CN110613519A - Dynamic registration positioning device and method - Google Patents
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
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- A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
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- 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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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The embodiment of the invention provides a dynamic registration positioning device and a method, wherein the device comprises: the system comprises an optical positioning and tracking system, a clamp, a somatosensory camera and a processing device; the optical positioning and tracking system comprises an infrared tracking camera and a tracker positioning tool, the tracker positioning tool is arranged at the tail end of the clamp, the somatosensory camera is arranged at the front end of the clamp, and the clamp is fixed at the tail end of the mechanical arm; when the mechanical arm moves according to a planned path, the processing device collects the position information of the tracker positioning tool in real time through the infrared tracking camera, meanwhile, the body surface data of the lung of each breathing phase of a patient is collected through the somatosensory camera, the body surface position information shot by the somatosensory camera is obtained according to the collected position information and the position conversion relation between the tracker positioning tool and the somatosensory camera, the body surface data and the body surface position information of the lung of each breathing phase of the patient are registered with the preoperative CT data of the patient, and the registration parameters of each phase of the breathing phase of the patient are obtained. Can realize non-invasive and non-radiative registration positioning in operation.
Description
Technical Field
The embodiment of the invention relates to the technical field of medical equipment, in particular to a dynamic registration positioning device and method.
Background
Under the environment condition that the external object is visible, the determination of the position of the invisible position point or the object inside the external inner body still has certain difficulty, and under the condition that the external object is indelible, although the outline of the external object can be determined by scanning and the like, the positioning of the target object which is invisible inside cannot be performed conveniently and quickly and with certain precision and accuracy.
For example, in conventional pulmonary nodule surgery, lung localization is typically achieved using preoperative and intraoperative localization methods. The preoperative positioning method mainly comprises the steps of carrying out lung percutaneous puncture injection of dye, contrast agent or radionuclide under the guidance of CT (Computed Tomography), or carrying out positioning under the guidance of CT by methods such as contrast agent injection positioning through a bronchoscope, dye injection positioning under the guidance of an electromagnetic navigation bronchoscope and the like; the intraoperative positioning method comprises intraoperative ultrasound, intraoperative CT, visual observation under a thoracoscope or palpation by fingers, thoracoscope instruments and other methods.
However, the conventional preoperative positioning method usually requires the implantation of invasive positioning materials into a patient, and the operation must be performed immediately or the positioning materials fall off and are stained, so that inaccurate positioning can be caused; in the traditional intraoperative positioning method, the ultrasonic positioning is influenced by the lung gas of a patient, and the CT positioning causes great radiation damage to the patient and medical staff.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a dynamic registration positioning device and a dynamic registration positioning method.
The embodiment of the invention provides a dynamic registration positioning device, which comprises: the system comprises an optical positioning and tracking system, a clamp, a somatosensory camera and a processing device;
the optical positioning and tracking system comprises: the infrared tracking camera and the tracking tracker positioning tool are respectively connected with the processing device, the tracking camera and the motion sensing camera are additionally arranged at the tail end of the clamp, the motion sensing camera is additionally arranged at the front end of the clamp, and the clamp is used for being fixed at the tail end of the mechanical arm;
the processing device is used for acquiring the position information of the tracker positioning tool in real time through the infrared tracking camera when the mechanical arm moves according to a planned path, and acquiring the body surface data of the lung of the patient during each breathing phase through the somatosensory camera; acquiring body surface position information shot by the somatosensory camera according to a predetermined position conversion relation between the tracker positioning tool and the somatosensory camera and the position information of the tracker positioning tool; and registering the body surface data and the body surface position information of the lung at each respiratory phase of the patient with preoperative CT data of the patient to obtain registration parameters of each respiratory phase of the patient.
The embodiment of the invention provides a method for performing dynamic registration positioning by using the dynamic registration positioning device, which is applied to a processing device and comprises the following steps:
when the mechanical arm moves according to a planned path, the infrared tracking camera collects the position information of the tracker positioning tool in real time, and meanwhile, the somatosensory camera collects the body surface data of the lung of a patient during each breathing phase;
acquiring body surface position information shot by the somatosensory camera according to a predetermined position conversion relation between the tracker positioning tool and the somatosensory camera and the position information of the tracker positioning tool;
and registering the body surface data and the body surface position information of the lung at each respiratory phase of the patient with preoperative CT data of the patient to obtain registration parameters of each respiratory phase of the patient.
An embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method are implemented.
The dynamic registration positioning device and the method provided by the embodiment of the invention have the advantages that when the mechanical arm moves according to the planned path through the processing device, the infrared tracking camera is used for collecting the position information of the tracker positioning tool in real time, and the somatosensory camera is used for collecting the body surface data of the lung of the patient during each breathing phase, acquiring body surface position information shot by the somatosensory camera according to the position conversion relation between the predetermined tracker positioning tool and the somatosensory camera and the acquired position information of the tracker positioning tool, acquiring body surface data of the lung of the patient during each breathing phase and the body surface position information, registering with the preoperative CT data of the patient to obtain registration parameters of all phases of the respiratory stage of the patient, therefore, the problems that invasive materials need to be implanted, CT radiation needs to be performed and the like in a traditional positioning operation can be solved, and dynamic non-invasive and non-radiation registration positioning in the operation is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a dynamic registration positioning apparatus according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a dynamic registration positioning method according to an embodiment of the present invention;
fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a schematic structural diagram of a dynamic registration positioning apparatus according to an embodiment of the present invention, and as shown in fig. 1, the dynamic registration positioning apparatus according to the embodiment includes: the system comprises an optical positioning and tracking system, a clamp 1, a somatosensory camera 2 and a processing device 3;
the optical positioning and tracking system comprises: the infrared tracking camera 4 and the tracker (tracking) positioning tool 5 are respectively connected with the processing device 3, the tracker positioning tool 5 is additionally arranged at the tail end of the clamp 1, the somatosensory camera 2 is additionally arranged at the front end of the clamp 1, and the clamp 1 is used for being fixed at the tail end of an mechanical arm;
the processing device 3 is used for acquiring the position information of the tracker positioning tool 5 in real time through the infrared tracking camera 4 when the mechanical arm moves according to a planned path, and acquiring the body surface data of the lung of the patient at each breathing time phase through the somatosensory camera 2; acquiring body surface position information shot by the body sensing camera 2 according to a predetermined position conversion relation between the tracker positioning tool 5 and the body sensing camera 2 and the position information of the tracker positioning tool 5; and registering the body surface data and the body surface position information of the lung at each respiratory phase of the patient with preoperative CT data of the patient to obtain registration parameters of each respiratory phase of the patient.
It is understood that, in a specific application, the processing device 3 may also be used for performing operations such as robotic arm control, registration, preoperative coordinate registration, and registration parameter analysis, and the present embodiment is not limited thereto.
It can be understood that the registration parameters of each phase of the breathing process of the patient can be obtained to provide a reference for the position of the lung during the breathing process of the patient during the operation, so as to describe the breathing process of the patient in stages and in quantification.
The dynamic registration positioning device provided by the embodiment of the invention has the advantages that when the mechanical arm moves according to the planned path through the processing device, the infrared tracking camera is used for collecting the position information of the tracker positioning tool in real time, and the somatosensory camera is used for collecting the body surface data of the lung of the patient during each breathing phase, acquiring body surface position information shot by the somatosensory camera according to the position conversion relation between the predetermined tracker positioning tool and the somatosensory camera and the acquired position information of the tracker positioning tool, acquiring body surface data of the lung of the patient during each breathing phase and the body surface position information, registering with the preoperative CT data of the patient to obtain registration parameters of all phases of the respiratory stage of the patient, therefore, the problems that invasive materials need to be implanted, CT radiation needs to be performed and the like in a traditional positioning operation can be solved, and dynamic non-invasive and non-radiation registration positioning in the operation is achieved.
Further, on the basis of the above embodiments, the optical positioning and tracking system may include: an infrared optical tracking system, such as a Polaris optical positioning and tracking system, is not limited in this embodiment.
In a specific application, the tracker positioning tool may include: at least three tracking and positioning marks 51 are provided on the carriage at intervals.
It can be understood that the infrared tracking camera 4 can emit infrared light to the tracking and positioning mark 51, and the infrared light is reflected back to the infrared tracking camera 4 by the tracking and positioning mark 51, so that the infrared tracking camera 4 can obtain the position information of the tracker positioning tool.
Specifically, the tracking and positioning mark 51 may be an infrared positioning bead.
