CN111476768B - Image registration method, image registration device, path planning method, path planning device, path planning system and medium - Google Patents

Image registration method, image registration device, path planning method, path planning device, path planning system and medium Download PDF

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CN111476768B
CN111476768B CN202010256366.0A CN202010256366A CN111476768B CN 111476768 B CN111476768 B CN 111476768B CN 202010256366 A CN202010256366 A CN 202010256366A CN 111476768 B CN111476768 B CN 111476768B
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万兰若
赵朝炜
李新阳
陈宽
王少康
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Infervision Medical Technology Co Ltd
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Abstract

The embodiment of the invention discloses an image registration method, an image registration device, a path planning method, a path planning device, a path planning system and a medium, wherein the method comprises the following steps: extracting a first region of interest from the first image and a second region of interest from the second image; dividing the first region of interest and the second region of interest into K cuboid regions along the long axis direction based on the same region division principle, wherein K is a natural number greater than or equal to 2; matching vertexes of corresponding cuboid regions of different interest areas to obtain a point pair group containing 8K point pairs; determining a coordinate transformation matrix that minimizes a point-to-point average distance in the set of point pairs to complete registration of the first and second regions of interest. The method solves the problem that the existing image registration method can not give consideration to both registration accuracy and registration efficiency.

Description

Image registration method, image registration device, path planning method, path planning device, path planning system and medium
Technical Field
The embodiment of the invention relates to the field of medical image processing, in particular to an image registration method, an image registration device, a path planning method, a path planning device, a path planning system and a medium.
Background
Before the fracture operation, a group of diagnostic images are usually taken, at the beginning of the fracture operation, a group of operation images of a patient in an operation position are taken, and the fracture operation is performed on the patient in the operation position according to the diagnostic images and the operation images. Because the body position of the diagnostic image is difficult to be consistent with the body position of the operation, and the position difference of the same part in the diagnostic image and the operation image is large due to the movement of internal organs of the patient, such as the respiratory movement of the lung and the autonomous movement of the heart, the diagnostic image and the operation image need to be subjected to image registration. However, the existing image registration method has the problem that the registration accuracy and the registration efficiency cannot be considered at the same time.
Disclosure of Invention
The embodiment of the invention provides an image registration method, an image registration device, a path planning method, a path planning device, a path planning system and a path planning medium, and solves the problem that the existing image registration method cannot give consideration to both registration accuracy and registration efficiency.
In a first aspect, an embodiment of the present invention provides an image registration method, including:
extracting a first region of interest from the first image and a second region of interest from the second image;
dividing the first region of interest and the second region of interest into K cuboid regions along the long axis direction based on the same region division principle, wherein K is a natural number greater than or equal to 2;
matching vertexes of corresponding cuboid regions of different interest areas to obtain a point pair group containing 8K point pairs;
determining a coordinate transformation matrix that minimizes a point-to-point average distance in the set of point pairs to complete registration of the first and second regions of interest.
Further, the area division principle is as follows: the K value and the proportion of each cuboid region to the long axis of the region of interest, or the region of interest is divided into three cuboid regions along the long axis of the region of interest. .
Further, the first region of interest and the second region of interest contain the same number and position of sub regions of interest.
Further, the sub-region of interest is a target bone, a target organ, or a focal zone.
Further, the determining a coordinate transformation matrix that minimizes an average distance of point pairs in the group of point pairs includes:
and determining a coordinate transformation matrix which minimizes the average distance of the point pairs in the point pair group based on a least square method.
In a second aspect, an embodiment of the present invention further provides an image registration apparatus, including:
the extraction module is used for extracting a first interested region from the first image and extracting a second interested region from the second image;
the dividing module is used for dividing the first region of interest and the second region of interest into K cuboid regions along the long axis direction based on the same region dividing principle, wherein K is a natural number greater than or equal to 2;
the matching module is used for matching the vertexes of the corresponding cuboid regions of different interest areas to obtain a point pair group containing 8K point pairs;
a registration module, configured to determine a coordinate transformation matrix that minimizes an average distance of point pairs in the point pair group, so as to complete registration of the first region of interest and the second region of interest.
In a third aspect, an embodiment of the present invention further provides a path planning method, including:
taking a currently shot image for path planning as a first image and taking a previously shot diagnosis image as a second image;
completing registration of the first image with the second image according to the image registration method of the first aspect;
and planning a guide path according to the registration result.
