CN103083090A - Method using cross-sectional image to obtain coordinate of target point in stereotaxic apparatus - Google Patents
Method using cross-sectional image to obtain coordinate of target point in stereotaxic apparatus Download PDFInfo
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- CN103083090A CN103083090A CN2012105900178A CN201210590017A CN103083090A CN 103083090 A CN103083090 A CN 103083090A CN 2012105900178 A CN2012105900178 A CN 2012105900178A CN 201210590017 A CN201210590017 A CN 201210590017A CN 103083090 A CN103083090 A CN 103083090A
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Abstract
The invention provides a method using a cross-sectional image to obtain a coordinate of a target point in a stereotaxic apparatus. The method comprises the steps: (1) selecting the cross-sectional image where six mark points of N-shaped metal lines of two positioning plates can be completely seen in the cross-sectional image, and measuring a coordinate parameter of the mark points; (2) establishing an equation in an image coordinate system of a Y-Z plane, an X-Z plane and an X-Y plane of a stereotaxic apparatus frame; (3) selecting the target point on the cross-sectional image, obtaining the three-dimension coordinate parameter in the image coordinate system, and calculating the distance from the target point to the Y-Z plane, the X-Z plane and the X-Y plane of the frame, and value of the distance is an X, Y and Z coordinate in the stereotaxic apparatus frame coordinate system of the target point. The method reduces installation difficulty of the stereotaxic apparatus frame, reduces difficulty of a stereotaxis operation, and especially is suitable for coordinate positioning of an intercranial 'invisible' target point.
Description
Technical field
The present invention relates to a kind of method of utilizing faultage image to obtain the coordinate of target spot in stereotactic apparatus, can be applicable to the determining of target coordinate of mixed type stereotactic apparatus, be particularly useful for the stereotactic apparatus of Leksell ex hoc genus anne.
Background technology
Traditional stereotactic neurosurgery technology, use mechanical stereotactic apparatus, the framework of stereotactic apparatus is fixed on patient's head when MRI or CT scan, by the measurements and calculations to the image of MRI or CT, determine the coordinate of operation target spot, instruct and perform the operation.If the focus of intracranial can show at MRI or CT image, be called " visible target spot ", if can not show by the resolution capability restriction of machine, be called " invisible target spot ".
The metal wire (but CT location with metal wire, MRI location with developing materials such as magnesium sulfate or lipids) that " N " shape is respectively arranged on the framework both sides location-plate of stereotactic apparatus, complete at framework under the state of installation, take the right back upper summit of patient's head as zero, it is forward Y-axis, being left X-axis, is downwards Z axis.The scale of position finder is also from initial point.Two of left and right N shape metal wire is totally 8 cuboid center and frame center (its frame coordinates is (100,100,100) usually) coincidences that the summit consists of.To cut the metal wire of " N " shape when tomoscan, form gauge point on faultage image.
The conventional target point coordinates can adopt manual calculation, requires the necessary quadrature of MRI or CT image coordinate system and stereotactic apparatus frame coordinates system.Like this, " N " shape metal wire that is coupling on the location-plate of framework both sides will show 6 gauge points when tomoscan, and four summits that wherein are positioned on the angle are linked to be a rectangle, rectangular center, also be on the longitudinal axis of frame center (100,100, z); As seen the X of target spot, Y value can utilize the relation of itself and central point to calculate on image, and the Z value is calculated by all the other 2 of side.In practical application, if MRI or CT image coordinate system and stereotactic apparatus frame coordinates system are in non-orthogonal states, just can't calculate target coordinate.
Some operation (as: Parkinsonian Functional operation) target spot " invisible " on faultage image needs to calculate according to the dissection coordinate under its physiological status.For reducing position error, during installation frame, require the AC-PC plane parallel of frame plane and brain, can obtain desirable tomographic sequence like this.But experience and the operation skill that must rely on the doctor are completed, and reliability is lower, usually has the error of 5-10 degree.
Use " surgical planning system " software, utilize Image Reconstruction Technology to obtain the AC-PC plane, can make up above-mentioned deficiency to a certain extent.But the effect of rebuilding is scanned bed thickness (MRI is generally 3mm) bigger than normal, resolution is on the low side (the CT image shows unclear to the fine structure of Basal ganglia), and the problem that the AC-PC plane of obtaining exists information dropout or error is rebuild in the impact of three-dimensional reconstruction algorithm.
