
converting the coordinate systems of the scanned image coordinate system, the world coordinate system and the scanned space coordinate system; and calculating the feature matching point of any point of the real-time tool coordinate system in the scanned image coordinate system.
The step of converting the coordinate system of the scanning image coordinate system, the world coordinate system and the scanning space coordinate system comprises the following steps:
calculating the feature matching point of any point in the scanning space coordinate system in the scanning image coordinate system;
and calculating the characteristic matching point of any point in the world coordinate system in the scanning space coordinate system.
The feature matching point of any point in the world coordinate system in the scanned image coordinate system is calculated according to the following formula:
1) the 2D image feature point matching formula is as follows:
Figure 625835DEST_PATH_IMAGE001
2) the 3D image feature point matching formula is as follows:
Figure 587975DEST_PATH_IMAGE002
Figure 229784DEST_PATH_IMAGE003
coordinates of any p points of the intraoperative scanned image orthotopic picture coordinate system;
Figure 328191DEST_PATH_IMAGE004
coordinates of any p points of the intraoperative scanned image side position picture coordinate system are obtained;
Figure 32972DEST_PATH_IMAGE005
the coordinate of an arbitrary p point in the Tracker coordinate system is obtained;
Figure 498720DEST_PATH_IMAGE006
coordinates of any p point under the preoperative three-dimensional scanning image space coordinate system are obtained;
T1a matrix of the scanned image coordinate system and the ruler coordinate system for intraoperative scanning of an orthostatic image;
T2scanning a lateral position image in an acquisition operation, wherein the scanning image coordinate system and the ruler coordinate system form a matrix;
R13(t) is a transformation matrix of the scale coordinate system relative to the world coordinate system when intraoperative real-time scanning images are acquired;
R12(t) is a transformation matrix of the coordinate system of the movable scale 2 relative to the world coordinate system when intraoperative real-time scanning images are acquired;
Rmis a transformation matrix between the spatial coordinate system of the preoperative scanned image and the coordinate system of the movable scale 1.
The registration method of the surgical navigation system further comprises the following steps:
manually selecting a point to be matched on the operation position;
converting a coordinate system of the matching tool space coordinate system and the world coordinate system; and calculating and obtaining the characteristic matching points of the points to be matched in the scanning image coordinate system.
The characteristic matching points of the points to be matched in the scanning image coordinate system are calculated according to the following formula:
1) the 2D image feature point matching formula is as follows:
Figure 930838DEST_PATH_IMAGE001
2) the 3D image feature point matching formula is as follows:
Figure 900063DEST_PATH_IMAGE002
Figure 851445DEST_PATH_IMAGE003
coordinates of any p points of the intraoperative scanned image orthotopic picture coordinate system;
Figure 804488DEST_PATH_IMAGE004
coordinates of any p points of the intraoperative scanned image side position picture coordinate system are obtained;
Figure 305877DEST_PATH_IMAGE005
the coordinate of an arbitrary p point in the Tracker coordinate system is obtained;
Figure 392257DEST_PATH_IMAGE006
coordinates of any p point under the preoperative three-dimensional scanning image space coordinate system are obtained;
T1a matrix of the scanned image coordinate system and the ruler coordinate system for intraoperative scanning of an orthostatic image;
T2scanning a lateral position image in an acquisition operation, wherein the scanning image coordinate system and the ruler coordinate system form a matrix;
R13(t) is a transformation matrix of the scale coordinate system relative to the world coordinate system when intraoperative real-time scanning images are acquired;
R12(t) is a transformation matrix of the coordinate system of the movable scale 2 relative to the world coordinate system when intraoperative real-time scanning images are acquired;
Rmis a transformation matrix between the spatial coordinate system of the preoperative scanned image and the coordinate system of the movable scale 1.
The computer processing device and the control software prestore a calculation algorithm of any point on the real-time image at the feature matching point of the scanned image, and when an operation is performed, any point on the real-time image of the operation part can find the feature matching point in the scanned image of the operation part, so that the registration between the actual position of the operation part in the operation and the scanned image before the operation is realized, the operation is accurately guided to be performed, and the navigation and positioning operation is performed by the navigation and positioning system.
