CN113349931B - Focus registration method for high-precision operation navigation system - Google Patents
Focus registration method for high-precision operation navigation system Download PDFInfo
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- CN113349931B CN113349931B CN202110678224.8A CN202110678224A CN113349931B CN 113349931 B CN113349931 B CN 113349931B CN 202110678224 A CN202110678224 A CN 202110678224A CN 113349931 B CN113349931 B CN 113349931B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000003287 optical effect Effects 0.000 claims abstract description 12
- 239000013598 vector Substances 0.000 claims description 24
- 230000003902 lesion Effects 0.000 claims description 6
- 238000007639 printing Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 239000011347 resin Substances 0.000 claims description 4
- 229920005989 resin Polymers 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 238000010146 3D printing Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 239000008188 pellet Substances 0.000 claims description 2
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 4
- 238000012986 modification Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000001356 surgical procedure Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The invention relates to the technical field of medical treatment, and particularly discloses a focus registration method of a high-precision surgical navigation system, which comprises the steps of focus three-dimensional reconstruction, setting a tracking unit, combining a model and installing a positioning ball; and matching the origin of the model. According to the method, the origin of the complete model with the positioning ball is adjusted to be matched with the origin of the optical positioning equipment software, so that the tracked object in the complete model is overlapped with the tracked object entity model, the registration of the focus of a patient is completed, the accurate adjustment is carried out through deviation calculation, the precision difference can be reduced, the registration precision is effectively improved, and the registration method is more in line with the requirement of minimally invasive surgery.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a focus registration method of a high-precision operation navigation system.
Background
The current optical navigation device is used to acquire six-dimensional information (position and rotation information of three coordinate axes x, y and z) of a real space of a target object in real time, so that a model object of a virtual space also acquires the same information, and coordinates of the real space are matched with a coordinate system of the virtual space. If the optical navigation device is required to be used for spatially positioning a plurality of objects at the same time, the matching precision of the objects becomes a problem to be solved. The real space is provided with two strip-shaped objects A and B, the virtual space is also provided with two models xA and xB with the same shape, the A and B in the real space keep a relative gesture, the real position of A, B objects is obtained through the optical navigation equipment, then data are matched to the xA and xB virtual objects in the virtual space, and at the moment, the errors of the relative gesture of xA and xB in the virtual space and the relative gesture of the real space A, B are the precision difference.
The optical navigation device can be applied to various fields, design, construction, industry, medical treatment, etc. When the method is used, information of a plurality of objects needs to be acquired, and relative positions and rotation information among the objects need to be calculated, the accuracy is particularly high for the final calculated result image. During surgery, it is often necessary to register the actual surgical site with the three-dimensional image of the surgical site acquired by the pre-operative scan to guide the procedure. In the existing registration method of the surgical navigation system, a doctor manually selects and confirms feature matching points in the registration process to realize registration, but due to operation errors of the doctor, the generated precision is poor, and the registration precision is low, so that the requirement of minimally invasive surgery is difficult to meet.
Disclosure of Invention
The invention aims to provide a focus registration method of a high-precision surgical navigation system, which can solve the problems of large precision difference and low registration precision in the existing registration method.
