CN113855241B

CN113855241B - Magnetic navigation positioning system and method, calibration method, electronic equipment and storage medium

Info

Publication number: CN113855241B
Application number: CN202111182676.3A
Authority: CN
Inventors: 宋雪迎; 吴井胜
Original assignee: Shanghai Weiwei Aviation Robot Co ltd
Current assignee: Shanghai Weiwei Aviation Robot Co ltd
Priority date: 2021-10-11
Filing date: 2021-10-11
Publication date: 2023-04-28
Anticipated expiration: 2041-10-11
Also published as: CN113855241A

Abstract

The invention provides a magnetic navigation positioning system and method, a calibration method, electronic equipment and a storage medium, wherein the magnetic navigation positioning system comprises a magnetic field generator, a controller and at least one second magnetic inductor; the magnetic field generator is used for moving within a preset range to generate a magnetic field at least one moving position; the generated magnetic field is used for at least one second magnetic inductor positioned in the magnetic field to acquire second magnetic field intensity information and the first magnetic inductor to acquire first magnetic field intensity information; the controller is used for determining pose information of the first magnetic inductor under the reference coordinate system according to the mapping relation between the magnetic field coordinate system and the reference coordinate system and the first magnetic field intensity information. The reference coordinate system is kept unchanged before and after the magnetic field generator moves, so that the pose information of the first magnetic sensor is obtained under the reference coordinate system, and the obtained pose information of the first magnetic sensor is always under the same coordinate system before and after the magnetic field generator moves.

Description

Magnetic navigation positioning system and method, calibration method, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of magnetic navigation, in particular to a magnetic navigation positioning system and method, a calibration method, electronic equipment and a storage medium.

Background

With the development of high and new computer technology, medical imaging technology and the like, more and more computer-aided surgery navigation systems are appeared to meet the current requirements for high-precision surgery. The basic workflow mostly relies on a positioning system to acquire characteristic pose and register with a three-dimensional modeling model of a preoperative medical image of a patient so as to achieve pose mapping, a sensor is arranged at the tail end of an operation tool, and then the positioning system tracks the tail end sensor so as to map the pose of an operation instrument in an operation field into the three-dimensional image, so that a doctor can intuitively observe the relative pose of the operation instrument and a focus and effectively and accurately operate the operation tool. Therefore, the positioning system is a crucial step in the whole system, is an important input for establishing the mapping of the surgical space and the medical image pose, and is a key module for tracking the pose of the surgical instrument. Its accuracy is a key module in determining the accuracy of surgery.

Most current surgical navigation systems include pose information, including position information and pose information (also known as angle information), that provides for positioning of the surgical instrument by magnetic navigation techniques. The range covered by the magnetic field in the magnetic navigation technology is used for detecting pose information of the magnetic sensor in the magnetic field in the surgical instrument. Therefore, the magnetic field generator providing the magnetic field cannot move in pose, and once the magnetic field generator moves, different pose information provided by the magnetic sensors before and after the movement cannot reflect the movement condition of the surgical instrument, so that the operation space of a doctor can be greatly limited, and unnecessary operations can be brought to the doctor with high probability.

It should be noted that the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide a magnetic navigation positioning system and method, a calibration method, electronic equipment and a storage medium, which can solve the problem that in the prior art, a magnetic field generator cannot generate pose movement, and once the magnetic field generator moves, the pose mapping relation can be invalid.

In order to solve the technical problems, the invention provides a magnetic navigation positioning system which is applied to positioning of a surgical instrument, wherein a first magnetic inductor is arranged at the tail end of the surgical instrument, the positioning system comprises a magnetic field generator, a controller and at least one second magnetic inductor, and the magnetic field generator, the first magnetic inductor and the second magnetic inductor are all in communication connection with the controller;

the magnetic field generator is used for moving within a preset range so as to generate a magnetic field at any position of the movement; the generated magnetic field is used for at least one second magnetic inductor positioned in the magnetic field to acquire second magnetic field intensity information and the first magnetic inductor to acquire first magnetic field intensity information;

The controller is used for establishing a mapping relation between a magnetic field coordinate system and a reference coordinate system when the magnetic field generator moves to any position in the preset range according to a preset reference coordinate system and according to at least one piece of second magnetic field intensity information in the magnetic field; determining pose information of the first magnetic sensor under the reference coordinate system according to the mapping relation and the first magnetic field intensity information; wherein the reference coordinate system is constructed based on the at least one second magnetic inductor.

Optionally, the magnetic navigation positioning system further comprises a first fixture for mounting the magnetic field generator, the magnetic field generator being movable on the first fixture and/or the first fixture being movable relative to the patient such that the magnetic field generator is capable of generating a magnetic field at any position within a predetermined range.

Optionally, the first fixation device is for mounting on a patient support device for supporting a patient, the first fixation device being movable relative to the patient support device.

Optionally, the first fixing device is in an annular arrangement, and the magnetic field generator can move along the circumference of the first fixing device.

Optionally, the first fixing device is a C-shaped arm, and the magnetic field generator is mounted at the end of the C-shaped arm.

Optionally, the first fixing device is a mechanical arm, and the magnetic field generator is installed at the tail end of the mechanical arm.

Optionally, the reference coordinate system is determined based on a pose relationship between the preset second magnetic sensor and the preset landmark device.

Optionally, the reference coordinate system is obtained by calibrating at least one second magnetic sensor therein.

Optionally, the at least one second magnetic sensor is mounted on the same second fixing device, wherein the controller pre-stores or pre-calibrates the pose relation between the second magnetic sensors mounted on the second fixing device.

