CN103356293A - Surgery navigation system and method based on multispectral image fusion of reflecting mirror faces with adjustable angles and adjustable positions - Google Patents
Surgery navigation system and method based on multispectral image fusion of reflecting mirror faces with adjustable angles and adjustable positions Download PDFInfo
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- CN103356293A CN103356293A CN2013103362531A CN201310336253A CN103356293A CN 103356293 A CN103356293 A CN 103356293A CN 2013103362531 A CN2013103362531 A CN 2013103362531A CN 201310336253 A CN201310336253 A CN 201310336253A CN 103356293 A CN103356293 A CN 103356293A
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Abstract
The utility model provides a surgery navigation system and method based on multispectral image fusion of reflecting mirror faces with adjustable angles and adjustable positions. The system comprises a C-shaped arm machine frame (11), an X-ray emission bulb tube (12), an image enhancement and acquisition device (13), an image processing workstation and a liquid crystal display monitor and further comprises two parallel reflecting mirrors (14), hinges (15), reflecting mirror guide rails (16), inserting grooves, a visible light CCD camera (17), a camera guide rail (18) and a calibration body with mark points. According to the surgery navigation method, a fluoroscopic image and an image acquired by the camera have the same visual angle and frame area, late image registration and other algorithm and the calculation process are simplified, the image with the optimal visual angle can be obtained through the adjustable reflecting mirror faces, and the method can be applied to surgeries of different positions flexibly. Registration is performed on the fluoroscopic image and a visible light image before a surgery, the X-ray emission bulb tube is turned off, a visible light real-time image is used for guiding the surgery, ionization radiation to doctors and patients is reduced, and positioning accuracy and treatment efficiency are improved.
Description
Technical field
What the present invention relates to is a kind of operation guiding system and method, is specifically related to have Multispectral Image Fusion operation guiding system and the method for angle adjustable and position mirror surface.
Background technology
Along with the development of the technology such as Digital Image Processing, pattern recognition, based on the medical airmanship of vision take its accurately characteristic favored by the medical personnel gradually.C type arm operation guiding system has a wide range of applications and application prospect in fields such as bone surgeries.Abroad to the research in this field early, plastic surgery, spinal operation etc. the special-purpose software that cooperates has with it appearred all.Canadian Millennium research institution has carried out market survey and prediction to the U.S. and trans-European image navigation operation system: the market share of the U.S. in 2002 is $ 14.3 hundred million, and Europe is $ 7.84 hundred million; The U.S. in 2003 is $ 16.88 hundred million, and Europe is $ 9.88 hundred million; The U.S. surpassed $ 3,000,000,000 in 2007, and Europe surpasses $ 2,000,000,000.Can find out that image assisted surgery navigation system is all keeping the situation of a sustainable growth in the whole world.The colleges and universities institutes such as domestic Shanghai Communications University, Tsing-Hua University, BJ University of Aeronautics ﹠ Astronautics carry out early in the research aspect the image surgical navigational navigation system, and have obtained the achievement in research of a lot of stages.
Image surgical navigational navigation system great majority are based on the binocular solid camera work at present, the formula index point need be invaded in the location of these class methods, such as titanium nail etc., spatial registration and location place one's entire reliance upon to sign recognition and coordinate conversion, advantage is that ratio of precision is higher, but Image space transformation and calculation of complex.In the method for non-invasion formula, representative is directly to rebuild the 3D operation guiding system on C type arm, under the coordinate system identical with operating theater instruments, realize demarcating and following the tracks of, do not need other registered images, this method is better than for the processing of easily deformable organ etc. and uses CT data before the art, but the situation that patient and doctor are exposed in the ray in the art does not improve fully.And in the existing navigation system, rely on the also fewer of visible light image information guiding in the art fully.Therefore develop simple in structurely, easy and simple to handle, moderate, be convenient in the image-guidance system that original C type arm system is reequiped significant.In the domestic hospital, no matter large and medium-sized hospital, or small hospital, C type arm operating-table is nearly all arranged, add the device formation navigation system such as built-in camera, can save greatly cost.The high price of prevailing external several brand image-guidance systems on the market more can be born by a lot of medium and small hospital relatively.