Further, on the basis of the above-mentioned embodiment, the processing device 3 can also be used for
Before registering the body surface data and the body surface position information of the lung of the patient at each respiratory phase with the preoperative three-dimensional CT data of the patient, acquiring preoperative CT data of the patient and performing three-dimensional reconstruction to obtain a preoperative CT three-dimensional model of the patient;
correspondingly, through body feeling camera 2 gathers the body surface data of each breathing phase lung of patient, can include:
the somatosensory camera 2 is used for acquiring body surface data of the lungs of each respiratory phase of the patient and generating point cloud data, and the point cloud data is subjected to three-dimensional reconstruction to obtain a three-dimensional model of each respiratory phase of the patient;
correspondingly, the registering the body surface data and the body surface position information of the lung at each respiratory phase of the patient with the preoperative CT data of the patient to obtain the registration parameters of each phase of the respiratory phase of the patient may include:
and adding the body surface position information into the three-dimensional model of each respiratory phase of the patient, and registering the body surface position information with the preoperative CT three-dimensional model of the patient to obtain registration parameters of each phase of the respiratory phase of the patient.
It can be understood that the three-dimensional models of the respiratory phases of the patient are continuous three-dimensional models, dynamic changes of lung respiration are recorded vividly, the continuous three-dimensional models and the preoperative CT reconstructed three-dimensional models are respectively registered, and a series of registration parameters can be obtained according to the matching degree. The registration parameters and the respiratory phases form a curve according to a certain relation, and the fluctuation of the lung of the patient in the whole respiratory process can be analyzed. The registration parameters in a certain range can correspond to a specific respiratory phase, and the respiratory phase with higher registration parameters is selected for registration, so that the subsequent operation can be accurately performed.
It can be understood that, in this embodiment, through a large number of experiments, a set of body surface change standards of continuous breathing phases can be established, corresponding correspondence is formed according to the registration parameters and the breathing phases, and corresponding specifications are established, so that the breathing phases of the patient can be regularly circulated to perform dynamic registration positioning.
The dynamic registration positioning device provided by the embodiment of the invention can solve the problems that invasive materials need to be implanted, CT radiation needs to be implanted and the like in the traditional positioning operation, and achieves dynamic non-invasive and non-radiation registration positioning in the operation.
Fig. 2 shows a schematic flow diagram of a dynamic registration positioning method according to an embodiment of the present invention, where the method in this embodiment uses the dynamic registration positioning apparatus according to the embodiment shown in fig. 1, and the method in this embodiment is applied to a processing apparatus in the dynamic registration positioning apparatus, as shown in fig. 2, the dynamic registration positioning method in this embodiment includes:
and S1, when the mechanical arm moves according to the planned path, acquiring the position information of the tracker positioning tool in real time through the infrared tracking camera, and acquiring the body surface data of the lung of each breathing phase of the patient through the somatosensory camera.
It is understood that the tracker positioning tool may include: the infrared tracking camera is characterized in that the tracking and positioning marks are arranged on the support at least three intervals, the infrared tracking camera can emit infrared light rays to the tracking and positioning marks, and the infrared light rays are reflected back to the infrared tracking camera by the tracking and positioning marks, so that the infrared tracking camera can obtain the position information of the tracker positioning tool.
And S2, acquiring body surface position information shot by the somatosensory camera according to the predetermined position conversion relation between the tracker positioning tool and the somatosensory camera and the position information of the tracker positioning tool.
It can be understood that, because tracker positioning tool installs additional at the end of anchor clamps, the body is felt the camera and is installed additional at the front end of anchor clamps, consequently, can predetermine tracker positioning tool with the position conversion relation of body feeling the camera, and then, according to predetermined tracker positioning tool with the position conversion relation of body feeling the camera with the positional information of tracker positioning tool, can acquire the body surface positional information that the camera was shot is felt to the body.
S3, registering the body surface data and the body surface position information of the lung of the patient in each respiratory phase with the preoperative CT data of the patient, and acquiring the registration parameters of each phase of the respiratory phase of the patient.
It can be understood that the registration parameters of each phase of the breathing process of the patient can be obtained to provide a reference for the position of the lung during the breathing process of the patient during the operation, so as to describe the breathing process of the patient in stages and in quantification.
