CN108784832A - A kind of minimally invasive spine surgical augmented reality air navigation aid - Google Patents
A kind of minimally invasive spine surgical augmented reality air navigation aid Download PDFInfo
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- CN108784832A CN108784832A CN201710281430.9A CN201710281430A CN108784832A CN 108784832 A CN108784832 A CN 108784832A CN 201710281430 A CN201710281430 A CN 201710281430A CN 108784832 A CN108784832 A CN 108784832A
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Abstract
The present invention relates to a kind of minimally invasive spine surgical augmented reality air navigation aids, CT images are converted into preoperative cloud, and CT images are carried out three-dimensional reconstruction；The spine image of incision is acquired by depth camera in art, and generates art point cloud；Preoperative cloud and art point cloud are registrated；Head-mounted display apparatus is calculated in the position in space, the transformational relation of head-mounted display apparatus and real backbone is obtained, by spinal three-dimensional model by augmented reality Overlapping display on patient spine.The present invention utilizes depth information, and positioning in real time and amendment show position of the equipment in actual operation space；Solve the problems, such as that threedimensional model zoom is shown in art, be in real time accurately added to pre-operative image patient's vertebra corresponding position in really performing the operation, and is not limited by the visual field, reduces the difficulty of surgical, shortens operating time.
Description
Technical field
The present invention relates to augmented reality navigation fields, specifically a kind of minimally invasive spine surgical augmented reality navigation side
Method.
Background technology
Currently, augmented reality airmanship there is problems for surgical field：
It is natural special after imaging since image visual field during acquisition is narrow in art and the influence of ambient noise etc.
Unobvious are levied, the precision of registration is influenced, the spinal three-dimensional model generated based on preoperative CT images can not accurately and in art be swept
The backbone point cloud matching retouched.
The noise for determining sensor during point of observation and visual angle, can lead to the deviation at point of observation and visual angle, can not will
Threedimensional model accurately Overlapping display on backbone.
Noise in head-mounted display apparatus position fixing process can lead to the accuracy decline of system.
Invention content
In view of the deficiencies of the prior art, the present invention is based on the spinal three-dimensional models of patient personalized preoperative CT images in art
The problem of patient spine real time enhancing reality is shown positions around the reconstruction of point cloud, point cloud registering, column reconstruction and in real time four sides
Face conducts a research, and carries out the method for registering based on patient personalized medical image and operation actual environment, is become based on helmet
Coke shows the research of the method and surgical procedure dynamic augmented reality display technology method of virtual information, solves the image after imaging
Feature unobvious, how to keep after headset equipment change in location spinal three-dimensional modal position be superimposed upon in real time on patient spine and
Noise in Image Acquisition, head-mounted display apparatus position fixing process leads to the accuracy decline of system, provides a kind of by trouble
The three-dimensional spine model of person is directly displayed on the body of patient, and the navigation to needing the position for implementing operation to be precisely located
Method.
Present invention technical solution used for the above purpose is：
A kind of minimally invasive spine surgical augmented reality air navigation aid, includes the following steps：
Step 1：CT images are converted into preoperative cloud, and CT images are subjected to three-dimensional reconstruction；
Step 2：The spine image of incision is acquired by depth camera in art, and generates art point cloud；
Step 3：Preoperative cloud and art point cloud are registrated；
Step 4：Head-mounted display apparatus is calculated in the position in space, obtains turn of head-mounted display apparatus and real backbone
Relationship is changed, by spinal three-dimensional model by augmented reality Overlapping display on patient spine.
It is described by preoperative cloud and art point cloud carry out registration include following procedure：
Step 1：The correspondence of art point cloud and preoperative cloud is obtained based on ICP algorithm, and by the point cloud minute after correspondence
It is segmented into status information point cloud and measurement information point cloud；
Step 2：The state space equation based on cloud is built, using the registration Algorithm based on extension set-membership filtering, is obtained
The transformational relation in preoperative cloud space and art point cloud space completes the conversion of image space and real space.
The correspondence process that art point cloud and preoperative cloud are obtained based on ICP algorithm is：
Step 1：It selects spinous points and/or transverse process point as characteristic point in the three-dimensional spine model of reconstruction, is registrated；
Step 2：An initial transformational relation is obtained, initial transformational relation is used in combination to convert art point cloud；
Step 3：By ICP algorithm iteration optimization transition matrix, finds in floating point cloud in art and each put in target point cloud
In closest approach, constitute corresponding points pair, the transformational relation of logistic point cloud and preoperative cloud.
The status information point cloud is the point cloud as quantity of state when establishing state space equation.
The measurement information point cloud is the point cloud as observed quantity when establishing state space equation.
