CN104434319A - Real-time free bone fragment tracing method for surgical navigation system - Google Patents
Real-time free bone fragment tracing method for surgical navigation system Download PDFInfo
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- CN104434319A CN104434319A CN201410803802.6A CN201410803802A CN104434319A CN 104434319 A CN104434319 A CN 104434319A CN 201410803802 A CN201410803802 A CN 201410803802A CN 104434319 A CN104434319 A CN 104434319A
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Abstract
The invention discloses a real-time free bone fragment tracing method for a surgical navigation system. A corresponding relation between a coordinate system relevant to a free bone fragment and a three-dimensional model coordinate system is built according to a mark point method and a geometric characteristic face scanning method or a positioning array method; after the free bone fragment is displaced during operation, the real-time space position information generated after the bone fragment is reset is obtained through reading or rescanning a mark point or a geometric characteristic face, or through a positioning array; real-time visual display of a three-dimensional model corresponding to the whole bone fragment in the navigation system is achieved according to the position information after the bone fragment is reset. By means of the real-time free bone fragment tracing method, time and labor are saved, the method is free of depending on doctor experience, error diagnosis is not easily caused, and safety, accuracy and effectiveness of the operation are improved.
Description
Technical field
The invention belongs to computer assisted surgery technical field, relate to a kind of functional method of locating spike display.
Background technology
Traditional surgery, surgeon passes through imaging data, in conjunction with its knowledge deposit and clinical experience, analyze the spatial relation between each tissue in operative region, then the experience of doctor is relied on to be performed the operation, the spatial positional information of this mode not easily clearer and more definite variant structure, positioning precision is low, and the safety of operation and effectiveness can not be guaranteed.Along with development that is industrial and computer technology, computer Technology of surgery navigation is arisen at the historic moment.In operation process, the corresponding relation between patient's reference frame and image data virtual coordinate system is set up by registration, according to Design, utilize the process of spike tool positioned guided surgery, substantially increase accuracy and the safety of operation, have also been obtained in craniomaxillofacial surgery and eye socket surgery and apply widely.
The process need employing spike instrument of existing computer Technology of surgery navigation location and guiding bone block reset is comprehensive detects bone block surface, thus indirectly obtains locus and the attitude of bone block; And this mode to locate the bone block models with stereochemical structure more loaded down with trivial details, need omnibearing detecting, the accurate location of bone block could be obtained, extend the time of operation; In addition, this method requires that operative doctor has stronger three-dimensional visionary, in brain, three-dimensional structure is fitted to by detecting the point set obtained, lack display overall intuitively, only according to the local shape detected the point set that obtains and formed, easily to position and the attitude generation erroneous judgement of bone block entirety, causing the reduction of operative effect or even safety, is the large hidden danger of one in operation process.Therefore, those skilled in the art is devoted to develop the real-time tracing method of floating bone block in a kind of operation guiding system.
Summary of the invention
Because the above-mentioned defect of prior art, technical problem to be solved by this invention how to allow doctor observe the three-dimensional position of the bone block that operative region is moved and concrete attitude in real time over the display in the process of operation, instead of rely on doctor's subjective judgment empirically.
For achieving the above object, the invention provides the real-time tracing method of floating bone block in a kind of operation guiding system, comprise the following steps:
Set up the coordinate systems in image COS of operative site entirety in the preoperative
image1with the coordinate systems in image COS that floating bone block is associated
image2;
The fixing reference frame COS that navigation uses is established as in art
reference, and by the actual coordinates of described operative site and described coordinate systems in image COS
image1registration, obtains coordinate transform
by the actual coordinates of described floating bone block and described coordinate systems in image COS
image2registration;
Before described floating bone block is not moved, gather the point or point set that described floating bone block can be determined described floating bone block coordinate system;
After described floating bone block is moved, point or described point set described in repeated acquisition;
The three-dimensional reposition of described floating bone block and attitude is calculated by changes in coordinates;
Navigation indicator shows.
