CN108186117A - A kind of distribution optical alignment tracking system and method - Google Patents
A kind of distribution optical alignment tracking system and method Download PDFInfo
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- CN108186117A CN108186117A CN201810166033.1A CN201810166033A CN108186117A CN 108186117 A CN108186117 A CN 108186117A CN 201810166033 A CN201810166033 A CN 201810166033A CN 108186117 A CN108186117 A CN 108186117A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 172
- 238000000034 method Methods 0.000 title claims abstract description 43
- 239000003550 marker Substances 0.000 claims abstract description 65
- 238000002059 diagnostic imaging Methods 0.000 claims description 47
- 238000005481 NMR spectroscopy Methods 0.000 claims description 41
- 241001481828 Glyptocephalus cynoglossus Species 0.000 claims description 25
- 238000003384 imaging method Methods 0.000 claims description 17
- 230000004807 localization Effects 0.000 claims description 7
- 239000013307 optical fiber Substances 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000013558 reference substance Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The application discloses a kind of distributed optical alignment tracking system and method, the distribution optical alignment tracking system, optical camera including at least three and position independence, since at least three independent optical cameras can be with Arbitrary distribution in multiple positions, only need at least two optical cameras that can take target label object simultaneously during locating and tracking, doctor, patient and Medical Devices are not easy to block multiple optical cameras simultaneously, so as to ensure to trace into target.Meanwhile the good image in camera site is selected from multiple optical cameras and carries out locating and tracking, be conducive to improve locating and tracking precision.The distribution optical alignment tracking, the optical camera of multiple position independences, it can obtain the shooting image of multiple optical cameras, and then camera site is chosen from the shooting image of multiple optical cameras and preferably shoots image progress data processing, it realizes the tracking of marker, is more conducive to and improves locating and tracking precision.
Description
Technical field
The present invention relates to a kind of minimally invasive intervention location of operation tracking system, specially a kind of distributed optical alignment tracking system
System and method.
Background technology
Minimally invasive intervention operation is typically to be inserted into disease with surgical instrument by minimally invasive under the guiding of image and locating and tracking system
Become position treated, locating and tracking system be conducive to improve Minimally Invasive Surgery precision, clinical practice it is more be Canadian NDI
The optical alignment tracking system of company.
The positioning principle of such system is：The Infrared irradiation of binocular position sensor transmitting is being equipped with trace tool
On surgical apparatus or instrument, the bead (also referred to as witch ball) for reflecting infrared light in trace tool can return infrared light reflection
Position sensor and by system built-in software be calculated trace tool position coordinates (position including trace tool and
Angle), carry out locating and tracking so as to fulfill to corresponding surgical apparatus and instrument.The trace tool typically refers to carrying mark
The rigid body of object (namely witch ball).
There are four witch balls by the fixed optical camera in two positions and band for locating and tracking system of the prior art
The compositions such as trace labelling, four witch balls are generally aligned in the same plane, and taken target mark is calculated using the principle of binocular vision
The spatial position of note.
But when the optical alignment tracking system is combining magnetic resonance, CT (Computed Tomography, electronics calculating
Machine tomoscan) medical imaging devices such as instrument are in use, often there is the situation that can not carry out track and localization.
Invention content
In view of this, the present invention provides a kind of distributed optical alignment tracking system and method, to solve in the prior art
Optical alignment tracking system combine magnetic resonance, the medical imaging devices such as CT instrument in use, occur can not track and localization ask
Topic.
To achieve the above object, the present invention provides following technical solution：
A kind of distribution optical alignment tracking system, is applied in medical imaging device, the distribution optical alignment with
Track system includes：Mutually independent at least three optical camera, data acquisition process equipment, the imitative body of calibration, marker and control
Platform；
At least three optical cameras be distributed on the medical imaging device or except multiple positions, for shooting
The marker；
Each optical camera is connected with the data acquisition process equipment；
The data acquisition process equipment is connected with the console；
The imitative body of calibration is located at the center of the medical imaging device；
The marker is located at the imaging region of the medical imaging device；
The console is used to obtain the scan image of the medical imaging device, and the scan image is passed to institute
State data acquisition process equipment, the data acquisition process equipment is according to the relative position of the optical camera and from described
The shooting image for shooting the marker is obtained at optical camera, the location information of the marker is calculated, and by described in
The coordinate of shooting image and the scan image is converted, to determine the marker in the medical imaging device scanning figure
The coordinate position of picture realizes the track and localization of the marker.
