CN105852979A - Medical image space localization device and method - Google Patents

Medical image space localization device and method Download PDF

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CN105852979A
CN105852979A CN 201610168331 CN201610168331A CN105852979A CN 105852979 A CN105852979 A CN 105852979A CN 201610168331 CN201610168331 CN 201610168331 CN 201610168331 A CN201610168331 A CN 201610168331A CN 105852979 A CN105852979 A CN 105852979A
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marker
image space
coordinate system
patient
world coordinate
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CN 201610168331
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Chinese (zh)
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王荣军
赵德朋
谢永召
陈鹏
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北京柏惠维康科技有限公司
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Abstract

According to the embodiment, the invention provides a medical image space localization device and a medical image space localization method. The device comprises an optical localization unit, first mark points and second mark points, wherein the first mark points are arranged on a target operation position of a patient; the second mark points are arranged on the target position of the patient in accordance with the first mark point units; a coordinate relation between the first mark points and the second mark points in a world coordinate system is described by virtue of a transformation matrix; the optical localization unit is used for identifying the first mark points, so that coordinates of the first mark points in the world coordinate system are obtained; in accordance with the coordinates of the first mark points in the world coordinate system as well as the transformation matrix, coordinates of the second in vitro mark points in the world coordinate system are obtained; and in accordance with the coordinates of the second mark points in an image space, automatic localization of a medical image space is achieved in a natural visible light environment; therefore, by virtue of the localization device and the localization method, the automatic localization of the medical image space is achieved in the natural visible light environment.

Description

医学图像空间的定位装置及方法 Positioning apparatus and method for medical image space

技术领域 FIELD

[0001]本发明实施例涉及医疗机器人技术领域,尤其涉及一种医学图像空间的定位装置及方法。 Example relates to medical robotics [0001] The present invention particularly relates to a positioning device and method for a medical image space.

背景技术 Background technique

[0002]机器人等自动化设备已经在工业领域获得了广泛应用,在操作灵活性、稳定性及准确性方面显示出了明显优势。 [0002] robots and other automated equipment has been widely used in industry, showed a clear advantage in terms of operational flexibility, stability and accuracy. 为了解决外科手术存在的精度不足、辐射过多、切口较大、操作疲劳等问题,人们开始探讨如何在外科手术中引入机器人方法,借助机器人、传感器等高新技术的独特优势,为外科医生提供全新的治疗方法及系统,解决上述问题,改善手术效果,即借助医疗机器人来实现外科手术,包括神经、头部等等。 In order to address the shortcomings of surgical precision, too much radiation, a larger incision, operator fatigue and other problems, people began to explore how to introduce robotic surgery method, with the unique advantages of high-tech robots, sensors, etc., to provide new surgeons the treatment method and system to solve the problems and improve the results of operations, namely by means of medical surgical robot to achieve, including nerve head and so on.

[0003]为了实现手术,必须解决医学图像空间的定位。 [0003] In order to achieve the surgery, must be resolved locate medical image space. 现有技术中,医学图像的空间定位方法有手动定位和自动定位。 In the prior art, a medical image space orientation manual positioning and automatic positioning. 手动定位包括:利用传统的机械臂手动点触患者如头部标记点的方法;或者手动点击确定图像上标记点的方法。 Manual positioning comprising: a robot arm with a conventional method such as manually touch the patient's head marker; or a method of manually marked points on the image and click OK. 自动定位有基于红外、超声、电磁等装置。 Automatic positioning infrared, ultrasound, and other devices based on electromagnetic.

[0004]对于手动定位来说,操作者的手臂通常会发生抖动、偏差等,容易导致定位的精度不够;而对于自动定位来说,由于必须基于特定的技术比如特殊的光源以及声源等,实现成本较高。 [0004] For manual positioning, the arm of an operator typically occurs jitter, deviation, insufficient positioning accuracy easily lead; for automatic positioning, because such technology must be based on a particular sound source and the special light source and the like, achieve higher cost.

[0005]因此,亟待提供一种成本较低且有精度保证的医学图像空间定位技术方案。 [0005] Thus, urgent need to provide a relatively low cost and with a precision guaranteed medical image spatial positioning technology.

发明内容 SUMMARY

[0006]本发明实施例的目的在于提供一种医学图像空间的定位装置及方法,用以解决现有技术中上述技术问题。 [0006] The object of embodiments of the present invention to provide apparatus and method for positioning a medical image space, to solve the aforementioned problems of the prior art.

