CN106333747A - Three-dimensional coordinate system registering method in C-arm surgical navigation system - Google Patents
Three-dimensional coordinate system registering method in C-arm surgical navigation system Download PDFInfo
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- CN106333747A CN106333747A CN201510389306.5A CN201510389306A CN106333747A CN 106333747 A CN106333747 A CN 106333747A CN 201510389306 A CN201510389306 A CN 201510389306A CN 106333747 A CN106333747 A CN 106333747A
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Abstract
A three-dimensional coordinate system registering method in a C-arm surgical navigation system belongs to the medical apparatus technical field, and comprises the following steps: building an image coordinate system according to characteristics of a three dimensional image, and building an object world coordinate system according to object orientations and characteristics; extracting an object characteristic point set and coordinates thereof from the three dimensional image, wherein the characteristic point set and coordinates of the object in the world coordinate system are obtained through an external device; unifying reference axis directions of the three dimensional image coordinate system and the world coordinate system; using an iteration approximation algorithm to calculate a three dimensional image coordinate system and world coordinate system conversion relation. The advantages are that the novel method is suitable for registering of the object, scanned by the three dimensional C-arm, in the world coordinate system and three dimensional image coordinate system.
Description
Technical field
The invention belongs to technical field of medical instruments, more particularly, to three-dimensional system of coordinate method for registering and in particular in c shape arm operation guiding system three-dimensional system of coordinate registration method.
Background technology
The surgical navigator of cooperation moving three dimension c shape arm is combined with 3-D view, doctor can be assisted in art to complete to perform the operation, but current present situation is that image acquisition equipment is difficult to set up with world coordinate system relation, operation navigation device combines opening relationships according to characteristics of image with world coordinate system, and in clinical practice, it is difficult to determine the particular location of characteristics of image, this has resulted in the inaccuracy of registration.
Content of the invention
The purpose of the present invention is: the image acquisition equipment for solving moving three dimension c shape arm is difficult to set up with world coordinate system relation, it is difficult in clinical practice determine the particular location of characteristics of image, and the defect of the inaccuracy of the registration causing, the method for the three-dimensional system of coordinate registration in a kind of c shape arm operation guiding system of invention.
The technical solution adopted in the present invention: its method includes:
3-D view sets up image coordinate system according to feature of image, sets up the world coordinate system of object according to objective direction and feature；
Object features point set and its coordinate is extracted, object passes through outward in the feature set point of world coordinate system and its coordinate in 3-D view
The equipment that connects obtains；3-D view coordinate system and world coordinate system unify the change in coordinate axis direction of coordinate system；3-D view coordinate is calculated with regard to proximal point algorithm by iteration and is tied to world coordinate system transforming relationship.
Set up three-dimensional system of coordinate and coordinate method specifically includes: the center c shape arm position such as utilization, set up world coordinate system and coordinate in conjunction with actual object；It is distributed according to three-dimensional image pixel, the actual size according to pixel sets up 3-D view coordinate system and coordinate.
The change in coordinate axis direction method that 3-D view coordinate system and world coordinate system unify coordinate system specifically includes:, through multiple rotary coordinate system change in coordinate axis direction can only be unified with rotating 90 ° around three reference axis or -90 ° of mode rotates.
Iteration with regard to proximal point algorithm coordinates computed system between relation, its method specifically includes: the range of pressing of two point sets is mated from nearby principle；Calculate the position of centre of gravity coordinate of two point sets；Decompose with the svd of matrix and vector difference solves spin matrix and translation vector respectively；Numerical value is judged as iteration using the difference absolute value of square distance sum；Calculate and count and finally give rotation parameter and translation vector.
Brief description
Fig. 1 is the flow chart of the present invention.
Fig. 2 is three-dimensional c shape arm and the world coordinate system of the present invention.
Fig. 3 is the change in coordinate axis direction with image coordinate system for the unified world coordinate system of the present invention.
Fig. 4 is the result after the co-registration of coordinate systems used of the present invention.
Specific embodiment
Referring to the drawings, the present invention implements the method providing three-dimensional system of coordinate registration in a kind of c shape arm operation guiding system, and the method is applied to three-dimensional c shape arm, three-D image coordinate system and world coordinate system method for registering.
The method is divided into three aspects, and is to set up 3-D view coordinate system and world coordinate system on one side；Second aspect is that coordinate system unifies direction；3rd aspect is to set up coordinate system relation, and method flow is shown in Fig. 1.
Set up three-dimensional system of coordinate and coordinate method specifically include:
With etc. center c shape arm position, set up world coordinate system and coordinate in conjunction with actual object；See Fig. 2, wait center c shape arm center to be coordinate origin, in figure 2 represents object and world coordinate system relation.Object coordinates system positioning is demarcated using the infrared positioning lamp of c shape arm, or third party's hardware is demarcated, and third party's hardware such as binocular camera is demarcated, and machine is demarcated.
It is distributed according to three-dimensional image pixel, the actual size according to pixel sets up 3-D view coordinate system and coordinate.