Preferably, the medical imaging device is nuclear magnetic resonance image equipment.
Preferably, the component in each optical camera is non magnetic component；Or each optics phase
Machine includes wave filter and shielded layer.
Preferably, the optical camera is arranged on the magnet of the nuclear magnetic resonance image equipment.
Preferably, the medical imaging device is computed tomographic scanner.
Preferably, each connection mode between the optical camera and the data acquisition process equipment is wired company
It connects.
Preferably, the optical camera is connect with the data acquisition process equipment by cable or optical fiber.
Preferably, each connection mode between the optical camera and the data acquisition process equipment is wirelessly connects
It connects.
Preferably, the number of the optical camera is 4 or 6.
Preferably, internal portion is imitated in the calibration has the imitative body of imaging, and the imaging imitates internal portion and includes multiple shapes as circle
Spherical, cylindrical or triangle cylindricality structure, and the outer surface of the imitative body of the calibration is provided with witch ball.
The present invention also provides a kind of distributed optical alignment tracking, based on the distributed light described in any of the above one
Locating and tracking system is learned, and is applied in medical imaging device, the distribution optical alignment tracking, including：
Obtain shooting image of the marker in each optical camera；
Choose the optical axis of optical camera described in multiple shooting images and plane holder where the witch ball on the marker
The larger at least two width shooting image in angle；
Shooting image according to selecting obtains coordinate position of the marker in medical imaging device scan image.
It can be seen via above technical scheme that distribution optical alignment tracking system provided by the invention, including at least three
A and position independence optical camera, since at least three independent optical cameras can be with Arbitrary distribution in multiple positions, positioning
Only need at least two optical cameras that can take target label object simultaneously during tracking, doctor, patient and medical treatment are set
It is standby to be not easy to block multiple optical cameras simultaneously, so as to ensure to trace into target.Meanwhile it is selected from multiple optical cameras
The good image in camera site carries out locating and tracking, is conducive to improve locating and tracking precision.
The present invention also provides a kind of distributed optical alignment tracking, due to the distributed optical alignment tracking system
Include the optical camera of multiple position independences, so as to obtain the shooting image of multiple optical cameras, and then from multiple optics
It camera site is chosen in the shooting image of camera preferably shoots image and carry out data processing, relative to being only capable of root in the prior art
Data processing is carried out according to two shooting images, realizes the tracking of marker, the present invention, which is more conducive to, improves locating and tracking precision.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structure diagram of distributed optical alignment tracking system provided in an embodiment of the present invention；
Fig. 2 is a kind of optical camera structure diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of installation site of the distributed optical camera provided in an embodiment of the present invention in nuclear magnetic resonance image equipment
Schematic diagram；
Fig. 4 is a kind of imitative body structure diagram of calibration provided in an embodiment of the present invention；
Fig. 5 is a kind of tag structure schematic diagram provided in an embodiment of the present invention；
Fig. 6 is a kind of distributed optical alignment tracking flow chart provided in an embodiment of the present invention.
Specific embodiment
Just as described in the background section, in the prior art when optical alignment tracking system is combining magnetic resonance, CT instrument etc.
Medical imaging device is in use, often there is the situation that can not carry out track and localization.
Inventor has found that it is that two in optical alignment tracking system are solid in the prior art the reason of above-mentioned phenomenon occur
Positioning the optical camera put needs while takes the label with witch ball, but due to two optical cameras be encapsulated in it is same
In system structure, be not between the two it is self-existent, can not adjusting position, and the medical images such as magnetic resonance, CT instrument are set
Standby imaging space is limited, the light passage path between two optical cameras of the label and fixed position in the spatial dimension
It is usually blocked by the doctor or patient of medical imaging device and progress Minimally Invasive Surgery so that the optics phase of two fixed positions
Machine can not take the label with witch ball simultaneously, therefore, it is impossible to carry out locating and tracking.
