CN113509268A - Calibration device and calibration method of mixed reality surgical navigation system - Google Patents
Calibration device and calibration method of mixed reality surgical navigation system Download PDFInfo
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- 238000001356 surgical procedure Methods 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 3
- 238000004164 analytical calibration Methods 0.000 abstract description 2
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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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- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
Abstract
The invention relates to a calibration device and a calibration method of a mixed reality surgical navigation system, wherein the calibration device comprises: the calibration block comprises a calibration block body and a handheld holding rod arranged on a first side surface of the calibration block body; the optical tracking module is provided with a fluorescent small ball and is arranged on a second side surface of the calibration block body, wherein the first side surface and the second side surface are different side surfaces; the calibration block comprises a calibration block body, wherein four vertex angles of the calibration block body are provided with alignment mark points, and three alignment mark points are in one plane; the calibration block body is provided with a plurality of probe accommodating holes and surgical instrument accommodating holes which are in one-to-one correspondence with the probe accommodating holes, and the central axis of each surgical instrument accommodating hole is in the same straight line with the central axis of the corresponding probe accommodating hole. Compared with the prior art, the invention can simultaneously complete mixed reality space calibration and surgical instrument calibration, has multiple functions, can align a plurality of mark points by the calibration block at one time, and can save the calibration time.
Description
Technical Field
The invention relates to a calibration method of a calibration device, in particular to a calibration device and a calibration method of a mixed reality surgical navigation system.
Background
The mixed reality operation navigation system can build a virtual-real fused surgical operation environment by overlaying virtual tissues and organs or auxiliary information generated in a computer to a real operation scene. The operator can observe important subcutaneous soft and hard tissues which cannot be seen by naked eyes by wearing the optical semi-perspective helmet display. The safety and the reliability of the operation are improved while the visual perception capability of the operator to the environment is expanded. In order to achieve the effect of dynamic fusion of virtual and real, the world coordinate system of the hybrid optical perspective helmet display and the navigation system needs to be calibrated. In addition, to achieve dynamic tracking of the surgical instrument, calibration of the surgical instrument is required. The calibration precision of the mixed reality surgical navigation system has a decisive influence on the effect of virtual-real fusion in the operation, and the existing calibration schemes mainly comprise a point cloud registration scheme, a mark point registration method, a computer vision registration method and the like.
Chinese patent CN201910905977.0 discloses a marker point-based mixed reality surgical navigation system. The patient and the mark points are subjected to three-dimensional imaging simultaneously, so that image segmentation and three-dimensional reconstruction are completed, and the model is transmitted to mixed reality equipment for display. The method has the disadvantages of complex calibration process and lack of real-time performance. Chinese patent CN 202011199791.7 discloses a method based on registration of integral point cloud and local point cloud, and finally realizes virtual-real fusion under mixed reality equipment. However, the method has higher requirements on computing resources, and the virtual-real fusion precision is increased at will. In conclusion, the existing mixed reality navigation system calibration device and method have the defects of poor precision, poor real-time performance, poor stability, incapability of simultaneously completing the calibration of surgical instruments and the like.
Disclosure of Invention
The invention aims to provide a calibration device and a calibration method of a mixed reality surgical navigation system, which can simultaneously complete mixed reality space calibration and surgical instrument calibration, have multiple functions, and can save calibration time because a calibration block can align a plurality of mark points at one time.
The purpose of the invention can be realized by the following technical scheme:
a calibration device of a mixed reality surgical navigation system comprises:
the calibration block comprises a calibration block body and a handheld holding rod arranged on a first side surface of the calibration block body;
the optical tracking module is provided with a fluorescent small ball and is arranged on a second side surface of the calibration block body, wherein the first side surface and the second side surface are different side surfaces;
the calibration block comprises a calibration block body, wherein four vertex angles of the calibration block body are provided with alignment mark points, three alignment mark points are in a plane, and the fourth alignment mark point is not in the plane;
the utility model discloses a calibration block body, including calibration block body, be equipped with in the calibration block body and align observation groove, this alignment observation groove runs through third side and fourth side, third side and fourth side are two sides that intersect, be equipped with a plurality of probe accommodation holes on the calibration block body and with the surgical instruments accommodation hole of each probe accommodation hole one-to-one, the one end of all probe accommodation holes and surgical instruments accommodation hole all extends to the surface of calibration block body, the other end all extends to the alignment observation groove, and the central axis of each surgical instruments accommodation hole is on a straight line with the central axis that corresponds probe accommodation hole.