[0007]本发明实施例采用的技术方案如下: [0007] Example embodiments of the present invention employs the following technical solution:

[0008]本发明实施例提供一种医学图像空间的定位装置,其包括:光学定位单元、第一标记点、第二标记点,所述第一标记点设置在患者手术目标位置,所述第二标记点参考所述第一标记点单元设置在患者的目标位置处,使用一变换矩阵描述在世界坐标系中第一标记点和第二标记点之间坐标关系,所述光学定位单元对所述第一标记点进行识别以建立所述第一标记点在世界坐标系中的坐标,根据所述第一标记点在世界坐标系中的坐标以及所述变换矩阵,获得在世界坐标系中第二体外标点的坐标,以根据第二标记点在影像空间中的坐标完成在自然的可见光环境中实现自动医学图像空间的定位。 [0008] The embodiment provides a medical locating apparatus of the present invention is an image space, comprising: an optical positioning unit, a first marker, the second marker, said first marker disposed at a target position of the surgical patient, said first the first two marker reference marker means disposed at the target position of the patient, using a coordinate transformation matrix describes the relationship between the first marker and the second marker in the world coordinate system, the optical unit is positioned said first identification marker to create the first marker coordinate point in the world coordinate system, according to the first marker coordinate point in the world coordinate system and the transformation matrix to obtain a first in the world coordinate system two coordinate vitro punctuation to complete visible in natural environment to achieve automatic positioning of the medical image based on the coordinate space of a second marker in the image space.

[0009]本发明实施例提供一种医学图像空间的定位方法,其包括: [0009] Embodiments of the present invention provides a method for positioning a medical image space, comprising:

[0010]对设置在患者手术目标位置上的第一标记点进行识别以建立所述第一标记点在世界坐标系中的坐标; [0010] The first marker disposed at a position on the operation target patient identified to establish the coordinates of the first marker in the world coordinate system;

[0011]根据所述第一标记点在世界坐标系中的坐标以及描述所述第一标记点与第二标记点之间位置关系的变换矩阵,获得在世界坐标系中第二体外标点的坐标,以根据第二标记点在影像空间中的坐标完成在自然的可见光环境中实现自动医学图像空间的定位。 [0011] The transformation matrix relation between the position of the first marker coordinate point in the world coordinate system as well as described in the first marker and the second marker, the world coordinate system in the second coordinate vitro punctuation to complete the coordinates of a second marker in the image space automatically positioning the medical image space visible in natural environment.

[0012]优选地,在本发明上述任一定位装置或者任一定位方法实施例中,所述第二标记点包括陶瓷球。 [0012] Preferably, the positioning device of the present invention in any of the above or any positioning method embodiment, the second marker comprising ceramic balls.

[0013]优选地,在本发明上述任一定位装置或者任一定位方法实施例中,在患者手术目标位置外围设置3个所述第一标记点。 [0013] Preferably, the positioning device of the present invention in any of the above or any positioning method embodiment provided with three markers in a patient in the first position of the operation target periphery.

[0014]优选地,在本发明上述任一定位装置或者任一定位方法实施例中,参考所述第一标记点单元在患者的目标位置处设置4个所述第二标记点。 [0014] Preferably, the positioning device of the present invention in any of the above or a positioning method according to any embodiment, with reference to the first marker and the second unit is provided with four markers at the target position of the patient.

[0015]优选地,在本发明上述任一定位装置或者任一定位方法实施例中,所述变换矩阵为一刚体变换矩阵。 [0015] Preferably, the positioning device of the present invention in any of the above or any positioning method embodiment, the transform matrix is ​​a rigid transformation matrix.

[0016]优选地,在本发明上述任一定位装置或者任一定位方法实施例中,所述患者手术目标位置包括头部。 [0016] Preferably, the positioning device of the present invention in any of the above or any positioning method embodiment, the operation target position of said head portion comprises a patient.

