CN100536770C - Surgical operation system under the guide of magnetic resonant image and the operation navigating method - Google Patents

Abstract

The present invention is surgical operation system under the guide of magnetic resonant image and the operation navigating method. The surgical operation system includes magnetic resonant imaging equipment, a tracking system, a surgical instrument, a sick bed, a control and display device, a computer with relevant software. It features the calibrating pin and calibrating mode, and the tracer with different coordinate systems for measuring pose and calibrating. The present invention can realize the precise location of the operational equipment relative to the magnetic resonant image and operation navigation.

Description

Surgery systems under a kind of guide of magnetic resonant image and surgical navigational method

Technical field

The present invention relates to a kind of surgery systems and control method, particularly about surgery systems under a kind of guide of magnetic resonant image and surgical navigational method.

Background technology

Intervene operation is a great development direction of modern surgery operation, the difference of intervene operation or interventional therapy and traditional surgery is that it does not need to operate on, only need a very little wound operating theater instruments such as special conduit, freezing pin, radio frequency ablation needle, seal wire can be penetrated on intravital lesions position of people or the operation target position, reach the purpose of treatment then by various physical/chemical effects, thereby solve the tumor resection need open surgery could solve in the past, biopsy, artificial problem such as equipment placement.Intervene operation has characteristics such as do not operate on, accurately damage, wound is little, recoverys is fast, is considered to the desirable replacement scheme of a lot of traditional open surgery in future.

In the intervene operation process, the doctor can't observe directly intravital therapentic part of patient or focus.For safety and the effectiveness that guarantees operation process, a kind of effective method is that application medical imaging means are carried out intervene operation planning, navigation, therapeutic process is observed and the therapeutic effect assessment, realizes that the image of operation overall process guides and monitoring.Characteristics according to various disease, different parts, dissimilar interventional therapy have different picture control demands.Wherein nuclear magnetic resonance is because of its image resolution ratio height, soft-tissue imaging ability are strong, tissue temperature can freely be selected, can be detected in the image scanning orientation, can know a plurality of advantages such as focus that the demonstration skeleton blocks, and the image that becomes comparatively ideal interventional therapy guides and monitoring means.Guided by magnetic resonance intervene operation treatment also be at present in the world scientific research and clinical in the focus R﹠D direction.And there is following problem in the prior art:

1, in carrying out the nuclear magnetic resonance process, the non-linear meeting of gradient fields causes the geometry deformation of image, on different MR imaging apparatus and same MR imaging apparatus and in the different visual field geometry deformation of image be different, therefore need proofread and correct gradient deformation of magnetic resonant image, the bearing calibration of existing position offset can be divided into two kinds: a kind of is the nuclear magnetic resonance of demarcating mould according to 3 D stereo, by the direct calculation correction parameter of the method for graphical analysis; Another kind is the side-play amount that the described function-spheric harmonic function of applying a magnetic field is calculated to be limited control point in the image space.Before a kind of method computational process is complicated demarcates the molded cost height of doing, and need demarcate mould to three-dimensional and be placed in diverse location imaging and analyze the position offset that could obtain the control point, practical operation difficulty repeatedly.The design parameter of gradient coil is a principal element of anamorphose in a kind of method in back, and other hardware and software modules of not considering magnetic resonance system are to the influence that anamorphose produced, so the result of image rectification does not often reach requirement.

2, the doctor is when carrying out the magnetic resonance interventional therapy, it generally is the magnetic resonance image (MRI) that relies on the perusal focus, by rule of thumb operating theater instruments is placed into the target location, this mode can't be observed the actual error between the interventional operation equipment and lesions position or target spot in the operation process in real time, quality that can influence operation causes surgical effect to be difficult to guarantee, in case even error bigger, also to repeat interventional procedure, make patient suffer bigger misery.Therefore, how in the interventional therapy of guide of magnetic resonant image, introducing the undergo surgery three-dimensional fix of apparatus of the very high operating theater instruments tracking system of spatial positioning accuracy, and locating information and magnetic resonance image (MRI) are merged accurately, is the problem that must solve.

3, because the doctor is hand-held operating theater instruments, operating theater instruments and focus are being transformed in the navigation mode of same coordinate system, the shake of hands can bring error, therefore need one and can adjust the equipment of operating theater instruments clip position and direction flexibly, and do not have ready-made equipment to use in the prior art.

4, operating theater instruments and focus being changed to when observing in the same system, need carry out conversion, therefore need provide a solid that is used to demarcate to demarcate mould the relation between each coordinate system in the system.

5, because the characteristic point of demarcating in the mould is a spheroid, and the image that MR imaging apparatus became is owing to be that integration obtains, simultaneously because the restriction of the imaging voxel size that the resolution of having living space causes, reason such as partial volume effect in addition, cause the image that obtains characteristic point to produce distortion, therefore how determining the center of characteristic point, also is the problem that needs solution.

Summary of the invention

At the problems referred to above, the purpose of this invention is to provide a kind of surgery systems and surgical navigational method that in intervene operation, can realize under the guide of magnetic resonant image.

For achieving the above object, the present invention takes following technical scheme: the surgery systems under a kind of guide of magnetic resonant image, hardware components comprises MR imaging apparatus, tracking system, operating theater instruments, be arranged on the sick bed on the described MR imaging apparatus, control and display device, and computer that is connected with each system and control software section; It is characterized in that: also be provided with and demarcate pin and demarcate mould, the pose of described MR imaging apparatus coordinate system can tracked systematic survey; The corresponding tracer that is provided with at least one cover formation world coordinate system with described MR imaging apparatus position, the pose of described world coordinate system can be measured by described tracking system; Described operating theater instruments is provided with the operating theater instruments tracer as the operating theater instruments coordinate system, and the pose of described operating theater instruments coordinate system can tracked systematic survey; Described sick bed is provided with the sick bed tracer that constitutes the sick bed coordinate system, and described sick bed coordinate system can be measured by described tracking system; Described demarcation pin is made of jointly a pin and a tracer with certain-length, and it contacts certain point through calibrated needle point, can measure the position of this point; Described demarcation mould inside and surface are provided with one group of asymmetrically distributed feature point set I and feature point set II respectively, the characteristic point of described feature point set I can be by described MR imaging apparatus imaging, and the characteristic point of described feature point set II can be measured by described tracking system; The relative position relation of feature point set I and feature point set II is known; After demarcating, can be by the mutual transformation relation between each coordinate system, with described focus coordinate and operating theater instruments coordinate transform in same coordinate system.

A kind of surgical navigational method that adopts surgery systems under the above-mentioned guide of magnetic resonant image, it may further comprise the steps: (1) is in the system that is made up of MR imaging apparatus, tracking system, operating theater instruments and sick bed, MR imaging apparatus self has the MR imaging apparatus coordinate system, the place that is not moved in the position is installed tracer and is constituted world coordinate system, the operating theater instruments tracer is set on described operating theater instruments constitutes the operating theater instruments coordinate system; (2) measure to demarcate the coordinate of modular character point set I with MR imaging apparatus, measure the coordinate of feature point set II, calibrate transformation relation between MR imaging apparatus coordinate system and the world coordinate system by these two groups of coordinate datas with tracking system; (3) sick bed that will be loaded with the patient pushes the imaging region of MR imaging apparatus, the pose of the view data and the MR imaging apparatus coordinate system of focus is provided by MR imaging apparatus, provide the pose of tracking system coordinate system, operating theater instruments coordinate system by tracking system, the calibration result of integrating step 2 is set up the transformation relation between each coordinate system; (4) utilize the conversion of coordinate system, described focus and operating theater instruments are put into observation under the same coordinate system; (5) according to the image of focus and operating theater instruments relative position, mobile operating theater instruments with its drop target position, undergos surgery and treats operation.

The another kind of surgical navigational method that adopts surgery systems under the above-mentioned guide of magnetic resonant image, it may further comprise the steps: (1) is in the system that is made up of MR imaging apparatus, tracking system, operating theater instruments and sick bed, MR imaging apparatus self has the MR imaging apparatus coordinate system, the place that is not moved in the position is installed tracer and is constituted world coordinate system, the operating theater instruments tracer is set on described operating theater instruments constitutes the operating theater instruments coordinate system, on described sick bed or with the constant place of focus relative position, sick bed tracer formation sick bed coordinate system is set; (2) measure to demarcate the coordinate of modular character point set I with MR imaging apparatus, measure the coordinate of feature point set II, calibrate transformation relation between MR imaging apparatus coordinate system and the world coordinate system by these two groups of coordinate datas with tracking system; (3) sick bed that will be loaded with the patient pushes the imaging region of MR imaging apparatus, provides the view data of focus by MR imaging apparatus, and the posture information of sick bed coordinate system is provided by tracking system; (4) sick bed is hauled out the imaging region of MR imaging apparatus, move to operative region, the pose of tracking system coordinate system, sick bed coordinate system and operating theater instruments coordinate system is provided by tracking system, provide the MR imaging apparatus coordinate system by MR imaging apparatus, the calibration result of integrating step 2 is set up the transformation relation between each coordinate system; (5) utilize the conversion of coordinate system, described focus and operating theater instruments are put into observation under the same coordinate system; (6) according to the image of focus and operating theater instruments relative position, mobile operating theater instruments with its drop target position, undergos surgery and treats operation.

With demarcating mould to each coordinate system timing signal, adopted the separately method of demarcation of rotation amount and translational movement in the above steps (2), its step is as follows: (a) utilize MR imaging apparatus 1 to measure the coordinate of feature point set I each point in the MR imaging apparatus coordinate system

(i=1,2 ..., n _Ph), by coordinate

Generate L vector

This L vector

Be distributed in different directions; (b) utilize tracking system 2 to measure the coordinate of feature point set II each point in the tracking system coordinate system, thereby obtain the coordinate of feature point set I each point in the tracking system coordinate system

(i=1,2 ..., n _Ph), generate and vector in the tracking system coordinate system

Vectorial one to one

(c) these two groups of vectors satisfy transformation relation and are: $R_{\mathrm{scan}}^{\mathrm{track}}{D}_i^{\mathrm{scan}}=D_i^{\mathrm{track}}(i=\mathrm{1,2},...,n_{\mathrm{ph}});$ (d) by equation group $R_{\mathrm{scan}}^{\mathrm{track}}{D}_i^{\mathrm{scan}}=D_i^{\mathrm{track}}(i=\mathrm{1,2},...,n_{\mathrm{ph}})$ Can solve spin matrix

Then with its substitution equation group $R_{\mathrm{scan}}^{\mathrm{track}}{X}_i^{\mathrm{scan}}+T_{\mathrm{scan}}^{\mathrm{track}}=X_i^{\mathrm{track}}(i=\mathrm{1,2},...,n_{\mathrm{ph}}),$ Can solve

Obtain transformation relation

And then obtain the MR imaging apparatus coordinate system and follow the tracks of transformation relation between the coordinate system

Another adopts the surgical navigational method of surgery systems under the above-mentioned guide of magnetic resonant image, it may further comprise the steps: (1) on one's sick bed at least three of patient's body surface settings and focus between do not have the navigation marker relatively move, the operating theater instruments tracer is set on described operating theater instruments constitutes the operating theater instruments coordinate system; (2) sick bed that will be loaded with the patient pushes the imaging region of MR imaging apparatus, provides the view data of focus and the view data of navigation marker by MR imaging apparatus; (3) sick bed is hauled out the imaging region of MR imaging apparatus, move to operative region, at first extracting the coordinate of navigation marker in the MR imaging apparatus coordinate system on the lesion image with software, the reuse tracking system is measured the coordinate of navigation marker in the tracking system coordinate system, obtains transformation relation between MR imaging apparatus coordinate system and the tracking system coordinate system according to these two groups of data; (4) provided the pose of tracking system coordinate system, operating theater instruments coordinate system by tracking system, provide the pose of MR imaging apparatus coordinate system by MR imaging apparatus, the calibration result of integrating step 3 is set up the transformation relation between each coordinate system; (5) utilize the conversion of coordinate system, described focus and operating theater instruments are put into observation under the same coordinate system; (6) according to the image of focus and operating theater instruments relative position, mobile operating theater instruments with its drop target position, undergos surgery and treats operation.

Use in the above steps (2) and demarcate mould each coordinate system timing signal, be provided with in the software program of described navigation system by characteristic point imaging results among the feature point set I is carried out the localized program of the centre of sphere, it may further comprise the steps: (1) supposes at first on the sectional view that the area S and the cross section of circle satisfy normal distribution between the coordinate figure on the scanning direction; (2) along the cross section circular image of ball at same axial arbitrary scan three width of cloth diverse locations, or scanning obtain the cross section circular image of two width of cloth diverse locations after, simulate the 3rd width of cloth cross section circular image, form a class value at the coordinate figure of scanning direction by this cross section area of a circle and this cross section circle; Three class values that (3) will obtain simulate a Gaussian curve, and the coordinate figure of area maximum point correspondence is the coordinate figure of the centre of sphere on this scanning direction on the curve; (4) after the same method, obtain the coordinate figure of the centre of sphere,, combine and be sphere centre coordinate each axial coordinate value at two other change in coordinate axis direction.