Summary of the invention
The present invention is intended to propose a kind of method of utilizing faultage image to obtain the coordinate of target spot in stereotactic apparatus, in MRI or the non-orthogonal situation of CT image coordinate system and frame coordinates system, also can complete the target spot location Calculation, obtain the coordinate of target spot in stereotactic apparatus frame coordinates system.
This method of utilizing faultage image to obtain the coordinate of target spot in stereotactic apparatus comprises the following steps:
(1) use computer and select two width faultage images in faultage image, on this two width faultage image, all as seen 6 gauge points of " N " shape metal wire on the location-plate of stereotactic apparatus both sides measure the coordinate parameters of above-mentioned gauge point on faultage image;
(2) according to the coordinate of the gauge point on faultage image in image coordinate system, set up Y-Z plane, X-Z plane and the equation of X-Y plane in image coordinate system of stereotactic apparatus framework;
(3) select target spot on faultage image, obtain the three-dimensional coordinate parameter in its image coordinate system, calculate this point to the distance of Y-Z plane, X-Z plane and the X-Y plane of framework in image coordinate system, the numerical value of above-mentioned distance is X, Y, the Z coordinate of this target spot in the stereotactic apparatus frame coordinates is.
Thisly utilize method that faultage image obtains the coordinate of target spot in stereotactic apparatus owing to adopting in image coordinate system, obtain three coordinate planes (Y-Z plane of stereotactic apparatus framework, the X-Z plane, X-Y plane) equation, recycle the distance from the point to the plane formula calculates target spot to the distance of these three coordinate planes method, thereby reduced the difficulty of stereotactic apparatus frame installation; When intracranial " invisible " target spot of location, can obtain desirable tomographic sequence, thereby reduce the difficulty of stereotactic surgery by adjustment plane of scanning motion inclination angle, be particularly useful for the coordinate setting of intracranial " invisible " target spot.
Description of drawings
Fig. 1 is the schematic diagram of stereotactic apparatus frame installation and tomoscan;
Fig. 2 is the schematic diagram that concerns of " N " shape metal wire on framework and tomography;
Fig. 3 is the schematic diagram of a width tomography picture;
Fig. 4 is the schematic diagram that right positioner plate " N " shape metal wire end points calculates;
Fig. 5 is the flow chart of method of the present invention.
The specific embodiment
As shown in Figure 1, the metal wire 3(CT location that " N " shape is respectively arranged on the location- plate 1,2 of the framework both sides of stereotactic apparatus with metal wire, MRI location with developing materials such as magnesium sulfate).Complete at framework under the state of installation, the initial point of frame coordinates is positioned at the right back upper place of patient's head 4, and this point is corresponding to the summit O of " N " shape metal wire, the scale of position finder also from then on initial point begin.The coordinate direction of stereotactic apparatus as shown in Figure 7, is forward Y-axis, is left X-axis, is downwards Z axis, and the position of fault when carrying out tomoscan is as shown in 6 in figure, 7.The coordinate direction of faultage image as shown in Fig. 18, is left x on faultage image, is forward y, and z is the downward direction vertical with tomography.As shown in Figure 2, two of left and right N shape metal wire is totally 8 summit O, R, Of, P, G, U, V, W, the cuboid center of formation and frame center (coordinate: 100,100,100) overlap.When tomoscan, the metal wire of cutting " N " shape forms the M in gauge point such as Fig. 3 on one of them faultage image
1, M
2, M
3, S
1, S
2, S
3
As shown in Figure 5, this method of utilizing faultage image to obtain the coordinate of target spot in stereotactic apparatus comprises the following steps:
(1) use computer and select two width faultage images in faultage image, on this two width faultage image, 6 gauge points of " N " shape metal wire on the location-plate of stereotactic apparatus both sides all as seen, for example, shown in tomography 5 and 6(double dot dash line in Fig. 1), the image that obtains as shown in Figure 3, the intersection of figure interrupting layer and location-plate represents with single-point line.Measuring the coordinate parameters in image coordinate system of above-mentioned gauge point on faultage image.
(2) according to the coordinate of the gauge point on faultage image in image coordinate system, set up Y-Z plane, X-Z plane and the equation of X-Y plane in image coordinate system of stereotactic apparatus framework.