[0017]本发明实施例的技术方案具有以下优点: [0017] The technical solutions of embodiments of the present invention has the following advantages:

[0018]由于所述第一标记点设置在患者手术目标位置,所述第二标记点参考所述第一标记点单元设置在患者的目标位置处,使用一变换矩阵描述在世界坐标系中第一标记点和第二标记点之间坐标关系,所述光学定位单元对所述第一标记点进行识别以建立所述第一标记点在世界坐标系中的坐标,根据所述第一标记点在世界坐标系中的坐标以及所述变换矩阵,获得在世界坐标系中第二体外标点的坐标,以根据第二标记点在影像空间中的坐标完成在自然的可见光环境中实现自动医学图像空间的定位,从而实现了自动医学图像空间的定位并且可在自然的可见光环境中实现,无须特殊的光源等设备。 [0018] Since the first marker disposed at a target position of the surgical patient, said second reference point marking the first marker means disposed at the target position of the patient, using a transformation matrix is ​​described first in the world coordinate system the relationship between a marker coordinate point and a second marker, the first optical positioning means of the identification markers to establish the first marker coordinate point in the world coordinate system according to the first marker in the world coordinate system and the coordinate transformation matrix, world coordinates in the second coordinate vitro punctuation, accomplished according to a second marker coordinate point in the image space in the image space automatically medical visible natural environment positioning, in order to achieve automatic positioning of the medical image space and may be implemented in a natural environment visible, no special light source apparatus.

附图说明 BRIEF DESCRIPTION

[0019]为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。 [0019] In order to more clearly illustrate the technical solutions in the embodiments or the prior art embodiment of the present invention, the accompanying drawings for illustrating the prior art described or needed to be used in an embodiment will be briefly introduced hereinafter, the description below the figures show some embodiments of the present invention, those of ordinary skill in the art is concerned, without creative efforts, can derive from these drawings other drawings.

[0020]图1为本发明实施例一医学图像空间的定位装置架构示意图; [0020] FIG. 1 is a schematic architecture of a medical image according to the spatial positioning device embodiment of the present invention;

[0021]图2为本发明实施例二医学图像空间的定位方法流程示意图; [0021] FIG. 2 is a schematic flow positioning method according to a second embodiment of the medical image space of the present invention;

[0022]图3为本发明实施例三医学图像空间的定位系统结构示意图。 [0022] FIG. 3 is a schematic structure of the positioning system according to a third embodiment of the medical image space of the present invention.

具体实施方式 detailed description

[0023]为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。 [0023] In order that the invention object, technical solutions, and advantages of the embodiments more clearly, the following the present invention in the accompanying drawings, technical solutions of embodiments of the present invention are clearly and completely described, obviously, the described the embodiment is an embodiment of the present invention is a part, but not all embodiments. 基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。 Based on the embodiments of the present invention, those of ordinary skill in the art to make all other embodiments without creative work obtained by, it falls within the scope of the present invention.

[0024]下述实施例中,以所述患者手术目标位置包括头部为例进行说明,但是也可以适用于其他医疗机器人外科的场景,比如。 [0024] The following examples, the target position of the surgical patient comprises a head will be described as an example, but may be applied to other medical robotic surgical scene, for example.

[0025]图1为本发明实施例一医学图像空间的定位装置架构示意图;如图1所示,本实施例中,以脑部100微创手术为例进行说明,具体地其包括:光学定位单元(图中未示出)、第一标记点11、第二标记点102,所述第一标记点1I设置在患者手术目标位置,所述第二标记点102参考所述第一标记点101单元设置在患者的目标位置处,使用一变换矩阵描述在世界坐标系中第一标记点101和第二标记点102之间坐标关系,所述光学定位单元对所述第一标记点101进行识别以建立所述第一标记点101在世界坐标系中的坐标,根据所述第一标记点101在世界坐标系中的坐标以及所述变换矩阵,获得在世界坐标系中第二体外标点的坐标,以根据第二标记点102在影像空间中的坐标完成在自然的可见光环境中实现自动医学图像空间的定位。 [0025] FIG. 1 is a schematic architecture of a medical image according to the spatial positioning device embodiment of the present invention; FIG. 1, in this embodiment, an example of minimally invasive surgery to the brain 100 will be described, in particular comprising: an optical positioning unit (not shown), a first marker 11 and second marker 102, the first marker in a patient is provided 1I operation target position, the second marker 102 marks the first reference point 101 means disposed at the target position of the patient, using a transformation matrix described in the coordinates of the world coordinate system 101 and the second relationship between the points marking the first marking point 102, the positioning unit of the first optical marker 101 to identify to establish the coordinates of the first marker 101 in the world coordinate system, in accordance with coordinates of the first marker 101 in the world coordinate system and the transformation matrix, world coordinates in the second coordinate vitro punctuation to complete a second marker 102 based on the coordinates in the image space automatically positioning the medical image space visible in natural environment.