The state space equation based on cloud is：
Xk+1=Xk+ωk
Yk=h (Xk)+vk
Wherein h (Xk) definition mode it is as follows：
ui=(xI, kt11+yI, kt12+zI, k+t13+t14)/(xI, kt41+yI, kt42+zI, kt43+t44)
vi=(xI, kt21+yI, kt22+zI, kt23+t24)/(xI, kt41+yI, kt42+zI, kt43+t44
wi=(xI, k+t31+yI, kt32+zI, kt33+t34)/(xI, kt41+yI, kt42+zI, kt43+t44)
The transformational relation T of art point cloud and preoperative cloud2As follows：
Wherein i=1,2 ..., n, n are corresponding points number, and k is kth moment, ωk, vkCorresponding process and observation noise respectively；
It is state vector X to define the corresponding characteristic point sequences of ICP in pre-operative imagek=[x1, k, y1, k, z1, k, x2, k, y2, k, z2, k,
...xN, k, yN, k, zN, k], wherein xI, kFor i-th point in preoperative cloud characteristic point of abscissa, yI, kFor preoperative cloud characteristic point
In i-th point of ordinate, zI, kFor i-th point in preoperative cloud characteristic point of depth coordinate；It defines in art ICP pairs in image
The characteristic point sequence answered is observation vector Yk=[u1, k, v1, k, w1, k, u2, k, v2, k, w2, k... uN, k,wN, k, wN, k], wherein uI, kFor
I-th point of abscissa, v in art point cloud characteristic pointI, kFor i-th point in art point cloud characteristic point of ordinate, wI, kFor art
I-th point of depth coordinate in point cloud characteristic point.
The head-mounted display apparatus is that depth camera and holographic display screen are integrated in integrated display equipment
The process for calculating position of the head-mounted display apparatus in space is：
According to index point coordinate in the picture and camera internal parameter, seat of the index point in camera coordinates system is obtained
Mark；In conjunction with coordinate of the fixed index point in position in real space, the conversion for obtaining camera coordinates system and real space is closed
System, and then find out the position of head-mounted display apparatus in space.
The characteristic point is 4.
The invention has the advantages that and advantage：
1. the present invention is passed through using limited image-capture field with the substep spatial registration algorithm based on filtering algorithm
Just registration is registrated combination with essence, solves the problems, such as different degree of rarefications, different range point cloud registering, only passes through the part of mini-incision
Image can be matched with whole spine model；
2. the present invention utilizes depth information, positioning in real time and amendment show position of the equipment in actual operation space；
3. of the invention be in real time accurately added to pre-operative image patient's vertebra corresponding position in true operation, not by the visual field
Limitation reduces the difficulty of surgical, shortens operating time；
4. the present invention solves doctor's hand by the way that 3-D view, surgery planning enhancing to be shown in true surgical environments
The problem of can not visually being had an X-rayed during art, reduce dose of radiation.
Description of the drawings
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 be the present invention the correspondence flow chart of art point cloud and preoperative cloud is obtained based on ICP algorithm.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
It is flow chart of the method for the present invention as shown in Figure 1.
CT picture of patient is changed into preoperative cloud by the data reduction method of contour surface first, and by CT data three-dimensional weights
It builds.Secondly, the backbone of exposure in corrective surgery is scanned using depth camera, and generates art point cloud, in minimal invasive surgical procedures
In, the limitation in the visual field, art point cloud is a part for spine model, i.e. partial points cloud.Again, by preoperative cloud and art midpoint
Cloud is registrated, and shows that the resolution ratio of equipment is also different in preoperative CT images and art, and the degree of rarefication of preoperative cloud and art point cloud is also not
Together.Registration process is divided into two steps：I is just registrated：Seek partial points cloud and global point cloud correspondence based on ICP algorithm and will correspond to
Point cloud segmentation afterwards is two classes (status information point cloud and measurement information point cloud), ii essences registration：It is empty to build the state based on cloud
Between equation；Using the registration Algorithm based on (ESMF) algorithm, optimize preoperative cloud space and art point cloud space transformational relation, it is complete
It is converted at image space and real space.Finally, real-time locating and displaying equipment, doctor is using the depth entrained by headset equipment
Camera acquires the depth information in operative space, and the state space equation for showing device location is established in operative space, utilizes
Depth camera entrained by head-mounted display apparatus calculates the equipment in the position in space, obtains head-mounted display apparatus and reality
The transition matrix of backbone is based on augmented reality principle, the pre-operative surgical planning in Virtual Space is added in real space, will
The position of the information such as pose of instrument and surgery planning is compared in real space, realizes surgical instrument, surgical environments and preoperative three
The dynamic fusion for tieing up medical image, by spinal three-dimensional model by holographic glasses Overlapping display on patient spine.
Be illustrated in figure 2 the present invention obtains the correspondence flow chart of art point cloud and preoperative cloud based on ICP algorithm.
It has the following steps：
Step 1：Select spinous points and/or transverse process point as characteristic point in the three-dimensional spine model of reconstruction, it is attached in lesion
It closely takes a little, to reduce the quantity of operative incision, after choosing 4 points, keeps depth camera to remain static, acquire this 4 spies
Point is levied, spatial registration is carried out using different location of the same group of point in different spaces；
Step 2：An initial transformational relation is obtained, is used in combination initial transformational relation to convert art point cloud, is
Next step ICP algorithm iteration is prepared；
Step 3：By ICP algorithm iteration optimization transition matrix, finds in floating point cloud in art and each put in target point cloud
In closest approach, constitute corresponding points pair, the transformational relation of logistic point cloud and preoperative cloud.
