CN117137626B - Noninvasive registration method for neurosurgery robot - Google Patents
Noninvasive registration method for neurosurgery robot Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention provides a noninvasive registration method of a neurosurgery robot, which comprises the following steps: rigidly connecting the developing positioning ball with a mechanical arm of the neurosurgery robot; moving the developing positioning ball to the vicinity of the head of the patient which is fixed in advance, and enabling the developing positioning ball to be positioned in the scanning range of the scanning device; taking the current position of the developing positioning ball as a marking point; determining coordinates of the marker points in a neurosurgical robot coordinate system; scanning the head of the patient and the developing and positioning ball, and establishing an imaging image of the head of the patient and the developing and positioning ball according to the scanning result; calibrating coordinates of the marking points in the imaging image; the coordinates of the marker points in the imaging image are correlated with the coordinates of the marker points in the neurosurgical robot coordinate system. The technical scheme does not need to set a skull mark point, belongs to a noninvasive registration method, and can achieve the same registration precision as the skull mark point registration method.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a registration method of a neurosurgical robot, and more particularly relates to a noninvasive registration method of a neurosurgical robot.
Background
The medical industry is an industry which is closely related to the life health of people, is an industry which is a collection of high and new technologies, and the robot technology is a representative of the high and new technologies and has an increasingly important influence on the modern society. Neurosurgery requires a higher level of surgeon precision in positioning and precision than other disciplines, and therefore robotic application is particularly important in neurosurgery. The current operation robot system mainly comprises an active robot for planning a fixed path before operation and a passive robot for assisting a doctor to remotely or finely operate, wherein the active robot is commonly used in the field of neurosurgery and is applied to the precise positioning technology of the brain.
The neurosurgery robot system analyzes image information provided by the medical image system by utilizing a computer technology, plays the technical advantages of the operation robot, constructs three-dimensional coordinates, and realizes three-dimensional accurate positioning and accurate auxiliary operation. Therefore, the traditional stereotactic technology is combined with the advantages of accurate positioning, dexterity, reliability, large working range, flow standardization and the like of the robot, reduces human factors in treatment, and enables the operation to be more accurate, dexterous and safe. The operation positioning mode comprises optical positioning, mechanical positioning, electromagnetic positioning, ultrasonic positioning and the like. In order to ensure positioning accuracy, the coordinate system of the imaging image needs to be matched and associated with the coordinate system of the neurosurgery robot, so that the neurosurgery robot can acquire accurate coordinates of each part of the head of the patient relative to the neurosurgery robot, and the process is called registration.
Registration is currently a crucial step in the application of medical surgical robots. Currently, three general registration methods are mainly adopted: the registration accuracy of the three registration modes is sequentially increased, wherein the registration mode accuracy of the skull mark point is highest, so that the three registration modes are increasingly applied. In the registration of the skull mark points, more than 5 registration mark points are required to be installed and fixed on the skull of a patient, the installation is usually carried out under the condition that the patient is awake, after the scalp at the local part of the installation point is anesthetized, a screw driver is used for screwing the skull nail on the skull to fix, then an imaging image of the head of the patient is shot, the coordinate positions of each part of the head of the patient and each registration mark point in the imaging image can be obtained, the corresponding registration mark points are touched through a mechanical arm, the coordinates of each registration mark point in a coordinate system of a medical operation robot are obtained, the two coordinate systems are associated in this way, and the registration is completed, and the surgical robot acquires the coordinates of each part of the head of the patient in the coordinate system of the medical operation robot in this way. In this registration method, the fixed marker point is usually fixed firmly on the head of the patient and is not easy to move, so that the registration accuracy is high.
In the process of implementing the present invention, the inventor finds that at least the following problems exist in the prior art:
this procedure is a invasive procedure, which, when the marker points are installed, can cause a degree of trauma to the scalp and skull of the patient, increasing pain and psychological burden for the patient, and which can lead to serious complications such as extracranial epidural bleeding, wounds and intracranial infection in some patients (especially children with thinner skull), increasing medical risks.
Therefore, how to realize a registration method which is noninvasive and can achieve the same registration accuracy as the skull mark point registration method is a problem to be solved.
Disclosure of Invention
The embodiment of the invention provides a noninvasive registration method of a neurosurgery robot, which is used for solving the problems of large trauma and large medical risk in the existing skull mark point registration method.