[0026]本实施例中,第二标记点102在影像空间中的坐标可以通过图像识别处理对CT图像或者MRI图像进行识别等进行识别,从而获得第二标记点102在影像空中的坐标。 [0026] In this embodiment, the second marker coordinate point in the image space 102 may be identified like a CT image or MRI identification of the image obtained by the image recognition processing, thereby obtaining a second marker coordinate point in the image 102 of the air.

[0027]本实施例中的第一标记点可以设置在一个可穿戴在头上的架子上,或者,通过悬挂方式设置,详细不再赘述。 [0027] The first embodiment according to the present embodiment of the marker may be provided in a wearable head on a shelf, or, provided by way of hanging, it will not be repeated in detail.

[0028]本实施例中,所述第一标记点101具体包括可粘贴在手术目标位置上的贴片,所述贴片上设置可别所述光学定位单元识别的图案。 [0028] In this embodiment, the first marker 101 comprises the operation target position can be attached on the patch, the patch may be disposed on the optical positioning means do not identify. 具体地,在一面板的表面上设置所述图案,面板可以为软质底座,在一般手术中,通常需要包括多个标记物,分别设置在病人不同方向的位置上,即手术过程中使用一套标记物。 In particular, provided on a surface of the pattern of a panel, the base panel may be a soft, in general surgery, comprising a plurality of markers typically requires, are disposed at positions different directions on the patient, i.e., a surgical procedure using sleeve label. 为了区别不同的标记物以及这些标记物之间配套使用关系,从而避免与非法配套关系的标记物混合使用,给每个标记物赋予提个标识码如Cl、C2、C3,以及三者时间的配套关系C1C2C3,并将每个标记物的标识码以及配套关系在生产的过程中存储在一电子标签中,并将该电子标签与面板结合比如嵌在面板中。 In order to distinguish different labels and supporting the use of the relationship between these markers, in order to avoid mixing with the marker complementary relationship illegal use, impart to each marker put a code such as Cl, C2, C3, and three times complementary relationship C1C2C3, and in an electronic tag, and binding identifiers and the matching relationship of each marker in the production process is stored in the electronic tag embedded in the panel, such panel.

[0029]电子标签中还可以存储标记点的生产信息、销售渠道信息、检验信息,以及标记点几何尺寸信息中的任一种或者多种的组合。 [0029] The electronic tag may also be production information, sales channel information, test information, as well as any of a marker geometry information or a combination of a plurality of markers stored. 生产信息可以包括生产厂商、生产日期,销售渠道信息包括具有销售资质的销售医院信息,包括合法使用标记物的医院信息;检验信息包括标记物标定精度等级,销售医院信息可以包括销售医院所述的地区信息比如邮编。 Production information may include the manufacturer, date of manufacture, sales information including sales channels, sales have qualified hospital information, including the legitimate use of hospital information markers; marker test information including calibration accuracy class, sales Hospital information may include the sale of hospital area information such as zip code. 这些不同类附加信息保证了标记物质量,同时防范标记物被仿造。 These different types of additional information to ensure quality of the markers, while the label is to prevent counterfeiting.

[0030]在手术过程中,可以获取病人、手术相关信息,并将病人信息也存储在上述电子标签中,与其他信息如标记点的生产信息、销售渠道信息、检验信息,以及标记点几何尺寸信息进行绑定。 [0030] In the procedure, the patient may be acquired, the operation information, and patient information is also stored in the electronic tag, the production information with other information such as the marker, the sales channel information, examination information, and marker geometry information bind. 病人信息(姓名、年龄、疾病类型)、手术时间信息、手术实施医院信息、实施手术手术医生中的任一种或者多种的组合。 Patient information (name, age, type of disease), operation time information, hospital information surgical embodiment, any one or combination of embodiments surgeons in surgery more.

[0031]本实施例中,上述第一标记点上有黑白定位图案,在黑白定位图案之间存在交点,通过对该角点的识别定位,从而获得第一标记点在世界坐标系中坐标。 [0031] In this embodiment, there is a black and white markers on the first alignment pattern, the presence of the intersection between black and white alignment pattern, by identifying the positioning of the corner point, so as to obtain a first marker coordinate point in the world coordinate system.