Based on this, the present invention provides a kind of distributed optical alignment tracking system, applies in medical imaging device, wraps
It includes：
Mutually independent at least three optical camera, data acquisition process equipment, the imitative body of calibration, marker and console；
At least three optical cameras be distributed on the medical imaging device or except multiple positions, for shooting
The marker；
Each optical camera is connected with the data acquisition process equipment；
The data acquisition process equipment is connected with the console；
The imitative body of calibration is located at the center of the medical imaging device；
The marker is located at the imaging region of the medical imaging device；
The console is used to obtain the scan image of the medical imaging device, and the scan image is passed to institute
State data acquisition process equipment, the data acquisition process equipment is according to the relative position of the optical camera and from described
The shooting image for shooting the marker is obtained at optical camera, the location information of the marker is calculated, and by described in
The coordinate of shooting image and the scan image is converted, to determine the marker in the medical imaging device scanning figure
The coordinate position of picture realizes the track and localization of the marker.
Distribution optical alignment tracking system provided by the invention, the optical camera including at least three and position independence,
Since at least three independent optical cameras can only need at least two optics with Arbitrary distribution at multiple positions, locating and tracking
Camera can take target label object simultaneously, and doctor, patient and Medical Devices are not easy to block multiple optics simultaneously
Camera, so as to ensure to trace into target.Meanwhile the good image in camera site is selected from multiple optical cameras and is positioned
Tracking is conducive to improve locating and tracking precision.
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
A kind of distributed optical alignment tracking system provided in an embodiment of the present invention is applied in medical imaging device, described
Medical imaging device can be that nuclear magnetic resonance image equipment can also be CT instrument, and the medical imaging device is not done in the present embodiment
It limits, optionally, medical imaging device described in the present embodiment is nuclear magnetic resonance image equipment, and the nuclear magnetic resonance image equipment can be with
It is to include two circular ring magnets, and the structure of two circular ring magnets coaxial arrangement or columnar structured, it can be with
It is the structure for including two parallel flats, this is not limited in the present embodiment.The technical solution of the application for convenience of description, under
Face is illustrated by taking the nuclear magnetic resonance image equipment comprising two circular ring magnets as an example, the nuclear magnetic resonance image equipment of other structures and
CT instrument is similar principle to the nuclear magnetic resonance image equipment of example below, this is not described in detail in the embodiment of the present invention.
Fig. 1 is referred to, is a kind of structure diagram of distributed optical alignment tracking system provided in an embodiment of the present invention,
As shown in fig. 1, nuclear magnetic resonance image equipment includes：Examination couch 8 and two magnets 7 arranged side by side；The distribution optics is determined
Position tracking system includes：
Mutually independent at least three optical camera 4, data acquisition process equipment 2, the imitative body 6 of calibration, marker 5 and control
Platform 1；
At least three optical cameras 4 be distributed in nuclear magnetic resonance image equipment or except multiple positions, for shot mark
Object 5；
Each optical camera 4 is connected with data acquisition process equipment 2；
Data acquisition process equipment 2 is connected with console 1；
The imitative body 6 of calibration is located among two magnets 7 of nuclear magnetic resonance image equipment namely the interposition of nuclear magnetic resonance image equipment
It puts；
Marker 5 is located at the imaging region of nuclear magnetic resonance image equipment；
Console 1 is used to obtain the scan image of nuclear magnetic resonance image equipment, and scan image is passed at data acquisition
Equipment 2 is managed, data acquisition process equipment 2 obtains shooting mark according to the relative position of optical camera 4 and at optical camera 4
Remember the shooting image of object, the location information of marker 5 is calculated, and the coordinate for shooting image and scan image is turned
It changes, to determine coordinate position of the marker 5 in nuclear magnetic resonance image device scan image, realizes the track and localization of marker.
It should be noted that when distributed optical alignment tracking system needs to calibrate and carry out coordinate conversion in the present embodiment
When, will just the center imitated body and be placed on nuclear magnetic resonance image equipment be calibrated, after the completion of calibration, you can it is imitative to withdraw the calibration
Body.Likewise, when carrying out Minimally Invasive Surgery, just minimally invasive needle is fixed on marker, in the imaging area of nuclear magnetic resonance image equipment
Domain is punctured, at this point, marker 5 is located near the imaging region of nuclear magnetic resonance image equipment, other moment, the reference substance
Position does not limit.
