CN107736897A - A kind of ultrasound registration and resetting long bone device and method based on Six Degree-of-Freedom Parallel Platform - Google Patents
A kind of ultrasound registration and resetting long bone device and method based on Six Degree-of-Freedom Parallel Platform Download PDFInfo
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- CN107736897A CN107736897A CN201710786524.1A CN201710786524A CN107736897A CN 107736897 A CN107736897 A CN 107736897A CN 201710786524 A CN201710786524 A CN 201710786524A CN 107736897 A CN107736897 A CN 107736897A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0875—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of bone
Abstract
The present invention relates to medical domain, more particularly to a kind of ultrasound registration and resetting long bone device and method based on Six Degree-of-Freedom Parallel Platform.The device is made up of ultrasonic device, image pick-up card, work station and navigation software mounted thereto, vision tracking equipment, near-end Marker, distal end Marker, six-freedom parallel moving platform, silent flatform.A kind of ultrasound registration and resetting long bone method based on Six Degree-of-Freedom Parallel Platform are scanned using ultrasonic device to patient's long bone, extract the scattered points of bone surface, registering with preoperative CT images progress；The kinematic matrix of distal end is calculated according to preoperative path planning and the long proximal bone of patient, the position coordinates of distal end；The Inverse Kinematics Solution of moving platform in parallel is solved, obtains the stroke of six platform side chains, drives moving platform in parallel to move to target location；When kinematic matrix is less than error range, completion resets.This method can reduce patient's radiation, reduce operation cost, reduce infection rate, reduce complication.
Description
Technical field
The present invention relates to medical domain, more particularly to a kind of ultrasound registration and long bone based on Six Degree-of-Freedom Parallel Platform to answer
Position device and method.
Background technology
In the reset surgical procedures of long bone, traditional reattachment surgery is needed fracture area Opening, in exposure
In the case of bone tissue, reset effect is observed, while reseting procedure is manually completed by doctor, large-scale operation wound is to patient
Secondary injury is caused, as a result increases fracture site and delayed union, bone nonunion, the infection even risk of secondary fracture occurs.
With the development of Medical Image Processing, based on the minimally invasive reattachment surgery of medical image navigation, by resetting long bone
Operation by it is open bring into it is closed, largely reduce conventional reset operation for contrast reset effect and patient is caused
Injury.Meanwhile computer assisted navigation technology implements the guidance that operation also provides more science to doctor, improves operation
Precision, reduce operating difficulty.Image-guidance link in current art, still has substantial amounts of X ray to expose, to the damage of doctor and patient
The problem of hindering still is not well solved.Ultrasound has portability compared with CT, MRI, X-Ray, cost is low, radiationless
Etc. advantage, therefore the airmanship based on ultrasound-CT registrations turns into the focus studied in recent years.But the noise of ultrasound is big, artifact
The shortcomings of impurity information is more also constrain its popularization and use in clinic.
The content of the invention
For problem above, it is an object of the invention to provide a kind of ultrasound registration based on Six Degree-of-Freedom Parallel Platform and
Resetting long bone device.The device is by ultrasonic device, image pick-up card, work station and navigation software mounted thereto, vision
Tracking equipment, near-end Marker, distal end Marker, six-freedom parallel moving platform, silent flatform are formed.
According to the present invention, it is fixed with what can be identified by vision tracking equipment on the ultrasonic probe of described ultrasonic device
Marker, the Marker have fixed position relationship with ultrasonic probe；Described work station can obtain ultrasound by capture card
Image；The Marker that can be identified by vision tracking equipment, the Marker are fixed with described six-freedom parallel moving platform
There is fixed position relation with six-freedom parallel moving platform；Described vision tracking equipment is by the near-end Marker recognized, remote
End Marker, ultrasonic probe Marker coordinates, six degree of freedom moving platform Marker are transferred to work station；Described near-end
Marker is fixed on the long proximal bone of patient, and described distal end Marker is fixed on the long bone distal end of patient；Described six are freely
Spend the long proximal bone of immobilized patients on moving platform, the long bone distal end through immobilized patients on platform；Described work station root
The amount of exercise driving six degree of freedom moving platform motion calculated according to navigation software.
According to the present invention, described navigation software includes following functions：Three-dimensional reconstruction is carried out to preoperative CT data；To operation
Planned in path；Ultrasonoscopy is gathered, and carries out bone surface extraction；Preoperative CT carries out point cloud registering with ultrasonoscopy；In real time
Obtain vision tracking equipment and collect Marker coordinates；Resetting long bone navigates, and calculates the kinematic matrix of six degree of freedom moving platform；Meter
The kinematics sequences of six degree of freedom moving platform are calculated, and drive six degree of freedom moving platform to move.