To achieve the above object, an embodiment of the present invention provides a noninvasive registration method for a neurosurgical robot, including:
establishing a neurosurgery robot coordinate system; rigidly connecting a developing positioning ball with a mechanical arm of the neurosurgery robot, wherein the developing positioning ball is a metal ball capable of imaging in an imaging image; moving the developing positioning ball to the outer side of the head of the patient which is fixed in advance through the mechanical arm, and enabling the developing positioning ball to be positioned in the scanning range of the scanning device; taking the current position of the developing positioning ball as a marking point; determining coordinates of the marker points in a neurosurgical robot coordinate system; scanning the head of the patient and the developing and positioning ball by using the scanning device, and establishing an imaging image about the head of the patient and the developing and positioning ball according to the scanning result; calibrating coordinates of the marking points in the imaging image; and correlating the coordinates of the marking points in the imaging image with the coordinates of the marking points in a coordinate system of the neurosurgical robot, and finishing noninvasive registration of the neurosurgical robot.
The technical scheme has the following beneficial effects:
according to the technical scheme, a skull marking point (skull nail) is not required to be installed on the head of a patient in a invasive way, only a registration frame provided with a developing positioning ball is required to be installed at the clamping end of the mechanical arm in the operation preparation stage, the developing positioning ball moves to the vicinity of the head of the patient along with the mechanical arm, the head of the patient and the registration frame are synchronously scanned through an intraoperative X-ray or CT imaging device, the head of the patient and the developing positioning ball are located in the same imaging image coordinate system, the relative position relation between the developing positioning ball and each anatomical part of the head of the patient can be determined, and meanwhile, the neurosurgery robot can directly calculate the position of the developing positioning ball close to the head of the patient in the self coordinate system, so that the matching of the two coordinate systems is realized, and automatic registration is completed, namely, at the moment, the neurosurgery robot can indirectly acquire the coordinates of each anatomical part of the head of the patient so that the subsequent operation is performed on the head of the patient. The accuracy of the noninvasive registration mode is equivalent to that of the invasive skull mark point registration mode, but the possible trauma of a patient caused by the placement of the skull mark point is avoided, the pain of the patient is reduced, and the medical risk possibly caused by the trauma is reduced.
In addition, the technical scheme has the following characteristics:
1) In the prior art skull mark point registration method, the position of the skull nail in the neurosurgery robot coordinate system cannot be directly known, but equipment such as a probe installed at the clamping end of a mechanical arm is required to touch each skull nail, and then the coordinate position of the probe when the probe is contacted with the skull nail is calculated, so that the coordinate position of the skull nail in the neurosurgery robot coordinate system (namely registration operation) is indirectly obtained. In the application, as the developing ball for replacing the skull nail is directly connected to the mechanical arm, the neurosurgery robot can directly acquire the coordinates of the developing ball in the self coordinate system, and the registration process is omitted, so that the speed is faster and the working efficiency is higher.
2) The price of the marking point used by the skull marking point registration method in the prior art is higher, so that the economic burden of a patient is increased to a certain extent; the technical scheme has the advantages that the consumption of disposable skull marking points is avoided, the consumable materials are saved, the medical cost is saved, and the patient cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of noninvasive registration of a neurosurgical robot according to an embodiment of the present invention;
FIG. 2 is a diagram showing a specific application example of a non-invasive registration method of a neurosurgical robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of a registration bracket in an embodiment of the present invention;
FIG. 4 is a schematic illustration of a process of associating a neurosurgical robot coordinate system with an imaging coordinate system in an embodiment of the present invention;
reference numerals: 10. a mechanical arm; 20. registering a bracket; 21. a connecting rod; 22. a clamping seat; 30. a scanning device; 40. fixing the headstock; 50. an operating bed; 60. a patient's head; 70. developing a positioning ball; 80. and a mechanical arm interface.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a noninvasive registration method for a neurosurgical robot, which is characterized by comprising:
s101, establishing a neurosurgical robot coordinate system, wherein the neurosurgical robot coordinate system is used for determining coordinates of an object rigidly connected with a mechanical arm of the neurosurgical robot when the object moves to any position;
s102, rigidly connecting a developing positioning ball with a mechanical arm of the neurosurgery robot, wherein the developing positioning ball is a metal ball capable of imaging in an imaging image;
s103, moving the developing positioning ball to the outer side of the head of the patient which is fixed in advance through the mechanical arm, and enabling the developing positioning ball to be positioned in the scanning range of the scanning device;
s104, taking the current position of the developing positioning ball as a marking point;
s105, determining coordinates of the marking points in a neurosurgical robot coordinate system;
s106, scanning the head of the patient and the developing and positioning ball by using the scanning device, and establishing an imaging image about the head of the patient and the developing and positioning ball according to the scanning result;
s107, calibrating coordinates of the marking points in the imaging image;
s108, correlating the coordinates of the marking points in the imaging image with the coordinates of the marking points in a coordinate system of the neurosurgery robot, and finishing noninvasive registration of the neurosurgery robot.