Multiple optical cameras 4 are independent between each other in the present embodiment, and position relationship is without limiting, as long as can take
Marker 5 and the imitative body 6 of calibration.The position of multiple optical cameras 4 can be arbitrarily arranged in nuclear magnetic resonance image equipment, also may be used
With the position being arbitrarily arranged on except nuclear magnetic resonance image equipment, it should be understood that, the position between multiple optical cameras
Once it is determined that in a tracking and positioning, the relative position and multiple optical cameras between multiple optical cameras are opposite
It will immobilize in the position of nuclear magnetic resonance image equipment, and change to avoid multiple optical camera positions, marker is determined
Position tracking accuracy impacts.
Multiple optical cameras can be arranged in nuclear magnetic resonance image equipment in the present embodiment, can also be arranged on magnetic resonance shadow
It rings in the other structures except equipment, this is not limited in the present embodiment, it should be noted that due to nuclear magnetic resonance image equipment
Tool generates stronger magnetic field there are two magnet, therefore, when in the nuclear magnetic resonance image equipment that multiple optical cameras are set, in order to
Avoid the signal of optical camera is influenced by the magnetic field of nuclear magnetic resonance image equipment, optical camera is caused to break down, in the present embodiment
Optionally, the component in each optical camera is non magnetic component.It should be noted that institute is not limited in the present embodiment
The concrete structure of optical camera is stated, optionally, shown in Figure 2, the optical camera 4 includes camera interface 12 and camera
Camera lens 13.If the component in optical camera 4 can not be accomplished completely using non magnetic component, optics phase described in the present embodiment
Machine can also include wave filter and shielded layer, the wave filter and shielded layer be used for the magnetic elements in optical camera 4 into
Row shielding, so that optical camera internal structure will not generate strong attraction in magnetic resonance magnetic field, will not be total to magnetic
The signal that shakes has an impact.It should be noted that in other embodiments of the invention, when medical imaging device is the non magnetic materials such as CT instrument
During material, the material of optical camera is not limited.
In order to adequately be shot to marker 5, optical camera described in the present embodiment is optionally arranged on magnetic
It resonates on the magnet of image documentation equipment, as shown in figure 3, optical camera 4 is arranged on two magnets of nuclear magnetic resonance image equipment, needs
It is noted that in other embodiments of the invention, optical camera can not also be arranged in nuclear magnetic resonance image equipment, can be with
The other positions being arranged in the space to coexist with nuclear magnetic resonance image equipment, the wall in room as where nuclear magnetic resonance image equipment
On stent in wall or room, this is not limited in the present embodiment.
Likewise, the number to the optical camera does not limit in the present embodiment, optical camera can be 3,4
A ... 6 etc., optional in the present embodiment, the number of optical camera is more, and distribution is more extensive, and the probability being blocked is got over
Small, certainly, when optical camera number is more, data acquisition process equipment data volume to be treated is bigger, and data are acquired
The computing capability requirement of processing equipment is higher, and therefore, optionally, the number of the optical camera is 4, as shown in Figure 3, point
It is two groups, respectively on two magnets of nuclear magnetic resonance image equipment, in addition, the number of optical camera can also set 6,
It is divided into two groups, respectively on two magnets of nuclear magnetic resonance image equipment.Optical camera position in the present embodiment on two magnets
It puts and could be provided as symmetric form, it can also random distribution, it is preferable that and the optical camera position on two magnets is asymmetric, with
Meaning arrangement, in order to be shot from different perspectives to calibrating imitative body 6 and marker 5.
It should be noted that optical camera 4 passes for captured in real-time marker 5 and by shooting image in the embodiment of the present invention
It send to data acquisition process equipment 2, position and corresponding shooting figure of the data acquisition process equipment 2 according to each optical camera
As the position of the witch ball of upper marker 5 calculates the spatial coordinated information of marker, and the coordinate information is transmitted to control
Platform.