[0032]上述实施例中,世界坐标系作为整个系统的基准坐标系,从而可以定位出手术环境中任一物体的坐标,比如光学定位单元、机械臂等等。 [0032] The above-described embodiment, the world coordinate system as the reference coordinate system of the whole system, it can be positioned so that the coordinate of any surgical environment of an object, such as an optical positioning means, the robot arm and the like. 世界坐标系中Z轴可以与光学定位单元的光轴重合,X轴、Y轴与二维影像空间中的横轴和纵轴平行。 Z world coordinate system of the optical axis may coincide with the optical axis positioning unit, X axis, Y axis and two-dimensional image space parallel to the horizontal and vertical axes.

[0033]本实施例中,由于陶瓷球也在影像图像上直接成像,因此,所述第二标记点102采用陶瓷球。 [0033] In this embodiment, since the ceramic balls are imaged directly on the video image, therefore, the second marker 102 using ceramic balls. 需要说明的是,第二标记点102不局限为陶瓷球,也可以采用金属球等其他可在影像图像上成像的物质制成的形状。 Incidentally, the second marker 102 is not limited to the ceramic balls, metal balls shape made of other materials can be imaged on the video image may be employed.

[0034]本实施例中,在患者手术目标位置外围设置3个所述第一标记点101。 [0034] In this embodiment, provided with three markers 101 in the first operation target patient peripheral position. 需要说明的是,第一标记点101不局限为3个,也可以采用I个。 Incidentally, the first marker 101 is not limited to three, the I may be employed.

[0035]本实施例中,参考所述第一标记点101在患者的目标位置处设置4个所述第二标记点102。 [0035] In this embodiment, the reference point 101 of the first marker and the second marker is provided with four point 102 at the target position of the patient. 需要说明的是,第二标记点102不局限为4个,也可以3个。 Incidentally, the second marker 102 is not limited to four, it may be three or more.

[0036]本实施例中,所述变换矩阵为一刚体变换矩阵,利用该刚体变换矩阵具体实现坐标的旋转和平移来从而实现影像空间坐标系的定位。 [0036] In this embodiment, the transformation matrix is ​​a rigid matrix, using the rigid transformation matrix embodied rotation and translation to thereby achieve the positioning coordinates of the image space coordinate system.

[0037]图2为本发明实施例二医学图像空间的定位方法流程示意图;如图2所示,本实施例可以应用于脑部微创手术,也可以应用于其他医疗机器人手术;其具体可以包括: [0037] FIG 2 positioned according to a second medical image space flowchart of a method embodiment of the present invention; FIG. 2, the present embodiment can be applied minimally invasive surgery of the brain, it can also be applied to other medical robotic surgery; specific be include:

[0038] S201、对设置在患者手术目标位置上的第一标记点进行识别以建立所述第一标记点在世界坐标系中的坐标; [0038] S201, a first marker disposed on the operation target position on a patient identified to establish the coordinates of the first marker in the world coordinate system;

[0039]本实施例中,步骤SlOl具体可以包括: [0039] In this embodiment, step SlOl specifically comprises:

[0040]利用光学定位单元对可粘贴在手术目标位置上的贴片进行识别,所述贴片上设置可别所述光学定位单元识别的图案,设置了图案的贴片作为上述第一标记点;但是,除了可贴在患者头部的贴片外,设置了图案的探针也可以作为第一标记点。 [0040] The position of the operation target can be attached on the patch identified by the optical positioning unit, an optical positioning unit can not recognize the pattern on the patch, the patch pattern are provided as the first marker ; however, in addition to the patch may be attached to the patient's head, the probe is provided as the first pattern may also be marker.

[0041 ]需要说明的是,在本实施例启发下,也可以对现有技术中的声波、激光、电磁定位等进行类似改进,详细不再赘述。 [0041] Incidentally, in the present embodiment inspiration embodiment, may also be a similar improvement over the prior art sonic, laser, electromagnetic locating the like, details will not be repeated.

[0042]本实施例中,优选地,在患者手术目标位置外围设置3个所述第一标记点。 [0042] In this embodiment, preferably provided with three markers in a patient in the first position of the operation target periphery.