The computer processing device and the control software prestore a calculation algorithm of any point on the real-time image at the feature matching point of the scanned image, and when an operation is performed, any point on the real-time image of the operation part can find the feature matching point in the scanned image of the operation part, so that the registration between the actual position of the operation part in the operation and the scanned image before the operation is realized, the operation is accurately guided to be performed, and the navigation and positioning operation is performed by the navigation and positioning system.
By adopting the operation navigation system and the registration algorithm of the operation navigation system provided by the invention, the accurate matching of the preoperative 3D image and the intraoperative 2D image is realized through the space transformation of the image coordinate system, the robot coordinate system, the world coordinate system and the real-time tool coordinate system, so that the errors of manual operation are reduced, the operation time is shortened, the intraoperative radiation is reduced, the operation risk is further reduced, and the requirements of minimally invasive operations are met.
Drawings
The above-mentioned surgical navigation system and the registration method of surgical navigation of the present invention will become apparent and readily understood from the following description of the embodiments thereof taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a block schematic diagram of a surgical navigation system according to an embodiment of the present invention;
FIG. 2 is a pictorial illustration of a surgical navigation system in accordance with an embodiment of the present invention;
starting from the left: positioning navigation system, computer processing device, control software and optical tracking system
FIG. 3 is a schematic view of a CT scan of a preoperative surgical navigation system in accordance with an embodiment of the present invention;
14-medical imaging equipment
13-optical tracking system
12-computer processing device and control software
21-sign frame modified to 'staff gauge 1'
22-tracer
23-tracer support
FIG. 4 is a schematic diagram of an intraoperative surgical navigation system in accordance with an embodiment of the present invention;
FIG. 5 is a flow chart diagram of a registration method of a surgical navigation system in accordance with an embodiment of the present invention;
fig. 6 is a schematic view of a registration method and a surgical navigation flow of the surgical navigation system according to the embodiment of the present invention.
Detailed description of the preferred embodiment
The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
The surgical navigation system comprises a medical image scanning device, an optical tracking system, a computer processing device, control software, a robot positioning navigation system, a tracer (Tracker) and a matched scale tool;
the computer processing device and the control software are used for processing the image information and the spatial data, so as to carry out coordinate system conversion on the world coordinate system and the image coordinate system (preoperative scanning and intraoperative scanning), and calculate the characteristic matching point of any point of the world coordinate system in the image coordinate system.
The equipment is schematically shown in fig. 1, and comprises a positioning navigation system 11, computer processing devices and control software 12 and an optical tracking system 13 from the left.
The operation steps of the surgical navigation system are as follows:
firstly, connecting equipment, powering on and starting up, and fixing a mark frame at an operation position of an operator;
the computer processing device and control software 12 are connected with the medical image scanning device 14 and the optical tracking system 13, a movable target is placed at the surgical site of the patient, a tracer Tracker and a bone are simultaneously installed on the bone, and a Trakcer 22 is placed on the ruler, wherein at least three non-collinear first marks are arranged on the ruler 22 and used for establishing a scanning space coordinate system;
secondly, acquiring a scanning image of the surgical site before operation;
referring to fig. 2 and 3, the medical image scanning device 14 is a medical CT for scanning a surgical site of a patient before surgery to obtain a scan image, and the scan image includes a scan image coordinate system. The optical tracking system 13 is used for acquiring a pose matrix of the 3D registration frame 21 and the Tracker 22 before an operation, acquiring a real-time pose matrix of the Tracker of an operation position and a pose matrix of the positioning scale 60 during the operation, and the optical tracking system 13 comprises an optical tracking system space coordinate system.
And the optical tracking system determines a coordinate system conversion relation between the preoperative scanning three-dimensional space coordinate system and the dynamic space coordinate system by tracking the signal of the Tracker.
Thirdly, converting the coordinate system of the scanned image and the coordinate system of the world:
fourthly, acquiring a real-time image of the operation part in the operation;
the surgical navigation system provided by the embodiment of the invention can reduce the error of manual operation in the registration process, can quickly realize automatic registration even under the condition of small area of the surgical part, shortens the surgical time, further reduces the surgical risk, and meets the requirement of minimally invasive surgery.