The optical tracking module comprises a base, and at least three fluorescent small balls are arranged on the base.
The calibration block body is a cube.
One end of the probe accommodating hole extends to a fifth side surface of the calibration block body, one end of the surgical instrument accommodating hole extends to a sixth side surface of the calibration block body, and the fifth side surface and the sixth side surface are parallel to each other, perpendicular to the third side surface, and perpendicular to the fourth side surface.
The first side face and the sixth side face are the same side face.
At least three of other vertexes of the calibration block body are provided with auxiliary alignment mark points, the shapes of the auxiliary alignment mark points are different from those of the alignment mark points, and the other vertexes are vertexes except the alignment mark points.
A calibration method of the calibration device of the mixed reality surgical navigation system comprises a calibration process of mixed reality and physical space and a calibration process of surgical instruments.
The calibration process of the mixed reality and physical space specifically comprises the following steps:
step A1: starting an optical positioning tracker;
step A2: displaying a virtual object with the contour being consistent with the calibration block body in a virtual space, and generating coordinates of each point of the virtual object in mixed reality, wherein the virtual object at least comprises a plurality of virtual alignment mark points which are in one-to-one correspondence with the alignment mark points;
step A3: and collecting an image of the calibration block body, detecting alignment mark points on the calibration block body, and completing calibration when all the alignment mark points are superposed with the virtual alignment mark points and the fluorescent small balls are captured by the optical positioning tracker.
And in the step A3, when all the alignment mark points and the virtual alignment mark points are superposed, and the fluorescent small ball is captured by the optical positioning tracker and continuously set for a set time, the calibration is completed.
The calibration process of the surgical instrument specifically comprises the following steps:
step B1: starting an optical positioning tracker;
step B2: the calibration block body is horizontally placed and kept stable, the calibration block body is kept in the tracking range of a navigation world coordinate system T1, and the fluorescent small balls on the calibration block are kept from being blocked;
step B3: the probe is inserted into the probe-receiving hole until the sharp point of the probe can be seen in the alignment sight groove.
Step B4: the surgical instrument is inserted into the surgical instrument receiving aperture until the sharp point of the surgical instrument is visible in the alignment viewing slot.
Step B5: the position of the surgical instrument and the probe are continuously adjusted until the alignment of the sharp point of the probe and the sharp point of the surgical instrument is observed in the alignment observation groove.
Step B6: and the optical positioning tracker simultaneously tracks the sharp point of the probe to obtain the pose of the sharp point of the surgical instrument relative to the optical positioning tracker, so that the calibration of the surgical instrument is completed.
Compared with the prior art, the invention has the following beneficial effects:
1) the calibration device can complete the mixed reality space calibration and the calibration of surgical instruments simultaneously, has multiple functions, and can save the calibration time because the calibration block can align to a plurality of mark points at one time.
2) The calibration block has better depth perception calibration capability when completing the calibration of the mixed reality space.
3) When the calibration block finishes the calibration of the surgical instrument, only one step of sharp point alignment operation needs to be finished, so that the calibration process of the surgical instrument is simplified.
4) The calibration process of mixed reality and the calibration process of the surgical instrument can be in seamless butt joint, so that the time is saved, and the process can be simplified.
5) The calibration block has small volume, light weight and convenient carrying.
6) The calibration block is designed in consideration of human engineering, and the calibration method is friendly to man-machine interaction. .