[0043] S202、根据所述第一标记点在世界坐标系中的坐标以及描述所述第一标记点与第二标记点之间位置关系的变换矩阵,获得在世界坐标系中第二体外标点的坐标; [0043] S202, the transform matrix according to the positional relationship between the first mark and the coordinates in the world coordinate system described in the first marker and the second marker, in the world coordinate system of the second punctuation vitro coordinate of;

[0044]本实施例中,所述第二标记点包括陶瓷球,主要由于陶瓷球。 [0044] In this embodiment, the second marker comprising ceramic balls, mainly because the ceramic balls. 除了陶瓷球也可以使用其他标记物如金属球。 Ceramic balls may be used in addition to other markers such as metal balls.

[0045]本实施例中,优选地,参考所述第一标记点单元在患者的目标位置处设置4个所述第二标记点如陶瓷球,能在CT成像上成像,也可以是其他金属物 [0045] In this embodiment, preferably, the reference point of the first mark and the second unit is provided with four markers such as ceramic balls at the target position of the patient can be imaged in the CT imaging, but may be other metals thing

[0046]本实施例中,所述变换矩阵为一刚体变换矩阵,具体通过坐标的旋转和平移来实现。 [0046] In this embodiment, the transform matrix is ​​a rigid transformation matrix, in particular by rotating and translating coordinates achieved.

[0047] S203、根据第二标记点在影像空间以及世界坐标系中的坐标完成在自然的可见光环境中实现自动医学图像空间的定位。 [0047] S203, to complete the implementation of medical image space automatically positioned in the natural environment of the visible light according to a second marker coordinate point in the image space and the world coordinate system.

[0048]比如是根据坐标系中每个轴穿过一个陶瓷球,三轴汇聚一点为原则确定影像空间坐标系。 [0048] According to such a coordinate system each axis through a ceramic balls, that the principle of aggregation triaxial determined in image space coordinates.

[0049]需要说明的是,上述实施例中,第一标记点也可以是一个。 [0049] Incidentally, the above-described embodiments, the first marker may be one. 第二标记点也可以有三个。 The second marker may have three.

[0050]图3为本发明实施例三医学图像空间的定位系统结构示意图;如图4所示,图中包括:光学定位单元Cam501、机械臂502、患者503、医学图像504,Img表示影像空间,Pat表示患者空间,eamTimg表示从影像空间变换到世界坐标系的刚体变换矩阵,eamTpat表示从患者空间变换到世界坐标系的刚体变换矩阵,R°bTCam表示从世界坐标系变换到机器人的刚体变换矩阵。 [0050] FIG. 3 is a schematic structure of the positioning system according to a third embodiment of the medical image space present invention; FIG. 4, FIG comprising: an optical positioning unit Cam501, robotic arm 502, the patient 503, the medical image 504, Img image space represents , Pat indicating that the patient space, eamTimg represents transform from image space to rigid body transformation matrix world coordinate system, eamTpat showing a conversion from the patient space to the rigid-body transformation matrix world coordinate system, R ° bTCam represents a transformation from the world coordinate system to the robot rigid transformation matrix.

[0051]根据eamTlmg、以及所述第一标记点101在世界坐标系中的坐标、第二坐标点在影像空间坐标,从而完成世界坐标系到影像空间的定位或者配准。 [0051] According eamTlmg, and the coordinates of the first marker 101 in the world coordinate system, the second coordinate point in the image space coordinates, world coordinate system, thereby completing the positioning or registration of the image space.

[0052]以上所描述的装置实施例仅仅是示意性的,其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。 Example [0052] The apparatus described above is merely exemplary, as a unit wherein the separate parts may be or may not be physically separate, parts displayed as units may be or may not be physical units, i.e., it may be located in one place, or may be distributed to multiple network units. 可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。 You can select some or all of the modules according to actual needs to achieve the object of the solutions of the embodiments. 本领域普通技术人员在不付出创造性的劳动的情况下,即可以理解并实施。 Those of ordinary skill in the art in the case without creative labor, i.e., can be understood and implemented.

[0053]通过以上的实施方式的描述,本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现,当然也可以通过硬件。 [0053] By the above described embodiments, those skilled in the art may clearly understand that the embodiments may be implemented by software plus a necessary universal hardware platform, also be implemented by hardware. 基于这样的理解,上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来,该计算机软件产品可以存储在计算机可读存储介质中,如ROM/RAM、磁碟、光盘等,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。 Based on such understanding, the technical solutions of the above or the part contributing to the prior art may be embodied in a software product out of the computer software product may be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., some parts of the various method embodiments or embodiment includes a plurality of instruction execution to enable a computer device (may be a personal computer, a server, or network device).