The connection between multiple mutually independent optical cameras 4 and data acquisition process equipment 2 is not limited in the present embodiment
Relationship, optionally, multiple optical cameras 4 can be connected by wired mode or wireless mode with data acquisition process equipment, be had
Line connection mode specifically can be by cable or optical fiber by the camera interface 12 of optical camera 4 and data acquisition process equipment 2
Input terminal connection, radio connection can be by wifi connections or GPRS network connection, in the present embodiment to this not
It limits.Likewise, can also be connected between data acquisition process equipment 2 and console 1 by wired (such as cable), it can also
By wireless connection, do not limited equally in the present embodiment.
The imitative body 6 of calibration is further included in distribution optical alignment tracking system provided in an embodiment of the present invention, as shown in figure 4,
To calibrate the structure diagram of imitative body 6；The present embodiment alignment is imitated body 6 and is total to for the shooting image coordinate system of optical camera with magnetic
The conversion for image documentation equipment scanning image coordinate system of shaking, therefore, the surface for calibrating imitative body 6 are provided with witch ball, for optical camera
To calibrating imitative body shooting image, optionally, the witch ball is generally aligned in the same plane, and therefore, optionally, the imitative body 6 of calibration is
Cube structure, as shown in figure 4, four of body 6 including cubic body 62 and on a cubical surface are imitated in calibration
Witch ball 61, it is near two magnet centre positions of nuclear magnetic resonance image equipment to calibrate 6 modes of emplacement of imitative body.Due to calibrating imitative body
6 are additionally operable to the scanning of nuclear magnetic resonance image equipment, and therefore, the present embodiment alignment is imitated and the imitative body of imaging is additionally provided with inside body 6, described
The imitative body of imaging does not limit for calculating to determine distance of the imitative body of imaging relative to nuclear magnetic resonance image center in the present embodiment
The shape in internal portion is imitated in imaging, as long as specific location information can be obtained in the scanning of nuclear magnetic resonance image equipment, this
Optional in embodiment, the imaging imitates internal portion and includes the structure that multiple shapes are spheroidal, cylinder or triangle cylindricality.
The unlimited planform for determining marker in the present embodiment, optionally, as shown in figure 5, marker 5 is reflective including four
The marker ontology 52 of four witch balls 51 of ball 51 and carrying.In addition to the intervention needle of fixed Minimally Invasive Surgery, this implementation
Fixed screw 53 is additionally provided in example on marker ontology 52, the fixed screw is used to intervention needle 9 being fixed on label
52 lower section of object ontology, so that marker and intervention aciculiform are into a single integrated structure so that marker is transported under drive of the intervention with needle
It is dynamic.
Distributed optical tracking system is combining the image documentation equipments such as magnetic resonance in use, needing marker in the present embodiment
Camera site coordinate in optical camera is converted into the coordinate of the image documentation equipments image coordinate system such as magnetic resonance, such as the seat of magnetic resonance
Mark system is with the central point (two magnet center positions) of magnetic resonance for coordinate origin.The center imitated body and be placed on magnetic resonance will be calibrated
Several images, while the imitative body of optical camera shooting calibration are scanned in position, by witch ball image information on the imitative body of calibration, calculate
Go out the location information of the imitative body of calibration.Coordinate information of the imitative body of calibration relative to magnet center is calculated according to the image of scanning, into
And the target location coordinate for calculating the distributed optical alignment tracking system is converted to the seat of magnetic resonance image coordinate system
Mark.
Distribution optical alignment tracking system provided by the invention, the optical camera including at least three and position independence,
Since at least three independent optical cameras can only need at least two optics with Arbitrary distribution at multiple positions, locating and tracking
Camera can take target label object simultaneously, and doctor, patient and Medical Devices are not easy to block multiple optics simultaneously
Camera, so as to ensure to trace into target.Meanwhile the good image in camera site is selected from multiple optical cameras and is positioned
Tracking is conducive to improve locating and tracking precision.