In order to relieve the pain of the patient, the embodiment of the invention does not adopt skull nails any more, but adopts a noninvasive mode for registration. While it is generally believed that in the prior art, it is necessary to fixedly connect the device (skull nail, etc.) serving as the marking point to the head of the patient to obtain the relative positional relationship between the two, in the embodiment of the present invention, this method is changed, and the device (developing and positioning ball) serving as the marking point is no longer directly connected to the head of the patient, but the developing and positioning ball is placed on the mechanical arm of the surgical robot, so that it no longer touches the head of the patient, and no other means is needed to establish a direct connection with the head of the patient, but only the developing and positioning ball is close to the head of the patient and stops at a certain position (the developing and positioning ball is located 10-50cm outside the head of the patient, for example, 5cm, 10cm, 15cm, 20cm, wherein when the developing and positioning ball is located 5cm outside the head of the patient, the positioning and developing effects are good, when the developing positioning ball is positioned 20cm outside the head of a patient, the positioning and developing functions have little influence on operations or other operations related to the operations, the plurality of developing positioning balls can be arranged at equal distances outside the head of the patient, the plurality of developing positioning balls can be arranged at different distances outside the head of the patient, for example, the distance is 5cm, the distance is 10cm, the distance is 15cm, the distance is 20cm or other different combinations of distances are arranged, so long as the relative position relationship between the two can be judged through subsequent operations, namely, the head of the patient and the developing positioning ball are considered to form a fixed position relationship; in addition, the embodiment of the invention changes the cognition that the radiation equipment in the prior art can only be used for shooting the patient part of the patient, and brings the developing positioning ball connected to the tail end of the mechanical arm into the scanning range of the scanning equipment.
After the technical scheme is adopted, in the operation preparation stage, only the registration bracket provided with the developing and positioning ball is required to be installed at the clamping end of the mechanical arm, the developing and positioning ball is stopped after moving to the vicinity of the head of a patient along with the mechanical arm, the developing and positioning ball at the moment is taken as a marking point (the marking point is required to be ensured to be positioned in the scanning range of the scanning device), then the head of the patient and the registration bracket (the registration bracket is used for fixing the developing and positioning ball and is connected with the mechanical arm) are synchronously scanned through the scanning device (the scanning device in the embodiment of the invention is an X-ray machine (such as a C-type arm X-ray machine) or a CT machine), an image is processed through a computer, an imaging image is obtained, the relative position relation between the marking point and each anatomical part of the head of the patient can be determined, and the computer of the neurosurgery robot can calculate the position of the marking point in the coordinate system of the patient, and the marking point has definite coordinates in the coordinate system of the computer, so that the matching of the two coordinate systems is realized, and the automatic registration is completed, namely, the real space mapping relation between the operation space of the mechanical arm and the operation image is established through the algorithm of the neurosurgery robot. Thereafter, the neurosurgical robot may acquire coordinates of various anatomical locations of the patient's head to facilitate subsequent surgical procedures on the patient's head. The accuracy of the noninvasive registration mode is equivalent to that of the invasive skull mark point registration mode, but the possible trauma of a patient caused by the placement of the skull mark point is avoided, the pain of the patient is reduced, and the medical risk possibly caused by the trauma is reduced.
Meanwhile, in the process, registration operation (namely, a probe and other devices connected with the clamping end of the mechanical arm are used for touching marking points such as skull nails to calculate the coordinate positions of the skull nails in a neurosurgery robot coordinate system) is not needed like the prior art, but the coordinate positions of the developing positioning balls in the neurosurgery robot coordinate system are determined in advance through a computer of the neurosurgery robot, (the neurosurgery robot itself is provided with a set of coordinate system, when the mechanical arm moves, the computer can calculate the positions of the mechanical arm after movement according to the displacement or the rotation angle of the mechanical arm in the respective degree direction, and when the developing positioning balls are fixed on the mechanical arm, each developing positioning ball also becomes a point on the mechanical arm, so that no matter how the mechanical arm drives the developing positioning balls to move, the computer can calculate the new positions of the developing positioning balls after movement, namely, the coordinate positions of the developing positioning balls in the neurosurgery robot coordinate system, the positions and the movement tracks of the developing positioning balls are recorded by the computer, and data of the developing positioning balls are formed according to the positions, and subsequent analysis and processing are carried out; in the prior art, since the skull nail is not connected with the mechanical arm, the neurosurgery robot does not know the position of the skull nail, the registration process is needed in the registration process, namely, the mechanical arm is operated to move so that the probe touches the skull nail, a computer of the neurosurgery robot is informed of the position of the current touch in the mode, the coordinate position of the mark point in the coordinate system of the neurosurgery robot is determined, and the registration process is a time-consuming process.
Further, before the step S101, the method further includes: the developing positioning balls are a plurality of, and the developing positioning balls are arranged on the registration bracket in a staggered manner; the mechanical arm rigid connection of the developing positioning ball and the neurosurgery robot specifically comprises: and connecting the registration support with the clamping end of the mechanical arm.