In order to solve the technical problems, the invention adopts the following technical scheme:
A focus registration method of a high-precision operation navigation system comprises the following steps,
Three-dimensional reconstruction of lesions: obtaining image data of a patient focus by using a medical image scanner, and then carrying out three-dimensional reconstruction on the patient focus by using a medical three-dimensional model reconstruction system;
Setting a tracking unit: designing a tracking object A through modeling software, setting the installation position of a positioning small ball on the tracking object A, and then manufacturing the solid structure of the tracking object A, wherein the three-dimensional model coordinate system of the tracking object A is C1;
Model combination: combining the three-dimensional model of the tracked object A and the three-dimensional model reconstructed at the focus of the patient in a medical three-dimensional model reconstruction system to form a model B, wherein the specific combination method comprises the following steps: in three-dimensional model software, two models are led into the same project, then the two models are put at preset positions according to a plan through translation and rotation, and then the two models are led out into an integral model file through the three-dimensional model software;
and (3) positioning ball installation: setting positioning balls which are respectively arranged at the positions designed in advance of the tracking object A, identifying the relative positions of the positioning balls through an optical positioning system, and matching the origin of coordinates of the positioning balls with the origin of a coordinate system C1 of the tracking object A;
Model origin matching: matching the origin of the complete model with the positioner with the origin of the optical positioning system software, so as to finish the accurate positioning of the focus of the patient; because the patient focus image data has a coordinate system of the patient, the origin of the coordinate system is generally at the lower corner of the CT machine, the coordinate systems of different brands of CT machines are different, model reconstruction can be carried out according to the origin of an actual CT machine in a medical three-dimensional model reconstruction system, the origin of the derived model coordinate system is also at the origin of the coordinate of the CT machine, and the origin of the model to be positioned is different from the origin identified in the matched software of the optical positioning system, so that the positioning cannot be carried out, and the origin needs to be adjusted to be matched.
Further, the model origin matching includes the steps of,
(1) Setting the position of a tracking object A model at an original point, and finding three model vertexes with characteristic shapes on the tracking object A model, wherein world coordinates of the model vertexes are pa, pb and pc respectively;
(2) Setting the position of the model B at an origin, and finding out corresponding point characteristic points pa ', pb ', pc ' of three corresponding pa, pb and pc characteristics on the tracked object A on the model B;
(3) And (3) according to the deviation calculation of the three characteristic points, shifting and rotating the model B, so that the model of the tracking object A on the model B is overlapped with the model of the tracking object A.
Further, the deviation calculation of the three feature points includes the steps of,
① Calculating the midpoint centerA of a plane formed by the pa, pb and pc points;
② Calculating the midpoint centerB of a plane formed by the three points pa ', pb ', pc ';
③ Calculating a vector V2 from the origin to centerB;
④ Calculating Normal1 of a plane formed by three points pa, pb and pc;
⑤ Calculating Normal2 of a plane formed by three points pa ', pb ', pc ';
⑥ Calculating a quaternion Q1 of Normal1 and Normal2 rotation;
⑦ Respectively calculating vectors of points pa ', pb ', pc ' and point centerB, and then rotating the obtained vectors by Q1 to obtain vectors s1, s2 and s3;
⑧ Calculating vectors va, vb and vc of the points pa, pb and pc and the point centerA;
⑨ Calculating average angles aveAngle1 of the angles s1, s2, s3 and va, vb and vc;
⑩ Rotating V2 by using a quaternion Q1;
11, calculating a quaternion Q2 of a Normal1 vector rotation aveAngle degrees;
12, taking Q2 as a rotation value of the model B, and rotating the model B;
13 adding centerA to V2 as the position of the model B;
14 the tracked object a model of the final model B will be fully coincident with the object a model with no errors.
Further, the image data of the patient focus comprises CT or nuclear magnetic data in a dicom format; the medical three-dimensional model reconstruction system adopts mimics reconstruction tools, and other software capable of completing medical reconstruction can be selected according to the requirements of users.
Furthermore, the tracking object A is subjected to model design by adopting 3D printing modeling software, then the entity of the tracking object A is printed out by a high-precision 3D printer, the printing material is printed by adopting photosensitive resin, and the printing precision is controlled within 0.1 mm.
Further, the number of the positioning balls is at least 4, and the positioning balls adopt fluorescent pellets with the diameter of 1 cm.
Compared with the prior art, the invention has the following beneficial effects:
According to the method, the origin of the complete model with the positioning ball is adjusted to be matched with the origin of the optical positioning equipment software, so that the tracked object in the complete model is overlapped with the tracked object entity model, the registration of the focus of a patient is completed, the accurate adjustment is carried out through deviation calculation, the precision difference can be reduced, the registration precision is effectively improved, and the registration method is more in line with the requirement of minimally invasive surgery.