Further, comprise the following steps:
When described floating bone block is not subjected to displacement, described floating bone block gathers also labelling more than 4 and, not at conplane index point, records described index point at described reference frame COS
referenceunder coordinate;
Pass through coordinate transform
obtain described index point at described coordinate systems in image COS
image1under coordinate;
Described floating bone block pose does not change, therefore described COS
image1with described COS
image2between overlap or convert known, and then obtain described index point at described COS
image2under coordinate, determine described COS
image2convert relative to the pose of index point;
After described floating bone block is subjected to displacement, again sequentially gather these index points, obtain described index point now at described reference frame COS
referenceunder coordinate, then by conversion
obtain described index point now at coordinate systems in image COS
image1under coordinate, in conjunction with before the described COS that determines
image2convert relative to the pose of index point, obtain threedimensional model corresponding to described floating bone block at described coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of described floating bone block entirety.
Further, comprise the following steps:
When described floating bone block is not subjected to displacement, scan geometry characteristic face on described floating bone block, and the spatial information in described geometric properties face is recorded in navigation system with the form of initial point set,
Pass through coordinate transform
the initial point set of further acquisition is at described coordinate systems in image COS
image1under coordinate;
Described floating bone block pose does not change, therefore described COS
image1with described COS
image2between overlap or convert known, finally obtain described initial point set at COS
image2under coordinate;
After described floating bone block is subjected to displacement, again obtains the described geometric properties face that gathers before scanning, be denoted as new point set, described new point set and described initial point set incomplete same; Using described initial point set as initial value, by the surface adjustment algorithm of iteration optimization, determine the transformation relation between described new point set and described floating bone block threedimensional model, then pass through coordinate transform
threedimensional model corresponding to the described floating bone block of final acquisition is at described coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of bone block entirety.
Further, comprise the following steps:
When described floating bone block is not subjected to displacement, described floating bone block installs oriented array, the coordinate system be associated with described oriented array is denoted as COS
tool, described COS
toolwith described reference frame COS
referencebetween conversion known;
Described floating bone block pose does not change, therefore described COS
image1with described COS
image2between overlap or convert known, then in conjunction with described COS
referencewith described COS
image1between conversion
determine that described floating bone block threedimensional model is at described COS
toolin position and attitude;
Relation between described oriented array and described floating bone block keeps geo-stationary, and described COS
toolwith described reference frame COS
referencebetween conversion also known all the time, obtain described floating bone block threedimensional model relative to described reference frame COS by described oriented array
referencespatial positional information;
Pass through coordinate transform again
threedimensional model corresponding to the described floating bone block of final acquisition is at described coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of described floating bone block entirety.
In better embodiment of the present invention, by index point method, geometric properties Surface scan method or oriented array method, set up the corresponding relation between coordinate system and threedimensional model coordinate system that bone block is associated, after completing the displacement of bone block in art, by to the reading of index point or geometric properties face or again scan, or utilize oriented array, obtain the real-time spatial positional information after bone block reset, according to this positional information, after realizing bone block reset, the in real time directly perceived display of the threedimensional model corresponding to its entirety in navigation system.
In the preoperative, set up the threedimensional model of operative site entirety respectively and treat the threedimensional model of reset bone block.In art, the foundation of the acquisition of bone block space position, bone block space position and its threedimensional model corresponding relation, above-mentioned three kinds of methods all relate to three coordinate systems, and one is that the coordinate systems in image be associated with skull block mold (is denoted as COS
image1), two is that the coordinate systems in image be associated with floating bone block (is denoted as COS
image2), three is (be denoted as COS by the determined reference frame of the frame of reference fixed in surgical navigational process
reference).If in reconstruction floating bone block model process, do not adjusted the coordinate system of its association, then COS
image1and COS
image2overlap; And by registration in art, can COS be determined
image1and COS
referencethe conversion mapped one by one between these two coordinate systems
the effect of this conversion is order
wherein p
i1be in space any point at COS
image1in coordinate, p
rthen that same point is at COS
referencein coordinate.
1. index point method: when bone block is not subjected to displacement, bone block gathering also, labelling more than 4 is not at conplane point, and as index point, record mark point is at reference frame COS
referenceunder coordinate, by conversion
obtain index point at coordinate systems in image COS
image1under coordinate.Because now bone block pose does not change, COS can be thought
image1and COS
image2between overlap or convert known, and then just can obtain index point at COS
image2under coordinate, determine COS
image2convert relative to the pose of index point.After bone block is subjected to displacement, again sequentially gather these index points, obtain index point now at reference frame COS
referenceunder coordinate, then by conversion
obtain index point now at coordinate systems in image COS
image1under coordinate, in conjunction with before the COS that determines
image2convert relative to the pose of index point, obtain threedimensional model corresponding to bone block at coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of bone block entirety.