Drawings
FIG. 1 is a schematic structural diagram of a calibration apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another angle of the calibration device according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of a calibration process for mixed reality and physical space;
FIG. 4 is a schematic illustration of a calibration process for a surgical instrument;
wherein: 1. the calibration block comprises a calibration block body, 2, a probe accommodating hole, 3, a calibration block upper surface, 4, an alignment mark point, 5, an alignment observation groove, 6, a calibration block right surface, 7, a calibration block front surface, 8, an auxiliary alignment groove, 9, a surgical instrument accommodating hole, 10, a handheld grip, 11, an auxiliary alignment mark point, 12, a calibration block rear surface, 13, a base, 14, a fluorescent ball, 15, a fluorescent ball base, 16, a calibration block lower surface, 17, a handheld grip central hole, 18, an optical positioning tracker, 19, an optical semi-transparent helmet display, 20, a virtual alignment mark point, 21, a virtual auxiliary alignment mark point, T1, a navigation world coordinate system, T2, a virtual coordinate system, T3, a calibration block local coordinate system, 22, a probe grip, 23, a probe, 24, a surgical instrument, 25 and a surgical instrument grip.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
A calibration apparatus of a mixed reality surgical navigation system, as shown in fig. 1 to 3, comprising:
the calibration block comprises a calibration block body 1 and a handheld holding rod 10 arranged on a first side surface of the calibration block body 1;
an optical tracking module, which is provided with a small fluorescent ball 14 and is arranged on a second side surface of the calibration block body 1, wherein the first side surface and the second side surface are different side surfaces, in this embodiment, the first side surface is a lower surface 16 of the calibration block, and the second side surface is a rear surface 12 of the calibration block;
the calibration block comprises a calibration block body 1, wherein four vertex angles of the calibration block body 1 are provided with alignment mark points 4, three alignment mark points 4 are in one plane, and the fourth alignment mark point 4 is not in the plane;
the calibration block comprises a calibration block body 1, wherein an alignment observation groove 5 is formed in the calibration block body 1, the alignment observation groove 5 penetrates through a third side face and a fourth side face, the third side face and the fourth side face are two intersected side faces, a plurality of probe accommodating holes 2 and surgical instrument accommodating holes 9 in one-to-one correspondence with the probe accommodating holes 2 are formed in the calibration block body 1, one ends of all the probe accommodating holes 2 and the surgical instrument accommodating holes 9 extend to the surface of the calibration block body 1, the other ends of all the probe accommodating holes 2 and the surgical instrument accommodating holes 9 extend to the alignment observation groove 5, and the central axis of each surgical instrument accommodating hole 9 and the central axis of the corresponding probe accommodating hole 2 are on the same straight line.
The optical tracking module comprises a base 13, and at least three fluorescent beads 14 are arranged and mounted on the base 13.
The calibration block body 1 is a cube.
One end of the probe receiving hole 2 extends to a fifth side of the calibration block body 1, one end of the surgical instrument receiving hole 9 extends to a sixth side of the calibration block body 1, and the fifth side and the sixth side are parallel to each other, perpendicular to the third side, and perpendicular to the fourth side.
The first side surface and the sixth side surface are the same side surface.
At least three of other vertexes of the calibration block body 1 are provided with auxiliary alignment mark points 11, the shapes of the auxiliary alignment mark points are different from the shapes of the alignment mark points 4, and the other vertexes are vertexes other than the vertexes provided with the alignment mark points 4.