The developing and positioning ball (made of metal) is a sphere and is difficult to be directly connected with the mechanical arm, therefore, the embodiment of the invention is specially designed into a registration bracket (made of nonmetal material capable of transmitting X rays) shown in fig. 3, which is provided with a connecting rod 21, the front end of the connecting rod 21 extends out of two side frames, the developing and positioning ball is installed on each side frame through a clamping seat 22, an obtuse angle is formed between the two side frames, so that the two side frames are simultaneously close to the head top of the head of a patient from two sides, and the tail end of the connecting rod 21 is connected with the mechanical arm interface 80 positioned at the clamping end of the mechanical arm through bolts when the developing and positioning ball is used. Meanwhile, in order to meet the actual demands of different diseased parts of the patient, the registration support is provided with a plurality of developing and positioning balls 70 at the same time, for example, as shown in fig. 3, three developing and positioning balls 70 are respectively arranged on two side frames, which is equivalent to that three developing and positioning balls 70 on each side frame are coplanar, the planes of the two side frames are arranged at an obtuse angle, and the developing and positioning balls 70 on the left side are not symmetrically arranged with the developing and positioning balls 70 on the right side, so that the positioning demands of different positions can be met as much as possible.
The number of marking points to be used varies depending on the surgical site, the mode, etc., and the reasonable positions of the marking points vary (for example, the marking points are suitable for being close to the left side of the head of a patient, the marking points are suitable for being close to the right side of the head of a patient, etc.), so that a plurality of developing positioning balls should be arranged on the registration bracket. In the registration process, after the registration support is close to the head of the patient, the position of one of the developing positioning balls can be selected as a marking point, and the positions of a plurality of developing positioning balls can be simultaneously selected as marking points.
Further, if the scanning device is a CT machine, the step S106 specifically includes:
CT scanning is carried out on the head of the patient and the developing and positioning ball; three-dimensional reconstruction is carried out on the CT scanning result, and an imaging image related to the head of the patient and the developing and positioning ball is obtained;
further, if the scanning device is an X-ray machine, the step S106 specifically includes:
shooting an orthotopic X-ray film and a lateral X-ray film on the head of a patient, and enabling the irradiation angles of the orthotopic X-ray film and the lateral X-ray film to be 90 degrees; and matching the positive X-ray film, the lateral X-ray film and the pre-acquired CT image of the head of the patient without the developing positioning ball to obtain an imaging image of the head of the patient and the developing positioning ball.
If the scanning device is an X-ray machine, the method further includes, before step S102: CT scanning is carried out on the head of the patient, and a CT image of the head of the patient without the developing positioning ball is obtained.
In the embodiment of the invention, two methods for acquiring the imaging images of the head of the patient and the developing and positioning ball are available: when the scanning device is a CT machine, as a three-dimensional image can be generated through three-dimensional reconstruction software carried by the CT machine after CT tomography, the coordinates of each point in the image content can be directly determined according to the three-dimensional image, meanwhile, the position, puncture path and the like of an operation target point are determined according to the three-dimensional image, and then the corresponding coordinate system of the three-dimensional image (the imaging image related to the head of a patient and the developing and positioning ball) and the coordinate system of the neurosurgery robot are associated and registered through the marking points; in the second case, in actual work, the image equipment of the domestic operation matched with the neurosurgery robot is popular by using an X-ray scanner (X-ray machine), so in order to take care of the actual situation of most hospitals, the technical scheme also supports the generation of the imaging images of the head of the patient and the developing and positioning ball by using the X-ray machine, which requires two X-ray films (horizontal position and lateral position) of the developing and positioning ball after the head of the patient and the position of the marking point are shot on the same day of operation, and the two X-ray films are combined with the pre-shot CT image of the head of the patient, and the image content of the two X-ray films is related with the pre-shot CT image content by the special two-dimensional three-dimensional registration algorithm of the embodiment of the invention (because the pre-shot CT image does not contain the developing and cannot be directly registered with the neurosurgery robot), so as to obtain the imaging images of the head of the patient and the developing and positioning ball, and then the registration operation is performed. The second mode is compared with the first mode, and the steps of shooting CT images before operation and registering the two-dimensional X-ray film and the three-dimensional CT images are added.
Further, before the step S102, the method further includes:
fixedly arranging an operation table at the side of the neurosurgery robot; fixing a positioning head frame on an operation table, and enabling the positioning head frame to be positioned in a scanning range of the scanning device; after the patient lies on the operation table, the head of the patient is fixed with the positioning head frame.
During registration, the relative position between the patient headgear and the registration support needs to be kept fixed, so that the patient can lie on the operating table and the patient head is fixed by the fixing headgear in order to prevent uncontrolled shaking of the patient head.
