CN108742843A - A kind of C-arm space calibration device - Google Patents
A kind of C-arm space calibration device Download PDFInfo
- Publication number
- CN108742843A CN108742843A CN201810657200.2A CN201810657200A CN108742843A CN 108742843 A CN108742843 A CN 108742843A CN 201810657200 A CN201810657200 A CN 201810657200A CN 108742843 A CN108742843 A CN 108742843A
- Authority
- CN
- China
- Prior art keywords
- point
- plane
- arm
- calibration device
- space
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The present invention relates to medical domain more particularly to a kind of C-arm space calibration devices.The calibration device is made of 5 faces：Plane A and remaining intersect in 4 faces on one of them；Plane B, the plane C of two bandgap calibration points intersect with other 2 supporting planes respectively；Calibration point 1,2,5,6,7 is on plane C, and calibration point 3,4,8,9 is on plane B；(1,5,6) three point on a straight line；Straight line (1,5,6), (2,7), (3,8), (4,9) intersect at same point O2；Straight line (1,2), (3,4), (6,7), (8,9) intersect at point O1；Straight line (7,8), (6,9) intersect at a point O3；Straight line (1,4), (6,9) are parallel.Calibration point is using the material that can develop in X-ray line；Upper plane A, plane B, there is the mark that can be identified by vision tracking equipment on plane C, in computer-assisted surgery navigation system.The present invention can be placed on any one of C arm imaging spatial dimensions, especially at surgical site, provide C-arm space stated accuracy.
Description
Technical field
The present invention relates to medical domain more particularly to a kind of C-arm space calibration devices.
Background technology
In this year, with the development of computer technology, computer-assisted surgery airmanship, which is gradually applied to, faces
In bed.The problem of most being wanted in computer-assisted surgery airmanship is exactly the registration in various spaces, especially CT, X-ray etc.
Image space.And C-arm is as common a kind of image documentation equipment in surgical operation, captured by X-ray be computer aided manufacturing
Commonly used registration data in assisted surgery airmanship spatial registration.Therefore, many scholars open the space calibration of C-arm
A variety of researchs are opened up, but traditional C-arm demarcating module is all demarcated using parallel double layer planar calibration device, calibration
Device is positioned over image amplifier one end of C-arm more, and surgical site is outside the spatial dimension of calibration device, due to the X images of C-arm
There are distortion, the selection of calibration point the problems such as there are errors, C-arm inside and outside parameter is calibrated using conventional method to calculate operation
Target spot spatial position is inaccurate.Therefore, the present invention proposes a kind of C-arm space calibration being positioned over surgical site region
Device improves the space stated accuracy of surgical site.
Invention content
(1) technical problems to be solved
The purpose of the present invention is to provide a kind of C-arm space calibration devices, are used for the space stated accuracy of high surgical site.
(2) technical solution
To reach above-mentioned purpose, a kind of C-arm space of the invention calibration device, including following components：By 5 face groups
At；Intersect with remaining 4 face in upper plane；The plane of two bandgap calibration points intersects with other 2 supporting planes respectively.
According to the present invention, in the plane, calibration point 3,4,8,9 is on plane B for calibration point 1,2,5,6,7.
According to the present invention, calibration point distribution meets following characteristics:
(1,5,6) three point on a straight line；
Straight line (1,5,6), (2,7), (3,8), (4,9) intersect at same point O2；
Straight line (1,2), (3,4), (6,7), (8,9) intersect at point O1；
Straight line (7,8), (6,9) intersect at a point O3；
Straight line (1,4), (6,9) are parallel.
According to the present invention, upper plane A, plane B, there is the mark that can be identified by vision tracking equipment on plane C.By regarding
Feel the mark on tracking equipment tracking calibration device, the transformational relation of C-arm camera space and visual space can be established.Each vision
Tracking mark has 3 chequered with black and white angle points, joins end to end along angle point segmentation direction, there are two vertical vectors；In angle point
Side color is unified, if white, the rotation counterclockwise of two vectors, otherwise rotates clockwise；Longer straight line midpoint is to sit in two straight lines
Mark system origin, long axis are X-axis, and short axle is Y-axis.
According to the present invention, calibration point is using the material that can develop under X-ray；Calibration device subject plane use X-ray not
Development or micro- developing material.