Drawings
Fig. 1 is a flowchart of the registration step of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Examples
A focus registration method of high-accuracy operation navigation system, use the image scanner of the medical science to obtain the image data of patient focus at first, the original data of image includes CT or nuclear magnetic data of the dicom format, then reconstruct the three-dimensional department of patient focus through the three-dimensional model reconstruction system of the medical science, the tool of reconstruction adopts the software that can finish the reconstruction of the medical model, adopt mimics software to reconstruct in this embodiment; because the image data in the dicom format has a set of own coordinate system, the origin of the coordinate system is generally at the lower corner of the CT machine, the coordinate systems of different brands of CT machines are different, the coordinate system of the image data can be determined according to the CT machine which is actually used, model reconstruction can be carried out according to the origin of the CT machine in three-dimensional reconstruction software, and the origin of the derived model coordinate system is the same as the origin of the coordinate of the CT machine;
then designing a tracking object A through 3D modeling software, setting at least four installation positions of positioning balls on the tracking object A, printing out a solid structure of the tracking object A through a high-precision 3D printer by adopting a photosensitive resin material, controlling the printing precision within 0.1mm by adopting the photosensitive resin material, and setting a model coordinate system of the designed tracking object A as C1;
Combining the three-dimensional model of the tracked object A and the three-dimensional model reconstructed at the focus of the patient in a mimics software system to form a model B, introducing the two models into the same engineering in the three-dimensional model software, then placing the two models to a preset position according to a plan through translation and rotation, and exporting the two models into an integral model file through the three-dimensional model software;
Then, fluorescent positioning balls are arranged at the positions designed in advance of the tracked object A, the diameters of the positioning balls are set to be 1cm, the positioning balls can be identified and positioned only by arranging 4 positioning balls, then, the relative positions of the positioning balls are identified through optical positioning equipment, and then, the origin of coordinates of the positioning balls is matched with the origin of a coordinate system C1 of the tracked object A;
The origin of the model to be positioned is different from the origin identified in the software matched with the pst iris equipment, so that the positioning cannot be performed, the origin needs to be adjusted to be matched, and the adjustment comprises the following steps:
(1) Setting the position of a tracking object A model at an original point, and finding three model vertexes with characteristic shapes on the tracking object A model, wherein world coordinates of the model vertexes are pa, pb and pc respectively;
(2) Setting the position of the model B at an origin, and finding out corresponding point characteristic points pa ', pb ', pc ' of three corresponding pa, pb and pc characteristics on the tracked object A on the model B;
(3) And (3) according to deviation calculation of three characteristic points, shifting and rotating the model B to enable the model of the tracking object A on the model B to be overlapped with the model of the tracking object A, wherein the deviation calculation comprises the following steps:
① Calculating the midpoint centerA of a plane formed by the pa, pb and pc points;
② Calculating the midpoint centerB of a plane formed by the three points pa ', pb ', pc ';
③ Calculating a vector V2 from the origin to centerB;
④ Calculating Normal1 of a plane formed by three points pa, pb and pc;
⑤ Calculating Normal2 of a plane formed by three points pa ', pb ', pc ';
⑥ Calculating a quaternion Q1 of Normal1 and Normal2 rotation;
⑦ Calculating a vector A of a point centerB and a point pa ', rotating the vector A by using a quaternion Q1 to generate a new vector s1, calculating a vector B of a point centerB and a point pb ', rotating the vector B by using a quaternion Q1 to generate a new vector s2, calculating a vector C of a point centerB and a point pc ', and rotating the vector C by using a quaternion Q1 to generate a new vector s3;
⑧ Calculating vectors va, vb and vc of the points pa, pb and pc and the point centerA;
⑨ Calculating average angles aveAngle1 of the angles s1, s2, s3 and va, vb and vc;
⑩ Rotating V2 by using a quaternion Q1;
11, calculating a quaternion Q2 of a Normal1 vector rotation aveAngle degrees;
12, taking Q2 as a rotation value of the model B, and rotating the model B;
13 adding centerA to V2 as the position of the model B;
14 the tracked object a model of the final model B will be fully coincident with the object a model with no errors.