Furthermore, the registration support and the positioning head frame are made of X-ray transmissible materials.
In order to prevent the extraneous object from generating images in the imaging images and affecting the subsequent registration and operation, the positioning head frame for fixing the head of the patient and the registration support for fixing the developing positioning ball are made of X-ray transparent materials, and the developing positioning ball is made of metal materials with good developing effect.
Further, in consideration of factors such as weight and strength, it is preferable that the registration support and the positioning head frame are made of carbon fiber or polyether-ether-ketone.
Further, after the step S102, the method further includes:
taking the position of the developing positioning ball which is connected with the mechanical arm as an initial position; determining initial coordinates of the developing positioning ball in a neurosurgical robot coordinate system according to the initial position; the determining the coordinates of the marking point in the neurosurgical robot coordinate system specifically comprises: in the process of transferring the developing positioning ball from the initial position to the marking point, the mechanical arm moves along the motion data of the degree of freedom; and calculating the coordinates of the marking points in a neurosurgery robot coordinate system according to the initial coordinates and the action data.
The neurosurgery robot is provided with a set of coordinate system, and the position of the robot arm clamping object after moving can be accurately calculated after each action. Therefore, after the developing positioning ball moves to the marking point along with the mechanical arm, the neurosurgery robot can automatically determine the spatial position of the marking point in the coordinate system of the neurosurgery robot.
Further, the noninvasive registration method of the neurosurgical robot further comprises:
s109, resetting the developing positioning ball to an initial position through the mechanical arm;
s110, detaching the developing positioning ball from the clamping end of the mechanical arm;
s111, installing a surgical instrument at the clamping end of the mechanical arm.
After the registration operation is completed, the developing and positioning ball can be removed along with the registration bracket, and then the surgical instrument is installed at the clamping end of the mechanical arm, so that the surgical operation can be performed. It can be seen that, in the embodiment of the present invention, except for the recyclable registration support (including the developing positioning ball), the noninvasive registration of the neurosurgical robot can be realized without adding additional components or consumables.
The basic principle of the association (registration) of two coordinate systems is shown in fig. 4: when the mechanical arm of the neurosurgery robot moves to any position, the current position of each point of the mechanical arm can be accurately calculated by the coordinate system of the mechanical arm (the coordinate system of the neurosurgery robot), so that when the clamping end of the mechanical arm is connected with a rigid object, the size of each part of the rigid object can be calculated by the coordinate system of the neurosurgery robot through simple coordinate conversion as long as the size of the rigid object is predetermined, and the mechanical arm can be regarded as a part of the mechanical arm as the clamped rigid object at the moment. The developing positioning ball is rigidly connected to the clamping end of the mechanical arm through the registration bracket, and after the developing positioning ball is moved to the vicinity of the outer side of the head of the patient to stop (the point is a marking point, the marking point is marked as A), the neurosurgical robot can automatically obtain the coordinates A (X, Y and Z) of the marking point in the coordinate system of the neurosurgical robot; the neurosurgical robot cannot know the coordinates of any point on the patient's head because the patient's head is not in contact with the robotic arm. At this time, if a certain point (e.g., point B in the figure) of the head of the patient is to be operated, the head of the patient is scanned by a radiation device (e.g., CT), the imaging positioning ball at the moment is scanned into the image, an imaging image is built according to the scanning result, and an imaging coordinate system is determined according to the imaging image, and at this time, both sets of coordinate systems contain mark points, that is, the two sets of coordinate systems can be associated through the mark points, so that registration is completed, that is, the mark points are used as ties for connecting the two sets of coordinate systems. After the two sets of coordinate systems are associated, the neurosurgical robot can determine the position in the neurosurgical robot coordinate system of the point at which the operation is to be performed: the distances between the point B and the point A in all directions can be determined to be L1, L2 and L3 in the coordinate system of the imaging image (only L1, L2 and L3 are shown in the figure), and correspondingly, the coordinates of the point B in the coordinate system of the neurosurgery robot are B (X-L1, Y-L2 and Z-L3), so that the position of the point B of the operation target point is mapped into the coordinate system of the neurosurgery robot, and when the clamping end of the mechanical arm is used for replacing the surgical instrument, the robot can drive the surgical instrument to operate the operation target point (point B).