[0054]最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。 [0054] Finally, it should be noted that: the above embodiments are intended to illustrate the present invention, rather than limiting;. Although the present invention has been described in detail embodiments, those of ordinary skill in the art should be understood: may still be made to the technical solutions described in each embodiment of the modified or part of the technical features equivalents; as such modifications or replacements do not cause the essence of corresponding technical solutions to depart from the technical solutions of the embodiments of the present invention and scope.

Claims (8)

  1. 1.一种医学图像空间的定位装置,其特征在于,包括:光学定位单元、第一标记点、第二标记点,所述第一标记点设置在患者手术目标位置,所述第二标记点参考所述第一标记点单元设置在患者的目标位置处,使用一变换矩阵描述在世界坐标系中第一标记点和第二标记点之间坐标关系,所述光学定位单元对所述第一标记点进行识别以建立所述第一标记点在世界坐标系中的坐标,根据所述第一标记点在世界坐标系中的坐标以及所述变换矩阵获得在世界坐标系中第二体外标点的坐标,以根据第二标记点在影像空间中的坐标完成在自然的可见光环境中实现自动医学图像空间的定位。 1. A positioning apparatus medical image space, characterized by comprising: an optical positioning unit, a first marker, the second marker, said first marker disposed at a target position of the surgical patient, said second marker the first reference marker means disposed at the target position of the patient, using a coordinate transformation matrix describes the relationship between the first marker and the second marker in the world coordinate system, the positioning unit to the first optical identifying marker to create the first marker coordinate point in the world coordinate system, the coordinate transformation matrix and the world coordinate system to obtain a second in vitro punctuation world coordinate system according to the first marker of coordinates, in accordance with a second marker coordinate point in the image space automatically positioned to achieve the completion of the medical image space visible in natural environment.
  2. 2.—种医学图像空间的定位方法,其特征在于,包括: 对设置在患者手术目标位置上的第一标记点进行识别以建立所述第一标记点在世界坐标系中的坐标; 根据所述第一标记点在世界坐标系中的坐标以及描述所述第一标记点与第二标记点之间位置关系的变换矩阵,获得在世界坐标系中第二体外标点的坐标,以根据第二标记点在影像空间中的坐标完成在自然的可见光环境中实现自动医学图像空间的定位。 2.- species positioning method medical image space, wherein, comprising: a first marker disposed in a target position on the surgical patient identified to establish the coordinates of the first marker in the world coordinate system; in accordance with the said first marker coordinate transformation matrix and the positional relationship between the first marker and the second marker is described in the world coordinate system, the world coordinate system in the second coordinate vitro punctuation, in accordance with a second coordinates of the marker in the image space complete the implementation of the automatic positioning of the medical image space visible in natural environment.
  3. 3.根据权利要求1所述的装置,或2所述的方法,其特征在于,所述第一标记点包括可粘贴在手术目标位置上的贴片,所述贴片上设置可别所述光学定位单元识别的图案。 3. The apparatus of claim 1, or method as claimed in claim 2, wherein said marker comprises a first operation target position can be attached on the patch, the patch disposed on the other may be optical pattern recognition positioning unit.
  4. 4.根据权利要求1所述的装置,或2所述的方法,其特征在于,所述第二标记点包括陶瓷球。 4. The apparatus according to claim 1, or method of claim 2, wherein said second marker comprises ceramic balls.
  5. 5.根据权利要求1所述的装置,或2所述的方法,其特征在于,在患者手术目标位置外围设置至少I个所述第一标记点。 5. The apparatus according to claim 1, or method of claim 2, characterized in that at least one of said first marker I in a patient in the surgical position of the peripheral target.
  6. 6.根据权利要求1所述的装置,或2所述的方法,其特征在于,参考所述第一标记点单元在患者的目标位置处设置至少3个所述第二标记点。 6. The apparatus according to claim 1, or method of claim 2, wherein the at least three reference points of the first marker means disposed at a second position of the patient at the target marker.
  7. 7.根据权利要求1所述的装置,或2所述的方法,所述变换矩阵为一刚体变换矩阵。 7. The device according to claim 1, or method of claim 2, the transform matrix is ​​a rigid transformation matrix.
  8. 8.根据权利要求1所述的装置,或2所述的方法,所述患者手术目标位置包括头部。 8. The apparatus according to claim 1 or claim 2, comprising the operation target position of the patient's head.
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