Summary of the invention
1, invents the technical problem that will solve
Have for prior art that image registration difficulty, space coordinates conversion amount of calculation are large, visible light image navigation is utilized the problems such as insufficient, the invention provides Multispectral Image Fusion operation guiding system and method with angle adjustable and position mirror surface, visual angle and the view area of X-ray fluoroscopy images and Visible Light CCD Camera images acquired are consistent, and have simplified the image registration scheduling algorithm in later stage.This system is by the angle of adjusting minute surface and the position of position and camera, obtain the optimal viewing angle of operative site photographic images, two class images realized registration in the preoperative, in the operation with visible light real time imaging guided surgery, minimizing is to doctor and patient's radiation, and reaches requirement in precision.The technology such as integrated use Digital Image Processing of the present invention, pattern recognition, optical principle and communication have designed simple in structurely, are easy to the guider based on the multispectral image information fusion of improvement and installation on existing C type arm.
2, technical scheme
Multispectral Image Fusion operation guiding system with angle adjustable and position mirror surface, comprise C type arm frame, X-ray launches bulb, figure image intensifying and harvester, the image processing workstation, nominal volume with index point, monitor, also comprise two parallel reflecting mirrors, hinge, reflecting mirror guide rail and slot, Visible Light CCD Camera, the camera guide rail, described X-ray emission bulb places C type arm frame top below, figure image intensifying and harvester are placed on the bottom with the corresponding C type of X-ray emission bulb arm, X-ray emission bulb below arranges two parallel reflecting mirrors, the minute surface of two parallel reflecting mirrors is connected with reflecting mirror guide rail on the C type arm frame by rotatable hinge, and can before and after translation and angle changing, the reflecting mirror guide rail is installed on the C type arm frame by slot, Visible Light CCD Camera is installed on the camera guide rail, Visible Light CCD Camera can move front and back on the camera guide rail, position according to reflecting mirror fixes front and back position, described camera guide rail is arranged on the C type arm sidewall, and be positioned at above the reflecting mirror guide rail, the image that the acceptance pattern image intensifying of image processing workstation and harvester and Visible Light CCD Camera transmit, and be presented on the monitor.X-ray emission bulb is launched X-ray downwards, the position of figure image intensifying and harvester is corresponding with X-ray emission bulb, obtain the X-ray image, Visible Light CCD Camera is placed on the camera guide rail of C type arm sidewall, obtain the image of direct reflection, two parallel installations of mirror mirror, two parallel reflecting mirrors on the reflecting mirror guide rail by moving forward and backward and rotating, fixing in the position that is fit to and angle, so that the X-ray fluoroscopy images of X-ray emission bulb and visual angle and the view area of Visible Light CCD Camera images acquired are consistent.The visible images of the fluoroscopy images of figure image intensifying and harvester collection and Visible Light CCD Camera collection is gathered and is sent into the image processing workstation simultaneously, stores, the processing such as registration, fusion, and is presented on the monitor.System is provided with one of the nominal volume of index point, is used for determining the position of X-ray emission bulb and Visible Light CCD Camera, carries out camera parameter and demarcates.Described reflecting mirror be X-ray fully penetrable material make, guarantee figure image intensifying and harvester to the X-ray image normal, accurately gather.Described monitor is LCD monitor.
Have the Multispectral Image Fusion operation piloting method of angle adjustable and position mirror surface, the steps include:
1) carry out in existing C type arm frame that equipment is installed, debugging: the minute surface of two parallel reflecting mirrors is connected with reflecting mirror guide rail on the C type arm frame by rotatable hinge, the reflecting mirror guide rail is installed on the C type arm frame by slot, two reflecting mirrors relatively and remain parallel, Visible Light CCD Camera is installed on the camera guide rail, described camera guide rail is positioned at reflecting mirror guide rail top, guarantees that Visible Light CCD Camera gathers the image in the minute surface;
2) utilize the nominal volume that is distributed with index point before the art, by adjusting reflecting mirror, the position of X-ray emission bulb and Visible Light CCD Camera, the coordinate of visible images and fluoroscopy images is based upon under the same coordinate system, and make this two classes imaging pattern have relatively consistent imaging model in native system: the X-ray emission source of X-ray being launched bulb is considered as virtual photocentre, the X-ray emission source of X-ray emission bulb is positioned at the top of C type arm frame, figure image intensifying and harvester in the frame bottom gather fluoroscopy images, target reflects to Visible Light CCD Camera through mirror surface simultaneously, guarantee that this two classes imaging pattern has relatively consistent imaging model in native system, be convenient to processing and the calculating such as registration in later stage, signal as shown in Figure 3.Suppose that the X-ray source is virtual photocentre, the optical axis of its optical axis and Visible Light CCD Camera spatially has collimation, is illustrated in figure 2 as the Visible Light CCD Camera images acquired sketch map consistent with X-ray fluoroscopy images visual angle and zone;
3) off-line calibration is carried out in Visible Light CCD Camera and image intensifier and harvester, in the fixing situation of Visible Light CCD Camera, mirror surface, X-ray emission bulb and figure image intensifying and harvester relative position, system does not need again to demarcate.