The present invention is owing to take above technical scheme, it has the following advantages: 1 the present invention is owing to be provided with tracer respectively to operating theater instruments, sick bed etc. in magnetic resonance system, also be provided with and demarcate with demarcating mould, demarcating pin and navigation marker etc., therefore after demarcating with the demarcation mould, no matter be in the MR imaging apparatus imaging, still move or the variation operating theater instruments, even mobile sick bed is to other position, can be under the control of navigation system of the present invention, carry out the interventional therapy operation of online or various modes such as off-line or half off-line, and guarantee navigation accuracy.2, the present invention is directed to the uncertain problem of sphere center position that the characteristic point on the mould occurs of demarcating in the MR imaging apparatus imaging process, in the software imaging, preset a kind of centre of sphere finder based on the three-dimensional high-precision imaging, therefore the mould timing signal can demarcated, from magnetic resonance image (MRI), obtain accurate sphere center position, make navigation system navigation effect of the present invention more accurate.3, the present invention is directed in the nuclear magnetic resonance process, the non-linear problem that causes the geometry deformation of image of gradient fields, according to the anti-magnetic resonance correction parameter of asking of real image, overcome the shortcoming that gradient coil design parameter and real magnetic field gradient parameter there are differences, and in the counter process of asking the magnetic field gradient parameter, take the counter successively method of asking the magnetic field gradient parameter of three directions, improved convergence of algorithm speed.4, the invention provides the operating theater instruments guiding instrument of a clamping operating theater instruments, it can provide ten degree of freedom that can regulate at least, therefore can very conveniently make the focus of puncture needle being aimed at the patient exactly, and insert lesions position easily, get rid of the influence that the shake of operator's hand brings on the one hand, reduced the buckling phenomenon of operating theater instruments in the piercing process on the other hand.5; the present invention is owing to treat spatial top and both sides are provided with a linear laser device respectively in the MR imaging apparatus inspection; therefore can send the protection that fan-shaped plan laser is formed on a direction by each linear laser device; the light beam that three laser sends constitutes a width and limitation in height space with sick bed; making any object that exceeds the restricted quarter all can cause siren when entering MR imaging apparatus reports to the police; thereby avoided superelevation effectively; super wide object and MR imaging apparatus bump; patient and MR imaging apparatus safety have been protected in the dangerous and damage that causes.The present invention can guarantee patient's infringement is minimized when obtaining maximum intervene operation therapeutic effect, and this method comprises radio frequency, microwave, focus ultrasonic knife, particle implantation etc. applicable to multiple interventional therapy mode; The present invention is also applicable to multiple therapeutic goals such as aspiration biopsy, tumor/ablation of tissue.

Description of drawings

Fig. 1 is that therapy system hardware components of the present invention is arranged sketch map

Fig. 2 is a navigation system sketch map of the present invention

Fig. 3 is that the present invention demarcates the mode structure sketch map

Fig. 4 is that the characteristic point that the present invention demarcates a face of mould is provided with sketch map

Fig. 5 is the asymmetric distribution schematic diagram of characteristic point that the present invention demarcates mould

Fig. 6 adopts MR imaging apparatus to become the image sketch map

Fig. 7 is the sketch map of three sectional positions of Fig. 6

Fig. 8 is the Gaussian curve that the present invention simulates along the scanning of the z axle in the three-dimensional coordinate

Fig. 9 is a centre of sphere of the present invention location geometrical relationship sketch map

Figure 10 is an operating theater instruments guiding instrument structural upright sketch map of the present invention

Figure 11 is a lower carriage modular construction sketch map of the present invention

Connection diagrams such as arm, fairlead, shell, gear on Figure 12 guiding instrument of the present invention

Figure 13 is the schematic top plan view of Figure 12

Figure 14 is a guiding instrument entablature structural representation of the present invention

Figure 15 is the joint design sketch map of guiding instrument entablature of the present invention and lower carriage junction

Figure 16 is the joint design sketch map of guiding instrument entablature of the present invention and recliner junction

Figure 17 is a guiding instrument recliner schematic perspective view of the present invention

Figure 18 is a guiding instrument recliner structural representation of the present invention

Figure 19 is a guiding instrument recliner cross-sectional schematic of the present invention

Figure 20 is the side-looking cross-sectional schematic of Figure 19

Figure 21 is that guiding instrument of the present invention is got involved the arrangement for guiding sketch map

Figure 22 is the solid space sketch map that laser instrument protector of the present invention is formed

Figure 23 is that each laser instrument of the present invention is provided with position view in MR imaging apparatus

Figure 24 is a software section logic diagram of the present invention

Figure 25 is a gradient calibration program sketch map of the present invention

Figure 26 is a gradient calibration mode structure sketch map of the present invention

Figure 27 is the side-looking cross-sectional schematic of Figure 26

Figure 28 is the Changing Pattern sketch map of magnetic field gradient in ± 30cm on the X-axis of the present invention

Figure 29 is the image change sketch map of the equidistant index point of the present invention

Figure 30 is the gradient calibration mode designation point sketch map according to the spacing of index point and the design of diameter computing formula

Figure 31 is a search correction parameter flow chart in the gradient calibration of the present invention

Figure 32 is the index point sketch map of the present invention on x axle behind the gradient calibration

Figure 33 is a Therapeutic Method surgery planning flow chart of the present invention

Figure 34 is Therapeutic Method operation implementing procedure figure of the present invention

The specific embodiment

By the following examples and in conjunction with the accompanying drawings the present invention is described in detail.

As shown in Figure 1 and Figure 2, the present invention includes hardware and control software, wherein hardware device mainly comprises MR imaging apparatus 1, operating theater instruments tracking system 2, world coordinate system tracer 3, operating theater instruments 4 and operating theater instruments tracer 5, sick bed 6 and sick bed tracer 7, demarcate pin 8, demarcate mould 9, control and display device 10 etc.Control and display device 10 comprise one or more control stations, comprise magnetic resonance control station 11, interventional therapy control station 12, surgery planning navigation system control station 13 and operating room video monitoring platform 14 such as present embodiment, magnetic resonance compatible display screens 15 (as liquid crystal display) etc., the several Control platform also can be merged into a supervisory control desk.Can also be provided for the life signal monitor system 16 of monitored patient in the hardware device of the present invention according to requirements of operation, the intervene operation that is connected with interventional therapy control station 12 platform 17 etc. of plugging into.

MR imaging apparatus 1 of the present invention adopts horizontal open permanent-magnet structure, this magnet structure has avoided traditional barrel-shaped magnet structure interventional operation equipment 4 to be entered the restriction of the human body angle and the degree of depth, and to the restriction of tracking system 2 effective tracing areas, guaranteed the realization of real-time intervene operation navigation mode, can carry out intervene operation to each position of human body under the state that the assurance patient couches in magnet.MR imaging apparatus 1 is used for the focus to the patient, the imagings such as characteristic point in the demarcation mould 9, the MR imaging apparatus coordinate system is the attribute of MR imaging apparatus 1 self, can set up coordinate transform relation between it and other coordinate system by the demarcation of demarcating mould 9.

Tracking system 2 of the present invention is made up of position sensor, work station and interlock circuit etc., tracking system 2 can be in the visual field of tracking system (area of space that keeps certainty of measurement) coordinate of detection of a target point, position and attitude (being called pose) information that also can the measurement target coordinate system, tracking system 2 can be optical tracking system, electromagnetic tracking system and robot etc.Tracking system 2 utilizes the position sensor on it that world coordinate system tracer 3, operating theater instruments tracer 5, sick bed tracer 7 etc. are surveyed, and finishes the pose tracking measurement to world coordinate system, operating theater instruments coordinate system and sick bed coordinate system.

World coordinate system tracer 3 of the present invention, operating theater instruments tracer 5 and sick bed tracer 7 can adopt in the prior art forms tracer by the minimum spike unit's (spike ball that has fluorescent material such as the surface) of several (more than 3 or 3), the position sensor observation that the unitary position of this spike direct tracked system of energy is 2 li, thereby tracer 3,5,7 can provide the posture information of the equipment that depends on respectively as a coordinate system.General and the MR imaging apparatus 1 in the position of world coordinate system links together, and also can be arranged on other position, and the position of world coordinate system does not produce mobile in treatment.More world coordinate system can or overlap tracer 3 by a cover and constitute, be placed in diverse location if will overlap tracer 3 more, in navigation procedure, can change the position of position sensor as required, guarantee that position sensor can detect 1 tracer wherein, thereby obtain the pose of world coordinate system.

Operating theater instruments 4 of the present invention comprises accurate apparatuses such as conduit, seal wire, be introduced into human body in the operation, internal lesions is diagnosed and topical therapeutic, be connected with operating theater instruments tracer 5 on the operating theater instruments 4 as the operating theater instruments coordinate system, because operating theater instruments 4 is determined with the physical size and the relative position of operating theater instruments tracer 5, so the posture information of operating theater instruments 4 can tracked system 2 be measured.

Place the patient on the sick bed 6 of the present invention, and MR imaging apparatus 1 moves to imaging region or operative region etc. from original position relatively.Behind fixing sick bed tracer 7 as the sick bed coordinate system on the sick bed 6, the posture information of sick bed 6 just can tracked system 2 be measured.(for example neurosurgery of brain) is fixed with support on the patient body on the sick bed 6 in some applications, and also can be fixed on sick bed tracer 7 on the support this moment.In the purpose of placing tracer 7 on sick bed 6 or the support all is the position of accurately following the tracks of focus under the situation that focus is moved.On sick bed 6, place tracer 7, when focus and sick bed 6 do not have when relatively moving, sick bed 6 to move with the mobile of focus be the same; Same, on support, place tracer 7, when focus and support do not have when relatively moving, support to move with the mobile of focus be the same.In the narration below, sick bed tracer 7 also can be regarded as the tracer of support, and the pose of sick bed also can be regarded as the pose of support, does not do tangible difference on mathematical symbol.

Demarcation pin 8 of the present invention is to be made of jointly a pin and a tracer with certain-length, because the physical size and the relative position of needle point and tracer are determined, therefore through after demarcating, the position of needle point can tracked system 2 be measured, thereby utilize the needle point of demarcating pin 8 to contact certain point, just can measure the position of this point.

The present invention can also be provided with navigation marker 18 near the skin patient's focus, navigation marker 18 can imaging in MR imaging apparatus 1, also can tracked system 2 measure, and can calculate coordinate transformation relation between these two coordinate systems by registration.Navigation marker 18 has two purposes, and the one, the checking tracking accuracy, the 2nd, the registration lesion image is with image and the alignment of focus entity.Above-mentioned registration is meant the coordinate datas of two groups of points, and what these two groups points were described is same object, but because the coordinate system differences at two groups of some places cause its coordinate different, can calculate coordinate transformation relation between these two coordinate systems by registration.Also be called " registration " or " alignment ".

Demarcation mould 9 of the present invention can adopt various structures, all provide two stack features point set I and II in essence, point set I can imaging in imaging device, thereby obtain the coordinate of each point in the MR imaging apparatus coordinate system among the point set I, the tracked systematic survey of point set II energy, thus the coordinate of every bit in the tracking system coordinate system among the point set II obtained.Relative position relation between feature point set I and the feature point set II is known (being called the geological information of demarcating mould), if promptly know the coordinate of feature point set I each point, just can calculate the coordinate of feature point set II each point; If know the coordinate of feature point set II each point, also can calculate the coordinate of feature point set I each point.Only demarcate mould embodiment below, be illustrated for two.

Embodiment 1: as shown in Figure 3, Figure 4, the demarcation mould 9 of present embodiment comprises the rectangle demarcation mould body 91 of being made 300mm * 240mm * 200mm by pmma material, it is similar to demarcate mould body 91 other five faces except that the bottom surface, each face all has certain thickness characteristic layer 92, adopts bonding between each face or alternate manner is tightly connected.All be arranged at intervals with one group of spheroid as characteristic point 93 (such as the cod-liver oil bead) in each characteristic layer 92 inside, all characteristic points 93 of five faces have been formed feature point set I jointly.Outer surface at each characteristic layer 92 is corresponding with the position of each characteristic point 93, and a pit as characteristic point 94 is set, and the characteristic point 94 on five outer surfaces has been formed feature point set II jointly.Demarcating mould body 91 inside, is to demarcate mould solution 95 in the space that six bread gets up promptly, also can not demarcate mould solution.Demarcate mould solution 95 and can adopt sodium chloride solution, copper-bath etc., it has the effect that improves load and signal to noise ratio.Characteristic point 93 among the feature point set I can be by MR imaging apparatus 1 imaging, and can go out its center according to the image calculation that obtains; The characteristic point 94 of feature point set II just can 2 identifications of tracked system as long as click by demarcating pin 8.

In the foregoing description, if the characteristic point of each characteristic layer 92 the 93, the 94th is symmetrically arranged, but owing to demarcate two back-to-back faces of mould body 1 is symmetric, not by priori just can not know certain a bit be in this face or back to that face, so in software when registration must artificial notice software features point set I and II between point correspondence; If when each face is provided with characteristic point 93 or characteristic point 94, (with characteristic point 93 is example, and as shown in Figure 5), the position that promptly has is vacant, and then software can be sought corresponding relation automatically to select asymmetric spatial distribution.The present invention is in order to realize coupling automatically when registering computing, therefore feature point set I that is provided with in demarcation mould body 91 and the characteristic point 93,94 of feature point set II all adopt asymmetric distribution.This asymmetric distribution comprises each the characteristic point 93 asymmetric distribution among the feature point set I, also comprise the characteristic point 94 asymmetric distributions among the feature point set II, also comprise not having relation one to one between the characteristic point 93 of feature point set I and the characteristic point 94 among the feature point set II.Although these characteristic point 93,94 asymmetric distributions, in case demarcate molded finishing, the mutual alignment between each characteristic point 93,94 is determined, each characteristic point 93,94 labels input computer can be taken at any time with convenient.

The above-mentioned mould 9 of respectively demarcating mainly is to be used to demarcate and to check mutual alignment between each coordinate system, because the characteristic point 93 of feature point set I can be analyzed from the image that MR imaging apparatus 1 is become and obtain, the characteristic point 94 of feature point set II can measure in 2 identifications of tracked system, and the relation between feature point set I and the feature point set II known (being called the geological information of demarcating mould), as long as know the coordinate of characteristic point 93 (perhaps characteristic point 94 among the feature point set II) among the feature point set I wherein, just can extrapolate the coordinate of characteristic point 94 among the feature point set II (or among the feature point set I characteristic point 93), just can set up transformation relation between MR imaging apparatus coordinate system and the tracking system coordinate system by the relation between them.