The calibration block body 1 is made by machining, the handheld grip 10 is made by 3D printing of photosensitive resin composite materials, and the calibration block body 1 is connected with the handheld grip 10 through threads. The calibration block body takes a cube with the side length of 60mm as a frame. The array of six probe accommodation holes 2 is evenly distributed on calibration block upper surface 3, and every probe accommodation hole 2 is the through hole that the diameter is 3mm, and all runs through to alignment observation groove 5. The centre axis of the probe receiving hole 2 is theoretically perpendicular to the calibration block upper surface 3. The calibration block lower surface 16 shows an array of six evenly distributed surgical instrument receiving apertures 9, the surgical instrument receiving apertures 9 being of different diameters and being distributed between 4mm and 9mm with a tolerance of 0.5 mm. Each surgical instrument receiving aperture 9 extends through to the alignment viewing slot 5. Each probe-receiving aperture 2 and each surgical instrument-receiving aperture 9 are visible through to the penetration of the alignment viewing slot 5. The alignment observation groove 5 is a non-through groove with a groove depth of 53mm and a groove height of 10mm, and is machined from the center of the right surface 6 of the calibration block and the front surface 7 of the calibration block. The alignment mark point 4 is a sphere with the radius of 2mm, and the sphere center of the alignment mark point is theoretically superposed with the corresponding vertex of the cube. There are four alignment mark points 4 in total, two of which are located at the apex of the intersection of the calibration block upper surface 3 and the calibration block front surface 7 and two of which are located at the apex of the intersection of the calibration block right surface 6 and the calibration block rear surface 12. The auxiliary alignment groove 8 is formed by cutting a semicircle with the radius of 5mm and the radius of 7mm, and the groove depth is 2 mm. The auxiliary alignment grooves 8 are three in total, and the auxiliary alignment mark points 11 are three in total and are respectively three vertexes of the upper surface 3 of the calibration block, the front surface 7 of the calibration block and the right surface 6 of the calibration block. The auxiliary mark points 11 correspond one-to-one to the auxiliary alignment grooves 8. The optical tracking module base 13 is a machined hollow equilateral triangular base with a base height of 3 mm. The radius of the fluorescent small ball 14 is 5mm, and the surface is covered with optical fluorescent material. There are three fluorescent beads 14 in total that can be tracked by the optical position tracker 18 during calibration. The fluorescent small ball base 15 is a metal circular table and is manufactured by machining. The base 13 is fixedly connected with the rear surface 12 of the calibration block and the fluorescent bead base 15. Fluorescent bead base 15 is threadably connected to fluorescent bead 14. The central axis of the fluorescent small ball base 15 is theoretically vertical to the rear surface 12 of the calibration block. The handheld holding rod 10 is a hollow metal cylinder with the diameter of 10mm, the length of the hollow metal cylinder is 60mm, and the surface of the handheld holding rod is provided with threads. The handheld holding rod 10 is fixedly connected with the calibration block body 1. The hand-held rod 10 is provided with a hand-held grip central hole 17 with the diameter of 7 mm. The central axis of the handheld holding rod 10 is theoretically vertical to the lower surface 16 of the calibration block. All sharp edges of the calibration block are subjected to fillet treatment.
The calibration method of the calibration device of the mixed reality surgical navigation system comprises a calibration process of mixed reality and physical space and a calibration process of surgical instruments.
The calibration process of the mixed reality and physical space specifically comprises the following steps:
step A1: starting the optical position tracker 18 and initializing the device;
step A2: wearing an optical semi-transparent helmet display 19, starting a UWP application deployed in the optical semi-transparent helmet display 19, then displaying a virtual object with the contour being consistent with that of the calibration block body 1 in a virtual space, and generating coordinates of each point of the virtual object in mixed reality, wherein the virtual object at least comprises a plurality of virtual alignment mark points 20 in one-to-one correspondence with the alignment mark points 4;
at this time, since the hand-held grip lever 10 holding the calibration block is moved,
step A3: and collecting an image of the calibration block body 1, detecting the alignment mark points 4 on the calibration block body 1, and when all the alignment mark points 4 are superposed with the virtual alignment mark point 20 and the fluorescent small ball 14 is captured by the optical positioning tracker 18, lasting for 5 seconds, so as to finish calibration. This process is within the tracking range of both the optical position tracker 18 and the range of motion of the operator's hands.