2. geometric properties face method: when bone block is not subjected to displacement, scan geometry characteristic face on bone block, and the spatial information in geometric properties face is recorded in navigation system with the form of point set, be denoted as initial point set.What now obtain is that initial point set is at reference frame COS
referenceunder coordinate, by conversion
the initial point set of further acquisition is at coordinate systems in image COS
image1under coordinate.Because now bone block pose does not change, COS can be thought
image1and COS
image2between overlap or convert known, finally obtain initial point set at COS
image2under coordinate.After bone block is subjected to displacement, again obtains the geometric properties face that gathers before scanning, equally with the form record of point set, be denoted as new point set, this point set and initial point set incomplete same.Using initial point set as initial value, by the surface adjustment algorithm of iteration optimization, determine the transformation relation between new point set and bone block threedimensional model, then by conversion
threedimensional model corresponding to final acquisition bone block is at coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of bone block entirety.
Iteration optimization surface adjustment algorithm steps is as follows:
Known point set P and surface model S (namely by the model of tri patch set representations).
Initial point set is denoted as P
0, have P
0=P, and the point set obtained in each iterative process is P
i;
Initial space conversion parameter vector is denoted as T
0, the spatial transformation parameter vector obtained in each iterative process is denoted as T
i;
Iterative process is:
1) to point set P
iin each point, surface model S finds the point nearest apart from this point, structure point set N
i(putting the point concentrated all to be positioned on surface model S);
2) according to point set P
iand N
i, calculate corresponding spatial transformation parameter vector T
i;
3) to point set P
iapplication space conversion parameter T
i, obtain point set P
i+1;
4) step 1 is utilized) relation one to one between each point in determined point set Pi and Ni, calculate point set P
i+1and N
ithe average of squared-distance, be denoted as d
k+1,in last iterative process, the average of two point set squared-distances is then denoted as d
k;
5) if d
kand d
k+1between difference be greater than the threshold value t preset, then repeat step 1) to 4); If difference is between the two less than threshold value t, then iterative process stops, the spatial transformation parameter vector T now obtained
ibe required result.
3. oriented array method: when bone block is not subjected to displacement, bone block installs special oriented array, the coordinate system be associated with oriented array is denoted as COS
tool, this array co-ordinates system and reference frame COS
referencebetween conversion known.Because now bone block pose does not change, COS can be thought
image1and COS
image2between overlap or convert known, then in conjunction with COS
referenceand COS
image1between conversion
just can determine that bone block threedimensional model is at array co-ordinates system COS
toolin position and attitude.Relation between oriented array and bone block keeps geo-stationary, and array co-ordinates system COS
toolwith reference frame COS
referencebetween conversion also known all the time, so just can obtain bone block threedimensional model relative to reference frame COS by specially formulating bit array
referencespatial positional information.Pass through coordinate transform again
threedimensional model corresponding to final acquisition bone block is at coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of bone block entirety.
The method of the invention sets up three-dimensional stereo model that is overall and floating bone block in the preoperative, floating bone block independently spatial relation is set up fast by index point method, geometric properties face method and oriented array method in art, obtain the spatial positional information that sclerite is real-time, threedimensional model corresponding for bone block is shifted according to the positional information upgraded, realizes the display in real time directly perceived after bone block reset.The method of the invention is time saving and energy saving, and does not rely on the experience of doctor, is not easy to cause erroneous judgement, improves the safety of operation, accuracy and effectiveness.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is method flow diagram of the present invention.
Detailed description of the invention
As shown in Figure 1:
1. preoperative plan: when designing in the preoperative, for needing the bone block be shifted to carry out Iamge Segmentation and reconstruction in operation, obtains the threedimensional model that bone block is corresponding.
2., in operation, by the real coordinate system of patient and virtual coordinate system Registration, set up the spatial correspondence between patient and virtual environment.