In this embodiment, the feature matching point of any p point in the spatial coordinate system of the preoperative scan image in the coordinate system of the intraoperative scan image is calculated according to the following formula:
1) the 2D image feature point matching formula is as follows:
Figure 422530DEST_PATH_IMAGE001
2) the 3D image feature point matching formula is as follows:
Figure 597290DEST_PATH_IMAGE002
Figure 121944DEST_PATH_IMAGE003
coordinates of any p points of the intraoperative scanned image orthotopic picture coordinate system;
Figure 580607DEST_PATH_IMAGE004
coordinates of any p points of the intraoperative scanned image side position picture coordinate system are obtained;
Figure 798093DEST_PATH_IMAGE005
the coordinate of an arbitrary p point in the Tracker coordinate system is obtained;
Figure 558736DEST_PATH_IMAGE006
coordinates of any p point under the preoperative three-dimensional scanning image space coordinate system are obtained;
T1a matrix of the scanned image coordinate system and the ruler coordinate system for intraoperative scanning of an orthostatic image;
T2scanning a lateral position image in an acquisition operation, wherein the scanning image coordinate system and the ruler coordinate system form a matrix;
R13(t) is a transformation matrix of the scale coordinate system relative to the world coordinate system when intraoperative real-time scanning images are acquired;
R12(t) is a transformation matrix of the coordinate system of the movable scale 2 relative to the world coordinate system when intraoperative real-time scanning images are acquired;
Rmis a transformation matrix between the spatial coordinate system of the preoperative scanned image and the coordinate system of the movable scale 1.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (14)

1. A surgical navigation system and a registration method of the surgical navigation system are characterized by comprising the following steps: the system comprises a medical image scanning device, an optical tracking system, a computer processing device and control software, a robot positioning navigation system, a tracer (Tracker) and a matched scale tool;
the medical image scanning device is used for scanning the operation site before and during operation to acquire a medical image, and the information scanned by the medical image scanning device comprises an image coordinate system;
an optical tracking system for pre-operatively and intra-operatively acquiring real-time data of the tracer-bearing object at the surgical site, the optical tracking system including a world coordinate system;
the robot positioning navigation system comprises a mechanical arm, a positioning navigation structure at the tail end of the mechanical arm and a matched component, and the positioning system comprises a robot coordinate system;
the Tracker (Tracker) is used for matching with an optical tracking system to identify objects under world coordinates, can be in hard connection with patient bones or be arranged on an external patient fixing support and mounted on objects needing identification, such as a matched scale, a positioning navigation part and the like, and comprises a real-time tool coordinate system;
the matched scaleplate tool is provided with a plurality of rigid identification points which are not transparent to X-rays and are used as characteristic points (Marker) for assisting a computer to process the transformation of an image coordinate system and a world coordinate system before or during operation, and simultaneously can be designed into different specifications according to different operation parts and body types of patients, and the matched scaleplate tool is used for calculating the image coordinate system;
the computer processing device and the control software are used for processing the image information and the spatial data, so as to convert the world coordinate system and the image coordinate system (preoperative scanning and intraoperative scanning) and calculate the characteristic matching point of any point of the world coordinate system in the image coordinate system.
2. The surgical guidance system and the registration method thereof according to claim 1, wherein the medical image scanning device comprises an image coordinate system for scanning the surgical site information of the patient with a ruler or a marker support tool, and the scanning device can be selected from CT, Magnetic Resonance Imaging (MRI), CBCT, O-arm, X-ray machine and other medical image scanning devices, and the output format is standard medical image;
the computer processing device and the control software are also used for carrying out coordinate system conversion on the image coordinate system, the world space coordinate system, the robot coordinate system and the real-time tool coordinate system, and further calculating the feature matching points of any point in the world space coordinate system in the scanned image coordinate system so as to obtain the feature matching points of any point on the tool in the scanned image.
3. The surgical navigation system and the registration method for the surgical navigation system according to claim 1, wherein the computer processing device and the control software are used for processing the medical image and the Tracker tool image;
the Tracker is provided with at least three non-collinear mark points for establishing the dynamic space coordinate system;
the optical tracking system is used for tracking the spatial position of the Tracker in a world coordinate system according to a binocular vision principle, and calculating a coordinate system conversion relation between the optical tracking system and an image coordinate system as well as a real-time tool coordinate system.
4. The surgical navigation system and method of registration of a surgical navigation system of claim 1, wherein the computer processing device and control software are further configured to: calculating the feature matching point of any point in the scanning space coordinate system in the image coordinate system; and calculating the characteristic matching points of any point in the world coordinate system in the scanning space coordinate system and the real-time tool coordinate system.