Yet, according to various imaging device (MR imaging apparatus, ct apparatus (CT), C type arm X line equipment, ultrasonic imaging system etc.) imaging characteristics as can be known, when 1 pair of characteristic point 93 of demarcating in the mould 9 of MR imaging apparatus scans (as shown in Figure 6), because characteristic point 93 is not a point, but spheroid, scanning gained image is that integration obtains, and resulting image is also irregular, position particularly far away more apart from the device scan center, the anamorphose that obtains is big more (as a among Fig. 7, b, shown in the c), therefore can not from image, directly obtain the centre of sphere of spheroid.For this reason, in the software program of navigation system of the present invention, need to add a kind of centre of sphere finder, specifically describe as follows below based on the high accuracy imaging:

As shown in Figure 8, in order to obtain the characteristic point 93 real centre ofs sphere, the present invention supposes that at first the area S and the cross section of circle on the sectional view satisfy normal distribution between the coordinate figure on the scanning direction; With MR imaging apparatus 1 scan feature point 93, and the cross section circular image of arbitrary scan three width of cloth diverse locations along the same axis, a certain cross section area of a circle S on the scanning direction and can form a class value at the coordinate figure of scanning direction with this cross section; By geometry as can be known, as long as obtain three groups of such values, just can simulate a Gaussian curve, the coordinate figure that area maximum point (peak point) is corresponding on the curve is exactly the coordinate figure of the centre of sphere on this scanning direction.Curve 0 on the z axle reaches peak value, illustrates that this point is exactly that the centre of sphere is at the axial coordinate figure of z.After the same method, can obtain the coordinate figure of the centre of sphere, utilize on axially three cross sections to calculate the centre of sphere each, combine and to determine sphere centre coordinate at this coordinate figure on axially in two other coordinate axes (x, y) direction.

In scanning process, may have to two width of cloth sectional views sometimes, at this moment at first need simulate the 3rd width of cloth sectional view, and then calculate the coordinate position of the centre of sphere with said method by this two width of cloth figure through the center of circle.Such as:

As shown in Figure 9, go to cut a spheroid (characteristic point 93) with a plane, can obtain a circle, (x, y z) represent sphere centre coordinate, and d represents the distance of the centre of sphere to the cross section circle, R among the figure ₀Represent the radius of a ball, r represents the cross section radius of circle, and (a, b c) represent the round heart in cross section, and t1 represents cross section circule method line direction.There is such geometrical relationship between them:

d ²+r ²＝R ₀ ²

The approximate radius R of known spheroid ₀Be 3mm, pass through analysis image, can obtain the central coordinate of circle (a of cross section circle, b, c), the circle area S, utilize area of a circle S can obtain cross section radius of circle r, utilize the centre of sphere and central coordinate of circle can obtain the centre of sphere to cross section circle apart from d, thereby can utilize formula (1) obtain this sphere centre coordinate on axially (x, y, z).

By geometrical relationship, we know, as long as known the parameter of two faces, just can list following simultaneous equations with how much method, and the coordinate figure that solves the centre of sphere comes:

To first face:

$\left\{\begin{array}{c}{(x-a_1)}^2+{(y-b_1)}^2+{(z-c_1)}^2+\frac{{\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="C200710064930E00381.png,C200710064930E00382.png"\; state="\{\{state\}\}">S</figure-callout>}}_1}{\mathrm{\&pi;}}={R_0}^2\\ \frac{x-a_1}{{t1}_x}=\frac{y-b_1}{{t1}_y}=\frac{z-c_1}{{t1}_z}\end{array}\right.$

Can solve two class values like this, be each one up and down from how much.

To second face:

$\left\{\begin{array}{c}{(x-a_2)}^2+{(y-b_2)}^2+{(z-c_2)}^2+\frac{{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C200710064930E00381.png,C200710064930E00382.png"\; state="\{\{state\}\}">S</figure-callout>}}_2}{\mathrm{\&pi;}}={R_0}^2\\ \frac{x-a_2}{{t2}_x}=\frac{y-b_2}{{t2}_y}=\frac{z-c_2}{{t2}_z}\end{array}\right.$

Also can solve two class values, also be each one up and down.

Four centre ofs sphere that solve above should have two to be same point (having error certainly certainly) in fact.We ask the distance of every point-to-point transmission, l ₁, l ₂, l ₃, l ₄, then minimum 2 of distance should be exactly correct centre of sphere point, so be averaged, obtain the initial value of the centre of sphere that we want at these 2.

The initial value that the centre of sphere has been arranged is also known radius of a ball R ₀, also just having obtained crossing the cross section circle information of the centre of sphere, comprehensive existing two cross sections circle information just can be utilized the inventive method calculating centre of sphere.Owing to the information (center of circle, radius) of three cross section circles has been arranged, can calculate the area of a circle; Because the central coordinate of circle value is known, three class values have also just been obtained, every class value is formed at the coordinate figure of scanning direction by a certain cross section area of a circle on the scanning direction with this cross section, this three class value as the point coordinates on the Gaussian curve, just can simulate a Gaussian curve, thereby obtain the coordinate figure of the centre of sphere on this scanning direction.Profit uses the same method, and can obtain the coordinate figure of the centre of sphere on other both direction, thereby obtains the sphere center position coordinate.

The essence of navigation system of the present invention is focus picture and virtual operating theater instruments to be put under the same coordinate system observe, promptly be simultaneously displayed on the screen of work (can be the demonstration equipment of LCD screen, projection screen or other form), and both relative positions are identical with the relative position of real focus and operating theater instruments on the screen, thereby the doctor can see focus by the observation screen, also can see operating theater instruments, and then accurately and apace operating theater instruments be delivered to the target location.

Adopt navigation system of the present invention, the present invention can finish the operation of following two kinds of mode of operations (real-time and non real-time):

Mode of operation one: the patient lies on the sick bed 6, sick bed 6 is pushed in the imaging region of MR imaging apparatus 1, in the scanning focus, undergos surgery in real time.Wherein, MR imaging apparatus 1 provides the view data of focus, tracking system 2 provides the posture information of operating theater instruments 4, utilizing coordinate transform that focus and operating theater instruments 4 are put under the same coordinate system observes, be simultaneously displayed on the screen, being the focus seen on screen of doctor and the relative position of operating theater instruments 4, is exactly the actual focus and the relative position of operating theater instruments 4.

Mode of operation two: the patient lies on the sick bed 6, sick bed 6 is pushed in the imaging region of MR imaging apparatus 1, obtains the image of focus, then sick bed 6 is hauled out undergo surgery to a place (do not have mutually between patient and the sick bed and move), undergos surgery in non real-time.Wherein, MR imaging apparatus 1 provides the view data of focus, tracking system 2 provides the posture information of operating theater instruments 3, sick bed 6, utilizing coordinate transform that focus and operating theater instruments 4 are put under the same coordinate system observes, be simultaneously displayed on the screen, being the focus seen on screen of doctor and the relative position of operating theater instruments 4, is exactly the actual focus and the relative position of operating theater instruments 4.

For supporting above two kinds of mode of operations, system of the present invention supports following three kinds of navigation modes, before specifically describing navigation mode of the present invention, and the variable-definition following (as shown in table 1) of elder generation to occurring in describing:

Table 1: the definition of variable

Navigation mode A: in order to carry out first kind of mode of operation, the present invention adopts tracer 3 as world coordinate system (as shown in Figure 1), it is arranged on the MR imaging apparatus 1, therefore the relative position of itself and MR imaging apparatus 1 remains unchanged, and fixation surgical instrument tracer 5 is as the operating theater instruments coordinate system on operating theater instruments 4.Demarcate by demarcating mould 9, can obtain the coordinate transform relation between MR imaging apparatus coordinate system and the world coordinate system, make focus (MR imaging apparatus 1 provides its image and posture information) can transform in the world coordinate system that (this staking-out work only needs do once when erection unit, as long as do not relatively move between tracer 3 and the MR imaging apparatus 1, its calibration result can be directly adopted in later operation).(each operation all will be demarcated to obtain the pose of operating theater instruments 4 in the operating theater instruments coordinate system by 9 demarcation of demarcation mould simultaneously, because generally just that operating theater instruments tracer 5 is fixing before operation, and the separating of in operation process, undergo surgery probably apparatus 4 and operating theater instruments tracer 5, fixing).In operation process, tracking system 2 is measured the pose of world coordinate systems, obtains the coordinate system of tracking system 2 oneself and the transformational relation of world coordinate system; Simultaneously, tracking system 2 is measured the pose of operating theater instruments coordinate system, obtains the transformational relation between operating theater instruments coordinate system and the world coordinate system, thereby operating theater instruments 4 is also transformed to world coordinate system observation.Except unified focus and operating theater instruments 4 are transformed to world coordinate system observation, also they can be transformed to other coordinate system observation, for example MR imaging apparatus coordinate system or tracking system coordinate system etc.

The derivation that navigation mode A coordinate transform relation is concrete is as follows:

Observation focus and operating theater instruments 4 in world coordinate system, MR imaging apparatus 1 scanning focus obtains its view data, comprising some coordinate in the MR imaging apparatus coordinate system arbitrarily of focus

According to good MR imaging apparatus coordinate system of prior demarcation and the transformation relation between the world coordinate system

Can with any point coordinates of focus from the MR imaging apparatus coordinate system transformation to world coordinate system, obtain this coordinate in world coordinate system

$V_{\mathrm{lesion}}^{\mathrm{world}}=C_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion}}^{\mathrm{scan}}---\left(1\right)$

Tracking system 2 is measured the posture information of operating theater instruments tracer 5

Also measure simultaneously the pose of world coordinate system

Thereby obtain the transformation relation between operating theater instruments coordinate system and the world coordinate system

$C_{\mathrm{tool}}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{tool}}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}---\left(2\right)$

The coordinate of any 1 T in the operating theater instruments coordinate system on the operating theater instruments 4 Be known, it is transformed in the world coordinate system

$C_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{C}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}---\left(3\right)$

So far, focus and operating theater instruments 4 have been placed to observation in the same coordinate system (world coordinate system), and they can be displayed on the screen.The relative position of focus that the doctor sees on screen and operating theater instruments 4 is exactly the focus of reality and the relative position of operating theater instruments 4.

Except world coordinate system, focus and operating theater instruments 4 also can be transformed in other the coordinate system and observe, for example MR imaging apparatus coordinate system or tracking system coordinate system.

Use the observation of MR imaging apparatus coordinate system because focus has been in the MR imaging apparatus coordinate system, its arbitrarily any coordinate be

Do not need to carry out conversion, and only need conversion operating theater instruments 4 to the MR imaging apparatus coordinate system

$V_T^{\mathrm{scan}}=C_{\mathrm{world}}^{\mathrm{scan}}{V}_T^{\mathrm{world}}=C_{\mathrm{world}}^{\mathrm{scan}}{\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}---\left(4\right)$

Use the observation of tracking system coordinate system, any some coordinate in the tracking system coordinate system of a bit any and operating theater instruments 4 of focus is respectively

$V_{\mathrm{lesion}}^{\mathrm{track}}=C_{\mathrm{scan}}^{\mathrm{track}}{V}_{\mathrm{lesion}}^{\mathrm{scan}}=C_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion}}^{\mathrm{scan}}---\left(5\right)$

$V_T^{\mathrm{track}}=C_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}---\left(6\right)$

Navigation mode B: in order to carry out second kind of mode of operation, can on the basis of the scaling method of navigation mode A and tracking, expand.Similarly, use tracer 3 as world coordinate system, the relative position of it and MR imaging apparatus 1 remains unchanged fixation surgical instrument tracer 5 on operating theater instruments 4.In addition, in order to adapt to moving of sick bed 6 (patient), also will be on sick bed 6 relatively and the fixed sick bed tracer 7 of patient's focus (or patient on one's sick bed is provided with human body coordinate tracer on one's body).In operation process, focus is after 1 li imaging of MR imaging apparatus, move to the position that undergos surgery along with sick bed 6, utilize the coordinate transform relation between MR imaging apparatus coordinate system and the world coordinate system and the posture information of sick bed 6, focus can be transformed in the world coordinate system and observe.The tracking of operating theater instruments 4 is the same with method among the navigation mode A.Except unified focus and operating theater instruments 4 are transformed to world coordinate system observation, also they can be transformed to other coordinate system, MR imaging apparatus coordinate system for example, tracking system coordinate system or sick bed coordinate system etc.

The derivation that navigation mode B coordinate transform relation is concrete is as follows:

Observation focus and operating theater instruments 4 in world coordinate system, when the patient was pushed into MR imaging apparatus 1 imaging, some coordinate in world coordinate system arbitrarily of focus was that formula (1) is described

$V_{\mathrm{lesion},0}^{\mathrm{world}}=C_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(1\right)$

Wherein subscript 0 expression sick bed 6 is pushed into MR imaging apparatus 1, at this moment sick bed coordinate system pose

Tracked system 2 surveys, and its pose in world coordinate system is

$C_{\mathrm{PT},0}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{PT},0}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},0}^{\mathrm{track}}---\left(7\right)$

By formula (1) and (7) as can be known this moment focus arbitrarily some the coordinate in the sick bed coordinate system be

$V_{\mathrm{lesion},0}^{\mathrm{PT},0}=C_{\mathrm{world}}^{\mathrm{PT},0}{V}_{\mathrm{lesion},0}^{\mathrm{world}}={\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(8\right)$

After imaging finished, focus (patient) was along with sick bed 6 moves to surgery location (representing with subscript 1).Do not relatively move because patient and sick bed 6 have, the coordinate of focus on sick bed 6 remains unchanged

$V_{\mathrm{lesion},1}^{\mathrm{PT},1}=V_{\mathrm{lesion},0}^{\mathrm{PT},0}---\left(9\right)$

This moment sick bed 6 pose

Tracked system 2 surveys, and its pose in world coordinate system is

$C_{\mathrm{PT},1}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{PT},1}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}---\left(10\right)$

Can draw the coordinate of focus this moment in world coordinate system by formula (8)～(10) is

$V_{\mathrm{lesion},1}^{\mathrm{world}}=C_{\mathrm{PT},1}^{\mathrm{world}}{V}_{\mathrm{lesion},1}^{\mathrm{PT},1}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}{\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(11\right)$

It is the same that any some coordinate in world coordinate system of operating theater instruments 4 and formula (3) are described

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}---\left(3\right)$

So far, focus and operating theater instruments have been placed to observation in the same coordinate system (world coordinate system).