According to the present invention internal and external parameter of C-arm can be solved by mark point in the position that C-arm is imaged.C
The model of arm is as follows：
A1x+A2y+A3z+A4-A5xu-A6yu-A7Zu=u
A8x+A9y+A10z+A11-A5xv-A6yv-A7Zv=v
Space coordinate (the x of given n (n >=6) group echo pointi,yi,zi) (n=1,2, Λ n) and corresponding screen coordinate
(ui,vi) (n=1,2, Λ n), then 2n can be obtained about AiThe system of linear equations of (i=1,2, Λ 11), is expressed as matrix
Form be：
A11×1=[A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11]T
C(2×n)×1=[u1 u2 … un v1 v2 … vn]T
So
EA=C
A=(ETE)-1ETC
To acquire Ai(i=1,2, Λ 11).
According to the present invention it is possible to according to calibrated camera parameter, the point in image is solved in the corresponding straight line side in space
Journey；
Any corresponding space line l equation on image：
According to the present invention, each vision tracking mark has 3 chequered with black and white angle points, divides direction head and the tail phase along angle point
Even, there are two vertical vectors；Color is unified on the inside of angle point, and if white, two vectors rotate counterclockwise, otherwise rotation clockwise
Turn；Longer straight line midpoint is coordinate origin in two straight lines, and long axis is X-axis, and short axle is Y-axis.
(3) advantageous effect
A kind of C-arm space calibration device proposed by the present invention, can be positioned over surgical site region, improve the sky of surgical site
Between stated accuracy.
Description of the drawings
Fig. 1 is a kind of C-arm space calibration device mark point position relationship schematic diagram；
Fig. 2 is the plane distribution situation of the mark point of the present invention；
Fig. 3 is vision tracking mark position view；
Fig. 4 is several examples of vision trace labelling；
Fig. 5 is the use schematic diagram of C-arm space calibration device；
Fig. 6 is the X-ray picture of calibration device and knee joint shooting.
Specific implementation mode
With reference to embodiment and its attached drawing a kind of the present invention will be described in detail C-arm space calibration device, but this hair
Bright protection domain is not limited to following embodiments.
Referring to Fig.1, a kind of C-arm space of the invention calibration device, including following components：It is made of 5 faces；Upper plane
It is upper to intersect with remaining 4 face；The plane of two bandgap calibration points intersects with other 2 supporting planes respectively.Calibration point uses can be with
The material to develop under X-ray；Calibration device subject plane is used not to develop or micro- developing material in X-ray.
With reference to Fig. 2, in the plane, calibration point 3,4,8,9 is on plane B for calibration point 1,2,5,6,7.
Referring to Fig.1, calibration point is distributed, and meets following characteristics:
1) (1,5,6) three point on a straight line；
2) straight line (1,5,6), (2,7), (3,8), (4,9) intersect at same point O2；
3) straight line (1,2), (3,4), (6,7), (8,9) intersect at point O1；
4) straight line (7,8), (6,9) intersect at a point O3；
5) straight line (1,4), (6,9) are parallel.
With reference to Fig. 3, upper plane A, plane B, there is the mark that can be identified by vision tracking equipment on plane C.Pass through vision
Tracking equipment tracks the mark on calibration device, can establish the transformational relation of C-arm camera space and visual space.
Fig. 4 is several schematic diagrames of vision tracking mark.Vision tracking mark equipment except meet it is claimed below in addition to, can basis
Need designed, designed：
1) each vision tracking mark has 3 chequered with black and white angle points, joins end to end, exists vertical along angle point segmentation direction
Two vectors；
2) color is unified on the inside of angle point, if white, the rotation counterclockwise of two vectors, otherwise rotates clockwise；
3) longer straight line midpoint is coordinate origin in two straight lines, and long axis is X-axis, and short axle is Y-axis.
With reference to Fig. 5, calibration device is placed in the program limit of C-arm, at the same ensure surgical site calibration device sky
Between in region, taking x-rays, while the position coordinates of vision tracking equipment recording mark plate.According to X-ray as shown in FIG. 6
The image coordinate of upper each mark point solves 11 internal and external parameters in following C-arm model.
The model of C-arm is as follows：
A1x+A2y+A3z+A4-A5xu-A6yu-A7Zu=u
A8x+A9y+A10z+A11-A5xv-A6yv-A7Zv=v
Space coordinate (the x of given n (n >=6) group echo pointi, yi, zi) (n=1,2, Λ n) and corresponding screen coordinate
(ui, vi) (n=1,2, Λ n), then 2n can be obtained about AiThe system of linear equations of (i=1,2, Λ 11), is expressed as matrix
Form be：
A11×1=[A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11]T
C(2×n)×1=[u1 u2 … un v1 v2 … vn]T
So
EA=C
A=(ETE)-1ETC
To acquire Ai(i=1,2, Λ 11).