Another embodiment of the present invention accordingly also provides a kind of distributed optical alignment tracking, based on implementing above
The distributed optical alignment tracking system that there is provided in example, applies equally in medical imaging device, that is, distributed optical alignment with
Track method is that distributed optical alignment tracking system is combined to the method used with medical imaging device.Similarly, this reality
It can also be CT instrument that apply medical imaging device described in example, which can be nuclear magnetic resonance image equipment, to the medicine shadow in the present embodiment
As equipment does not limit.
The distribution optical alignment tracking includes：
S101：Obtain shooting image of the marker in each optical camera；
Captured in real-time is carried out to marker position by each optical camera, obtains the shooting figure of several markers
Picture.
S102：It chooses and is put down where the optical axis of optical camera and the witch ball on the marker described in multiple shooting images
The larger at least two width shooting image of face angle；
It should be noted that precision and optics due to distributed optical alignment tracking system provided in an embodiment of the present invention
The optical axis of camera is related with the angle of planes where four witch balls on marker namely the optical axis of optical camera it is vertical four it is anti-
Where photosphere during plane, the precision of distributed optical alignment tracking system is higher, when smaller with angle, the essence of locating and tracking
It spends relatively low.
Since multiple optical cameras can obtain width shooting image, it is likely that section captures images, due to being cured
Raw, patient or instrument block, and can not take marker, therefore, as long as it can be taken on marker in the present embodiment
The shooting image of witch ball can carry out foundation during data processing as data acquisition process equipment.
In order to improve the track positioning accuracy of marker, the present embodiment chooses optical camera in multiple shooting images
Optical axis and marker on witch ball where plane included angle it is larger at least two width shooting image, carry out at subsequent data
Reason.
As long as it should be noted that theoretically there is the shooting figure that two width take witch ball to can be carried out subsequent data
Processing.But in the actual mechanical process of the embodiment of the present invention, if preferably shooting image with two width more than camera sites,
Subsequent data processing is may be incorporated for, multiple image is mutually authenticated, and also can to a certain extent improve to marker
Locating and tracking precision.
S103：Shooting image according to selecting obtains coordinate bit of the marker in medical imaging device scan image
It puts.
It should be noted that the marker is obtained in medical imaging device scan image according to the shooting image selected
Coordinate position, it is also necessary to obtain the scan image of medical imaging device, before locating and tracking is carried out, further include：
The position of the fixed multiple optical cameras of installation, and the relative position information of multiple optical cameras is input to control
Platform, and the shooting image coordinate system of optical camera is established, set coordinate origin；
Above- mentioned information is sent to data acquisition process equipment by console；
The centre position imitated body and be placed on medical imaging device will be calibrated；
Using the center of the medical imaging device as the coordinate origin of medical imaging device scanning image coordinate system, build
The coordinate system of vertical medical imaging device scan image；
The imaging for imitating internal portion to the calibration using medical imaging device is imitated body and is scanned, and obtains medical imaging device
Scan image, and imitative coordinate position of the body in scan image of the calibration is recorded, illustrate for convenience of follow-up, in the present embodiment i.e.
For the first co-ordinate system location；
Using the witch ball on the imitative body of multiple optical cameras shooting calibration, multiple witch ball shooting pictures are obtained, are passed
It send to data acquisition process equipment；
Data acquisition process equipment chooses the higher image in camera site, and according to the corresponding light of shooting image selected
The relative position of camera and the shooting image of the witch ball selected are learned, carries out data processing, obtains shooting image coordinate system
The coordinate position of middle witch ball is the second co-ordinate system location in the present embodiment for convenience of follow-up explanation；
First co-ordinate system location and second co-ordinate system location are compared, the second co-ordinate system location is converted to first
Co-ordinate system location determines the transformational relation between shooting image coordinate system and nuclear magnetic resonance image device scan image coordinate system.
In the embodiment of the present invention, coordinate position of the marker in image is shot is obtained according to the shooting image selected,
That is based on above-mentioned coordinate system conversion method, then marker is calculated in the first coordinate system in the position in the second coordinate system
Position namely coordinate position of the marker in nuclear magnetic resonance image device scan image is obtained, so as to fulfill the tracking of marker
Positioning.
It should be noted that due to the shooting image of selection difference, the opposite position of corresponding optical camera in the present embodiment
Put it is different, therefore, the coordinate position in the second coordinate system, with select shooting image and corresponding optical camera phase
Contraposition is equipped with pass, is not unalterable.