In a fourth aspect, an embodiment of the present invention further provides a path planning apparatus, where the apparatus includes:
the system comprises an image acquisition module, a path planning module and a path planning module, wherein the image acquisition module is used for taking a currently shot image for path planning as a first image and taking a previously shot diagnosis image as a second image;
an image registration module for completing registration of the first image and the second image according to the image registration method of any one of claims 1-5;
and the path planning module is used for planning a guide path according to the registration result.
In a fifth aspect, an embodiment of the present invention further provides a path planning system, where the system includes:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a path planning method as in any embodiment.
In a sixth aspect, the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the path planning method according to any of the embodiments.
In a seventh aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the image registration method according to any embodiment.
The technical scheme of the image registration method provided by the embodiment of the invention comprises the following steps: extracting a first region of interest from the first image and a second region of interest from the second image; respectively dividing the first region of interest and the second region of interest into K cuboid regions along the respective long axis directions based on the same region division principle, wherein K is a natural number greater than or equal to 2; matching vertexes of corresponding cuboid regions of different interest areas to obtain a point pair group containing 8K point pairs; and determining a coordinate transformation matrix which minimizes the point pair average distance in the point pair group so as to complete the registration of the first interest region and the second interest region. For the regular region, the coordinate transformation matrix which minimizes the average distance of the point pairs in the point pair group can be rapidly and accurately calculated, so that the registration of the first interested region and the second interested region can be rapidly and accurately completed, and the image registration efficiency can be remarkably improved on the premise of ensuring the image registration accuracy.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of an image registration method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an image registration method according to an embodiment of the present invention;
fig. 3 is a block diagram of an image registration apparatus according to a second embodiment of the present invention;
fig. 4 is a flowchart of a path planning method according to a third embodiment of the present invention;
fig. 5 is a schematic diagram of a path planning system according to a third embodiment of the present invention;
FIG. 6 is a schematic diagram of a Docking Toolbox provided in the third embodiment of the present invention;
fig. 7 is a schematic diagram of a path planning apparatus according to a fourth embodiment of the present invention;
fig. 8 is a block diagram of a path planning system according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying 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.
Example one
Fig. 1 is a flowchart of an image registration method according to an embodiment of the present invention. The technical scheme of the embodiment is particularly suitable for the condition of rapid image registration in surgical navigation, such as fracture surgery and the like. The method can be executed by an image registration apparatus provided by the embodiment of the invention, and the apparatus can be implemented in a software and/or hardware manner and configured to be applied in a processor. The method specifically comprises the following steps:
s101, extracting a first interested region from the first image, and extracting a second interested region from the second image.
A set of diagnostic images of a patient needs to be acquired for clinical diagnosis before a fracture surgery, and an operation image for operation path planning needs to be acquired at the beginning of or during an operation. The present embodiment takes the operation image as the first image and the diagnosis image as the second image, and extracts the first region of interest from the first image and the second region of interest from the second image, as shown in fig. 2.
Wherein the first region of interest and the second region of interest comprise sub regions of interest of the same number and position. The sub-region of interest may be a target bone, a target organ, or a focal zone. Illustratively, the first region of interest includes the lungs and the ribs, and the second region of interest also includes the lungs and the ribs.
The region of interest extraction method is an image segmentation method in the prior art, such as a threshold method, a watershed method, or a segmentation algorithm based on deep learning, and the present embodiment is not limited in detail herein.
S102, dividing the first region of interest and the second region of interest into K cuboid regions along the long axis direction based on the same region division principle, wherein K is a natural number greater than or equal to 2.
The region division principle is a K value and the proportion of each cuboid region to the long axis of the region of interest. In one embodiment, the region dividing principle is to divide the region of interest equally into three rectangular parallelepiped regions along the long axis of the region of interest.
S103, matching the vertexes of the corresponding cuboid regions of different interest areas to obtain a point pair group containing 8K point pairs.
It will be appreciated that each cuboid region contains 8 vertices, and then K cuboid regions have 8K vertices, corresponding to 8K point pairs, and the coordinates of the 8K vertices may be arranged in an 8K × 3 matrix V, as follows:
Figure BDA0002437475700000061
wherein x isijThe coordinates of the jth vertex of the ith rectangular solid region are shown.
And S104, determining a coordinate transformation matrix which minimizes the average distance of the point pairs in the point pair group so as to complete the registration of the first region of interest and the second region of interest.