Claims (9)
1. a kind of minimally invasive spine surgical augmented reality air navigation aid, which is characterized in that include the following steps：
Step 1：CT images are converted into preoperative cloud, and CT images are subjected to three-dimensional reconstruction；
Step 2：The spine image of incision is acquired by depth camera in art, and generates art point cloud；
Step 3：Preoperative cloud and art point cloud are registrated；
Step 4：Head-mounted display apparatus is calculated in the position in space, the conversion for obtaining head-mounted display apparatus and real backbone is closed
System, by spinal three-dimensional model by augmented reality Overlapping display on patient spine.
2. minimally invasive spine surgical augmented reality air navigation aid according to claim 1, it is characterised in that：It is described by preoperative point
It includes following procedure that cloud and art point cloud, which carry out registration,：
Step 1：The correspondence of art point cloud and preoperative cloud is obtained based on ICP algorithm, and is by the point cloud segmentation after correspondence
Status information point cloud and measurement information point cloud；
Step 2：The state space equation based on cloud is built, using the registration Algorithm based on extension set-membership filtering, is obtained preoperative
The transformational relation in point cloud space and art point cloud space, completes the conversion of image space and real space.
3. minimally invasive spine surgical augmented reality air navigation aid according to claim 2, it is characterised in that：It is described to be based on ICP
Algorithm obtains art point cloud and the correspondence process of preoperative cloud is：
Step 1：It selects spinous points and/or transverse process point as characteristic point in the three-dimensional spine model of reconstruction, is registrated；
Step 2：An initial transformational relation is obtained, initial transformational relation is used in combination to convert art point cloud；
Step 3：By ICP algorithm iteration optimization transition matrix, finds in floating point cloud in art and each put in target point cloud
Closest approach constitutes corresponding points pair, the transformational relation of logistic point cloud and preoperative cloud.
4. minimally invasive spine surgical augmented reality air navigation aid according to claim 2, it is characterised in that：The status information
Point cloud is the point cloud as quantity of state when establishing state space equation.
5. minimally invasive spine surgical augmented reality air navigation aid according to claim 2, it is characterised in that：The measurement information
Point cloud is the point cloud as observed quantity when establishing state space equation.
6. minimally invasive spine surgical augmented reality air navigation aid according to claim 2, it is characterised in that：It is described to be based on a point cloud
State space equation be：
Xk+1=Xk+ωk
Yk=h (Xk)+vk
Wherein h (Xk) definition mode it is as follows：
ui=(xI, kt11+yI, kt12+zI, kt13+t14)/(xI, kt41+yI, kt42+zI, kt43+t44)
vi=(xI, kt21+yI, kt22+zI, kt23+t24)/(xI, kt41+yI, kt42+zI, kt43+t44)
wi=(xI, kt31+yI, kt32+zI, kt33+t34)/(xI, kt41+yI, kt42+zI, kt43+t44)
The transformational relation T of art point cloud and preoperative cloud2As follows：
Wherein i=1,2 ..., n, n are corresponding points number, and k is kth moment, ωk, vkCorresponding process and observation noise respectively；Definition
The corresponding characteristic point sequences of ICP are state vector X in pre-operative imagek=[x1, k, y1, k, z1, k, x2, k, y2, k... xN, k, yN, k,
zN, k], wherein xI, kFor i-th point in preoperative cloud characteristic point of abscissa, yI, kFor i-th point in preoperative cloud characteristic point
Ordinate, zI, kFor i-th point in preoperative cloud characteristic point of depth coordinate；The corresponding characteristic point sequences of ICP in image in definition art
It is classified as observation vector Yk=[u1, k, v1, k, w1, k, u2, k, v2, k, w2, k... uN, k, vN, k, wN, k], wherein uI, kIt is special for art point cloud
I-th point of abscissa, v in sign pointI, kFor i-th point in art point cloud characteristic point of ordinate, wI, kFor art point cloud feature
I-th point of depth coordinate in point.
7. minimally invasive spine surgical augmented reality air navigation aid according to claim 1, it is characterised in that：The wear-type is aobvious
Show that equipment is that depth camera and holographic display screen are integrated in integrated display equipment.
8. minimally invasive spine surgical augmented reality air navigation aid according to claim 1, it is characterised in that：The calculating is worn
Formula shows that process of the equipment in the position in space is：
According to index point coordinate in the picture and camera internal parameter, coordinate of the index point in camera coordinates system is obtained；Again
Coordinate of the fixed index point of binding site in real space obtains the transformational relation of camera coordinates system and real space, into
And find out the position of head-mounted display apparatus in space.
9. minimally invasive spine surgical augmented reality air navigation aid according to claim 3, it is characterised in that：The characteristic point is
4.
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