When the mapping relation between the real space of the mechanical arm operation and the imaging image space is established, a matched preset algorithm is adopted, and the principle of the algorithm refers to the registration algorithm of the neurosurgery robot in the prior art, namely: that is, there are two sets { ai } (e.g., a plurality of points in a neurosurgical robot coordinate system) and { bi } (e.g., a plurality of points in an imaging image) of three-dimensional point coordinates that are in one-to-one correspondence, assuming that one set of points can obtain the other set of points by a global rigid motion, i.e., the other set of points can be obtained by both translational and rotational spatial transformations. The number of points in the two groups of point concentration is equal, and the corresponding relation between the points is known, wherein i=1; carrying out the following steps; n, N is the number of points in the point set, it can be assumed that the bright points ai and bi of the same subscript correspond to each other. The goal of the algorithm is to find the mapping between { ai } and { bi } such that bi=rai+t, where R is a 3 by 3 homogeneous rotation matrix and T is a 3 by 1 homogeneous translation matrix. Using least squares fitting, the optimal R and T values and the conversion relationship between the two sets of coordinate points can be obtained by minimizing the energy function Σ=Σni=1|bi- (rai+t) |2. According to this algorithm, two sets of coordinate systems can be completely associated by sharing the coordinates of a point (marker point) with the two sets of coordinate systems.
In the technical scheme, since the registration operation (in the prior art, the equipment such as a probe connected with the clamping end of the mechanical arm is required to touch the marking points such as the skull nail to calculate the coordinate position of the skull nail in the neurosurgery robot coordinate system, the process is called registration), the corresponding algorithm part of the registration operation in the prior art is not involved any more, so that the operation workload is greatly reduced, and the corresponding speed of the system is improved.
After registration between the two coordinate systems is completed, a doctor determines the coordinates of a good operation target point (or target point) and a planned puncture path and can convert the coordinates into the pose of the robot, so that the robot is controlled to reach a required position according to the planned path, and operation is performed. The planning of the coordinate of the operation target point and the puncture path can also be carried out in two ways:
1. if the intraoperative scanning device is CT, in the registration process of the day of the operation, because the imaging image obtained by CT scanning is a three-dimensional image, the puncture path can be planned and the coordinates of the operation target point can be determined directly according to the scanning result in the registration operation process.
2. If the intraoperative scanning device is an X-ray machine due to the limitation of the operation condition, as the obtained two-dimensional images of the front side and the side are only, the coordinates of the target point and the puncture path cannot be directly determined from the two-dimensional images, therefore, CT scanning (without the participation of a developing positioning ball) is required to be carried out on the head of a patient before registration (for example, the previous day of the operation), then the puncture path is initially planned according to the scanning result, and the position of the operation target point is initially determined (the initial planning cannot be directly adopted by an operation robot because the initial planning does not contain the information of the developing positioning ball and cannot be associated with a robot coordinate system); during registration, because the X-ray film and the CT scanning result are bone images of the head of the same patient, the X-ray film and the CT scanning result have a clear matching relationship, at the moment, according to a pre-designed special algorithm (two-dimensional image and three-dimensional image registration algorithm) of the application, the images of the two X-ray films are associated with the CT three-dimensional image shot in advance, and meanwhile, the position information of the developing positioning ball in the X-ray film is imported into the CT image, so that a three-dimensional image for registration is obtained, and naturally, the coordinates of a planned puncture path and an operation target point which are determined in advance between the three-dimensional images can be obtained.
In the above process, the basic principle and process of the two-dimensional image (2D) and three-dimensional image (3D) registration algorithm are as follows:
1) Calibration of preoperative X-ray machine
Calibration corrects the characteristic values of the C-arm X-ray machine by fixing a model prosthesis at a receiver of the C-arm X-ray machine to obtain an X-ray image. The reference image may be obtained through a series of calibration and distortion correction processes (using conventional distortion correction methods, detailed methods are omitted).
2) Estimation of relative position characteristic matrix of C-arm X-ray machine
Initial values of the relative positions of the four developing positioning balls on the same plane in the FTRAC algorithm are preliminarily obtained by using a morphological filtering and threshold value method in pattern feature recognition. The matrix of the relative positions of the alignment balls in the FTRAC algorithm is estimated using the post algorithm. Assuming that the vertical projection of the 3D model and the 2D image have related points, the relative position of the object and the X-ray tube is obtained by a repetitive cycle method. The distributed projection image of the developing positioning ball can be calculated by using a relative position matrix，/>The projection image is obtained at the X-ray receiver after the virtual vertical light source transmits to the developing and positioning ball. The image of X-ray is->Optimizing calculation ∈>And->The maximum similarity can obtain the estimated value of the relative position in the formula (1)T estimated I.e. the relative position estimate of the X-ray tube to the developing alignment ball.
（1）
3) Preprocessing of CT data and x-ray images
The volumetric data of preoperative CT (i.e. the previously described CT image of the patient's head without the visualization positioning ball) can be converted into a 3D volumetric data image based on the linear attenuation coefficient in equation (2) below,
（2）
wherein,x-ray attenuation coefficient of volume data; />X-ray attenuation coefficient of water
Assuming a single energy X-ray source, HU is converted to by equation (2)HU is the corresponding CT value unit.