The present embodiment preferably uses least squaresThe method determines a coordinate transformation matrix that minimizes the average distance of point pairs in the set of point pairs. In order to determine a coordinate conversion matrix that minimizes the average distance of point pairs in a group of point pairs using the least square method, the elements of the aforementioned matrix V are rearranged, and A are added
Figure BDA0002437475700000071
Write into 12-dimensional vectors to meet image registration accuracy. The linear transformation relationship is represented using matrix multiplication. Using AiThe ith row of the a matrix is represented,
Figure BDA0002437475700000072
a linear transformation using a 12-dimensional vector is shown. The matrix form of such an original problem is shown in the following equation:
Figure BDA0002437475700000073
wherein the content of the first and second substances,
Figure BDA0002437475700000074
Vii-th row data, V, representing the matrixorgVertex matrix, V, representing the second imagetarRepresenting the coordinates of the vertices of the first image.
Solving using least squares to obtain
Figure BDA0002437475700000075
Vector, thereby obtaining A and
Figure BDA0002437475700000076
and obtaining the conversion matrix. Through a large amount of image registration, when K is equal to 3, the accuracy of image registration is highest, and the number of point pairs corresponding to the K value is small, so that the operation amount of a coordinate conversion matrix with the minimum average distance of the point pairs in a determined point pair group is small, the technical effect of simultaneously considering the image registration efficiency and the accuracy is achieved, and the first image and the second image caused by respiratory motion or difference of shooting body positions or the surrounding object environments are avoidedSuch as inaccurate linkage and local adjustment.
The technical scheme of the image registration method provided by the embodiment of the invention comprises the following steps: extracting a first region of interest from the first image and a second region of interest from the second image; dividing the first region of interest and the second region of interest into K cuboid regions along the long axis direction based on the same region division principle, wherein K is a natural number greater than or equal to 2; matching vertexes of corresponding cuboid regions of different interest areas to obtain a point pair group containing 8K point pairs; and determining a coordinate transformation matrix which minimizes the point pair average distance in the point pair group so as to complete the registration of the first interest region and the second interest region. For the regular region, the coordinate transformation matrix which minimizes the average distance of the point pairs in the point pair group can be rapidly and accurately calculated, so that the registration of the first interested region and the second interested region can be rapidly and accurately completed, and the image registration efficiency can be remarkably improved on the premise of ensuring the image registration accuracy.
Example two
Fig. 3 is a block diagram of the image registration apparatus according to the embodiment of the present invention. The apparatus is used for executing the image registration method provided by any of the above embodiments, and the apparatus may be implemented by software or hardware. The device includes:
an extraction module 11, configured to extract a first region of interest from the first image and a second region of interest from the second image;
the dividing module 12 is configured to divide the first region of interest and the second region of interest into K rectangular solid regions along the long axis direction based on the same region division principle, where K is a natural number greater than or equal to 2;
a point pair matching module 13, configured to match vertices of corresponding rectangular solid regions of different regions of interest to obtain a point pair group including 8K point pairs;
and a registration module 14, configured to determine a coordinate transformation matrix that minimizes an average distance between point pairs in the point pair group, so as to complete registration of the first region of interest and the second region of interest.
Optionally, the registration module 14 is specifically configured to determine a coordinate transformation matrix that minimizes the average distance of the point pairs in the point pair group based on a least squares method.
According to the technical scheme of the image registration device provided by the embodiment of the invention, the first interested region is extracted from the first image through the extraction module, and the second interested region is extracted from the second image; dividing the first region of interest and the second region of interest into K cuboid regions along the long axis direction by a dividing module based on the same region dividing principle, wherein K is a natural number greater than or equal to 2; matching vertexes of corresponding cuboid regions of different interest areas through a point pair matching module to obtain a point pair group containing 8K point pairs; and determining a coordinate transformation matrix which minimizes the average distance of the point pairs in the point pair group through a registration module so as to complete the registration of the first interest region and the second interest region. For the regular region, the coordinate transformation matrix which minimizes the average distance of the point pairs in the point pair group can be rapidly and accurately calculated, so that the registration of the first interested region and the second interested region can be rapidly and accurately completed, and the image registration efficiency can be remarkably improved on the premise of ensuring the image registration accuracy.
The image registration device provided by the embodiment of the invention can execute the image registration method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
Fig. 4 is a flowchart of a path planning method according to a third embodiment of the present invention. The technical scheme of the embodiment is suitable for the situation that the path planning system automatically plans the path, such as path planning for fracture surgery. As shown in fig. 5, the path planning system includes an image obtaining module 21, an image registration module 22, a path planning module 23, and a display module 24, where the image obtaining module 21 includes a Docking Toolbox (DT) and a RePACS (RESTful protocol communication-based backend service data interaction service (RESTful PACS)), the system may be implemented in a software and/or hardware manner, and is configured to be applied in a processor.
S301, taking the currently shot image for path planning as a first image and taking the previously shot diagnosis image as a second image.