3. cut and be successively separated, exposing the bone block needing movement completely, and guarantee that bone block is shifted
4. the foundation of bone block coordinate system correspondence position relation:
Three kinds of methods all relate to three coordinate systems, and one is that the coordinate systems in image be associated with skull block mold (is denoted as COS
image1), two is that the coordinate systems in image be associated with floating bone block (is denoted as COS
image2), three is (be denoted as COS by the determined reference frame of the frame of reference fixed in surgical navigational process
reference).If in reconstruction floating bone block model process, do not adjusted the coordinate system of its association, then COS
image1and COS
image2overlap; And by registration in art, can COS be determined
image1and COS
referencethe conversion mapped one by one between these two coordinate systems
the effect of this conversion is order
wherein p
i1be in space any point at COS
image1in coordinate, p
rthen that same point is at COS
referencein coordinate.
A. index point method: gathering also on bone block, labelling more than 4 is not at conplane point, and as index point, record mark point is at reference frame COS
referenceunder coordinate, by conversion
obtain index point at coordinate systems in image COS
image1under coordinate, and then just can obtain index point at COS
image2under coordinate, determine COS
image2convert relative to the pose of index point.
B. geometric properties face method: scan geometry characteristic face on bone block, and the spatial information in geometric properties face is recorded in navigation system with the form of point set, be denoted as initial point set.What now obtain is that initial point set is at reference frame COS
referenceunder coordinate, by conversion
the initial point set of further acquisition is at coordinate systems in image COS
image1under coordinate, finally obtain initial point set at COS
image2under coordinate.
C. oriented array method: install special oriented array on bone block, the coordinate system be associated with oriented array is denoted as COS
tool, this array co-ordinates system and reference frame COS
referencebetween conversion known, COS
image1and COS
image2between overlap or convert known, then in conjunction with COS
referenceand COS
image1between conversion
just can determine that bone block threedimensional model is at array co-ordinates system COS
toolin position and attitude.
5. carry out the operations such as osteotomy reset, after reset completes, upgrade the position of bone block by following three kinds of approach, and will intuitively show the overall structure of bone block:
A. index point method: again sequentially gather index point, obtains index point now at reference frame COS
referenceunder coordinate, then by conversion
obtain index point now at coordinate systems in image COS
image1under coordinate, in conjunction with before the COS that determines
image2convert relative to the pose of index point, obtain threedimensional model corresponding to bone block at coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of bone block entirety.
B. geometric properties face method: again obtain the geometric properties face that gathers before scanning, equally with the form record of point set, be denoted as new point set, this point set and initial point set incomplete same.Using initial point set as initial value, by the surface adjustment algorithm of iteration optimization, determine the transformation relation between new point set and bone block threedimensional model, then by conversion
threedimensional model corresponding to final acquisition bone block is at coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of bone block entirety.
C. oriented array method: the relation between oriented array and bone block keeps geo-stationary, and array co-ordinates system COS
toolwith reference frame COS
referencebetween conversion also known all the time, so just can obtain bone block threedimensional model relative to reference frame COS by specially formulating bit array
referencespatial positional information.Again by conversion
threedimensional model corresponding to final acquisition bone block is at coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of bone block entirety.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that the ordinary skill of this area just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical staff in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (4)
1. the real-time tracing method of floating bone block in operation guiding system, is characterized in that, comprise the following steps:
Set up the coordinate systems in image COS of operative site entirety in the preoperative
image1with the coordinate systems in image COS that floating bone block is associated
image2;
The fixing reference frame COS that navigation uses is established as in art
reference, and by the actual coordinates of described operative site and described coordinate systems in image COS
image1registration, obtains coordinate transform
by the actual coordinates of described floating bone block and described coordinate systems in image COS
image2registration;
Before described floating bone block is not moved, gather the point or point set that described floating bone block can be determined described floating bone block coordinate system;
After described floating bone block is moved, point or described point set described in repeated acquisition;
The three-dimensional reposition of described floating bone block and attitude is calculated by changes in coordinates;
Navigation indicator shows.
2. the real-time tracing method of floating bone block in operation guiding system as claimed in claim 1, is characterized in that, comprise the following steps:
When described floating bone block is not subjected to displacement, described floating bone block gathers also labelling more than 4 and, not at conplane index point, records described index point at described reference frame COS
referenceunder coordinate;
Pass through coordinate transform
obtain described index point at described coordinate systems in image COS
image1under coordinate;
Described floating bone block pose does not change, therefore described COS
image1with described COS
image2between overlap or convert known, and then obtain described index point at described COS
image2under coordinate, determine described COS
image2convert relative to the pose of index point;
After described floating bone block is subjected to displacement, again sequentially gather these index points, obtain described index point now at described reference frame COS
referenceunder coordinate, then by conversion
obtain described index point now at coordinate systems in image COS
image1under coordinate, in conjunction with before the described COS that determines
image2convert relative to the pose of index point, obtain threedimensional model corresponding to described floating bone block at described coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of described floating bone block entirety.