According to the principle of solid geometry, 3 determine a plane.If the coordinate of three points in the plane is: A (x
1, y
1, z
1), B(x
2, y
2, z
2), C(x
3, y
3, z
3), this plane equation is: ax+by+cz+d=0:
a=y
1z
2-y
1z
3-y
2z
1+y
2z
3+y
3z
1-y
3z
2
b=-x
1z
2+x
1z
3+x
2z
1-x
2z
3-x
3z
1+x
3z
2
c=x
1y
2-x
1y
3-x
2y
1+x
2y
3+x
3y
1-x
3y
2
d=-x
1y
2z
3+x
1y
3z
2+x
2y
1z
3-x
2y
3z
1-x
3y
1z
2+x
3y
2z
1
Obtain the value of coefficient a, b, c, d from the coordinate of 3, also just obtained the equation on this plane.
As stated above, as shown in Figure 2, the equation of Y-Z plane in image coordinate system can be with four summit M on right side on described two width faultage images
1, M
3, N
1, N
3And M
2, N
2The coordinate of three points in totally six points is set up; The equation of X-Z plane in image coordinate system can be with four summit M of the downside on described two width tomographs
1, N
1, S
1, Q
1In the coordinate of three points set up; The equation of X-Y plane in image coordinate system can be by end points O, Of, G, the V of four " N " shape metal wires that are arranged in X-Y plane) the image coordinate system coordinate of three end points set up.
The coordinate of the end points of above-mentioned " N " shape metal wire can be according to the image coordinate system coordinate Calculation of the gauge point of the gauge point at described two width tomographs middle parts and four jiaos out.Its computational methods are as follows:
As shown in Figure 4, on " N " shape metal wire of right positioner plate, M
1, M
2, M
3, N
1, N
2, N
3Six points can directly be measured at the coordinate of image coordinate system.Utilize 2, space distance, distance between beeline and dot can be calculated the length of the line segment between each point.Set M
1M
2=m, N
1N
2=n, M
1M
3=N
1N
3=l, M
1M
3With N
1N
3Distance between parallel lines is h, M
1N
1With M
3N
3The parallel lines spacing is the preset parameter of position finder, is made as D, OM
1Length be made as i, can get as calculated:
i=m·h·l/(n-m)·D
Due to M
1(x
1, y
1, z
1), N
1(x
2, y
2, z
2) can directly measure (z wherein at the coordinate of image coordinate system
1, z
2Be the berth value of tomography separately).
Calculate the three-dimensional coordinate on the right back summit of " N " location-plate (O):
x
O=x
1+i·(x
1-x
2)/[(x
1-x
2)
2+(y
1-y
2)
2+(z
1-z
2)
2]
1/2
y
O=y
1+i·(y
1-y
2)/[(x
1-x
2)
2+(y
1-y
2)
2+(z
1-z
2)
2]
1/2
z
O=z
1+i·(z
1-z
2)/[(x
1-x
2)
2+(y
1-y
2)
2+(z
1-z
2)
2]
1/2
When calculating the three-dimensional coordinate on the right front summit of " N " location-plate (Of), (x in above-listed formula
1, y
1, z
1) change M into
3Coordinate figure, " i " changes OfM into
3Length, OfM
3Length can try to achieve with following formula:
OfM
3=OfP-N
3P-M
3N
3
In following formula, the length of OfP is the preset parameter of position finder, N
3The length of P can be by OM
1Same procedure is calculated, M
3N
3Can be calculated by the distance between two points formula.
Can extrapolate in like manner that location-plate " N " shape metal wire is left front, the coordinate on left back summit.
(3) select target spot on faultage image, obtain the three-dimensional coordinate parameter in its image coordinate system.When target spot is visible target spot, directly choose on faultage image, invisible target spot is dissected coordinate according to it and is calculated, determines its position (being the coordinate of image coordinate system) on faultage image.Then, utilize the distance from the point to the plane formula, calculate target spot to the distance of Y-Z plane, X-Z plane and the X-Y plane of framework, the numerical value of above-mentioned distance is X, Y, the Z coordinate of this target spot in the stereotactic apparatus frame coordinates is.Concrete grammar is as follows:
If target spot is T(x at the coordinate of image coordinate system
t, y
t, z
t), plane equation is ax+by+cz+d=0, target spot to the distance on this plane is:
Distance=| ax
t+ by
t+ cz
t+ d|/(a
2+ b
2+ c
2)
1/2
This formula of parameter substitution with the frame coordinates plane, can calculate the distance on target spot to three frame coordinates plane, combining image amplification and " N " shape position plate location parameter in frame coordinates system is revised, and can complete target spot T(X, Y, Z) frame coordinates calculate.