5. The surgical navigation system and the registration method thereof according to claim 1, wherein the feature matching point of any point in the world coordinate system in the scanned image coordinate system is calculated according to the following formula:
1) the 2D image feature point matching formula is as follows:
Figure 441112DEST_PATH_IMAGE001
2) the 3D image feature point matching formula is as follows:
Figure 968652DEST_PATH_IMAGE002
Figure 301544DEST_PATH_IMAGE003
coordinates of any p points of the intraoperative scanned image orthotopic picture coordinate system;
Figure 991283DEST_PATH_IMAGE004
coordinates of any p points of the intraoperative scanned image side position picture coordinate system are obtained;
Figure 954691DEST_PATH_IMAGE005
the coordinate of an arbitrary p point in the Tracker coordinate system is obtained;
Figure 359740DEST_PATH_IMAGE006
coordinates of any p point under the preoperative three-dimensional scanning image space coordinate system are obtained;
T1a matrix of the scanned image coordinate system and the ruler coordinate system for intraoperative scanning of an orthostatic image;
T2scanning a lateral position image in an acquisition operation, wherein the scanning image coordinate system and the ruler coordinate system form a matrix;
R13(t) is a transformation matrix of the scale coordinate system relative to the world coordinate system when intraoperative real-time scanning images are acquired;
R12(t) is a transformation matrix of the coordinate system of the movable scale 2 relative to the world coordinate system when intraoperative real-time scanning images are acquired;
Rmis a transformation matrix between the spatial coordinate system of the preoperative scanned image and the coordinate system of the movable scale 1.
6. The surgical navigation system and the registration method thereof according to claim 1, wherein the surgical navigation system includes a navigation tip and a kit, the navigation tip and the kit are used for navigation and positioning at the surgical site, the navigation and positioning robot includes a robot coordinate system, and the computer processing device and the control software convert the surgical kit coordinate system and the world coordinate system to obtain the feature matching points of the comparison points in the scanned image coordinate system to realize the intraoperative navigation and positioning of the surgical navigation system.
7. The surgical navigation system and the registration method thereof according to claim 6, wherein the matching relationship between the navigation positioning points and the features in the scanned image coordinate system is as follows:
1) the 2D image feature point matching formula is as follows:
Figure 450318DEST_PATH_IMAGE001
2) the 3D image feature point matching formula is as follows:
Figure 322459DEST_PATH_IMAGE002
Figure 188259DEST_PATH_IMAGE003
coordinates of any p points of the intraoperative scanned image orthotopic picture coordinate system;
Figure 552376DEST_PATH_IMAGE004
coordinates of any p points of the intraoperative scanned image side position picture coordinate system are obtained;
Figure 633595DEST_PATH_IMAGE005
the coordinate of an arbitrary p point in the Tracker coordinate system is obtained;
Figure 501188DEST_PATH_IMAGE006
coordinates of any p point under the preoperative three-dimensional scanning image space coordinate system are obtained;
T1a matrix of the scanned image coordinate system and the ruler coordinate system for intraoperative scanning of an orthostatic image;
T2scanning a lateral position image in an acquisition operation, wherein the scanning image coordinate system and the ruler coordinate system form a matrix;
R13(t) is a transformation matrix of the scale coordinate system relative to the world coordinate system when intraoperative real-time scanning images are acquired;
R12(t) is a transformation matrix of the coordinate system of the movable scale 2 relative to the world coordinate system when intraoperative real-time scanning images are acquired;
Rmis a transformation matrix between the spatial coordinate system of the preoperative scanned image and the coordinate system of the movable scale 1.
8. The surgical navigation system and the registration method of the surgical navigation system according to claim 1, wherein the registration includes the steps of:
a staff gauge is fixed at the operation part of the operator, and the staff gauge can be selected according to the operation part and the body position of the patient;
acquiring a scan image of the surgical site preoperatively;
converting the coordinate system of the scanned image and the coordinate system of the world;
acquiring a real-time X-ray image of the surgical site intraoperatively;
and calculating the characteristic matching point of any point on the real-time image in the scanning image coordinate system.
9. The registration method of the surgical navigation system according to claim 8, wherein the step of performing coordinate system conversion of the scanned image coordinate system and the world coordinate system includes:
converting the coordinate systems of the scanned image coordinate system, the world coordinate system and the scanned space coordinate system;
and calculating the feature matching point of any point of the real-time tool coordinate system in the scanned image coordinate system.