In the calibration process, a calibration matrix needs to be calculated to complete calibration. The specific calculation principle is as follows: for each virtual alignment marker point 20, its position and coordinates in the virtual coordinate system T2 are predeterminedWell defined, is denoted as pi∈R3(i ═ 1, … 4). For the local coordinate system T3 of the calibration block, the position matrix relative to the navigation world coordinate system T1 can be tracked in real time and is recorded as
Each alignment mark point 4 on the calibration block, the position and coordinates of which relative to the local coordinate system T3 of the calibration block can be obtained by Pivot method, denoted as Ti∈R3(i ═ 1, … 4). The position and coordinates of each of the alignment marker points 4 under the navigation world coordinate system T1 can thus be calculated:
to this end, the virtual alignment mark point 20 in the virtual coordinate system T2 corresponds to the alignment mark point 4 in the navigation world coordinate system T1 one-to-one, and both correspond to the calibration matrix TCalThe relationship of (a) to (b) is as follows: p is a radical ofi＝TCal·qi(i-1, … 4) can be solved by absolute orientation quaternion method to obtain TCal。
The calibration process of the surgical instrument specifically comprises the following steps:
step B1: activating the optical position tracker 18;
step B2: the calibration block body 1 is horizontally placed and kept stable, the calibration block body is kept within the tracking range of a navigation world coordinate system T1, and the fluorescent small ball 14 on the calibration block is kept not to be shielded;
step B3: the probe 23 is inserted into the probe-receiving hole 2 until the sharp point of the probe 23 can be seen in the alignment observation slot 5.
Step B4: the surgical instrument 24 is inserted into the surgical instrument receiving hole 9 until the sharp point of the surgical instrument 24 is visible in the alignment viewing slot 5.
Step B5: the position of the surgical instrument 24 and the probe 23 are continuously adjusted until the alignment of the tip of the probe 23 with the tip of the surgical instrument 24 is observed in the alignment observation slot 5.
Step B6: the optical positioning tracker 18 simultaneously tracks the sharp point of the probe 23 to obtain the pose of the sharp point of the surgical instrument 24 relative to the optical positioning tracker 18, so as to finish the calibration of the surgical instrument 24.
The calibration device and the calibration method are utilized to complete the calibration of the Microsoft HoloLens optical semi-transparent helmet display and the NDI optical tracker and complete the calibration of the surgical drill. The specific implementation details are as follows: an operator firstly completes initialization of the NDI optical tracker and the HoloLens optical semi-transparent helmet display, then completes position fine adjustment of the virtual mark point set by utilizing a gesture recognition command, then completes space alignment of virtual and real mark points by holding a calibration block in hand and keeps a certain time length, and on the basis, the space conversion relation between the virtual space coordinate system of the Microsoft HoloLens optical semi-transparent helmet display and the world coordinate system of the NDI optical tracker is calculated. Then, on the premise of not closing the Microsoft HoloLens optical semi-perspective helmet display and the NDI optical tracker, the calibration block is stabilized, the optical navigation probe and the surgical drill bit are held by hands at the same time, the optical navigation probe and the surgical drill bit are inserted into the corresponding accommodating holes, the alignment state of the sharp points of the optical navigation probe and the surgical drill bit is kept for a certain time, and finally the calibration of the surgical drill bit is realized. The experimental results show that: the calibration projection errors along the X, Y and Z axis directions are respectively 1.55 +/-0.27 mm,1.71 +/-0.40 mm and 2.84 +/-0.78 mm, and the requirements of general clinical operations can be met.