Use method of the present invention and carry out target coordinate location, stereotactic apparatus is installation frame routinely, scan method routinely, first MRI or the capable TOP location scanning of CT, again by adjustment plane of scanning motion inclination angle, obtain desirable positioning image, the location is during " invisible " target spot, the plane of scanning motion can with the AC-PC plane parallel.
Claims (2)
1. method of utilizing faultage image to obtain the coordinate of target spot in stereotactic apparatus is characterized in that comprising the following steps:
(1) use computer and select two width faultage images in faultage image, on this two width faultage image, all as seen 6 gauge points of " N " shape metal wire on the location-plate of stereotactic apparatus both sides measure the coordinate parameters of above-mentioned gauge point on faultage image;
(2) according to the coordinate of the gauge point on faultage image in image coordinate system, set up Y-Z plane, X-Z plane and the equation of X-Y plane in image coordinate system of stereotactic apparatus framework;
(3) select target spot on faultage image, obtain the three-dimensional coordinate parameter in its image coordinate system, calculate this point to the distance of Y-Z plane, X-Z plane and the X-Y plane of framework in image coordinate system, the numerical value of above-mentioned distance is X, Y, the Z coordinate of this target spot in the stereotactic apparatus frame coordinates is.
2. the method for obtaining the coordinate of target spot in stereotactic apparatus with faultage image as claimed in claim 1 is characterized in that: the equation of Y-Z plane in image coordinate system described in (2) step is with four summit (M on right side on described two width faultage images
1, M
3, N
1, N
3) in the coordinate of three points set up; The equation of described X-Z plane in image coordinate system is with four summit (M of the downside on described two width faultage images
1, N
1, S
1, Q
1) in the coordinate of three points set up; The preparation method of the equation of X-Y plane in image coordinate system is: the image coordinate system coordinate of three end points of the end points (O, Of, G, V) of four " N " shape metal wires extrapolating to be arranged in X-Y plane according to the image coordinate system coordinate of the gauge point of the gauge point at described two width tomographs middle parts and four jiaos, then the image coordinate system coordinate of the end points of three " N " shape metal wires is set up the equation of X-Y plane in image coordinate system thus.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103690188A (en) * | 2013-12-09 | 2014-04-02 | 中国人民解放军第四军医大学 | Head front shooting device and natural head position correction method of three-dimensional head model |
| CN105250035A (en) * | 2015-10-22 | 2016-01-20 | 同方鼎欣信息技术有限公司 | Target site positioning method and system supporting various stereotaxic apparatuses |
| CN109961474A (en) * | 2019-04-08 | 2019-07-02 | 浙江大学 | A kind of space ranging method and localization method based on MR/CT tomography sequence |
| CN112734833A (en) * | 2020-12-10 | 2021-04-30 | 安徽理工大学 | Matlab-based model target coordinate feedback system |
| CN112837363A (en) * | 2021-02-03 | 2021-05-25 | 上海交通大学 | Stereotactic frame positioning method and system, medium and terminal |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103690188A (en) * | 2013-12-09 | 2014-04-02 | 中国人民解放军第四军医大学 | Head front shooting device and natural head position correction method of three-dimensional head model |
| CN103690188B (en) * | 2013-12-09 | 2017-10-13 | 中国人民解放军第四军医大学 | The natural head posture bearing calibration of head front filming apparatus and three-dimensional head model |
| CN105250035A (en) * | 2015-10-22 | 2016-01-20 | 同方鼎欣信息技术有限公司 | Target site positioning method and system supporting various stereotaxic apparatuses |
| CN109961474A (en) * | 2019-04-08 | 2019-07-02 | 浙江大学 | A kind of space ranging method and localization method based on MR/CT tomography sequence |
| CN112734833A (en) * | 2020-12-10 | 2021-04-30 | 安徽理工大学 | Matlab-based model target coordinate feedback system |
| CN112837363A (en) * | 2021-02-03 | 2021-05-25 | 上海交通大学 | Stereotactic frame positioning method and system, medium and terminal |
| CN112837363B (en) * | 2021-02-03 | 2022-09-30 | 上海交通大学 | Stereotactic frame positioning method and system, medium and terminal |
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