Except world coordinate system, focus and operating theater instruments also can be transformed in other the coordinate system and observe, for example MR imaging apparatus coordinate system, tracking system coordinate system or sick bed coordinate system.

Use the observation of MR imaging apparatus coordinate system, any some coordinate in the MR imaging apparatus coordinate system of a bit any and operating theater instruments 4 of focus is respectively

$V_{\mathrm{lesion},1}^{\mathrm{scan}}=C_{\mathrm{world}}^{\mathrm{scan}}{V}_{\mathrm{lesion},1}^{\mathrm{world}}=C_{\mathrm{world}}^{\mathrm{scan}}{\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}{\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}$ (12)

${={\left(C_{\mathrm{scan}}^{\mathrm{world}}\right)}^{-1}\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}{\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}$

$V_T^{\mathrm{scan}}=C_{\mathrm{worlk}}^{\mathrm{scan}}{V}_T^{\mathrm{world}}=C_{\mathrm{world}}^{\mathrm{scan}}{\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}---\left(4\right)$

Use the observation of tracking system coordinate system, any some coordinate in the tracking system coordinate system of a bit any and operating theater instruments 4 of focus is respectively

$V_{\mathrm{lesion},1}^{\mathrm{track}}=C_{\mathrm{PT},1}^{\mathrm{track}}{V}_{\mathrm{lesion},1}^{\mathrm{PT},1}=C_{\mathrm{PT},1}^{\mathrm{track}}{\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(13\right)$

$V_T^{\mathrm{track}}=C_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}---\left(6\right)$

Use the observation of sick bed coordinate system, any some coordinate in the sick bed coordinate system of a bit any and operating theater instruments 4 of focus is respectively

$V_{\mathrm{lesion},1}^{\mathrm{PT},1}={\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(7\right)$

$V_T^{\mathrm{PT},1}=C_{\mathrm{track}}^{\mathrm{PT},1}{V}_T^{\mathrm{track}}={\left(C_{\mathrm{PT},1}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}---\left(14\right)$

Navigation mode C:, can adopt scaling method and the tracking different with navigation mode B in order to carry out second kind of mode of operation.It is at the fixing navigation marker 18 (quantity is no less than 3) that can imaging in MR imaging apparatus 1 of patient's body surface, and imaging in MR imaging apparatus 1, in the operation process, does not have between navigation marker 18 and the focus and relatively moves.After sick bed 6 (patient) is drawn out the arrival operative region, extracting the coordinate of navigation marker 18 in the MR imaging apparatus coordinate system on the lesion image, and measure the coordinate of navigation marker 18 in the tracking system coordinate system of patient's body surfaces with tracking system 2, with these two groups of data registrations, thereby the position with lesion image and real focus in certain coordinate system (for example tracking system coordinate system) coincides together, because this moment, operating theater instruments 4 also was transformed this coordinate system (for example tracking system coordinate system), therefore can realize the observation together of focus and operating theater instruments 4, just can begin operation then.

The derivation that navigation mode C coordinate transform relation is concrete is as follows:

After sick bed 6 puts in place, on lesion image with n _NavIndividual navigation marker 18 (n _Nav〉=3, general n _NavEqual 4), extract, obtain the three-dimensional coordinate of navigation marker 18 in the MR imaging apparatus coordinate system

(i=1,2 ..., n _Nav); Use tracking system 2 to measure navigation marker point 18, obtain their coordinates in the tracking system coordinate system

Transformation relation between focus and the operating theater instruments coordinate is:

$C_{\mathrm{img}}^{\mathrm{track}}{M}_i^{\mathrm{img}}=M_i^{\mathrm{track}}---\left(15\right)$

Wherein

Be the pose of MR imaging apparatus coordinate system in the tracking system coordinate system.Through type (15) can obtain n _NavIndividual equation, and solve Thereby some coordinate in the MR imaging apparatus coordinate system arbitrarily of focus

May be shifted into the tracking system coordinate system

$V_{\mathrm{lesion}}^{\mathrm{track}}=C_{\mathrm{img}}^{\mathrm{track}}{V}_{\mathrm{lesion}}^{\mathrm{img}}---\left(16\right)$

The coordinate of any 1 T in the operating theater instruments coordinate system on the operating theater instruments 4

Be known, it is transformed in the tracking system coordinate system

$V_T^{\mathrm{track}}=C_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}---\left(6\right)$

So far, focus and operating theater instruments 4 have been placed to observation in the same coordinate system (tracking system coordinate system), they can be displayed on the screen, and the relative position of focus that the doctor sees on screen and operating theater instruments 4 is exactly the focus of reality and the relative position of operating theater instruments 4.

Measure navigation marker 18 in order to make the doctor not need to reuse tracking system 2, can increase a tracer as world coordinate system, its pose Tracked system 2 is measured.This world coordinate system is different with the world coordinate system of navigation mode A, B, and it is not to be fixed on the MR imaging apparatus 1, but and the relative position of focus remain unchanged, when for example focus is head, can tracer and head be fixed by machinery.

Represent initial calibration position with subscript 0, the position sensor of 1 expression tracking system 2 moves to reposition.With focus arbitrarily a bit by the tracking system coordinate system transformation to world coordinate system

$V_{\mathrm{lesion}}^{\mathrm{world}}=C_{\mathrm{track},1}^{\mathrm{world}}{V}_{\mathrm{lesion}}^{\mathrm{track},1}=C_{\mathrm{track},1}^{\mathrm{world}}{C}_{\mathrm{track},0}^{\mathrm{track},1}{V}_{\mathrm{lesion}}^{\mathrm{track},0}={\left(C_{\mathrm{world}}^{\mathrm{track},1}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track},1}{\left(C_{\mathrm{world}}^{\mathrm{track},0}\right)}^{-1}{C}_{\mathrm{img}}^{\mathrm{track},0}{V}_{\mathrm{lesion}}^{\mathrm{img}}---\left(17\right)$

Operating theater instruments 4 transformed to world coordinate system more arbitrarily

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track},1}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track},1}{V}_T^{\mathrm{tool}}---\left(18\right)$

We just are put into focus and operating theater instruments 4 in the world coordinate system and observe like this, and after position sensor moved, world coordinate system was at the pose of position sensor

Upgrade, the conversion of through type (17) and (18) guarantees the accurate positioning of focus and operating theater instruments.

Also can in tracking system, observe focus and operating theater instruments

$V_{\mathrm{lesion}}^{\mathrm{track},1}=C_{\mathrm{track},0}^{\mathrm{track},1}{V}_{\mathrm{lesion}}^{\mathrm{track},0}=C_{\mathrm{world}}^{\mathrm{track},1}{\left(C_{\mathrm{world}}^{\mathrm{track},0}\right)}^{-1}{C}_{\mathrm{img}}^{\mathrm{track},0}{V}_{\mathrm{lesion}}^{\mathrm{img}}---\left(19\right)$

$V_T^{\mathrm{track},i}=C_{\mathrm{tool}}^{\mathrm{track},1}{V}_T^{\mathrm{tool}}---\left(20\right)$

In the demarcation of above-mentioned MR imaging apparatus coordinate system, object of MR imaging apparatus 1 scanning obtains image, used space coordinates is the MR imaging apparatus coordinate system, for the coordinate system from the MR imaging apparatus coordinate system transformation to other (as world coordinate system) with image, just need carry out staking-out work, obtain the transformation relation between imaging coordinate system and certain the coordinate system R (as world coordinate system or tracking system coordinate system etc.) This relation has been arranged, and focus just can transform in this coordinate system and observe.If know other the coordinate system (for example tracking system coordinate system) and the relation of world coordinate system, focus can also be transformed in other the coordinate system.

The present invention adopts and demarcates mould 9 and tracking system 2 and demarcate transformation relation between MR imaging apparatus coordinate system and the world coordinate system

According to the description of above-mentioned demarcation mould 9 structures as can be known, mould 9 is demarcated in MR imaging apparatus scanning, obtains the coordinate of each characteristic point 93 in the MR imaging apparatus coordinate system of feature point set I

(i=1,2 ..., n _Ph); Tracking system 2 is measured and is demarcated mould 9, obtains the coordinate of each characteristic point 94 of feature point set II, has also just obtained the coordinate of every bit in the tracking system coordinate system of feature point set II

(i=1,2 ..., n _Ph).These two groups of coordinates satisfy equation

$C_{\mathrm{scan}}^{\mathrm{track}}{V}_i^{\mathrm{scan}}=V_i^{\mathrm{track}}(i=\mathrm{1,2},...,n_{\mathrm{ph}})---\left(21\right)$

Can solve the MR imaging apparatus coordinate system and follow the tracks of transformation relation between the coordinate system by these solution of equations And then obtain transformation relation between MR imaging apparatus coordinate system and the world coordinate system

$C_{\mathrm{scan}}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{scan}}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{scan}}^{\mathrm{track}}---\left(22\right)$

Wherein

Measuring world coordinate system by tracking system 2 obtains.

In order to improve the stated accuracy among navigation mode A and the navigation mode B, the present invention is carrying out timing signal, the method that has adopted rotation amount and translational movement separately to demarcate with demarcating mould 9

Comprise spin matrix (3 * 3 matrix) and translation vector (3 * 1 matrix), promptly

$C_{\mathrm{scan}}^{\mathrm{track}}=\left(\begin{array}{cc}{R}_{\mathrm{scan}}^{\mathrm{track}}& T_{\mathrm{scan}}^{\mathrm{track}}\\ 0& 1\end{array}\right)---\left(23\right)$

With point coordinates

V＝(X?1) ^T＝(x?y?z?1) ^T

And formula (23) substitution (21) obtains

$R_{\mathrm{scan}}^{\mathrm{track}}{X}_i^{\mathrm{scan}}+T_{\mathrm{scan}}^{\mathrm{track}}=X_i^{\mathrm{track}}---\left(24\right)$

General demarcation way is to utilize MR imaging apparatus 1 to measure the coordinate of feature point set I each point in the MR imaging apparatus coordinate system (i=1,2 ..., n _Ph), utilize tracking system 2 to measure the coordinate of feature point set II each point in the tracking system coordinate system, because the relative position relation of feature point set I and II is known, thereby obtain the coordinate of feature point set I each point in the tracking system coordinate system

(i=1,2 ..., n _Ph), solve spin matrix simultaneously by equation (24)

And translation vector

Do the local calibration result that can obtain like this near the zone feature point set I, the II, but because the visual field is bigger, and the characteristic point 93 of demarcating mould is the sub-fraction of putting in the visual field, and therefore the precision of demarcating in the whole visual field of MR imaging apparatus 1 is subjected to spin matrix Error effect big, make and to have only characteristic point 93 near zone accurate positionings, and big away from the domain error of characteristic point 93.Spin matrix and translation matrix are separately demarcated, can guarantee that spin matrix has best calibration result, though do near the minimum calibrated error of having sacrificed the characteristic point 93,94, the calibration result that in whole visual field, can obtain like this.Separately the concrete process of demarcating is as follows:

At first, utilize MR imaging apparatus 1 to measure the coordinate of feature point set each characteristic point 93 of I in the MR imaging apparatus coordinate system

(i=1,2 ..., n _Ph), by coordinate

Generate L vector

Principle is to make vector be distributed in all directions (it would be desirable the vector set that the mind-set all directions are sent from the visual field) of visual field as far as possible.Then, utilize tracking system 2 to measure the coordinate of feature point set II each point in the tracking system coordinate system, thereby obtain the coordinate of feature point set I each point in the tracking system coordinate system

(i=1,2 ..., n _Ph), generate and vector in the tracking system coordinate system

Vectorial one to one

(meaning is if vector one to one

By characteristic point And characteristic point

Generate, so vector

Also by same characteristic point

And characteristic point

Generate).

These two groups of vectors satisfy transformation relation

$R_{\mathrm{scan}}^{\mathrm{track}}{D}_i^{\mathrm{scan}}=D_i^{\mathrm{track}}(i=\mathrm{1,2},...,n_{\mathrm{ph}})---\left(25\right)$

Can solve spin matrix by equation group (25)

Then its substitution equation group (24) can be solved

Obtain transformation relation

And then obtain the MR imaging apparatus coordinate system and follow the tracks of transformation relation between the coordinate system $C_{\mathrm{scan}}^{\mathrm{track}}.$

State on the implementation in three kinds of navigation mode A, B, the C process, in order to increase the visual field of tracking system 2, can use a plurality of tracer 3 common world coordinate systems of forming, these tracers 3 are distributed in different position (between each tracer 3 coordinate transform relation be good after measured), and the best tracer 3 of chosen position pick off Effect on Detecting is as world coordinate system during navigation.Thereby the position sensor that allows tracking system 2 can move to a plurality of positions carries out the position tracking to operating theater instruments 4, has enlarged the working region of position sensor.This moment, focus and operating theater instruments still can be calculated with the formula of front.