Conversely, the point in image can be solved in the corresponding linear equation in space according to calibrated camera parameter；
Any corresponding space line l equation on image：
According to the present invention, each vision tracking mark has 3 chequered with black and white angle points, divides direction head and the tail phase along angle point
Even, there are two vertical vectors；Color is unified on the inside of angle point, and if white, two vectors rotate counterclockwise, otherwise rotation clockwise
Turn；Longer straight line midpoint is coordinate origin in two straight lines, and long axis is X-axis, and short axle is Y-axis
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (8)
1. a kind of C-arm space calibration device, which is characterized in that including following components：
It is made of 5 faces；
Intersect in 4 faces of upper plane and remaining；
Plane B, the plane C of two bandgap calibration points intersect with other 2 supporting planes respectively；Wherein,
Calibration point 1,2,5,6,7 is on plane C, and calibration point 3,4,8,9 is on plane B；
(1,5,6) three point on a straight line；
Straight line (1,5,6), (2,7), (3,8), (4,9) intersect at same point O2；
Straight line (1,2), (3,4), (6,7), (8,9) intersect at point O1；
Straight line (7,8), (6,9) intersect at a point O3；
Straight line (1,4), (6,9) are parallel.
2. a kind of C-arm space calibration device, which is characterized in that upper plane A, plane B, have to be tracked by vision on plane C and set
The mark of standby identification.
3. a kind of C-arm space calibration device, which is characterized in that calibration point is using the material that can develop under X-ray；Calibration device master
Body plane is used does not develop or micro- developing material in X-ray.
4. a kind of C-arm space calibration device, which is characterized in that be placed on any one of C arm imaging ranges when use.
5. a kind of C-arm space calibration device, which is characterized in that by mark point in the position that C-arm is imaged, C can be solved
The internal and external parameter of arm.
The model of C-arm is as follows：
A1x+A2y+A3z+A4-A5xu-A6yu-A7Zu=u
A8x+A9y+A10z+A11-A5xv-A6yv-A7Zv=v
Space coordinate (the x of given n (n >=6) group echo pointi,yi,zi) (n=1,2, L n) and corresponding screen coordinate (ui,
vi) (n=1,2, L n), then 2n can be obtained about AiThe system of linear equations of (i=1,2, L 11), is expressed as the form of matrix
For：
A11×1=[A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11]T
C(2×n)×1=[u1 u2 … un v1 v2 … vn]T
So
EA=C
A=(ETE)-1ETC
To acquire Ai(i=1,2, L 11).
6. a kind of C-arm space calibration device, which is characterized in that the point in image can be solved according to calibrated camera parameter
In the corresponding linear equation in space；
Any corresponding space line l equation on image：
7. a kind of C-arm space calibration device, which is characterized in that track the mark on calibration device by vision tracking equipment, can build
The transformational relation of vertical C-arm camera space and visual space.
8. a kind of C-arm space calibration device, which is characterized in that
Each vision tracking mark has 3 chequered with black and white angle points, joins end to end along angle point segmentation direction, there are vertical two
Vector；
Color is unified on the inside of angle point, if white, the rotation counterclockwise of two vectors, otherwise rotates clockwise；
Longer straight line midpoint is coordinate origin in two straight lines, and long axis is X-axis, and short axle is Y-axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810657200.2A CN108742843A (en) | 2018-06-25 | 2018-06-25 | A kind of C-arm space calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810657200.2A CN108742843A (en) | 2018-06-25 | 2018-06-25 | A kind of C-arm space calibration device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108742843A true CN108742843A (en) | 2018-11-06 |
Family
ID=63976620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810657200.2A Pending CN108742843A (en) | 2018-06-25 | 2018-06-25 | A kind of C-arm space calibration device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108742843A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111833405A (en) * | 2020-07-27 | 2020-10-27 | 北京大华旺达科技有限公司 | Calibration identification method and device based on machine vision |
| CN113116525A (en) * | 2021-04-28 | 2021-07-16 | 北京长木谷医疗科技有限公司 | Optical tracking structure for navigating surgical power system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1378206A1 (en) * | 2002-09-12 | 2004-01-07 | BrainLAB AG | X-ray supported navigation with original, two-dimensional x-ray images |
| CN1806771A (en) * | 2006-01-26 | 2006-07-26 | 清华大学深圳研究生院 | Puncture guiding system and method in computer aided percutaneous nephrostolithotomy |