4) utilize Visible Light CCD Camera to gather visible images before the art, utilize simultaneously figure image intensifying and harvester to obtain fluoroscopy images, and transfer to the image processing workstation, carry out the processing such as image registration, fusion.
5) close X-ray emission bulb in the art, according to registering images before the art, by visible images positioning operation apparatus, operation point of penetration etc., the guiding in real time operation is carried out.
6) Installation Mark point on C type arm judges by the visible images monitoring whether patient position changes in the art, in order to check and correct the phenomenon that misfits that two width of cloth images occur in the operation.The reason of this phenomenon mainly be since in the operation process patient's etc. movement bring.At this moment, need Resurvey X-ray fluoroscopy images, and re-start the operations such as above image registration, fusion.
3. beneficial effect
C type arm for each hospital generally has obtains visible images by having increased Visible Light CCD Camera, is used for the guiding in real time operation after merging with the X-ray fluoroscopy images, effectively reduces sufferer and the raying of doctor institute in the art; By change conventional X-ray emission bulb at lower, figure image intensifying and harvester at upper position relationship, increase is with guide rail and two adjustable parallel mirrors of angle, obtain visible images and the X-ray fluoroscopy images in same visual angle and zone, solved difficulties such as needing distortion correction in the registration, simplify the computational processes such as image registration, fusion, greatly saved the needed time of two class image registrations in the art; Can close X-ray emission bulb in the art, reduce the injury to patient and medical personnel.
Description of drawings
Fig. 1: the Multispectral Image Fusion operation guiding system structural scheme of mechanism with angle adjustable and position mirror surface;
Fig. 2: Visible Light CCD Camera images acquired and X-ray images acquired visual angle and the view area sketch map that is consistent;
Fig. 3: the geometric model of system imaging;
Fig. 4: Visible Light CCD Camera photocentre and X-ray emission source are at the spatial relation sketch map.
Mark among the figure: 11-C type arm frame, 12-X-ray emission bulb, 13-figure image intensifying and harvester, 14-reflecting mirror, 15-hinge, 16-reflecting mirror guide rail, 17-Visible Light CCD Camera, 18-camera guide rail, 19-Visible Light CCD Camera photocentre, 20-X-ray emission source.
The specific embodiment
Embodiment 1
Below in conjunction with accompanying drawing and the specific embodiment the technical program is described further:
As shown in Figure 1, Multispectral Image Fusion operation guiding system with angle adjustable and position mirror surface, comprise C type arm frame 11, X-ray launches bulb 12, figure image intensifying and harvester 13, LCD monitor, also comprise two parallel reflecting mirrors 14, hinge 15, reflecting mirror guide rail 16 and slot, Visible Light CCD Camera 17, camera guide rail 18, the image processing workstation, nominal volume with index point, described X-ray emission bulb 12 places below, C type arm frame 11 tops, figure image intensifying and harvester 13 are positioned over the C type arm bottom of X-ray emission bulb 12 correspondences, X-ray emission bulb 12 belows arrange two parallel reflecting mirrors 14, two parallel reflecting mirrors 14 are connected with reflecting mirror guide rail 16 on the C type arm frame 11 by rotatable hinge 15, can be along the 16 front and back translations of reflecting mirror guide rail, and can change angle by hinge 15 driven rotary, reflecting mirror guide rail 16 is installed on the C type arm frame 11 by slot, Visible Light CCD Camera 17 is installed on the camera guide rail 18, Visible Light CCD Camera 17 can move front and back on camera guide rail 18, position according to reflecting mirror 14 fixes front and back position, described camera guide rail 18 is arranged on the C type arm sidewall, and be positioned at reflecting mirror guide rail 16 tops, the image that the acceptance pattern image intensifying of image processing workstation and harvester 13 and Visible Light CCD Camera 17 transmit, store, registration, the processing such as fusion, and be presented on the monitor.