The registration method adopted in the embodiment carries out accurate adjustment through deviation calculation, so that the accuracy difference can be reduced, the registration accuracy is effectively improved, and the registration method is more in line with the requirement of minimally invasive surgery.
Reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," "a preferred embodiment," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application as broadly described. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is intended that such feature, structure, or characteristic be implemented within the scope of the application.
Although the application has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the scope and spirit of the principles of this disclosure. More specifically, various variations and modifications may be made to the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure, drawings and claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will be apparent to those skilled in the art.
Claims (5)
1. A focus registration method of a high-precision operation navigation system is characterized in that: comprises the steps of,
Three-dimensional reconstruction of lesions: obtaining image data of a patient focus by using a medical image scanner, and then carrying out three-dimensional reconstruction on the patient focus by using a medical three-dimensional model reconstruction system;
Setting a tracking unit: designing a tracking object A through modeling software, setting the installation position of a positioning small ball on the tracking object A, and then manufacturing the solid structure of the tracking object A, wherein the three-dimensional model coordinate system of the tracking object A is C1;
Model combination: combining the three-dimensional model of the tracked object A and the three-dimensional model reconstructed at the focus of the patient in a medical three-dimensional model reconstruction system to form a model B;
and (3) positioning ball installation: setting positioning balls which are respectively arranged at the positions designed in advance of the tracking object A, identifying the relative positions of the positioning balls through an optical positioning system, and matching the origin of coordinates of the positioning balls with the origin of a coordinate system C1 of the tracking object A;
model origin matching: and matching the origin of the complete model with the positioner with the origin of the optical positioning system software, so as to finish the accurate positioning of the actual target.
2. A method of lesion registration for a high precision surgical navigation system according to claim 1, wherein: the model origin matching includes the steps of,
(1) Setting the position of a tracking object A model at an original point, and finding three model vertexes with characteristic shapes on the tracking object A model, wherein world coordinates of the model vertexes are pa, pb and pc respectively;
(2) Setting the position of a model B at an origin, and finding out corresponding point characteristic points pa ', pb ' and pc ' of three corresponding characteristics of pa, pb and pc on a tracking object A on the model B;
(3) And (3) according to the deviation calculation of the three characteristic points, shifting and rotating the model B, so that the model of the tracking object A on the model B is overlapped with the model of the tracking object A.
3. A method of lesion registration for a high precision surgical navigation system according to claim 2, wherein:
the calculation of the deviation of the three feature points includes the steps of,
Calculating the midpoint centerA of a plane formed by the pa, pb and pc points;
calculating the midpoint centerB of a plane formed by the pa ' -point, the pb ' -point and the pc ' -point;
Calculating a vector V2 from the origin to centerB;
calculating Normal1 of a plane formed by three points pa, pb and pc;
calculating Normal2 of a plane formed by pa ', pb ' and pc ';
calculating a quaternion Q1 of Normal1 and Normal2 rotation;
respectively calculating vectors of the points pa ', pb ', pc ' and centerB, and then rotating the obtained vectors by using Q1 to obtain vectors s1, s2 and s3;
calculating vectors va, vb and vc of the points pa, pb and pc and the point centerA;
calculating average angles aveAngle1 of the angles s1, s2, s3 and va, vb and vc;
rotating V2 by using a quaternion Q1;
Calculating a quaternion Q2 of a Normal1 vector rotation aveAngle degrees;
taking Q2 as a rotation value of the model B, and rotating the model B;
centerA plus V2 as the position of model B;
the tracked object a model of the final model B will be fully coincident with the object a model with no errors.
4. A method of lesion registration for a high precision surgical navigation system according to claim 1, wherein:
The tracking object A is subjected to model design by adopting 3D printing modeling software, then the entity of the tracking object A is printed out by a high-precision 3D printer, the printing material is printed by adopting photosensitive resin, and the printing precision is controlled within 0.1 mm.
5. A method of lesion registration for a high precision surgical navigation system according to claim 1, wherein: the number of the positioning balls is at least 4, and the positioning balls adopt fluorescent pellets with the diameter of 1 cm.
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