The change in coordinate axis direction method that 3-D view coordinate system and world coordinate system unify coordinate system specifically includes:, always can only be unified coordinate system change in coordinate axis direction through multiple rotary with rotating 90 ° around three reference axis or -90 ° of mode rotates.Fig. 3 a represents the unified image coordinate in the past in 3-D view coordinate system and world coordinate system direction and world coordinates position relationship.Fig. 3 b is coordinate relation after reunification.
3-D view coordinate is calculated with regard to proximal point algorithm by iteration and is tied to world coordinate system transforming relationship.
Concrete steps:
According to the point coordinates in image point set imp, search for corresponding point set wp according to the point set under world coordinate system apart from nearby principle；
Calculate the position of centre of gravity coordinate of two point sets, application coordinate summation is averaging and calculates barycentric coodinates imp_g, wp_g；
Point set imp element and its center of gravity imp_g are subtracted each other and are obtained point set imp_d, point set wp element and its center of gravity wp_g are subtracted each other and are obtained point set wp_d, point set imp_d element transposition is multiplied by point set wp_d element, after obtaining set of matrices, summation obtains matrix is h=∑ imp_d ' × wp_d, decomposes h with the svd of matrix and solves spin matrix rk；
After spin matrix rk is determined, calculate image point set center of gravity and be multiplied by rk and differ with point set center of gravity under world coordinate system that to obtain translation vector tk be tk=imp_g × rk-wp_g；
Postrotational point set wp is calculated by point set imp, by imp and wp calculate square distance and, numerical value is judged as iteration using the difference absolute value of double square distance sum；
Judge numerical value when the difference absolute value of double square distance sum is less than, then registration Algorithm just stops iteration, otherwise repeats above step, stop iteration after meeting condition；
Calculate and count rotation parameter rk and translation vector tk, final wait registration parameter r, t.
Fig. 4 is the result after co-registration of coordinate systems used.
Claims (4)
- The method of the three-dimensional system of coordinate registration in 1.c shape arm operation guiding system, its method includes:3-D view sets up image coordinate system according to feature of image, sets up the world coordinate system of object according to objective direction and feature；Object features point set and its coordinate is extracted, object passes through outward in the feature set point of world coordinate system and its coordinate in 3-D viewThe equipment that connects obtains；3-D view coordinate system and world coordinate system unify the change in coordinate axis direction of coordinate system；3-D view coordinate is calculated with regard to proximal point algorithm by iteration and is tied to world coordinate system transforming relationship.
- 2. the method for the three-dimensional system of coordinate registration in c shape arm operation guiding system as claimed in claim 1 is it is characterised in that set up three-dimensional system of coordinate and coordinate method specifically includes: with etc. center c shape arm position, set up world coordinate system and coordinate in conjunction with actual object；It is distributed according to three-dimensional image pixel, the actual size according to pixel sets up 3-D view coordinate system and coordinate.
- 3. the method for the three-dimensional system of coordinate registration in c shape arm operation guiding system as claimed in claim 1, it is characterized in that, the change in coordinate axis direction method that 3-D view coordinate system and world coordinate system unify coordinate system specifically includes: can only be with rotating 90 ° around three reference axis or -90 ° of mode rotates, through multiple rotary, coordinate system change in coordinate axis direction is unified.
- 4. the three-dimensional system of coordinate registration in c shape arm operation guiding system as claimed in claim 1 method it is characterised in that iteration with regard to proximal point algorithm coordinates computed system between relation, its method specifically includes: the range of pressing of two point sets is mated from nearby principle；Calculate the position of centre of gravity coordinate of two point sets；Decompose with the svd of matrix and vector difference solves spin matrix and translation vector respectively；Numerical value is judged as iteration using the difference absolute value of square distance sum；Calculate and count and finally give rotation parameter and translation vector.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107174343A (en) * | 2017-06-26 | 2017-09-19 | 南京普爱医疗设备股份有限公司 | Three-dimensional orthopedic surgical navigational spatial registration method based on infrared optics alignment system |
| CN109620274A (en) * | 2018-12-12 | 2019-04-16 | 上海联影医疗科技有限公司 | The mechanical arm air navigation aid and its system of C arm machine, computer readable storage medium |
| US11937964B2 (en) | 2018-05-31 | 2024-03-26 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for controlling an X-ray imaging device |
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| CN107174343A (en) * | 2017-06-26 | 2017-09-19 | 南京普爱医疗设备股份有限公司 | Three-dimensional orthopedic surgical navigational spatial registration method based on infrared optics alignment system |
| US11937964B2 (en) | 2018-05-31 | 2024-03-26 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for controlling an X-ray imaging device |
| CN109620274A (en) * | 2018-12-12 | 2019-04-16 | 上海联影医疗科技有限公司 | The mechanical arm air navigation aid and its system of C arm machine, computer readable storage medium |
| CN109620274B (en) * | 2018-12-12 | 2021-05-14 | 上海联影医疗科技股份有限公司 | Mechanical arm navigation method and system of C-arm machine and computer readable storage medium |
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