10. The registration method of the surgical navigation system according to claim 9, wherein the step of performing coordinate system conversion on the scan image coordinate system, the world coordinate system, and the scan space coordinate system includes:
calculating the feature matching point of any point in the scanning space coordinate system in the scanning image coordinate system;
and calculating the characteristic matching point of any point in the world coordinate system in the scanning space coordinate system.
11. The registration method of the surgical navigation system according to claim 9, wherein the feature matching point of any point in the world coordinate system in the scan image coordinate system is calculated according to the following formula:
1) the 2D image feature point matching formula is as follows:
Figure 524508DEST_PATH_IMAGE001
2) the 3D image feature point matching formula is as follows:
Figure 107411DEST_PATH_IMAGE002
Figure 992322DEST_PATH_IMAGE003
coordinates of any p points of the intraoperative scanned image orthotopic picture coordinate system;
Figure 980001DEST_PATH_IMAGE004
coordinates of any p points of the intraoperative scanned image side position picture coordinate system are obtained;
Figure 924954DEST_PATH_IMAGE005
the coordinate of an arbitrary p point in the Tracker coordinate system is obtained;
Figure 512930DEST_PATH_IMAGE006
coordinates of any p point under the preoperative three-dimensional scanning image space coordinate system are obtained;
T1a matrix of the scanned image coordinate system and the ruler coordinate system for intraoperative scanning of an orthostatic image;
T2scanning a lateral position image in an acquisition operation, wherein the scanning image coordinate system and the ruler coordinate system form a matrix;
R13(t) is a transformation matrix of the scale coordinate system relative to the world coordinate system when intraoperative real-time scanning images are acquired;
R12(t) is a transformation matrix of the coordinate system of the movable scale 2 relative to the world coordinate system when intraoperative real-time scanning images are acquired;
Rmis a transformation matrix between the spatial coordinate system of the preoperative scanned image and the coordinate system of the movable scale 1.
12. The registration method of the surgical navigation system of claim 9, further comprising the steps of:
manually selecting a point to be matched on the operation position;
converting a coordinate system of the matching tool space coordinate system and the world coordinate system; and calculating and obtaining the characteristic matching points of the points to be matched in the scanning image coordinate system.
13. The registration method of the surgical navigation system according to claim 12, wherein the feature matching point of the point to be matched in the scanned image coordinate system is calculated according to the following formula:
1) the 2D image feature point matching formula is as follows:
Figure 667444DEST_PATH_IMAGE001
2) the 3D image feature point matching formula is as follows:
Figure 244049DEST_PATH_IMAGE002
Figure 359904DEST_PATH_IMAGE003
coordinates of any p points of the intraoperative scanned image orthotopic picture coordinate system;
Figure 904018DEST_PATH_IMAGE004
coordinates of any p points of the intraoperative scanned image side position picture coordinate system are obtained;
Figure 865152DEST_PATH_IMAGE005
the coordinate of an arbitrary p point in the Tracker coordinate system is obtained;
Figure 558914DEST_PATH_IMAGE006
coordinates of any p point under the preoperative three-dimensional scanning image space coordinate system are obtained;
T1a matrix of the scanned image coordinate system and the ruler coordinate system for intraoperative scanning of an orthostatic image;
T2scanning a lateral position image in an acquisition operation, wherein the scanning image coordinate system and the ruler coordinate system form a matrix;
R13(t) is a transformation matrix of the scale coordinate system relative to the world coordinate system when intraoperative real-time scanning images are acquired;
R12(t) is a transformation matrix of the coordinate system of the movable scale 2 relative to the world coordinate system when intraoperative real-time scanning images are acquired;
Rmis a transformation matrix between the spatial coordinate system of the preoperative scanned image and the coordinate system of the movable scale 1.
14. The surgical navigation system and the registration method thereof according to claims 1-13, wherein the computer processing device and the control software pre-store the calculation algorithm of any point on the real-time image at the feature matching point of the scanned image, and when the surgery is performed, any point on the real-time image of the surgical site can find the feature matching point in the scanned image of the surgical site, thereby realizing the registration between the actual position of the surgical site during the surgery and the scanned image before the surgery, further accurately guiding the performance of the surgery, and performing the surgical navigation positioning operation by the navigation positioning system.
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