Claims (10)
1. A calibration device of a mixed reality surgical navigation system is characterized by comprising:
the calibration block comprises a calibration block body (1) and a handheld holding rod (10) arranged on a first side surface of the calibration block body (1);
the optical tracking module is provided with a fluorescent ball (14) and is arranged on a second side surface of the calibration block body (1), wherein the first side surface and the second side surface are different side surfaces;
alignment mark points (4) are arranged at four vertex angles of the calibration block body (1), wherein three alignment mark points (4) are in one plane, and the fourth alignment mark point (4) is not in the plane;
be equipped with in mark piece body (1) and align observation groove (5), should align observation groove (5) and run through third side and fourth side, third side and fourth side are crossing two sides, be equipped with a plurality of probe accommodation holes (2) on mark piece body (1) and with each probe accommodation hole (2) one-to-one surgical instruments accommodation hole (9), the surface of mark piece body (1) is all extended to the one end of all probe accommodation holes (2) and surgical instruments accommodation hole (9), the other end all extends to and aligns observation groove (5), and the central axis of each surgical instruments accommodation hole (9) and the central axis that corresponds probe accommodation hole (2) are on a straight line.
2. The calibration device of the mixed reality surgical navigation system according to claim 1, wherein the optical tracking module comprises a base (13), and at least three fluorescent beads (14) are arranged on the base (13).
3. The calibration device of the navigation system for mixed reality surgery according to claim 1, characterized in that the calibration block body (1) is a cube.
4. The calibration device of a mixed reality surgical navigation system according to claim 1, wherein one end of the probe receiving hole (2) extends to a fifth side of the calibration block body (1), one end of the surgical instrument receiving hole (9) extends to a sixth side of the calibration block body (1), and the fifth side and the sixth side are parallel to each other, perpendicular to the third side, and perpendicular to the fourth side.
5. The calibration device of a mixed reality surgical navigation system of claim 4, wherein the first side and the sixth side are the same side.
6. The calibration device of the mixed reality surgical navigation system according to claim 1, wherein at least three of the other vertexes of the calibration block body (1) are provided with auxiliary alignment mark points (11) having a shape different from that of the alignment mark points (4), wherein the other vertexes are vertexes other than the vertexes provided with the alignment mark points (4).
7. A calibration method of a calibration device of a mixed reality surgical navigation system according to any one of claims 1-6, characterized by comprising a calibration process of mixed reality and physical space and a calibration process of surgical instruments.
8. The calibration method according to claim 7, wherein the calibration process of the mixed reality and physical space specifically comprises:
step A1: activating an optical position tracker (18);
step A2: displaying a virtual object with the contour consistent with the calibration block body (1) in a virtual space, and generating coordinates of each point of the virtual object in mixed reality, wherein the virtual object at least comprises a plurality of virtual alignment mark points (20) which are in one-to-one correspondence with the alignment mark points (4);
step A3: the method comprises the steps of collecting an image of a calibration block body (1), detecting alignment mark points (4) on the calibration block body (1), and completing calibration when all the alignment mark points (4) are overlapped with virtual alignment mark points (20) and a fluorescent small ball (14) is captured by an optical positioning tracker (18).
9. The calibration method according to claim 8, wherein in step A3, the calibration is completed when all the alignment mark points (4) and the virtual alignment mark point (20) coincide and the fluorescent ball (14) is captured by the optical position tracker (18) for a set time period.
10. The calibration method according to claim 7, wherein the calibration process of the surgical instrument specifically includes:
step B1: activating an optical position tracker (18);
step B2: the calibration block body (1) is horizontally placed, kept stable and kept within the tracking range of a navigation world coordinate system T1, and the fluorescent ball (14) on the calibration block is kept not to be shielded;
step B3: the probe (23) is inserted into the probe-receiving hole (2) until the sharp point of the probe (23) can be seen in the alignment observation groove (5).
Step B4: the surgical instrument (24) is inserted into the surgical instrument receiving hole (9) until the tip of the surgical instrument (24) is visible in the alignment viewing slot (5).
Step B5: the position of the surgical instrument (24) and the probe (23) is continuously adjusted until the alignment of the sharp point of the probe (23) and the sharp point of the surgical instrument (24) is observed in the alignment observation groove (5).
Step B6: the optical positioning tracker (18) simultaneously tracks the sharp point of the probe (23) to obtain the pose of the sharp point of the surgical instrument (24) relative to the optical positioning tracker (18), so that the calibration of the surgical instrument (24) is completed.
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