| EP2119397A1 (en) * | 2008-05-15 | 2009-11-18 | BrainLAB AG | Determining calibration information for an x-ray machine |
| CN102155940A (en) * | 2011-03-17 | 2011-08-17 | 北京信息科技大学 | Solid target for binocular vision positioning and tracking system |
| CN107049488A (en) * | 2017-05-27 | 2017-08-18 | 北京航空航天大学 | A kind of monoplane location of operation method and model |
| CN107468350A (en) * | 2016-06-08 | 2017-12-15 | 北京天智航医疗科技股份有限公司 | A kind of 3-D view its special calibrating device, location of operation system and localization method |
-
2018
- 2018-06-25 CN CN201810657200.2A patent/CN108742843A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1378206A1 (en) * | 2002-09-12 | 2004-01-07 | BrainLAB AG | X-ray supported navigation with original, two-dimensional x-ray images |
| CN1806771A (en) * | 2006-01-26 | 2006-07-26 | 清华大学深圳研究生院 | Puncture guiding system and method in computer aided percutaneous nephrostolithotomy |
| EP2119397A1 (en) * | 2008-05-15 | 2009-11-18 | BrainLAB AG | Determining calibration information for an x-ray machine |
| CN102155940A (en) * | 2011-03-17 | 2011-08-17 | 北京信息科技大学 | Solid target for binocular vision positioning and tracking system |
| CN107468350A (en) * | 2016-06-08 | 2017-12-15 | 北京天智航医疗科技股份有限公司 | A kind of 3-D view its special calibrating device, location of operation system and localization method |
| CN107049488A (en) * | 2017-05-27 | 2017-08-18 | 北京航空航天大学 | A kind of monoplane location of operation method and model |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111833405A (en) * | 2020-07-27 | 2020-10-27 | 北京大华旺达科技有限公司 | Calibration identification method and device based on machine vision |
| CN111833405B (en) * | 2020-07-27 | 2023-12-08 | 北京大华旺达科技有限公司 | Calibration and identification method and device based on machine vision |
| CN113116525A (en) * | 2021-04-28 | 2021-07-16 | 北京长木谷医疗科技有限公司 | Optical tracking structure for navigating surgical power system |
| CN113116525B (en) * | 2021-04-28 | 2021-12-03 | 北京长木谷医疗科技有限公司 | Optical tracking structure for navigating surgical power system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Melo et al. | A new solution for camera calibration and real-time image distortion correction in medical endoscopy–initial technical evaluation | |
| CN107049488B (en) | Single-plane operation positioning method and model | |
| CN101108140B (en) | Calibration mould used for image navigation operation system and calibration method thereof | |
| CN105809702B (en) | A kind of improvement position and orientation estimation method based on Tsai algorithms | |
| US9560291B2 (en) | Automatic improvement of tracking data for intraoperative C-arm images in image guided surgery | |
| US20070238952A1 (en) | Registering intra-operative image data sets with pre-operative 3D image data sets on the basis of optical surface extraction | |
| Wang et al. | Parallax-free intra-operative X-ray image stitching | |
| JP2002186603A (en) | Method for transforming coordinates to guide an object | |
| CN110264504A (en) | A kind of three-dimensional registration method and system for augmented reality | |
| DE112013003303T5 (en) | Method and system for dynamic referencing and registration in surgical procedures and interventions | |
| CN108742843A (en) | A kind of C-arm space calibration device | |
| Nakamoto et al. | 3D ultrasound system using a magneto-optic hybrid tracker for augmented reality visualization in laparoscopic liver surgery | |
| Liu et al. | On-demand calibration and evaluation for electromagnetically tracked laparoscope in augmented reality visualization | |
| Yang et al. | Vision-based endoscope tracking for 3D ultrasound image-guided surgical navigation | |
| Nicolau et al. | A low cost and accurate guidance system for laparoscopic surgery: Validation on an abdominal phantom | |
| CN114663381A (en) | Image registration method and device, terminal equipment and computer-readable storage medium | |
| Busam et al. | Markerless inside-out tracking for 3d ultrasound compounding | |
| Chan et al. | 3D ultrasound navigation system for screw insertion in posterior spine surgery: a phantom study | |
| CN110645928A (en) | Space coordinate positioning method of three-dimensional scanner | |
| Lin et al. | Geometric calibration of markerless optical surgical navigation system | |
| DE102021115214A1 (en) | Distortion correction for electromagnetic fields with inside-out tracking | |
| Yamaguchi et al. | Camera model and calibration procedure for oblique-viewing endoscope | |
| Drouin et al. | Interaction-based registration correction for improved augmented reality overlay in neurosurgery | |
| Zhu et al. | Markerless robotic pedicle screw placement based on structured light tracking | |
| CN204314239U (en) | X ray CT device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181106 |
|
| WD01 | Invention patent application deemed withdrawn after publication |