In order to improve the accuracy of the path planning, the present embodiment needs to acquire an image of the patient in the surgical position by the image acquisition module 21, and use the image as the first image, and acquire a diagnostic image for clinical diagnosis acquired before the patient, and use the diagnostic image as the second image.
The first image and the second image may be the same type of image, such as both CT (Computed Tomography) images, or different types of images, such as the first image is a CT image and the second image is an MR (Magnetic Resonance Imaging) image. If the first image and the second image are both CT images. Wherein the first image is preferably obtained by means of a C-arm.
It is understood that the first image and the second image may be directly obtained from corresponding image devices, such as CT, MRI, etc., or may be obtained from a PACS system (picture archiving and communication system) connected to the image devices. Illustratively, the Docking Toolbox is controlled to send image acquisition information to the PACS, to inquire whether a second image for clinical diagnosis and path planning of the current patient exists, and if so, to pull the second image of the patient, and then to send the first image and the second image to a RePACS, which is used as a data storage unit for sending the first image and the second image to the image registration module 22.
As shown in fig. 6, the Docking Toolbox includes an information pulling component for acquiring an image from the PACS, a preprocessing component for preprocessing the pulled image, and a data sending component for sending the preprocessed image to the RePACS by using a POST request of HTTP. Wherein the pre-processing includes, but is not limited to, data filtering and filtering of the first image obtained by the information pull component according to rules configured in the configuration file, sending a request to the PACS to pull a second image having the same pull information according to the patient information in the first image. The pull information includes, but is not limited to, the patient's name, patient's number, patient's gender, date of birth, etc.
Since images in PACS systems are stored in DICOM format, DICOM (digital Imaging and Communications in medicine), an international standard for medical images and related information (ISO 12052), defines a medical image format available for data exchange that meets clinical requirements in quality. The formatted images include, but are not limited to, patient name, patient number, patient gender, date of birth, and the like.
S302, the registration of the first image and the second image is completed according to the image registration method described in the previous embodiment.
The RePACS sends the first image and the second image to the image registration module 22, which is configured to complete the registration of the first image and the second image by using the image registration method described in the foregoing embodiment. And the image registration result is the InstanceNumber corresponding mapping tables of the first image and the second image, and the output of the registration of other information is the corresponding mapping tables of other information, such as lesion identification information.
And S303, determining a planned guide path according to the registration result.
After the registration of the first image and the second image is completed, the image registration module sends the image registration result to the path planning module, and the path planning module plans a guide path according to the image registration result, even detects the focus information, wherein the focus information can be obtained by using other auxiliary diagnosis software. The path planning module, after completing the image registration and path planning, sends the planned path guidance results, or the image registration results and the planned guidance path results, to the RePACS storage for storage by the RePACS and transmission to the display module 24 for display.
The display module 24 includes an image display area and an information list. The image display area is used for displaying various image data, such as follow-up image data, and the image display area has all image operation functions of the PACS, including but not limited to window width and window level adjustment, measurement, position probe and multi-image linkage functions, and the logic of multi-image linkage is from the mapping relation of two images output by image registration.
The information list is used for displaying other information comparison information of multiple images, and the logic is derived from other information matching output by the matching module, such as corresponding information of the interested areas of the first image and the second image and related change information.
Preferably, for path planning or optimization, the path planning module performs path planning or optimization based on the current registration result of the first image and the second image and assisted by the previous image registration result. In a specific implementation, at least two registration results may be weighted, and then a path may be planned or optimized according to the weighted results.
According to the technical scheme of the path planning method provided by the embodiment of the invention, the image registration is carried out based on the image registration method in the embodiment, and the path planning is carried out according to the image registration result.
Example four
Fig. 7 is a block diagram of a path planning apparatus according to an embodiment of the present invention. The device is used for executing the path planning method provided by any of the above embodiments, and the device can be implemented by software or hardware. The device includes:
an image acquisition module 21, configured to take a currently-taken image for path planning as a first image and take a previously-taken diagnostic image as a second image;
an image registration module 22 for completing registration of the first image and the second image according to the image registration method of any one of claims 1-5;
and a path planning module 23, configured to plan a guide path according to the registration result.
As shown in fig. 5, the apparatus further includes a display module 24 for outputting the planned guide path so that the user performs the operation according to the output guide path.
According to the technical scheme of the path planning device provided by the embodiment of the invention, the image registration is carried out based on the image registration method described in the embodiment, and the path planning is carried out according to the image registration result.