According to the present invention, described six degree of freedom moving platform is a kind of parallel institution, it is possible to achieve six free motions,
Including upper mounting plate, lower platform and six groups of electric cylinders for being connected to by hinge upper mounting plate, lower platform.
Meanwhile the invention provides a kind of ultrasound registration and resetting long bone method based on Six Degree-of-Freedom Parallel Platform.Should
Method be the bone surface scattered points that the long bone ultrasonoscopy that ultrasonic device collects obtains are registering with preoperative CT progress, by regarding
Feel that tracking equipment uniformly arrives long proximal bone, long bone distal end, CT models, six degree of freedom moving platform under visual space coordinate system, root
The kinematic matrix of six degree of freedom moving platform is calculated according to preoperative planning, and according to the flexible of kinematics model six platform side chains of solution
Amount, drives its motion.
According to the present invention, described bone surface extracting method is：Image preprocessing is carried out first, ultrasonoscopy is carried out high
This filtering noise reduction process, and extract area-of-interest；Then edge is carried out using the Log-Gabor wavelet algorithms of phase symmetry
Detection, extract bone surface profile；The cavity in connected domain is filled using based on area-constrained processing method again, eliminates connection
Domain endoporus；Connected domain nearest in certain threshold range is screened then according to the distance of connected domain centroidal distance picture centre,
And suitable bone table skeleton region is screened according to connected domain area threshold；Finally image is carried out to corrode deburring processing, and intended
Bone tissue curved surface is closed, image thinning is carried out, obtains the profile skeleton of individual layer point.
Compared to prior art, beneficial effects of the present invention are：
Ultrasound registration and resetting long bone device provided by the invention based on Six Degree-of-Freedom Parallel Platform, using ultrasonoscopy
Patient's long bone is scanned, it is smaller compared to the image documentation equipment such as CT, C-arm in art, radiation；Minimally invasive reattachment surgery is opened compared to tradition
Incision surgery is put, surgical wound surface is small, it is possible to reduce infection rate, reduce complication.
Brief description of the drawings
Fig. 1 is a kind of ultrasound registration and resetting long bone apparatus structure schematic diagram based on Six Degree-of-Freedom Parallel Platform
Wherein, 1 is ultrasonic device, and 2 be image pick-up card, and 3 be vision tracking equipment
4 be work station, and 5 be near-end Marker, and 6 be distal end Marker
7 be six-freedom parallel moving platform, and 8 be silent flatform
Fig. 2 is a kind of ultrasound registration and resetting long bone schematic diagram based on Six Degree-of-Freedom Parallel Platform
Fig. 3 is a kind of ultrasound registration and resetting long bone method flow diagram based on Six Degree-of-Freedom Parallel Platform
Fig. 4 is ultrasonoscopy bone surface extraction flow chart
Fig. 5 is six-degree-of-freedom parallel connection mechanism moving platform structure diagram
Fig. 6 is the ultrasonic probe schematic diagram with Marker
Embodiment
The specific embodiment of the invention is described below in conjunction with the accompanying drawings.
Reference picture 1, ultrasound registration and resetting long bone device of the invention based on Six Degree-of-Freedom Parallel Platform are set by ultrasound
Standby, image pick-up card, work station and navigation software mounted thereto, vision tracking equipment, near-end Marker, distal end
Marker, six-freedom parallel moving platform, silent flatform are formed.
Reference picture 6, the Marker that can be identified by vision tracking equipment is fixed with the ultrasonic probe of ultrasonic device, should
Marker has fixed position relationship with ultrasonic probe.
Reference picture 1, work station can obtain ultrasonoscopy by capture card.
Reference picture 1, vision tracking equipment sit the near-end Marker recognized, distal end Marker, ultrasonic probe Marker
Mark, six degree of freedom moving platform Marker are transferred to work station.
Reference picture 1, near-end Marker are fixed on the long proximal bone of patient, and the long bone that distal end Marker is fixed on patient is remote
End.
Reference picture 1, the long proximal bone of immobilized patients, the length through immobilized patients on platform on six degree of freedom moving platform
Bone distal end.
Reference picture 1, near-end Marker, distal end Marker, ultrasonic probe Marker coordinates, six degree of freedom moving platform Marker
It is intended in described vision tracking platform within sweep of the eye.
Reference picture 1, the Marker that can be identified by vision tracking equipment is fixed with six-freedom parallel moving platform, should
Marker has fixed position relation with six-freedom parallel moving platform；
Reference picture 5, the six-freedom parallel moving platform are a kind of parallel institutions, it is possible to achieve six free motions, bag
Include upper mounting plate, lower platform and six groups of electric cylinders that upper mounting plate, lower platform are connected to by hinge.