The present invention also comprises following content to the improvement of hardware components:

1, the present invention except the conversion by coordinate system with magnetic resonance image (MRI) and operating theater instruments be placed on observe in the same coordinate system and undergo surgery, also be provided with an operating theater instruments guiding instrument 40 for operating theater instruments 4, use operating theater instruments guiding instrument 40 can get rid of the influence that the shake of operator's hand brings on the one hand, reduce the phenomenon of operating theater instruments 4 bendings in the piercing process on the other hand, put in place thereby can guarantee interventional operation equipment accurately put.

As shown in figure 10, operating theater instruments guiding instrument 40 of the present invention comprises lower carriage assembly 410, entablature assembly 430, recliner assembly 450 and intervention arrangement for guiding 470.

Shown in Figure 11～13, lower carriage assembly 410 of the present invention comprises that one has the base 411 of constant weight, and the bottom of base 411 is provided with four rolling 412, in order to support and to make things convenient for push-and-pull to move entire equipment.The fixedly connected standpipe 413 at base 411 tops is provided with an outer housing 414 of fixedlying connected with base 411 in the outside of standpipe 413.Middle part and outer housing 414 topmosts at standpipe 413 are provided with a fairlead 415,416 respectively, plug arm 417 in two fairleads 415,416.One side of last arm 417 is provided with tooth bar 418.In the outer housing 414 on standpipe 413 tops, be provided with one with tooth bar 418 meshed gears 419, with the gear 419 coaxial sprocket wheels 420 that are provided with, another sprocket wheel 421 is set in the bottom of standpipe 413, on two sprocket wheels 420,421 around a chain 422, a fixedly connected counterweight 423 on the side chain bar 422 outside, inboard chain 422 passes the opposite side of counterweight 423.The setting principle of counterweight 423 is: upward arm 417 reaches weight and the counterweight 423 formation dynamic equilibrium with upper-part, like this, if there is external force upwards to promote when going up arm 417 or pressing arm 417 downwards, tooth bar 418 on the last arm 417 just can driven gear 419, sprocket wheel 420,421 and chain 422 rotate, counterweight 423 is moved up and down, reach the dynamic equilibrium of another location; This moment since the power that the operator uses only for overcoming the frictional force between gear 419 and the tooth bar 418, so the operator be promote or under press arm 417 all can be very brisk laborsaving.For preventing to cause mobilely touching arm 417 unintentionally, a handle 424 that passes outer housing 414 is set, after last arm 417 and lower carriage assembly 410 are adjusted, on outer housing 414 to make things convenient for locking positioning.

As Figure 14, shown in Figure 15, entablature assembly 430 of the present invention comprises a connecting column 431, one is arranged on the T junction 433 that connecting column 431 intermediary covers of wedge 432, are arranged on cover of wedge 432 outsides, and cover of wedge 432 is fixedlyed connected by a plurality of screws with T junction 433 and is integral.Two voussoirs 434,435 penetrate cover of wedge 432 from the both sides of connecting column 431 respectively, and two baffle plates 436,437 are fixed on the connecting column 431 by a plurality of screws from two ends respectively.One stop nut 438 is screwed onto in the center screw of baffle plate 437, the end of stop nut 438 withstands on the voussoir 435, one screw rod 440 with rotary handle 439 is connected in the center screw of two voussoirs 434,435, and one of the center screw of two voussoirs 434,435 is left-handed, a dextrorotation, when therefore corresponding with the two screw rod 440 rotated, two voussoirs 434,435 can relative motion, and then locking or unclamp cover of wedge 432 and be fixed on T junction 433 on the cover of wedge 432.Fixedly connected with last arm 417 tops with a nylon jacket 442 by a locking nut commonly used 441 in connecting column 431 bottoms.

As Figure 14, shown in Figure 16, in T shape cover 433, wear a crossbeam 443, the two ends of T shape cover 442 also adopt locking nut commonly used to fixedly connected with crossbeam 443 with nylon jacket.The end that entablature 430 is connected with recliner 450 is provided with an elbow 444, the transition axis 446 that is connected by key and keyway 445 in elbow 444, one adjusts cover 447 by being threaded on the transition axis 446, outside at transition axis 446 overlaps 448 by one group of three lobe, an end of 447 is overlapped in connecting bend 444 and adjustment simultaneously, crossbeam 443 end internal fixation connect a swivel nut 449, swivel nut 449 is plugged in crossbeam 443 and adjusts in the cover 447, and rotating beam 443 can be fixed on swivel nut 449 on the transition axis 446.

Shown in Figure 17～20, recliner assembly 450 of the present invention comprises a housing 451, at housing 451 1 ends one connecting axle 452 is set, the axle center of relative connecting axle 452, the one upper and lower ball seat that links into an integrated entity 453,454 is set in housing 451, the bulb of one ball journal 455 is set in upper and lower ball seat 453,454, at the top of housing 451 and sidepiece one depress spiro rod 458 and the thruster screw rod 459 that drives by fine-tuning nut 456,457 is set respectively, the bottom of depress spiro rod 458 and thruster screw rod 459 is provided with a swing set 460,461 that is connected ball journal 455 respectively.Connect a transition axis 462 in the end of ball journal 455, connect a handwheel 463 and drive a rebound 464 that rotates by handwheel 463 on transition axis 462, rebound 464 connects by a rotary handle gets involved arrangement for guiding 470.Recliner 450 is to be used to regulate the deflection angle of getting involved arrangement for guiding 470 and inserting needle direction, it is a upper and lower, left and right swing with bulb that adjusting fine-tuning nut 456,457 can make ball journal 455 respectively, and adjusting handle 463 can make intervention arrangement for guiding 470 move axially along ball journal 455.

As Figure 17, shown in Figure 21, intervention arrangement for guiding 470 of the present invention comprises two hinged outer pin cards 471,472, and pin card 473,474 in two is set in the pin card 471,472 outside described two, wears puncture needle 475 in the pin card 473,474 in two.Wherein the outer pin card 471 of a side and interior pin card 473 are integral with fixedlying connected with rebound 464, the outer pin card 72 of opposite side can be opened by external mutually pin card 71, to put into another pin card 474 and puncture needle 475, close after the outer pin card 472, can two outer pin cards 471,472 be fixed together by a screw 476, the two fixed degree of tightness depends on puncture needle 475, and it can be slided in interior pin card 471,472 under the effect of external force.

When operating theater instruments guiding instrument 40 of the present invention uses, can promote base 411 and move any position, can arm 417 upper and lower moving will be gone up by rotary handle 424, can rotate moving beam 443 by rotary handle 439, by rotating the direction that fine-tuning nut 456,457 and handwheel 463 can be regulated puncture needle, to aim at patient's lesions position; In case complete operation, the doctor just can import predetermined lesions position with puncture needle easily exactly.

2, bump for fear of superelevation, super wide object and MR imaging apparatus, the safety of protection patient and MR imaging apparatus 1, the present invention is provided with a cover laser protection 50 on MR imaging apparatus 1.As Figure 22, shown in Figure 23, the present invention is provided with the linear laser device of buying on the market 51,52,53 respectively in the top and the both sides of MR imaging apparatus 1 imaging space, and the warning devices (not shown) that connects each laser instrument 51,52,53, also import the control device of MR imaging apparatus 1 during the information of same of each laser instrument 51,52,53.The laser that sends of each linear laser device 51,52,53 is one and is segmental plane like this, the laser that three beams of laser device 51,52,53 sends just can cover end face and two sides, form the space that a rectangle extends with sick bed 9 positions, promptly MR imaging apparatus 1 can allow the space that enters.In case other pipeline that any position of patient body exceeds or patient's operating theater instruments on one's body exceeds or plug etc. exceeds three laser instrument, 51,52,53 work spaces that constituted; the warning devices prompting operative doctor that just can give the alarm; after simultaneously the kinetic control system of MR imaging apparatus 1 is received the information that laser beam is blocked; software just can stop next operating procedure automatically; sick bed 9 also can be stopped and move on; thereby effectively avoided the collision of superelevation, super wide object and MR imaging apparatus, protected patient and MR imaging apparatus.

3, the present invention adopts a plurality of operation cantilevers, is respectively applied for fixedly tracking system 2 and display screen 15 etc., and these cantilevers can keep along sliding moving on a large scale, guarantees that three-dimensional position tracking system 2 can detect operating theater instruments 4 under various poses; Guarantee that simultaneously the doctor can observe surgical navigational interface on the display screen at best angle and optimum distance in intervene operation operation.

As shown in figure 24, software section of the present invention comprises the main control module, and it contains three processing modules: process control module, system's setting and log pattern, and database management module (comprising that medical image files and communicates by letter); Comprise two support modules in the surgery planning navigation module: image/data analysis module and system's navigation demarcating module; Graphic user interface control module and mutual control module.Software section has defined the application programming interfaces of general multiple model for the three class external equipments that need control and has been connected with relevant device; Be general tracking system controlling application program interface, universal imaging appliance applications interface, general treatment system controlling application program interface.Wherein main control module is the core of this software, all module invokes and mutual information transmission in its coordination software.Process control module is managed all and is used relevant process, for example, and system calibrating, surgical planning, real-time navigation etc.; System's setting is responsible for being provided with system configuration and the database information (for example device databases) relevant with system with log pattern, simultaneously the also maintenance system daily record of this module; Database management module is managed all data, comprise image, equipment (treatment) model, imaging device, process agreement, system journal and system configuration, for the management of image, database management module is worked in the mode of Picture Archiving and Communication System (PACS).Image/data analysis module provides Flame Image Process and data analysis function, and system's navigation demarcating module provides device location following function and distinct device coordinate system relation.Graphic user interface control module and mutual control module control and the image information all for the user shows, and possess user's operating function.

The present invention in software at image that MR imaging apparatus in the prior art 1 becomes because the non-linear problem that causes the geometry deformation of image of gradient fields, a kind of 3-D migration amount according to each picture element on the image in the spheric harmonic function calculating three dimensions of magnetic induction is proposed, and with the gradient deformation of magnetic resonant image correction program based on spheric harmonic function of this offset compensation in the image coordinate of this picture element, this correction program is preset in the image/data analysis module of software section of the present invention as software.As Figure 24, shown in Figure 25, gradient calibration program of the present invention comprises computer memory side-play amount, image shift amount compensation correction and search correction parameter three partly, is described below respectively below:

The step of A, computer memory side-play amount is as follows:

The magnetic field intensity B of magnetic resonance system _{Z (r, θ, φ)}In spherical coordinate system, can use following formula (1) expression

B _r(n，m)(r，θ，φ)＝r ⁿ[a _v(n，m)cos(mφ)+b _v(n，m)sin(mφ)]×P _(n，m)(cosθ) (1)

B wherein _{R (n, m)}(r, θ φ) are B _zSpherical-harmonic expansion after n rank m level item.a _{V (n, m)}, b _{V (n, m)}Be constant, a _{V (n, m)}, b _{V (n, m)}Being the coefficient that v direction n rank m level is launched item, is the inherent character of magnetic field nonlinear gradient, and r is the ask distance that a little arrives the centre of sphere.P _{(n, m)}(cos θ) is Legnedre polynomial, finite term B _{R (n, m)}(φ) sum just can be similar to and provide magnetic field intensity B for r, θ _{Z (r, θ, φ)}

Setting up B _{Z (r, θ, φ)}Expression formula after, just can obtain the field gradients function:

$G_{v\left(r\right)}\&equiv;\frac{{\&PartialD;B}_{\mathrm{zv}\left(r\right)}}{\&PartialD;v}\&equiv;\frac{{\&PartialD;B}_{\mathrm{zv}\left(r\right)}^L}{\&PartialD;v}+\frac{\&PartialD;B_{\mathrm{zv}\left(r\right)}^N}{\&PartialD;v}\&equiv;G_v^L+G_{v\left(r\right)}^N---\left(2\right)$

Wherein v represents (x, y or the z) direction in the Cartesian coordinates, B _{Zv (r)}Be the overall strength of gradient fields,

Be the gradient fields linear segment, i.e. the single order item of spherical-harmonic expansion,

Be the non-linear partial that can calculate by the higher order term of spherical-harmonic expansion, so:

Definition

Wherein:

Formula (4) has been described v (x in the Cartesian coordinates, y or z) nonlinear degree of gradient on the direction, can be used to calculate some V (x in the cartesian space, y, z) coordinate offset amount, can select the computation interval of suitable size according to the imaging space of magnetic resonance equipment 1, and in this interval uniform distribution control point V _Ci(x, y z), calculate the side-play amount at each control point according to formula (4), and are kept in the side-play amount file of control point.