The path planning device provided by the embodiment of the invention can execute the path planning method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 8 is a block diagram of a path planning system according to a fifth embodiment of the present invention, and as shown in fig. 8, the apparatus includes a processor 201, a memory 202, an input device 203, and an output device 204; the number of the processors 201 in the device may be one or more, and one processor 201 is taken as an example in fig. 8; the processor 201, the memory 202, the input device 203 and the output device 204 in the apparatus may be connected by a bus or other means, and fig. 8 illustrates the connection by a bus as an example.
The memory 202, as a computer-readable storage medium, may be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules (e.g., the image acquisition module 21, the image registration module 22, and the path planning module 23) corresponding to the path planning method in the embodiment of the present invention. The processor 201 executes various functional applications of the device and data processing by running software programs, instructions and modules stored in the memory 202, that is, implements the path planning method described above.
The memory 202 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 202 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 202 may further include memory located remotely from the processor 201, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 203 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the apparatus.
The output device 204 may include a display device such as a display screen, for example, of a user terminal.
EXAMPLE six
Embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a path planning method, the method including:
taking a currently shot image for path planning as a first image and taking a previously shot diagnosis image as a second image;
the registration of the first image and the second image is completed according to the image registration method of the previous embodiment;
and planning a guide path according to the registration result.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the path planning method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute the path planning method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the path planning apparatus, each included unit and each included module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE seven
Embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method of image registration, the method comprising:
extracting a first region of interest from the first image and a second region of interest from the second image;
dividing the first region of interest and the second region of interest into K cuboid regions along the long axis direction based on the same region division principle, wherein K is a natural number greater than or equal to 2;
matching vertexes of corresponding cuboid regions of different interest areas to obtain a point pair group containing 8K point pairs;
determining a coordinate transformation matrix that minimizes a point-to-point average distance in the set of point pairs to complete registration of the first and second regions of interest.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the image registration method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute the image registration method according to the embodiments of the present invention.
It should be noted that, in the embodiment of the image registration apparatus, the included units and modules are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. An image registration method, comprising:
extracting a first region of interest from the first image and a second region of interest from the second image;
dividing the first region of interest and the second region of interest into three cuboid regions along the long axis direction of the region of interest based on the same region division principle;
matching vertexes of corresponding cuboid regions of different interest areas to obtain a point pair group comprising 24 point pairs, and listing a matrix of 24 × 3 based on coordinate arrangement of the 24 vertexes;
after rearranging the matrix, determining a coordinate transformation matrix which is formed by 12-dimensional vectors and minimizes the average distance of the point pairs in the point pair group so as to complete the registration of the first interested region and the second interested region.
2. The method of claim 1, wherein the first and second regions of interest contain the same number and location of sub-regions of interest.
3. The method of claim 2, wherein the sub-region of interest is a target bone, a target organ, or a focal zone.
4. The method according to any one of claims 1 to 3, wherein said determining a coordinate transformation matrix consisting of 12-dimensional vectors that minimizes an average distance of point pairs in said set of point pairs comprises:
a coordinate conversion matrix composed of 12-dimensional vectors that minimizes the average distance of the point pairs in the point pair group is determined based on a least square method.
5. An image registration apparatus, comprising:
the extraction module is used for extracting a first interested region from the first image and extracting a second interested region from the second image;
the dividing module is used for dividing the first region of interest and the second region of interest into three cuboid regions along the long axis direction of the region of interest based on the same region dividing principle;
the matching module is used for matching the vertexes of the corresponding cuboid regions of different interest areas to obtain a point pair group containing 24 point pairs, and a 24 x 3 matrix is listed based on the coordinate rows of the 24 vertexes;
and the registration module is used for determining a coordinate conversion matrix which is formed by 12-dimensional vectors and enables the average distance of the point pairs in the point pair group to be minimum after the matrix is rearranged so as to complete registration of the first region of interest and the second region of interest.
6. A method of path planning, comprising:
taking a currently shot image for path planning as a first image and taking a previously shot diagnosis image as a second image;
the image registration method according to any one of claims 1-4, completing registration of the first image with the second image;
and planning a guide path according to the registration result.
7. A path planning apparatus, the apparatus comprising:
the system comprises an image acquisition module, a path planning module and a path planning module, wherein the image acquisition module is used for taking a currently shot image for path planning as a first image and taking a previously shot diagnosis image as a second image;
an image registration module for completing registration of the first image and the second image according to the image registration method of any one of claims 1-4;
and the path planning module is used for planning a guide path according to the registration result.
8. A path planning system, the system comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the path planning method of claim 6.
9. A storage medium containing computer-executable instructions for performing the path planning method of claim 6 when executed by a computer processor.
10. A storage medium containing computer-executable instructions for performing the image registration method of any one of claims 1-4 when executed by a computer processor.
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