The x-ray projection image obtained during surgery is also assumed to be linearly integrated with the linear attenuation value according to equation (3),
（3）
integration is performed along a line from the x-ray source to the receiver,is the light intensity value of the receiver,/->Is the projected light intensity of no object between x-ray and receiver, < >>Is the amount of attenuation of the x-rays at different distances. Here, it is assumed that the x-ray is a point light source, and the actual light source has a focal point of 0.5 mm.
In a 2D/3D registration process,the linear integral image of (2) is calculated for each x-ray image by (3), and the DRR is calculated using the volumetric data of the linear attenuation coefficient by (2).
4) Generation of DRR (digital reconstructed radiograph)
DRR is a key part of the 2D/3D registration based on intensity of light, as this process needs to be repeated several times to obtain optimal results. In the 2D/3D registration process, the DRR is calculated by using a linear tracking tri-line interpolation method, which is the prior art, so the specific implementation method is omitted. The tri-line interpolation calculates the intensity value for each sample point at the 3D volume by sampling along a particular ray and at fixed intervals.
5) Registration of DRRs with intraoperative X-ray images (i.e., orthotopic X-ray films and lateral X-ray films as described above)
Interaction information (MI) between DRR and x-ray image, normalized interaction information (NMI) and Gradient Information (GI) satisfy equation (4) for establishing an objective function. Wherein, GI satisfies:
（4）
the gradient vectors of the DRR and x-ray images are calculated by equation (5),
（5）
wherein,pixel intensity value for x-ray image, < >>For pixel values of the DRR image, +.>Andis the gradient value of the image,/>Is a weighted value.
In the method, the maximum similarity between the x-ray and the DRR image is found by repeated calculation of the objective function (5), and the maximum similarity is also the minimum gradient image difference value. The optimization calculation requires the user to manually adjust the initial conditions and the convergence conditions, if necessary. And (3) injection: in the embodiment of the invention, if no special notice exists, the international system of units is adopted.
To this end, the DRR has established a registration relationship with the intraoperative X-ray image.
The following describes a specific workflow of an embodiment of the present invention with a specific embodiment shown in fig. 2:
1) Firstly, preparing a registration bracket 20, and rigidly fixing a developing positioning ball 70 in a clamping seat 22 on the registration bracket 20; registration support 20 is made of an X-ray transmissive material and the development positioning balls 70 (6 in this embodiment) are spatially staggered.
2) If the intraoperative scanning device is an X-ray machine, CT scanning is carried out on the head of a patient in advance, so that a CT image without developing positioning balls is obtained; and performs preoperative surgical planning based on the CT images. If the intraoperative scanning device is a CT machine, this step is not required.
3) Registration-free registration device (day of surgery) was installed: the neurosurgical robot is placed at a proper position on the lateral side of the operating table 50, after the patient is lying on the operating table 50, the patient head 60 is fixed by the fixing head frame 40 (ensuring that the patient head 60 is located within the viewing range of the scanning device 30), and then the connecting rod 21 of the registration bracket 20 is connected with the mechanical arm interface 80, so that the registration bracket 20 is arranged on the clamping end of the mechanical arm 10, and the initial position coordinates of each developing and positioning ball 70 are identified by an algorithm preset by the neurosurgical robot.
4) The developing positioning ball 70 for positioning is selected according to the need (the moving end position of the selected developing positioning ball 70 is taken as a marking point later), and after the mechanical arm 10 is moved to a proper position near the head 60 of the patient (the developing positioning ball 70 is close to the head 60 of the patient but cannot touch the head 60 of the patient, the selected developing positioning ball 70 is ensured to be positioned in the visual field of the scanning device 30), the static state of the mechanical arm 10 is kept, and the currently selected position of the developing positioning ball 70 is the marking point.
5) And calculating the coordinates of the marking points in the neurosurgical robot coordinate system by adopting a neurosurgical robot preset algorithm according to the initial position coordinates of the developing positioning ball 70.
6) The patient's head 60 and the visualization positioning ball 70 are scanned by the intraoperative scanning device 30 (X-ray or CT).
7) If the intraoperative scanning device 30 is a CT machine, an imaging image including anatomical images of each part of the patient's head and the position of the marker points can be obtained, and the doctor can plan the puncture path and determine the position of the surgical target point. If the intraoperative scanning device 30 is an X-ray machine, two X-ray films of horizontal position and lateral position are shot and registered with the CT image without the developing positioning ball obtained in the step 2, so as to obtain an imaging image about the head of the patient and the developing positioning ball.
8) Calibrating coordinates of the marker points in the imaging image with respect to the patient's head and the developing locating ball;
9) And matching the coordinates of the marking points in the imaging image with the coordinates of the marking points in a neurosurgery robot coordinate system, and finishing registration-free registration.