3. the real-time tracing method of floating bone block in operation guiding system as claimed in claim 1, is characterized in that, comprise the following steps:
When described floating bone block is not subjected to displacement, scan geometry characteristic face on described floating bone block, and the spatial information in described geometric properties face is recorded in navigation system with the form of initial point set,
Pass through coordinate transform
the initial point set of further acquisition is at described coordinate systems in image COS
image1under coordinate;
Described floating bone block pose does not change, therefore described COS
image1with described COS
image2between overlap or convert known, finally obtain described initial point set at COS
image2under coordinate;
After described floating bone block is subjected to displacement, again obtains the described geometric properties face that gathers before scanning, be denoted as new point set, described new point set and described initial point set incomplete same; Using described initial point set as initial value, by the surface adjustment algorithm of iteration optimization, determine the transformation relation between described new point set and described floating bone block threedimensional model, then pass through coordinate transform
threedimensional model corresponding to the described floating bone block of final acquisition is at described coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of bone block entirety.
4. the real-time tracing method of floating bone block in operation guiding system as claimed in claim 1, is characterized in that, comprise the following steps:
When described floating bone block is not subjected to displacement, described floating bone block installs oriented array, the coordinate system be associated with described oriented array is denoted as COS
tool, described COS
toolwith described reference frame COS
referencebetween conversion known;
Described floating bone block pose does not change, therefore described COS
image1with described COS
image2between overlap or convert known, then in conjunction with described COS
referencewith described COS
image1between conversion
determine that described floating bone block threedimensional model is at described COS
toolin position and attitude;
Relation between described oriented array and described floating bone block keeps geo-stationary, and described COS
toolwith described reference frame COS
referencebetween conversion also known all the time, obtain described floating bone block threedimensional model relative to described reference frame COS by described oriented array
referencespatial positional information;
Pass through coordinate transform again
threedimensional model corresponding to the described floating bone block of final acquisition is at described coordinate systems in image COS
image1under position and attitude, realize the display in real time directly perceived of described floating bone block entirety.
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CN106308946A (en) * | 2016-08-17 | 2017-01-11 | 清华大学 | Augmented reality device applied to stereotactic surgical robot and method of augmented reality device |
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CN105852971A (en) * | 2016-05-04 | 2016-08-17 | 苏州点合医疗科技有限公司 | Registration navigation method based on skeleton three-dimensional point cloud |
CN107361842A (en) * | 2016-05-11 | 2017-11-21 | 东芝医疗系统株式会社 | Medical image-processing apparatus, medical diagnostic imaging apparatus and image processing method |
CN106308946A (en) * | 2016-08-17 | 2017-01-11 | 清华大学 | Augmented reality device applied to stereotactic surgical robot and method of augmented reality device |
CN110913789A (en) * | 2017-07-18 | 2020-03-24 | 克拉洛纳夫公司 | Registration based on jaw surface |
CN110913789B (en) * | 2017-07-18 | 2022-08-26 | 克拉洛纳夫公司 | Registration based on jaw surface |
CN108652740A (en) * | 2018-04-26 | 2018-10-16 | 上海交通大学 | A kind of scaling method of floating bone block position real-time tracking |
CN108652740B (en) * | 2018-04-26 | 2020-09-08 | 上海交通大学 | Calibration device for real-time tracking of free bone block position |
CN110751681A (en) * | 2019-10-18 | 2020-02-04 | 西南科技大学 | Augmented reality registration method, device, equipment and storage medium |
CN110751681B (en) * | 2019-10-18 | 2022-07-08 | 西南科技大学 | Augmented reality registration method, device, equipment and storage medium |
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CN113317876A (en) * | 2021-06-07 | 2021-08-31 | 上海盼研机器人科技有限公司 | Navigation system for repairing craniomaxillofacial fracture based on augmented reality |
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