Reference picture 2, a kind of ultrasound registration and resetting long bone method based on Six Degree-of-Freedom Parallel Platform provided by the invention,
Be the bone surface scattered points that the long bone ultrasonoscopy that ultrasonic device collects obtains are registering with preoperative CT progress, by vision with
Track equipment uniformly arrives long proximal bone, long bone distal end, CT models, six degree of freedom moving platform under visual space coordinate system, according to art
Preplanning calculates the kinematic matrix of six degree of freedom moving platform, and the stroke of six platform side chains is solved according to kinematics model,
Drive its motion.
Reference picture 3, ultrasound registration and resetting long bone device provided by the invention based on Six Degree-of-Freedom Parallel Platform need to be pressed
Following steps are implemented：
S1. preoperative planning：Preoperative fracture near-end, distal end progress CT scan to patient, reset schemes are planned, obtain distal end
With the relative pose matrix A of near-end；
S2. environmental preparation, install vision tracking equipment, and patient fracture near-end, distal end respectively fix Marker；
S3. using the ultrasonic probe for the Marker that is connected to the near-end of patient, be distally scanned, near-end, distal end are obtained
Ultrasonoscopy；
S4. ultrasonoscopy bone surface is extracted；
S5. it is the bone surface of ultrasonoscopy is registering with the progress of CT models；
S6. near-end and distal end relative pose matrix B are obtained according to the near-end that vision tracking equipment obtains and distal end coordinate；
S7. sat according to the Marker of the relative pose matrix A of step 1, the relative pose matrix B of step 5, long bone distal end
Mark, the Marker coordinates of six-freedom parallel moving platform, calculate the kinematic matrix T of six-freedom parallel moving platform；
S8. six platform side chains in six joints are obtained by solving the Inverse Kinematics Solution of six-freedom parallel moving platform
Stroke；
S9. if the stroke of six platform side chains is less than error range, reset and complete, otherwise, driving six degree of freedom is simultaneously
Linkage platform moves to specified location, repeat step S6-S8.
Reference picture 4, the bone surface extracting method described in step S4 comprise the following steps：
Step S4.1. image preprocessings：Gaussian filtering noise reduction process is carried out to ultrasonoscopy, and extracts area-of-interest；
Step S4.2. contours extracts：Rim detection, extraction are carried out using the Log-Gabor wavelet algorithms of phase symmetry
Bone surface profile；
Step S4.3. cavities eliminate：The cavity in connected domain is filled using based on area-constrained processing method, eliminated
Connected domain endoporus；
Screen step S4.4 connected domains position：Screened according to the distance of connected domain centroidal distance picture centre in certain threshold value
In the range of nearest connected domain, and suitable bone table skeleton region is screened according to connected domain area threshold；
Step S4.5 profile skeletal extractions：Image carries out corroding deburring processing, and is fitted bone tissue curved surface, carries out image
Refinement, obtains the profile skeleton of individual layer point.
The preferred embodiments of the present invention are these are only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (7)
1. it is a kind of based on Six Degree-of-Freedom Parallel Platform ultrasound registration and resetting long bone device, it is characterised in that by ultrasonic device,
Image pick-up card, work station and navigation software mounted thereto, vision tracking equipment, near-end Marker, distal end Marker,
Six-freedom parallel moving platform, silent flatform are formed；
Be fixed with the Marker that can be identified by vision tracking equipment on the ultrasonic probe of described ultrasonic device, the Marker with
Ultrasonic probe has fixed position relationship；
Described work station can obtain ultrasonoscopy by capture card；
Be fixed with the Marker that can be identified by vision tracking equipment on described six-freedom parallel moving platform, the Marker with
Six-freedom parallel moving platform has fixed position relation；
Described vision tracking equipment by the near-end Marker recognized, distal end Marker, ultrasonic probe Marker coordinates, six from
Work station is transferred to by degree moving platform Marker；
Described near-end Marker is fixed on the long proximal bone of patient, and the long bone that described distal end Marker is fixed on patient is remote
End；
The long proximal bone of immobilized patients on described six degree of freedom moving platform, the long bone through immobilized patients on platform are remote
End；
The amount of exercise that described work station calculates according to navigation software drives the motion of six degree of freedom moving platform.
2. a kind of ultrasound registration and resetting long bone method based on Six Degree-of-Freedom Parallel Platform, it is characterised in that by ultrasonic device
The bone surface scattered points that the long bone ultrasonoscopy collected obtains are registering with preoperative CT progress, by vision tracking equipment by long bone
Near-end, long bone distal end, CT models, six degree of freedom moving platform are uniformly arrived under visual space coordinate system, and six are calculated according to preoperative planning
The kinematic matrix of free degree moving platform, and according to the stroke of kinematics model six platform side chains of solution, drive its motion.