10 Performing a surgical plan by a neurosurgical robot): the mechanical arm 10 is loaded with an instrument positioning module and moved to the surgical needle tract, and the surgical instrument is mounted on the instrument positioning module for performing a surgical operation.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. As will be apparent to those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. A method of noninvasive registration for a neurosurgical robot, comprising:
establishing a neurosurgical robot coordinate system for determining coordinates of an object rigidly connected to a mechanical arm of the neurosurgical robot when moving to any position;
rigidly connecting a developing positioning ball with a mechanical arm of the neurosurgery robot, wherein the developing positioning ball is a metal ball capable of imaging in an imaging image;
moving the developing positioning ball to the outer side of the head of the patient which is fixed in advance through the mechanical arm, and enabling the developing positioning ball to be positioned in the scanning range of the scanning device;
taking the current position of the developing positioning ball as a marking point;
determining coordinates of the marker points in a neurosurgical robot coordinate system;
scanning the head of the patient and the developing and positioning ball by using the scanning device, and establishing an imaging image about the head of the patient and the developing and positioning ball according to the scanning result;
calibrating coordinates of the marking points in the imaging image;
correlating the coordinates of the marking points in the imaging image with the coordinates of the marking points in a neurosurgical robot coordinate system, and finishing noninvasive registration of the neurosurgical robot;
wherein the scanning device is an X-ray machine;
before the developing positioning ball is rigidly connected with the mechanical arm of the neurosurgical robot, the method further comprises: CT scanning is carried out on the head of the patient to obtain a CT image of the head of the patient without the developing positioning ball;
the scanning device is used for scanning the head of a patient and the developing and positioning ball, and establishing an imaging image of the head of the patient and the developing and positioning ball according to the scanning result, and the imaging device specifically comprises:
shooting an orthotopic X-ray film and a lateral X-ray film on the head of a patient, and enabling an included angle of 90 degrees to be formed between the irradiation angles of the orthotopic X-ray film and the lateral X-ray film;
matching the positive X-ray film, the lateral X-ray film and a pre-acquired CT image of the head of the patient without the developing positioning ball to obtain an imaging image related to the head of the patient and the developing positioning ball;
before the developing positioning ball is rigidly connected with the mechanical arm of the neurosurgical robot, the method further comprises:
selecting a plurality of developing positioning balls, and arranging the developing positioning balls on a registration bracket;
the mechanical arm rigid connection of the developing positioning ball and the neurosurgery robot specifically comprises:
connecting the registration support with the clamping end of the mechanical arm;
the registration bracket is provided with a connecting rod, the front end of the connecting rod extends outwards to form two side frames, developing positioning balls are arranged on each side frame through a clamping seat, and a plurality of developing positioning balls are distributed in a staggered mode in space;
the matching the positive X-ray film, the lateral X-ray film and the pre-acquired CT image of the head of the patient without the developing positioning ball specifically comprises the following steps:
generating a DRR image according to the CT image of the head of the patient: the DRR image is a key part of 2D/3D registration based on light intensity, in the 2D/3D registration process, a linear tracking tri-line interpolation method is used for calculating the DRR, the tri-line interpolation calculates a light intensity value for each sampling point in the 3D volume, and sampling is carried out at fixed intervals;
the DRR image is registered with the orthotopic X-ray film and the lateral X-ray film.
2. The method of non-invasive registration of a neurosurgical robot according to claim 1, further comprising, prior to rigidly connecting the visualization location ball to the robotic arm of the neurosurgical robot:
fixedly arranging an operation table at the side of the neurosurgery robot;
fixing a positioning head frame on an operation table, and enabling the positioning head frame to be positioned in a scanning range of the scanning device;
after the patient lies on the operation table, the head of the patient is fixed with the positioning head frame.
3. The method of non-invasive registration of a neurosurgical robot of claim 1, wherein the registration support and the locating head frame are both X-ray transmissive materials.
4. The method of non-invasive registration of a neurosurgical robot according to claim 1, wherein after rigidly connecting the visualization positioning sphere to the robotic arm of the neurosurgical robot, further comprising:
taking the position of the developing positioning ball which is connected with the mechanical arm as an initial position;
determining initial coordinates of the developing positioning ball in a neurosurgical robot coordinate system according to the initial position;
the determining the coordinates of the marking point in the neurosurgical robot coordinate system specifically comprises:
in the process of transferring the developing positioning ball from the initial position to the marking point, the mechanical arm moves along the motion data of the degree of freedom;
and calculating the coordinates of the marking points in a neurosurgery robot coordinate system according to the initial coordinates and the action data.
5. The method of non-invasive registration of a neurosurgical robot according to claim 1, further comprising:
resetting the developing positioning ball to an initial position by the mechanical arm;
removing the developing positioning ball from the clamping end of the mechanical arm;
and installing a surgical instrument at the clamping end of the mechanical arm.
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