Distribution optical alignment tracking provided in an embodiment of the present invention, due to the distributed optical alignment tracking system
System includes the optical cameras of multiple position independences, so as to obtain the shooting image of multiple optical cameras, and then from multiple light
It learns to choose camera site in the shooting image of camera and preferably shoot image and carries out data processing, relative to being only capable of in the prior art
Data processing is carried out according to two shooting images, realizes the tracking of marker, the present invention, which is more conducive to, improves locating and tracking essence
Degree.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation is all difference from other examples, and just to refer each other for identical similar part between each embodiment.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, term " comprising ", "comprising" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that article or equipment including a series of elements not only include those elements, but also
Including other elements that are not explicitly listed or further include as this article or the intrinsic element of equipment.Do not having
In the case of more limitations, the element that is limited by sentence "including a ...", it is not excluded that in the article for including above-mentioned element
Or also there are other identical elements in equipment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, this hair
It is bright to be not intended to be limited to the embodiments shown herein, and be to fit to and the principles and novel features disclosed herein
Consistent most wide range.
Claims (11)
1. a kind of distribution optical alignment tracking system, which is characterized in that apply in medical imaging device, the distribution light
Locating and tracking system is learned to include：Mutually independent at least three optical camera, data acquisition process equipment, the imitative body of calibration, label
Object and console；
At least three optical cameras be distributed on the medical imaging device or except multiple positions, it is described for shooting
Marker；
Each optical camera is connected with the data acquisition process equipment；
The data acquisition process equipment is connected with the console；
The imitative body of calibration is positioned at the center of the medical imaging device；
The marker is located at the imaging region of the medical imaging device；
The console is used to obtain the scan image of the medical imaging device, and the scan image is passed to the number
According to acquiring and processing device, the data acquisition process equipment is according to the relative position of the optical camera and from the optics
The shooting image for shooting the marker is obtained at camera, is calculated the location information of the marker, and by the shooting
The coordinate of image and the scan image is converted, to determine the marker in the medical imaging device scan image
Coordinate position realizes the track and localization of the marker.
2. distribution optical alignment tracking system according to claim 1, which is characterized in that the medical imaging device is
Nuclear magnetic resonance image equipment.
3. distribution optical alignment tracking system according to claim 1, which is characterized in that in each optical camera
Component be non magnetic component；Or each optical camera includes wave filter and shielded layer.
4. the distributed optical alignment tracking system according to Claims 2 or 3, which is characterized in that the optical camera is set
It puts on the magnet of the nuclear magnetic resonance image equipment.
5. distribution optical alignment tracking system according to claim 1, which is characterized in that the medical imaging device is
Computed tomographic scanner.
6. distribution optical alignment tracking system according to claim 1, which is characterized in that each optical camera with
Connection mode between the data acquisition process equipment is wired connection.
7. distribution optical alignment tracking system according to claim 6, which is characterized in that the optical camera with it is described
Data acquisition process equipment is connected by cable or optical fiber.
8. distribution optical alignment tracking system according to claim 1, which is characterized in that each optical camera with
Connection mode between the data acquisition process equipment is wireless connection.
9. distribution optical alignment tracking system according to claim 1, which is characterized in that the number of the optical camera
It is 4 or 6.
10. distribution optical alignment tracking system according to claim 1, which is characterized in that internal portion is imitated in the calibration
With the imitative body of imaging, the imaging imitates internal portion and includes the structure that multiple shapes are spheroidal, cylinder or triangle cylindricality, and institute
The outer surface for stating the imitative body of calibration is provided with witch ball.
11. a kind of distribution optical alignment tracking, which is characterized in that based on point described in claim 1-10 any one
Cloth optical alignment tracking system, and be applied in medical imaging device, the distribution optical alignment tracking, including：
Obtain shooting image of the marker in each optical camera；
Plane included angles where choosing the witch balls described in multiple shooting images on optical axis and the marker of optical camera compared with
Big at least two width shooting image；
Shooting image according to selecting obtains coordinate position of the marker in medical imaging device scan image.
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