B, the gauged step of offset compensation are as follows:

Treating correcting image and proofread and correct by image shift amount compensation correction and realize, is to finish by the image coordinate that changes each pixel in image coordinate system, so at the process of the image rectification of each pixel, that is: at first with pixel p _{(u, v)}Image coordinate (u, v) be scaled the imaging space internal coordinate (x, y, z).Again according to 8 the control point Vs adjacent that preserved in the side-play amount file of control point with this pixel _{C (1-8)}Side-play amount η _{C (1-8)}Use interpolation algorithm to calculate the spatial offset η of this pixel _pSpatial offset with this pixel is scaled the interior offset sigma of image coordinate system once more _pAt last with the image coordinate of offset compensation to this pixel.Concrete formula is described below:

The corresponding vector of row of supposing image to be corrected in the nuclear magnetic resonance space is v _r, the vector that row are corresponding is v _cFirst picture element is

Its magnetic resonance space coordinates is V ₀, the resolution of image is Res, the visual field of image is Fov.Arbitrary pixel p then _{I (u, v)}The magnetic resonance space coordinates be V _i

$V_{i(x_i,y_i,z_i)}=V_0+((u-u_0)*v_r+(v-v_0)*v_c)*\frac{\mathrm{Fov}}{\mathrm{Res}}---\left(5\right)$

The side-play amount of supposing 8 control point adjacent with this pixel is respectively:

${\mathrm{\&eta;}}_{(x_0,y_0,z_0)},$ ${\mathrm{\&eta;}}_{(x_0,y_0,z_0+1)},$ ${\mathrm{\&eta;}}_{(x_0,y_0+1,z_0)},$ ${\mathrm{\&eta;}}_{(x_0+1,y_0,z_0)},$ ${\mathrm{\&eta;}}_{(x_0,y_0+1,z_0+1)},$ ${\mathrm{\&eta;}}_{(x_0+1,y_0+1,z_0)},$ ${\mathrm{\&eta;}}_{(x_0+1,y_0,z_0+1)},$ ${\mathrm{\&eta;}}_{(x_0+1,y_0+1,z_0+1)}.$

Then

Side-play amount can be expressed as:

${\mathrm{\&eta;}}_{i(x_i,y_i,z_i)}={\mathrm{\&eta;}}_{(x_0,y_0,z_0)}*(x_0+1-x_i)*(y_0+1-y_i)*(z_0+1-z_i)$

${+\mathrm{\&eta;}}_{(x_0,+1y_0,z_0)}*(x_i-x_0)*(y_0+1-y_i)*(z_0+1-z_i)$

${+\mathrm{\&eta;}}_{(x_0,y_0+1,z_0)}*(x_0+1-x_i)*(y_i-y_0)*(z_0+1-z_i)$

${+\mathrm{\&eta;}}_{(x_0,y_0,z_0+1)}*(x_0+1-x_i)*(y_0+1-y_i)*(z_i-z_0)$

${+\mathrm{\&eta;}}_{(x_0+1,y_0,z_0+1)}*(x_i-x_0)*(y_0+1-y_i)*(z_i-z_0)$

${+\mathrm{\&eta;}}_{(x_0,y_0+1,z_0+1)}*(x_0+1-x_i)*(y_i-y_0)*(z_i-z_0)$

${+\mathrm{\&eta;}}_{(x_0+1,y_0+1,z_0)}*(x_i-x_0)*(y_i-y_0)*(z_0+1-z_i)$

${+\mathrm{\&eta;}}_{(x_0+1,y_0+1,z_0+1)}*(x_i-x_0)*(y_i-y_0)*(z_i-z_0)---\left(6\right)$

Spatial offset with this pixel Be scaled the offset sigma in the image coordinate system _{P (u, v)}

σ _p(u，v)＝(Δu，Δv)

$\mathrm{\&Delta;u}={\mathrm{\&eta;}}_{i(x_i,y_i,z_i)}\&CenterDot;v_r*\frac{\mathrm{Res}}{\mathrm{Fov}}$

$\mathrm{\&Delta;v}={\mathrm{\&eta;}}_{i(x_i,y_i,z_i)}\&CenterDot;v_c*\frac{\mathrm{Res}}{\mathrm{Fov}}---\left(7\right)$

With the image coordinate of offset compensation to this pixel, the image coordinate that this pixel is new (u ＇, v ＇).

u＇＝u+Δu；

v＇＝v+Δv； (8)

Each pixel for the treatment of in the correcting image carries out above operation, just can finish the correction of entire image.

The step of C, search correction parameter is as follows:

Search correction parameter module obtains correction parameter by the magnetic resonance image (MRI) of repeatedly analyzing gradient calibration mould 60, introduce the method for designing of gradient calibration mould 60 and the step of search correction parameter below, all launch with 5 rank for the calculating of the consideration gradient fields of precision and amount of calculation.

(1) gradient calibration mould

As Figure 26, shown in Figure 27, gradient calibration mould 60 is the instruments that are used for gradient calibration, and it both had been used for the search system parameter, also is used for the error after the measurement update.Gradient calibration mould 60 is a quadrate box body 61, and the cylinder 62 that is arranged in square formation according to the mode of unequal-interval square formation is set in box body 61, is full of copper-bath in the cylinder 62, can imaging in MR imaging apparatus.Cylinder 62 in the gradient calibration mould is to arrange according to the Gradient distribution rule that formula (2) is expressed, and cylinder 62 can calculate the parameter value of Gradient distribution more accurately as the index point of demarcating in the mould.

As shown in figure 28, shown that cylinder 62 is at magnetic field gradient on the X-axis Changing Pattern in ± 30cm, because magnetic field gradient is non-linear, with the directions X index point is example, if index point is equally spaced, then along with the X coordinate is big more, it is big that the image X coordinate difference between contiguous tokens point becomes earlier, sharply diminishes afterwards (as shown in figure 29).So in order to guarantee the image coordinate computational accuracy of index point, the rule that the present invention changes according to magnetic field gradient adopts the index point distribution index point different with size of unequal-interval.Be that example provides index point spacing and size calculation method below with the directions X:

According to formula (3) and a _{X (n, m)}, b _{X (n, m)}Estimated value:

a _x(3，1)＝10 ^-4，a _x(5，1)＝10 ^-7，

Can write out v _{(x, y=0, z=0)}The gradient fields magnetic induction density B at place _z5 rank launch:

$B_{\mathrm{zX}}\left(v\right)=x-\frac{3}{2}*{10}^{-4}*x^3+\frac{3}{16}*{10}^{-6}*x^5$

v _{(x, y=0, z=0)}The gradient at place is:

$G_X\left(v\right)=1-\frac{9}{2}*{10}^{-4}*x^2+\frac{3}{32}*{10}^{-5}*x^4$

The index point spacing of supposing magnetic field center is l ₀, the diameter of index point is d ₀V so _{(x, y=0, z=0)}The index point spacing at some place is:

$l=\frac{l_0}{G};$

v _{(x, y=0, z=0)}The index point diameter at some place is:

$d=\frac{d_0}{G_X\left(v\right)}$

Equally can be according to formula (3) and a _{Z (n, m)}, b _{Z (n, m)}Estimated value draw the expression formula G of gradient fields magnetic induction gradient on the z direction of principal axis _zAnd then according to G _zCalculation flag point is in the some distance and the index point size of another direction of plane reference mould.The gradient fields x of magnetic resonance in general, the design parameter of y direction is basic identical, so x, y direction only calculate one and get final product, a typical gradient calibration mould can use x, the distributed data of z direction is made.Spacing and diameter computing formula according to index point redesign gradient calibration mould 60 of the present invention (as shown in figure 30).

(2) step of search correction parameter is as follows:

The correction parameter search module need divide the correction parameter of searching for X, Y and Z direction for three times respectively, is that example is introduced implementation step (as shown in figure 31) with the search of directions X correction parameter only below:

A) gradient fields linear calibration: suppose that in the visual field of 5cm gradient magnetic intensity is linear function,, obtain the scale factor of physical size and image coordinate by the demarcation mould of scanning known dimensions;

B) initial systematic parameter C is set _f: set directions X a _{X (5,1)}, a _{X (3,1)}Initial parameter C _Xf:

C) computer memory position offset η _x: with the initial parameter C that sets _XfBring formula into

In, calculate locus side-play amount η _x, and deposit the side-play amount look-up table in.

D) gradient calibration is demarcated near the center that mould is placed on magnetic field, and it is consistent with directions X to guarantee to demarcate the direction of row of mould cylinder, column direction is consistent with Y or Z direction.

E) sweep parameter of magnetic resonance tool is set, comprises the visual field, scanning direction, the position of picture centre, the layer (slice) that scanning is set is at x, and in the y plane, picture centre is positioned at magnetic field center, the scope of the visual field for wishing to be corrected, and can obtain gradient calibration demarcation mould magnetic resonance original image Mo.

F) use image shift amount compensation correction module original image to be proofreaied and correct the demarcation mould image M c after obtaining proofreading and correct.

G) get the index point p that comprises on the X-axis _1,2,3Image (shown in figure 32) handle, adopt centroid method to calculate the image coordinate Mi of each index point.

H) the scale factor calculation index point p that obtains according to step a) _1,2,3Corresponding world coordinate Xi.

I) calculation flag point p _1,2,3Site error quadratic sum S.

J) judge whether S meets the demands or whether iterations n surpasses setting value, if "Yes" then withdraw from iteration is program output with current system parameter values; If "No" would change initial value proceed the search.

Adopt the above-mentioned bearing calibration of mentioning, in the gradient coil visual field was 5cm, gradient can guarantee that linearity error is about 4 ‰.

The present invention generally comprises following steps in operation process: patient's preparation, surgery planning, surgical navigational, therapeutic process monitoring and therapeutic effect assessment are illustrated respectively below:

The patient selects:

At first to select to be fit to carry out the patient of magnetic resonance navigation intervene operation treatment, choice criteria comprises: this patient can carry out the magnetic resonance imaging incompatible devices of magnetic resonance such as (body in) acardia pacemakers, and patient's build can adapt to the size of magnetic resonance imaging coil; Patient's lesions position can be arrived by magnetic resonance observation in intervene operation; Patient's lesions position can be touched by interventional operation equipment.

Surgery planning:

As shown in figure 33, at first need medical image import system with the patient, these medical images can be obtained by MR imaging apparatus 1 scanning of the present invention, also can obtain from other magnetic resonance system, or obtain from the medical imaging instrument of other type (such as CT, ultrasonic etc.).According to the patient medical image that imports, do the framing of the location of focus and critical tissue and cut apart.In conjunction with the planning that undergos surgery jointly of above information, guarantee best interventional therapy effect on the one hand, reduce to normal structure the especially injury of life critical tissue on the other hand as far as possible.Also need to import the information of the operating theater instruments 4 that will use in the intervene operation, comprise geometry and therapeutic effect etc.

Next, the position of on surgery planning navigation system control station 13, correctly putting interventional operation equipment 4 with man-machine interaction means such as mouses, comparatively appropriate with the relation between the position of the focus that guarantees to show on operating theater instruments 4 and the medical image; From the path of body surface arrival focus point, can not pass through or damage vital tissue (such as trunk, important organ etc.) in operating theater instruments 4 simultaneously.After operating theater instruments 4 simulations put in place, just can carry out the simulation of therapeutic effect, if result badly, the operating theater instruments 4 that can select to increase operating theater instruments 4 (such as getting involved the number that increases freezing pin in the cold therapy) or use different parameters and therapeutic effect instead is up to reaching satisfied simulation therapeutic effect.

Surgical navigational:

As shown in figure 34, after preparing through the operation of necessary patient and equipment, enter the surgical navigational stage, the health that one by one operating theater instruments is inserted patient according to route of determining in the surgery planning and objective.During insertion, keep high-precision apparatus space orientation, and merge and to be presented on patient's the magnetic resonance image (MRI), this image is output on the display screen 15 in the screened room apparatus 4 navigation that undergo surgery for the doctor simultaneously.

The therapeutic process monitoring:

After putting in place, operating theater instruments 4 just can carry out interventional therapy, in whole interventional therapy process, MR imaging apparatus 1 keeps circulation to carry out image scanning fast, and behind each end of scan, image is being transferred on the surgery planning navigation system control station 13 immediately monitoring operative treatment process (growing up and cover the process of tumor) such as the freezing zone of monitoring in the cold therapy.

The therapeutic effect assessment:

After interventional therapy finishes, need by magnetic resonance image (MRI) or other means site assessment therapeutic outcome, according to assessment to results of interventional treatment, whether on-the-spot decision needs to replenish intervene operation immediately to reach ideal therapeutic effect, if necessary, get back to the beginning operating procedure, order is carried out again.

Ending:

After confirming that this time intervene operation finishes, output intervene operation report, and finish the postoperative cleaning work: comprise that the patient withdraws, interventional therapy equipment inspection, operative site cleaning etc., the whole surgery flow process finishes.

Claims (28)

1, the surgery systems under a kind of guide of magnetic resonant image, hardware components comprises MR imaging apparatus, tracking system, operating theater instruments, be arranged on the sick bed on the described MR imaging apparatus, control and display device, and computer that is connected with each system and control software section; It is characterized in that: also be provided with and demarcate pin and demarcate mould, the pose of described MR imaging apparatus coordinate system can tracked systematic survey; The corresponding tracer that is provided with at least one cover formation world coordinate system with described MR imaging apparatus position, the pose of described world coordinate system can be measured by described tracking system; Described operating theater instruments is provided with the operating theater instruments tracer as the operating theater instruments coordinate system, and the pose of described operating theater instruments coordinate system can tracked systematic survey; Described sick bed is provided with the sick bed tracer that constitutes the sick bed coordinate system, and described sick bed coordinate system can be measured by described tracking system; Described demarcation pin is made of jointly a pin and a tracer with certain-length, and it contacts certain point through calibrated needle point, can measure the position of this point; Described demarcation mould inside and surface are provided with one group of asymmetrically distributed feature point set I and feature point set II respectively, the characteristic point of described feature point set I can be by described MR imaging apparatus imaging, and the characteristic point of described feature point set II can be measured by described tracking system; The relative position relation of feature point set I and feature point set II is known; After demarcating, by the mutual transformation relation between each coordinate system, with focus coordinate and operating theater instruments coordinate transform in same coordinate system.

2, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 1, it is characterized in that: patient's skin surface is provided with the navigation marker corresponding with lesions position on described sick bed, described navigation marker can be by described MR imaging apparatus imaging, and can be measured by described tracking system.

3, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 1, it is characterized in that: described demarcation mould comprises that one demarcates mould body, described demarcation mould body other five faces except that the bottom surface, each face all has certain thickness characteristic layer, each described characteristic layer inside is provided with one group of spheroid forming a feature point set I, each described characteristic layer surface is provided with another group pit of composition characteristic point set II, is full of in the space that described demarcation mould body is got up by six bread and demarcates mould solution.

4, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 2, it is characterized in that: described demarcation mould comprises that one demarcates mould body, described demarcation mould body other five faces except that the bottom surface, each face all has certain thickness characteristic layer, each described characteristic layer inside is provided with one group of spheroid forming a feature point set I, each described characteristic layer surface is provided with another group pit of composition characteristic point set II, is full of in the space that described demarcation mould body is got up by six bread and demarcates mould solution.

5, as the surgery systems under claim 1 or 2 or the 3 or 4 described a kind of guide of magnetic resonant image, it is characterized in that: it also comprises an operation apparatus guiding instrument, described operating theater instruments guiding instrument comprises the lower carriage assembly, entablature assembly, recliner assembly and intervention arrangement for guiding; Described lower carriage assembly comprises base, is arranged on the standpipe on the described base, and is sheathed and be locked at last arm in the described standpipe; Described entablature assembly comprises sheathed and is locked at the described outer T junction of arm of going up, is located in crossbeam and the union joint that is arranged on described crossbeam one end in the described T junction; Described recliner assembly comprises a housing that connects described union joint, be arranged on the intravital ball journal of described shell, vertical and side direction are connected the depress spiro rod and the thruster screw rod of described ball journal respectively, are arranged on the fine-tuning nut that described case top and sidepiece are connected described depress spiro rod and thruster screw rod respectively; Be arranged on the handwheel and the rebound of the external part of described ball journal; Described intervention arrangement for guiding comprises the outer folder holder that connects described rebound, and locking is arranged on the interior folder holder in the described outer folder holder, described operating theater instruments locking be arranged on described in the folder holder.

6, as the surgery systems under claim 1 or 2 or the 3 or 4 described a kind of guide of magnetic resonant image, it is characterized in that: imaging space top and both sides in described MR imaging apparatus are provided with three linear laser devices and a siren, each described laser instrument sends a fan-shaped plan laser beam, three beams of laser bundle and sick bed position, common formation one is treated width and the limitation in height space that the space adapts with described MR imaging apparatus inspection, described siren is connected with the kinetic control system of MR imaging apparatus, and reports to the police when described arbitrary laser beam is blocked.

7, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 5, it is characterized in that: imaging space top and both sides in described MR imaging apparatus are provided with three linear laser devices and a siren, each described laser instrument sends a fan-shaped plan laser beam, three beams of laser bundle and sick bed position, common formation one is treated width and the limitation in height space that the space adapts with described MR imaging apparatus inspection, described siren is connected with the kinetic control system of MR imaging apparatus, and reports to the police when described arbitrary laser beam is blocked.

8, as the surgery systems under claim 1 or 2 or the 3 or 4 described a kind of guide of magnetic resonant image, it is characterized in that: preset the gauged program of gradient deformation of magnetic resonant image at software section, it comprises the computer memory side-play amount, image shift amount compensation correction and three steps of search correction parameter, it is the spheric harmonic function according to magnetic induction, calculate the 3-D migration amount of each picture element on the image in the three dimensions, and with this offset compensation in the image coordinate of this picture element.

9, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 5, it is characterized in that: preset the gauged program of gradient deformation of magnetic resonant image at software section, it comprises the computer memory side-play amount, image shift amount compensation correction and three steps of search correction parameter, it is the spheric harmonic function according to magnetic induction, calculate the 3-D migration amount of each picture element on the image in the three dimensions, and with this offset compensation in the image coordinate of this picture element.

10, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 6, it is characterized in that: preset the gauged program of gradient deformation of magnetic resonant image at software section, it comprises the computer memory side-play amount, image shift amount compensation correction and three steps of search correction parameter, it is the spheric harmonic function according to magnetic induction, calculate the 3-D migration amount of each picture element on the image in the three dimensions, and with this offset compensation in the image coordinate of this picture element.

11, as the surgery systems under claim 1 or 2 or the 3 or 4 described a kind of guide of magnetic resonant image, it is characterized in that: in described world coordinate system,

Any point coordinates of described focus

Put the coordinate in MR imaging apparatus thus

Conversion:

$V_{\mathrm{lesion}}^{\mathrm{world}}=C_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion}}^{\mathrm{scan}}$

Wherein

For demarcating good MR imaging apparatus coordinate system and the transformation relation between the world coordinate system in advance;

More any coordinate of described operating theater instruments Can put the coordinate in the operating theater instruments coordinate system thus

Conversion:

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}$

$C_{\mathrm{tool}}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{tool}}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{reack}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}$

Wherein,

Be the world coordinate system of tracking system measurement and the transformation relation between the tracking system coordinate system,

Be the operating theater instruments coordinate system of tracking system measurement and the transformation relation between the tracking system coordinate system.

12, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 5 is characterized in that: in described world coordinate system,

Any point coordinates of described focus

Put the coordinate in MR imaging apparatus thus

Conversion:

$V_{\mathrm{lesion}}^{\mathrm{world}}=C_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion}}^{\mathrm{scan}}$

Wherein

For demarcating good MR imaging apparatus coordinate system and the transformation relation between the world coordinate system in advance;

More any coordinate of described operating theater instruments Can put the coordinate in the operating theater instruments coordinate system thus

Conversion:

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}$

$C_{\mathrm{tool}}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{tool}}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{reack}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}$

Wherein,

Be the world coordinate system of tracking system measurement and the transformation relation between the tracking system coordinate system, Be the operating theater instruments coordinate system of tracking system measurement and the transformation relation between the tracking system coordinate system.

13, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 6 is characterized in that: in described world coordinate system,

Any point coordinates of described focus

Put the coordinate in MR imaging apparatus thus

Conversion:

$V_{\mathrm{lesion}}^{\mathrm{world}}=C_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion}}^{\mathrm{scan}}$

Wherein

For demarcating good MR imaging apparatus coordinate system and the transformation relation between the world coordinate system in advance;

More any coordinate of described operating theater instruments

Can put the coordinate in the operating theater instruments coordinate system thus

Conversion:

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}$

$C_{\mathrm{tool}}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{tool}}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{reack}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}$

Wherein,

Be the world coordinate system of tracking system measurement and the transformation relation between the tracking system coordinate system,

Be the operating theater instruments coordinate system of tracking system measurement and the transformation relation between the tracking system coordinate system.

14, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 8 is characterized in that: in described world coordinate system,

Any point coordinates of described focus

Put the coordinate in MR imaging apparatus thus

Conversion:

$V_{\mathrm{lesion}}^{\mathrm{world}}=C_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion}}^{\mathrm{scan}}$

Wherein For demarcating good MR imaging apparatus coordinate system and the transformation relation between the world coordinate system in advance;

More any coordinate of described operating theater instruments

Can put the coordinate in the operating theater instruments coordinate system thus

Conversion:

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}$

$C_{\mathrm{tool}}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{tool}}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{reack}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}$

Wherein,

Be the world coordinate system of tracking system measurement and the transformation relation between the tracking system coordinate system,

Be the operating theater instruments coordinate system of tracking system measurement and the transformation relation between the tracking system coordinate system.

15, as the surgery systems under claim 1 or 2 or the 3 or 4 described a kind of guide of magnetic resonant image, it is characterized in that: when described focus is positioned on the sick bed, in described world coordinate system,

Any point coordinates of described focus Put the coordinate in fixing imaging device thus

Conversion:

$V_{\mathrm{lesion},0}^{\mathrm{world}}=C_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(1\right)$

Wherein

For demarcating good being fixed in advance as the transformation relation between device coordinate system and the world coordinate system; Wherein subscript 0 expression sick bed is pushed into imaging device, at this moment the coordinate system pose of sick bed

Tracked system surveys, and its pose in world coordinate system is:

$C_{\mathrm{PT},0}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{PT},0}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},0}^{\mathrm{track}}---\left(2\right)$

This moment, the pose of focus in the sick bed coordinate system was as can be known by above two formulas:

$V_{\mathrm{lesion},0}^{\mathrm{PT},0}=C_{\mathrm{world}}^{\mathrm{PT},0}{V}_{\mathrm{lesion},0}^{\mathrm{world}}={\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(3\right)$

When imaging finishes, focus along with bed motion to the operation position, represent that with subscript 1 do not relatively move owing to focus and sick bed have, focus pose on one's sick bed remains unchanged:

$V_{\mathrm{lesion},1}^{\mathrm{PT},1}=V_{\mathrm{lesion},0}^{\mathrm{PT},0}---\left(4\right)$

This moment sick bed pose Tracked system surveys, and its pose in world coordinate system is:

$C_{\mathrm{PT},1}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{PT},1}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}---\left(5\right)$

Can draw the pose of focus this moment in world coordinate system by formula (3)～(5) is:

$V_{\mathrm{lesion},1}^{\mathrm{world}}=C_{\mathrm{PT},1}^{\mathrm{world}}{V}_{\mathrm{lesion},1}^{\mathrm{PT},1}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}{\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}$

The pose of operating theater instruments in world coordinate system is:

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}.$

16, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 5 is characterized in that: when described focus is positioned on the sick bed, and in described world coordinate system,

Any point coordinates of described focus Put the coordinate in fixing imaging device thus Conversion:

$V_{\mathrm{lesion},0}^{\mathrm{world}}=C_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(1\right)$

Wherein

For demarcating good being fixed in advance as the transformation relation between device coordinate system and the world coordinate system; Wherein subscript 0 expression sick bed is pushed into imaging device, at this moment the coordinate system pose of sick bed

Tracked system surveys, and its pose in world coordinate system is:

$C_{\mathrm{PT},0}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{PT},0}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},0}^{\mathrm{track}}---\left(2\right)$

This moment, the pose of focus in the sick bed coordinate system was as can be known by above two formulas:

$V_{\mathrm{lesion},0}^{\mathrm{PT},0}=C_{\mathrm{world}}^{\mathrm{PT},0}{V}_{\mathrm{lesion},0}^{\mathrm{world}}={\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(3\right)$

When imaging finishes, focus along with bed motion to the operation position, represent that with subscript 1 do not relatively move owing to focus and sick bed have, focus pose on one's sick bed remains unchanged:

$V_{\mathrm{lesion},1}^{\mathrm{PT},1}=V_{\mathrm{lesion},0}^{\mathrm{PT},0}---\left(4\right)$

This moment sick bed pose Tracked system surveys, and its pose in world coordinate system is:

$C_{\mathrm{PT},1}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{PT},1}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}---\left(5\right)$

Can draw the pose of focus this moment in world coordinate system by formula (3)～(5) is:

$V_{\mathrm{lesion},1}^{\mathrm{world}}=C_{\mathrm{PT},1}^{\mathrm{world}}{V}_{\mathrm{lesion},1}^{\mathrm{PT},1}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}{\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}$

The pose of operating theater instruments in world coordinate system is:

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}.$

17, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 6 is characterized in that: when described focus is positioned on the sick bed, and in described world coordinate system,

Any point coordinates of described focus

Put the coordinate in fixing imaging device thus

Conversion:

$V_{\mathrm{lesion},0}^{\mathrm{world}}=C_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(1\right)$

Wherein

For demarcating good being fixed in advance as the transformation relation between device coordinate system and the world coordinate system; Wherein subscript 0 expression sick bed is pushed into imaging device, at this moment the coordinate system pose of sick bed

Tracked system surveys, and its pose in world coordinate system is:

$C_{\mathrm{PT},0}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{PT},0}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},0}^{\mathrm{track}}---\left(2\right)$

This moment, the pose of focus in the sick bed coordinate system was as can be known by above two formulas:

$V_{\mathrm{lesion},0}^{\mathrm{PT},0}=C_{\mathrm{world}}^{\mathrm{PT},0}{V}_{\mathrm{lesion},0}^{\mathrm{world}}={\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(3\right)$

When imaging finishes, focus along with bed motion to the operation position, represent that with subscript 1 do not relatively move owing to focus and sick bed have, focus pose on one's sick bed remains unchanged:

$V_{\mathrm{lesion},1}^{\mathrm{PT},1}=V_{\mathrm{lesion},0}^{\mathrm{PT},0}---\left(4\right)$

This moment sick bed pose

Tracked system surveys, and its pose in world coordinate system is:

$C_{\mathrm{PT},1}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{PT},1}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}---\left(5\right)$

Can draw the pose of focus this moment in world coordinate system by formula (3)～(5) is:

$V_{\mathrm{lesion},1}^{\mathrm{world}}=C_{\mathrm{PT},1}^{\mathrm{world}}{V}_{\mathrm{lesion},1}^{\mathrm{PT},1}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}{\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}$

The pose of operating theater instruments in world coordinate system is:

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}.$

18, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 8 is characterized in that: when described focus is positioned on the sick bed, and in described world coordinate system,

Any point coordinates of described focus

Put the coordinate in fixing imaging device thus Conversion:

$V_{\mathrm{lesion},0}^{\mathrm{world}}=C_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(1\right)$

Wherein For demarcating good being fixed in advance as the transformation relation between device coordinate system and the world coordinate system; Wherein subscript 0 expression sick bed is pushed into imaging device, at this moment the coordinate system pose of sick bed

Tracked system surveys, and its pose in world coordinate system is:

$C_{\mathrm{PT},0}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{PT},0}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},0}^{\mathrm{track}}---\left(2\right)$

This moment, the pose of focus in the sick bed coordinate system was as can be known by above two formulas:

$V_{\mathrm{lesion},0}^{\mathrm{PT},0}=C_{\mathrm{world}}^{\mathrm{PT},0}{V}_{\mathrm{lesion},0}^{\mathrm{world}}={\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}---\left(3\right)$

When imaging finishes, focus along with bed motion to the operation position, represent that with subscript 1 do not relatively move owing to focus and sick bed have, focus pose on one's sick bed remains unchanged:

$V_{\mathrm{lesion},1}^{\mathrm{PT},1}=V_{\mathrm{lesion},0}^{\mathrm{PT},0}---\left(4\right)$

This moment sick bed pose Tracked system surveys, and its pose in world coordinate system is:

$C_{\mathrm{PT},1}^{\mathrm{world}}=C_{\mathrm{track}}^{\mathrm{world}}{C}_{\mathrm{PT},1}^{\mathrm{track}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}---\left(5\right)$

Can draw the pose of focus this moment in world coordinate system by formula (3)～(5) is:

$V_{\mathrm{lesion},1}^{\mathrm{world}}=C_{\mathrm{PT},1}^{\mathrm{world}}{V}_{\mathrm{lesion},1}^{\mathrm{PT},1}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{PT},1}^{\mathrm{track}}{\left(C_{\mathrm{PT},0}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track}}{C}_{\mathrm{scan}}^{\mathrm{world}}{V}_{\mathrm{lesion},0}^{\mathrm{scan}}$

The pose of operating theater instruments in world coordinate system is:

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track}}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}.$

19, as the surgery systems under claim 2 or the 4 described a kind of guide of magnetic resonant image, it is characterized in that: the coordinate of described navigation marker in the MR imaging apparatus coordinate system is

I=1 wherein, 2 ..., n _Nav, n _NavQuantity for navigation marker; The coordinate of described navigation marker in the tracking system coordinate system is

Transformation relation between the coordinate of focus and operating theater instruments is:

$C_{\mathrm{img}}^{\mathrm{track}}{M}_i^{\mathrm{img}}=M_i^{\mathrm{track}}---\left(1\right)$

Wherein

Be the pose of MR imaging apparatus coordinate system in the tracking system coordinate system, through type (1) can obtain n _NavIndividual equation, and solve

Then lesion image more arbitrarily

May be shifted into the tracking system coordinate system:

$V_{\mathrm{lesion}}^{\mathrm{track}}=C_{\mathrm{img}}^{\mathrm{track}}{V}_{\mathrm{lesion}}^{\mathrm{img}}---\left(2\right)$

The coordinate of certain some T in the operating theater instruments coordinate system on the operating theater instruments

Be known, it transformed to the tracking system coordinate system:

$V_T^{\mathrm{track}}=C_{\mathrm{tool}}^{\mathrm{track}}{V}_T^{\mathrm{tool}}$

Wherein

Be the operating theater instruments coordinate system of tracking system measurement and the transformation relation between the tracking system coordinate system.

20, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 19 is characterized in that: increase a relative tracer that remains unchanged with described lesions position as the New World coordinate system, its pose Tracked systematic survey represents that with subscript 0 position sensor of tracking system is in initial calibration position, and the position sensor of 1 expression tracking system moves to reposition; Some coordinate in world coordinate system arbitrarily of focus

Put the coordinate in the MR imaging apparatus coordinate system thus

Conversion:

$V_{\mathrm{lesion}}^{\mathrm{world}}=C_{\mathrm{track},1}^{\mathrm{world}}{V}_{\mathrm{lesion}}^{\mathrm{track},1}=C_{\mathrm{track},1}^{\mathrm{world}}{C}_{\mathrm{track},0}^{\mathrm{track},1}{V}_{\mathrm{lesion}}^{\mathrm{track},0}={\left(C_{\mathrm{world}}^{\mathrm{track},1}\right)}^{-1}{C}_{\mathrm{world}}^{\mathrm{track},1}{\left(C_{\mathrm{world}}^{\mathrm{track},0}\right)}^{-1}{C}_{\mathrm{img}}^{\mathrm{track},0}{V}_{\mathrm{lesion}}^{\mathrm{img}}$

Wherein

Be the transformation relation between the tracking system coordinate system on world coordinate system and the initial position, Transformation relation between the tracking system coordinate system on world coordinate system and the reposition 1,

Transformation relation between the tracking system coordinate system on MR imaging apparatus coordinate system and the initial position 0;

More any coordinate of described operating theater instruments

Put the coordinate in the operating theater instruments coordinate system thus

Conversion:

$V_T^{\mathrm{world}}=C_{\mathrm{tool}}^{\mathrm{world}}{V}_T^{\mathrm{tool}}={\left(C_{\mathrm{world}}^{\mathrm{track},1}\right)}^{-1}{C}_{\mathrm{tool}}^{\mathrm{track},1}{V}_T^{\mathrm{tool}}$

Wherein,

Be the transformation relation between the tracking system coordinate system on world coordinate system and the reposition 1,

Be the transformation relation between operating theater instruments coordinate system and the tracking system coordinate system.

21, as the surgery systems under claim 1 or 2 or the 3 or 4 described a kind of guide of magnetic resonant image, it is characterized in that: with demarcating mould each coordinate system timing signal, be provided with in the software program of described navigation system by characteristic point imaging results among the feature point set I is carried out the localized program of the centre of sphere, its flow process is as follows:

(1) normal distribution is satisfied in area S and the cross section of at first supposing circle on the sectional view between the coordinate figure on the scanning direction;

(2) along the cross section circular image of ball at same axial arbitrary scan three width of cloth diverse locations, or scanning obtain the cross section circular image of two width of cloth diverse locations after, simulate the 3rd width of cloth cross section circular image, form a class value at the coordinate figure of scanning direction by each cross section area of a circle and this cross section circle through the center of circle;

Three class values that (3) will obtain simulate a Gaussian curve, and the coordinate figure of area maximum point correspondence is the coordinate figure of the centre of sphere on this scanning direction on the curve;

(4) after the same method, obtain the coordinate figure of the centre of sphere,, combine and be sphere centre coordinate each axial coordinate value at two other change in coordinate axis direction.

22, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 5, it is characterized in that: with demarcating mould each coordinate system timing signal, be provided with in the software program of described navigation system by characteristic point imaging results among the feature point set I is carried out the localized program of the centre of sphere, its flow process is as follows:

(1) normal distribution is satisfied in area S and the cross section of at first supposing circle on the sectional view between the coordinate figure on the scanning direction;

(2) along the cross section circular image of ball at same axial arbitrary scan three width of cloth diverse locations, or scanning obtain the cross section circular image of two width of cloth diverse locations after, simulate the 3rd width of cloth cross section circular image, form a class value at the coordinate figure of scanning direction by each cross section area of a circle and this cross section circle through the center of circle;

Three class values that (3) will obtain simulate a Gaussian curve, and the coordinate figure of area maximum point correspondence is the coordinate figure of the centre of sphere on this scanning direction on the curve;

(4) after the same method, obtain the coordinate figure of the centre of sphere,, combine and be sphere centre coordinate each axial coordinate value at two other change in coordinate axis direction.

23, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 6, it is characterized in that: with demarcating mould each coordinate system timing signal, be provided with in the software program of described navigation system by characteristic point imaging results among the feature point set I is carried out the localized program of the centre of sphere, its flow process is as follows:

(1) normal distribution is satisfied in area S and the cross section of at first supposing circle on the sectional view between the coordinate figure on the scanning direction;

(2) along the cross section circular image of ball at same axial arbitrary scan three width of cloth diverse locations, or scanning obtain the cross section circular image of two width of cloth diverse locations after, simulate the 3rd width of cloth cross section circular image, form a class value at the coordinate figure of scanning direction by each cross section area of a circle and this cross section circle through the center of circle;

Three class values that (3) will obtain simulate a Gaussian curve, and the coordinate figure of area maximum point correspondence is the coordinate figure of the centre of sphere on this scanning direction on the curve;

(4) after the same method, obtain the coordinate figure of the centre of sphere,, combine and be sphere centre coordinate each axial coordinate value at two other change in coordinate axis direction.

24, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 8, it is characterized in that: with demarcating mould each coordinate system timing signal, be provided with in the software program of described navigation system by characteristic point imaging results among the feature point set I is carried out the localized program of the centre of sphere, its flow process is as follows:

(1) normal distribution is satisfied in area S and the cross section of at first supposing circle on the sectional view between the coordinate figure on the scanning direction;

(2) along the cross section circular image of ball at same axial arbitrary scan three width of cloth diverse locations, or scanning obtain the cross section circular image of two width of cloth diverse locations after, simulate the 3rd width of cloth cross section circular image, form a class value at the coordinate figure of scanning direction by each cross section area of a circle and this cross section circle through the center of circle;

Three class values that (3) will obtain simulate a Gaussian curve, and the coordinate figure of area maximum point correspondence is the coordinate figure of the centre of sphere on this scanning direction on the curve;

(4) after the same method, obtain the coordinate figure of the centre of sphere,, combine and be sphere centre coordinate each axial coordinate value at two other change in coordinate axis direction.

25, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 11, it is characterized in that: with demarcating mould each coordinate system timing signal, be provided with in the software program of described navigation system by characteristic point imaging results among the feature point set I is carried out the localized program of the centre of sphere, its flow process is as follows:

(1) normal distribution is satisfied in area S and the cross section of at first supposing circle on the sectional view between the coordinate figure on the scanning direction;

(2) along the cross section circular image of ball at same axial arbitrary scan three width of cloth diverse locations, or scanning obtain the cross section circular image of two width of cloth diverse locations after, simulate the 3rd width of cloth cross section circular image, form a class value at the coordinate figure of scanning direction by each cross section area of a circle and this cross section circle through the center of circle;

Three class values that (3) will obtain simulate a Gaussian curve, and the coordinate figure of area maximum point correspondence is the coordinate figure of the centre of sphere on this scanning direction on the curve;

(4) after the same method, obtain the coordinate figure of the centre of sphere,, combine and be sphere centre coordinate each axial coordinate value at two other change in coordinate axis direction.

26, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 15, it is characterized in that: with demarcating mould each coordinate system timing signal, be provided with in the software program of described navigation system by characteristic point imaging results among the feature point set I is carried out the localized program of the centre of sphere, its flow process is as follows:

(1) normal distribution is satisfied in area S and the cross section of at first supposing circle on the sectional view between the coordinate figure on the scanning direction;

(2) along the cross section circular image of ball at same axial arbitrary scan three width of cloth diverse locations, or scanning obtain the cross section circular image of two width of cloth diverse locations after, simulate the 3rd width of cloth cross section circular image, form a class value at the coordinate figure of scanning direction by each cross section area of a circle and this cross section circle through the center of circle;

Three class values that (3) will obtain simulate a Gaussian curve, and the coordinate figure of area maximum point correspondence is the coordinate figure of the centre of sphere on this scanning direction on the curve;

(4) after the same method, obtain the coordinate figure of the centre of sphere,, combine and be sphere centre coordinate each axial coordinate value at two other change in coordinate axis direction.

27, the surgery systems under a kind of guide of magnetic resonant image as claimed in claim 19, it is characterized in that: with demarcating mould each coordinate system timing signal, be provided with in the software program of described navigation system by characteristic point imaging results among the feature point set I is carried out the localized program of the centre of sphere, its flow process is as follows:

(1) normal distribution is satisfied in area S and the cross section of at first supposing circle on the sectional view between the coordinate figure on the scanning direction;

(2) along the cross section circular image of ball at same axial arbitrary scan three width of cloth diverse locations, or scanning obtain the cross section circular image of two width of cloth diverse locations after, simulate the 3rd width of cloth cross section circular image, form a class value at the coordinate figure of scanning direction by each cross section area of a circle and this cross section circle through the center of circle;

Three class values that (3) will obtain simulate a Gaussian curve, and the coordinate figure of area maximum point correspondence is the coordinate figure of the centre of sphere on this scanning direction on the curve;

(4) after the same method, obtain the coordinate figure of the centre of sphere,, combine and be sphere centre coordinate each axial coordinate value at two other change in coordinate axis direction.

28, as the scaling method of the surgery systems under each described a kind of guide of magnetic resonant image of claim 1～18, it is characterized in that: with demarcating mould to each coordinate system timing signal, adopted the separately method of demarcation of rotation amount and translational movement, its step is as follows:

(a) utilize MR imaging apparatus 1 to measure the coordinate of feature point set I each point in the MR imaging apparatus coordinate system

N wherein _PhFor always counting of feature point set I, by coordinate

Generate L vector

This L vector Be distributed in different directions;

(b) utilize tracking system 2 to measure the coordinate of feature point set II each point in the tracking system coordinate system, thereby obtain the coordinate of feature point set I each point in the tracking system coordinate system

Generate and vector in the tracking system coordinate system Vectorial one to one

(c) these two groups of vectors satisfy transformation relation and are: $R_{\mathrm{scan}}^{\mathrm{track}}{D}_i^{\mathrm{scan}}=D_i^{\mathrm{track}}(i=\mathrm{1,2},...,n_{\mathrm{ph}});$

(d) by equation group $R_{\mathrm{scan}}^{\mathrm{track}}{D}_i^{\mathrm{scan}}=D_i^{\mathrm{track}}(i=\mathrm{1,2},...,n_{\mathrm{ph}})$ Can solve spin matrix

Then with its substitution equation group $R_{\mathrm{scan}}^{\mathrm{track}}{X}_i^{\mathrm{scan}}+T_{\mathrm{scan}}^{\mathrm{track}}=X_i^{\mathrm{track}}(i=\mathrm{1,2},...,n_{\mathrm{ph}}),$ Can solve translation vector

Obtain transformation relation

And then obtain the MR imaging apparatus coordinate system and follow the tracks of transformation relation between the coordinate system

Wherein

Comprise spin matrix And translation vector

Promptly

$C_{\mathrm{scan}}^{\mathrm{track}}=\left(\begin{array}{cc}{R}_{\mathrm{scan}}^{\mathrm{track}}& T_{\mathrm{scan}}^{\mathrm{track}}\\ 0& 1\end{array}\right).$

Images