The dynamic registration positioning method provided by the embodiment of the invention is applied to a processing device, and when a mechanical arm moves according to a planned path, the infrared tracking camera is used for collecting the position information of the tracker positioning tool in real time, and the somatosensory camera is used for collecting the body surface data of the lung of the patient during each breathing phase, acquiring body surface position information shot by the somatosensory camera according to the position conversion relation between the predetermined tracker positioning tool and the somatosensory camera and the acquired position information of the tracker positioning tool, acquiring body surface data of the lung of the patient during each breathing phase and the body surface position information, registering with the preoperative CT data of the patient to obtain registration parameters of all phases of the respiratory stage of the patient, therefore, the problems that invasive materials need to be implanted, CT radiation needs to be performed and the like in a traditional positioning operation can be solved, and dynamic non-invasive and non-radiation registration positioning in the operation is achieved.
Further, on the basis of the foregoing embodiment, before the step S3, the method according to this embodiment may further include:
acquiring preoperative CT data of a patient and performing three-dimensional reconstruction to obtain a preoperative CT three-dimensional model of the patient;
accordingly, the "acquiring body surface data of the lungs in each respiratory phase of the patient by the somatosensory camera" in step S1 may include:
acquiring body surface data of the lungs of each respiratory phase of the patient through the somatosensory camera to generate point cloud data, and performing three-dimensional reconstruction on the point cloud data to obtain a three-dimensional model of each respiratory phase of the patient;
accordingly, the step S3 may include:
and adding the body surface position information into the three-dimensional model of each respiratory phase of the patient, and registering the body surface position information with the preoperative CT three-dimensional model of the patient to obtain registration parameters of each phase of the respiratory phase of the patient.
It can be understood that the three-dimensional models of the respiratory phases of the patient are continuous three-dimensional models, dynamic changes of lung respiration are recorded vividly, the continuous three-dimensional models and the preoperative CT reconstructed three-dimensional models are respectively registered, and a series of registration parameters can be obtained according to the matching degree. The registration parameters and the respiratory phases form a curve according to a certain relation, and the fluctuation of the lung of the patient in the whole respiratory process can be analyzed. The registration parameters in a certain range can correspond to a specific respiratory phase, and the respiratory phase with higher registration parameters is selected for registration, so that the subsequent operation can be accurately performed.
It can be understood that, in this embodiment, through a large number of experiments, a set of body surface change standards of continuous breathing phases can be established, corresponding correspondence is formed according to the registration parameters and the breathing phases, and corresponding specifications are established, so that the breathing phases of the patient can be regularly circulated to perform dynamic registration positioning.
The dynamic registration positioning method provided by the embodiment of the invention can solve the problems that invasive materials need to be implanted, CT radiation needs to be implanted and the like in the traditional positioning operation, and achieves dynamic non-invasive and non-radiation registration positioning in the operation.
Fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 3, the electronic device may include a memory 302, a processor 301, a bus 303, and a computer program stored in the memory 302 and executable on the processor 301, where the processor 301 and the memory 302 communicate with each other through the bus 303. The processor 301, when executing the computer program, implements the steps of the above method, for example, including: when the mechanical arm moves according to a planned path, the infrared tracking camera collects the position information of the tracker positioning tool in real time, and meanwhile, the somatosensory camera collects body surface data of the lung of each breathing phase of a patient; acquiring body surface position information shot by the somatosensory camera according to a predetermined position conversion relation between the tracker positioning tool and the somatosensory camera and the position information of the tracker positioning tool; and registering the body surface data and the body surface position information of the lung at each respiratory phase of the patient with preoperative CT data of the patient to obtain registration parameters of each respiratory phase of the patient.
An embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the above method, for example, including: when the mechanical arm moves according to a planned path, the infrared tracking camera collects the position information of the tracker positioning tool in real time, and meanwhile, the somatosensory camera collects body surface data of the lung of each breathing phase of a patient; acquiring body surface position information shot by the somatosensory camera according to a predetermined position conversion relation between the tracker positioning tool and the somatosensory camera and the position information of the tracker positioning tool; and registering the body surface data and the body surface position information of the lung at each respiratory phase of the patient with preoperative CT data of the patient to obtain registration parameters of each respiratory phase of the patient.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A dynamic registration positioning apparatus, comprising: the system comprises an optical positioning and tracking system, a clamp, a somatosensory camera and a processing device;
the optical positioning and tracking system comprises: the infrared tracking camera and the tracking tracker positioning tool are respectively connected with the processing device, the tracking camera and the motion sensing camera are additionally arranged at the tail end of the clamp, the motion sensing camera is additionally arranged at the front end of the clamp, and the clamp is used for being fixed at the tail end of the mechanical arm;
the processing device is used for acquiring the position information of the tracker positioning tool in real time through the infrared tracking camera when the mechanical arm moves according to a planned path, and acquiring the body surface data of the lung of the patient during each breathing phase through the somatosensory camera; acquiring body surface position information shot by the somatosensory camera according to a predetermined position conversion relation between the tracker positioning tool and the somatosensory camera and the position information of the tracker positioning tool; and registering the body surface data and the body surface position information of the lung at each respiratory phase of the patient with preoperative CT data of the patient to obtain registration parameters of each respiratory phase of the patient.
2. The apparatus of claim 1, wherein the optical position tracking system comprises: an infrared optical tracking system.
3. The apparatus of claim 1, wherein the tracker positioning tool comprises: at least three tracking and positioning marks are arranged on the bracket at intervals.
4. The apparatus of claim 1, wherein the tracking location marker is an infrared location bead.
5. The apparatus of claim 1, wherein the motion sensing camera comprises: the image sensor comprises a monocular somatosensory camera, a binocular somatosensory camera or a red, green and blue depth image RGB-D somatosensory camera.
6. The apparatus of claim 1, wherein the dynamic registration positioning apparatus further comprises: the display device is connected with the processing device;
and the display device is used for displaying the body surface data of the lungs of the patient at each respiratory phase, the body surface position information and the registration parameters of each phase of the respiratory phase of the patient.
7. A method for performing dynamic registration positioning by using the dynamic registration positioning apparatus of any one of claims 1 to 6, applied to a processing apparatus, comprising:
when the mechanical arm moves according to a planned path, the infrared tracking camera collects the position information of the tracker positioning tool in real time, and meanwhile, the somatosensory camera collects the body surface data of the lung of a patient during each breathing phase;
acquiring body surface position information shot by the somatosensory camera according to a predetermined position conversion relation between the tracker positioning tool and the somatosensory camera and the position information of the tracker positioning tool;
and registering the body surface data and the body surface position information of the lung at each respiratory phase of the patient with preoperative CT data of the patient to obtain registration parameters of each respiratory phase of the patient.
8. The method of claim 7, wherein prior to registering the body surface data and the body surface location information for the lungs at each respiratory phase of the patient with the pre-operative three-dimensional CT data for the patient, the method further comprises:
acquiring preoperative CT data of a patient and performing three-dimensional reconstruction to obtain a preoperative CT three-dimensional model of the patient;
correspondingly, through the body surface data of each respiratory time phase lung of patient is gathered to the body feeling camera, include:
acquiring body surface data of the lungs of each respiratory phase of the patient through the somatosensory camera to generate point cloud data, and performing three-dimensional reconstruction on the point cloud data to obtain a three-dimensional model of each respiratory phase of the patient;
correspondingly, the registering the body surface data and the body surface position information of the lung at each respiratory phase of the patient with the preoperative CT data of the patient to obtain the registration parameters of each phase of the respiratory phase of the patient includes:
and adding the body surface position information into the three-dimensional model of each respiratory phase of the patient, and registering the body surface position information with the preoperative CT three-dimensional model of the patient to obtain registration parameters of each phase of the respiratory phase of the patient.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to claim 7 or 8 are implemented when the computer program is executed by the processor.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to claim 7 or 8.
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| CN111728695A (en) * | 2020-06-12 | 2020-10-02 | 天津理工大学 | Light beam auxiliary positioning method and positioning system for craniotomy |
| CN113456225A (en) * | 2021-07-22 | 2021-10-01 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Airway management navigation method and system |
| WO2022141150A1 (en) * | 2020-12-30 | 2022-07-07 | 西安大医集团股份有限公司 | Position adjustment method, head-mounted display device and radiotherapy system |
| WO2024108409A1 (en) * | 2022-11-23 | 2024-05-30 | 北京肿瘤医院(北京大学肿瘤医院) | Non-contact four-dimensional imaging method and system based on four-dimensional surface respiratory signal |
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