3. according to claim 1 and claim 2, a kind of ultrasound registration and resetting long bone dress based on Six Degree-of-Freedom Parallel Platform
Put and method, it is characterised in that realize that resetting long bone navigates according to following steps：
S1. preoperative fracture near-end, distal end progress CT scan to patient, plans reset schemes, it is relative with near-end to obtain distal end
Position auto―control A；
S2. in art, install vision tracking equipment, and patient fracture near-end, distal end respectively fix Marker；
S3. use near-end of the ultrasonic probe to patient for the Marker that is connected, be distally scanned, obtain near-end, the ultrasound of distal end
Image；
S4. ultrasonoscopy bone surface is extracted；
S5. it is the bone surface of ultrasonoscopy is registering with the progress of CT models；
S6. near-end and distal end relative pose matrix B are obtained according to the near-end that vision tracking equipment obtains and distal end coordinate；
S7. according to the relative pose matrix A of step 1, the relative pose matrix B of step 5, the Marker coordinates of long bone distal end, six
The Marker coordinates of free degree parallel connection moving platform, calculate the kinematic matrix T of six-freedom parallel moving platform；
S8. by solve the Inverse Kinematics Solution of six-freedom parallel moving platform obtain six joints six platform side chains it is flexible
Amount；
S9. if the stroke of six platform side chains is less than error range, reset and complete, otherwise, driving six-freedom parallel moves
Platform moves to specified location, repeat step S6-S8.
4. according to claim 3, a kind of ultrasound registration and resetting long bone method, its feature based on Six Degree-of-Freedom Parallel Platform exist
In the bone surface extracting method described in step S4 comprises the following steps：
Step S4.1. image preprocessings：Gaussian filtering noise reduction process is carried out to ultrasonoscopy, and extracts area-of-interest；
Step S4.2. contours extracts：Rim detection is carried out using the Log-Gabor wavelet algorithms of phase symmetry, extracts bone table
Facial contour；
Step S4.3. cavities eliminate：The cavity in connected domain is filled using based on area-constrained processing method, eliminates connection
Domain endoporus；
Screen step S4.4 connected domains position：Screened according to the distance of connected domain centroidal distance picture centre in certain threshold range
Interior nearest connected domain, and suitable bone table skeleton region is screened according to connected domain area threshold；
Step S4.5 profile skeletal extractions：Image carries out corroding deburring processing, and is fitted bone tissue curved surface, and it is thin to carry out image
Change, obtain the profile skeleton of individual layer point.
5. according to claim 2, a kind of ultrasound registration and resetting long bone method, its feature based on Six Degree-of-Freedom Parallel Platform exist
In the method for registering described in step S5 uses the method for registering based on minimum iteration.
6. according to claim 1 and claim 2, a kind of ultrasound registration and resetting long bone dress based on Six Degree-of-Freedom Parallel Platform
Put and method, it is characterised in that described navigation software includes following functions：
Three-dimensional reconstruction is carried out to preoperative CT data；
Operation pathway is planned；
Ultrasonoscopy is gathered, and carries out bone surface extraction；
Preoperative CT carries out point cloud registering with ultrasonoscopy；
Vision tracking equipment is obtained in real time collects Marker coordinates；
Resetting long bone navigates, and calculates the kinematic matrix of six degree of freedom moving platform；
The kinematics sequences of six degree of freedom moving platform are calculated, and drive six degree of freedom moving platform to move.
7. according to claim 1, a kind of ultrasound registration and resetting long bone device, its feature based on Six Degree-of-Freedom Parallel Platform exist
In described six degree of freedom moving platform is a kind of parallel institution, it is possible to achieve six free motions, including it is upper mounting plate, lower flat
Platform and six groups of electric cylinders that upper mounting plate, lower platform are connected to by hinge.
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| CN201710786524.1A CN107736897A (en) | 2017-09-04 | 2017-09-04 | A kind of ultrasound registration and resetting long bone device and method based on Six Degree-of-Freedom Parallel Platform |
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Cited By (3)
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| CN111658065A (en) * | 2020-05-12 | 2020-09-15 | 北京航空航天大学 | Digital guide system for mandible cutting operation |
| CN112998749A (en) * | 2021-02-18 | 2021-06-22 | 江苏省人民医院（南京医科大学第一附属医院） | Automatic ultrasonic inspection system based on visual servoing |
| WO2023279825A1 (en) * | 2021-07-09 | 2023-01-12 | 北京罗森博特科技有限公司 | Navigation and reset operation control system and method |
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Application publication date: 20180227 |