Have the multispectral fusion image operation piloting method of angle adjustable and position mirror surface, its step is as follows:
1) carrying out equipment according to above-mentioned principle installs, debugs.The minute surface of two parallel reflecting mirrors 14 is connected with reflecting mirror guide rail 16 on the C type arm frame 11 by rotatable hinge 15, reflecting mirror guide rail 16 is installed on the C type arm frame 11 by slot, Visible Light CCD Camera 17 is installed on the camera guide rail 18, described camera guide rail 18 is positioned at reflecting mirror guide rail 16 tops, guarantees that Visible Light CCD Camera 17 gathers visible images;
2) utilize the nominal volume that is distributed with index point before the art, by adjusting reflecting mirror 14, the position of X-ray emission bulb 12 and Visible Light CCD Camera 17, the coordinate of visible images and fluoroscopy images is based upon under the same coordinate system, make this two classes imaging pattern in native system, have relatively consistent imaging model: such as Fig. 2, shown in 3, Fig. 2 is the visual angle of the image that gathers of Visible Light CCD Camera 17 and X-ray fluoroscopy images and the view area sketch map that is consistent, the X-ray emission source 20 of X-ray being launched bulb 12 is considered as its virtual photocentre, the optical axis of its optical axis and Visible Light CCD Camera 17 spatially has collimation, the X-ray emission source 20 of X-ray emission bulb 12 is positioned at the top of C type arm frame 11, figure image intensifying and harvester 13 in the frame bottom gather fluoroscopy images, simultaneously target through the direct reflection of reflecting mirror 14 to Visible Light CCD Camera 17, such as Fig. 3, shown in 4, by adjusting position and the angle of reflecting mirror 14 minute surfaces, and the front and back position of Visible Light CCD Camera 17, so that Visible Light CCD Camera photocentre 19 is consistent on level with the X-ray emission source 20 of X-ray emission bulb 12, the coordinate of visible images and fluoroscopy images is based upon under the same coordinate system, guarantee that this two classes imaging pattern has relatively consistent imaging model in native system, be convenient to processing and the calculating such as registration in later stage.According to the corrective surgery position, by above-mentioned steps, make it have best observation angle for operative site.Described reflecting mirror 14 for X-ray fully penetrable material make, guarantee figure image intensifying and 13 pairs of X-ray fluoroscopy images of harvester normal, accurately gather.Principle according to projective geometry, the X-ray emission source 20 that X-ray is launched bulb 12 places the human body top, and figure image intensifying and harvester 13 be when being positioned at the human body below, and the image of seeing at LCD monitor is reversed left to right, but because the left-right symmetric of human body does not affect doctor's judgement.
3) off-line calibration is carried out in Visible Light CCD Camera 17 and figure image intensifying and harvester 13, launch in the fixing situation of bulb 12 and figure image intensifying and harvester 13 relative positions at Visible Light CCD Camera 17, reflecting mirror 14, X-ray, system does not need again to demarcate.
4) utilize Visible Light CCD Camera 17 to gather visible images before the art, utilize simultaneously figure image intensifying and harvester 13 to obtain fluoroscopy images, and transfer to the image processing workstation, carry out the processing such as image registration, fusion.
5) close X-ray emission bulb 12 in the art, according to the image of registration before the art, by visible images positioning operation apparatus, operation point of penetration etc., the guiding in real time operation is carried out.
6) in the art, judge by the visible images monitoring whether patient position changes, on human body affected part body surface and C type arm frame 11, paste for visible index point all in visible light video and the X-ray image, so that check and correct the phenomenon that misfits that two width of cloth images occur in the operation.The reason of this phenomenon mainly be since in the operation process patient's etc. movement bring.At this moment, need Resurvey X-ray fluoroscopy images, and repeat the operations such as above image registration, fusion.
Claims (6)
1. the Multispectral Image Fusion operation guiding system that has angle adjustable and position mirror surface, comprise C type arm frame (11), X-ray launches bulb (12), figure image intensifying and harvester (13), the image processing workstation, nominal volume with index point, monitor, it is characterized in that, also comprise two parallel reflecting mirrors (14), hinge (15), reflecting mirror guide rail (16), Visible Light CCD Camera (17), camera guide rail (18), described X-ray emission bulb (12) places below, C type arm frame (11) top, figure image intensifying and harvester (13) are placed on the bottom of the corresponding C type of X-ray emission bulb (12) arm, X-ray emission bulb (12) below also arranges reflecting mirror (14), reflecting mirror (14) is connected with reflecting mirror guide rail (16) on the C type arm frame (11) by rotatable hinge (15), Visible Light CCD Camera (17) is installed on the camera guide rail (18), described camera guide rail (18) is arranged on the C type arm sidewall, and be positioned at above the reflecting mirror guide rail (16), the image that described image processing workstation acceptance pattern image intensifying and harvester (13) and Visible Light CCD Camera (17) transmit, and be presented on the monitor.
2. the Multispectral Image Fusion operation guiding system with angle adjustable and position mirror surface according to claim 1 is characterized in that, described reflecting mirror guide rail (16) is installed on the C type arm frame (11) by slot.
3. the Multispectral Image Fusion operation guiding system with angle adjustable and position mirror surface according to claim 2 is characterized in that, described reflecting mirror (14) adopts fully penetrable material of X-ray.
4. its operation piloting method of described system according to claim 1-3, step is:
1) carries out the equipment installment and debugging in existing C type arm frame (11), guarantee that Visible Light CCD Camera (17) gathers visible images;
2) utilize the nominal volume that is distributed with index point before the art, by adjusting the position of reflecting mirror (14), X-ray emission bulb (12) and Visible Light CCD Camera (17), the coordinate of visible images and fluoroscopy images is based upon under the same coordinate system, makes this two classes imaging pattern in native system, have relatively consistent imaging model;
3) off-line calibration is carried out in Visible Light CCD Camera (17) and figure image intensifying and harvester (13), launch in the fixing situation of bulb (12) and figure image intensifying and harvester (13) relative position at Visible Light CCD Camera (17), reflecting mirror (14), X-ray, system does not need again to demarcate;
4) utilize Visible Light CCD Camera (17) to gather visible images before the art, utilize simultaneously figure image intensifying and harvester (13) to obtain fluoroscopy images, and transfer to the image processing workstation, carry out image registration, fusion treatment;
5) close X-ray emission bulb (12) in the art, according to registering images before the art, by visible images positioning operation apparatus, operation point of penetration, the guiding in real time operation is carried out;
6) at C type arm index point is installed, judge by the visible images monitoring whether patient position changes in the art, in order to check and correct the phenomenon that misfits that two width of cloth images occur in the operation, as said circumstances appears, need Resurvey X-ray fluoroscopy images, and repeat above image registration, mixing operation.
5. operation piloting method according to claim 4, it is characterized in that, in the described step (1), the step of installment and debugging is, two reflecting mirrors (14) are connected with reflecting mirror guide rail (16) on the C type arm frame (11) by rotatable hinge (15), reflecting mirror guide rail (16) is installed on the C type arm frame (11) by slot, two reflecting mirrors (14) are relative and remain parallel, Visible Light CCD Camera (17) is installed on the camera guide rail (18), described camera guide rail (18) is positioned at reflecting mirror guide rail (16) top, guarantees that Visible Light CCD Camera (17) gathers visible images.
6. operation piloting method according to claim 4, it is characterized in that, in the described step (2), adjust reflecting mirror (14), the position of X-ray emission bulb (12) and Visible Light CCD Camera (17), the steps include: that the X-ray emission source (20) of X-ray being launched bulb (12) is considered as virtual photocentre, by adjusting position and the angle of reflecting mirror (14) minute surface, and the front and back position of Visible Light CCD Camera (17), so that Visible Light CCD Camera photocentre (19) is consistent on level with the X-ray emission source (20) of X-ray emission bulb (12), the coordinate of visible images and fluoroscopy images is based upon under the same coordinate system, makes this two classes imaging pattern have relatively consistent imaging model in native system.
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| CN105242689A (en) * | 2015-09-23 | 2016-01-13 | 浙江大学 | Holder tracking visual system based on optical reflection |
| CN109360362A (en) * | 2018-10-25 | 2019-02-19 | 中国铁路兰州局集团有限公司 | A kind of railway video monitoring recognition methods, system and computer-readable medium |
| CN110633759A (en) * | 2019-09-24 | 2019-12-31 | 北京华力兴科技发展有限责任公司 | Image fusion method and device and electronic equipment |
| WO2022116197A1 (en) * | 2020-12-04 | 2022-06-09 | 西安大医集团股份有限公司 | Information exchange system and diagnosis and treatment system |
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