Optionally, the second fixing device is of a variable structure, and the pose of at least one second magnetic inductor on the second fixing device is adjustable.

Optionally, the controller is further configured to register, according to the plurality of pose information of the first magnetic sensor in the reference coordinate system, with a pre-acquired three-dimensional model of the medical image, so as to acquire a mapping relationship between the reference coordinate system and a three-dimensional model coordinate system corresponding to the three-dimensional model of the medical image, so that pose information of the distal end of the surgical instrument is determined on the three-dimensional model of the medical image.

Optionally, the controller is further configured to obtain, according to real-time pose information of the distal end of the surgical instrument in the three-dimensional model coordinate system, a real-time positional relationship between the distal end of the surgical instrument and a target path planned according to the three-dimensional medical image model; or alternatively

The controller is also used for acquiring the real-time position relation between the tail end of the surgical instrument and the focus according to the real-time pose information of the tail end of the surgical instrument under the three-dimensional model coordinate system.

In order to solve the technical problem, the invention also provides a magnetic navigation positioning method, which comprises the following steps:

acquiring second magnetic field intensity information acquired by at least one second magnetic sensor and first magnetic field intensity information acquired by a first magnetic sensor under a magnetic field provided by any position of the magnetic field generator moving within a preset range;

according to the acquired at least one second magnetic field intensity information, establishing a mapping relation between a magnetic navigation coordinate system and a preset reference coordinate system when the magnetic field generator moves to any position; wherein the reference coordinate system is constructed based on the at least one second magnetic inductor; and

and determining pose information of the first magnetic sensor under the reference coordinate system according to the mapping relation and the first magnetic field intensity information.

Optionally, the predetermined range is determined based on a range in which the magnetic field energy covers at least one of the second magnetic inductors.

In order to solve the technical problem, the invention also provides a calibration method applied to a magnetic navigation positioning system, wherein the magnetic navigation positioning system comprises a magnetic field generator and at least two second magnetic sensors, and the calibration method comprises the following steps:

defining a reference coordinate system according to second magnetic field intensity information acquired by at least one second magnetic inductor in the same magnetic field and/or temporary magnetic field intensity information acquired by at least one temporary magnetic inductor in the same magnetic field when the magnetic field generator is positioned at an initial calibration position, and calibrating pose information of the at least one second magnetic inductor and/or the at least one temporary magnetic inductor under the reference coordinate system;

moving the magnetic field generator to a plurality of calibration positions including the starting calibration position; and

acquiring second magnetic field intensity information of a plurality of second magnetic inductors including the calibrated second magnetic inductors and/or temporary magnetic induction intensity information of the calibrated temporary magnetic inductors at each calibration position; and calibrating pose information of other corresponding second magnetic sensors under the reference coordinate system by utilizing the second magnetic field intensity information and/or the temporary magnetic induction intensity information and the pose information of the calibrated second magnetic sensors under the reference coordinate system and/or the pose information of the calibrated temporary magnetic sensors under the reference coordinate system until all the pose information of the second magnetic sensors under the reference coordinate system are calibrated.

Optionally, the distance between adjacent calibration positions is determined based on the distance between the second magnetic sensors.

In order to solve the technical problem, the invention also provides electronic equipment, which comprises a processor and a memory, wherein the memory is stored with a computer program, and the magnetic navigation positioning method or the calibration method is realized when the computer program is executed by the processor.

In order to solve the above technical problem, the present invention further provides a readable storage medium, in which a computer program is stored, where the computer program, when executed by a processor, implements the magnetic navigation positioning method or the calibration method described above.

Compared with the prior art, the magnetic navigation positioning system, the positioning method, the calibration method, the electronic equipment and the storage medium provided by the invention have the following advantages: the magnetic field generator in the invention can move within a preset range to generate a magnetic field at any position of the movement; the generated magnetic field is used for at least one second magnetic inductor positioned in the magnetic field to acquire second magnetic field intensity information and the first magnetic inductor to acquire first magnetic field intensity information; thus, according to a preset reference coordinate system and according to at least one second magnetic field intensity information in the magnetic field, a mapping relation between the magnetic field coordinate system and the reference coordinate system when the magnetic field generator moves to any position in the preset range can be established; therefore, pose information of the first magnetic sensor under the reference coordinate system can be determined according to the mapping relation and the first magnetic field intensity information. Because the reference coordinate system is kept unchanged before and after the magnetic field generator moves, by acquiring the pose information of the first magnetic sensor under the reference coordinate system, the pose information of the first magnetic sensor acquired before and after the magnetic field generator moves can be ensured to be always under the same coordinate system, so that the effectiveness of the acquired pose mapping relation can be ensured, and navigation and positioning can be better realized. In addition, because the magnetic field generator is not fixed, the first magnetic inductor can be always in a magnetic field environment by moving the magnetic field generator, so that the real-time tracking of the pose of the first magnetic inductor can be realized, namely, the real-time tracking of the motion track of a surgical instrument is realized, and meanwhile, the high-precision working range of the magnetic navigation positioning system can be expanded, so that the magnetic navigation positioning system is not limited by the range of the magnetic field generator, and the high-precision identification space in the surgical process is increased. In addition, when the magnetic navigation system is used in combination with equipment such as a C-arm, X-ray or ultrasonic interference magnetic navigation system in the operation, the magnetic field generator can be moved to a position where interference between the equipment does not occur, so that the operation can be continued. In addition, since the mapping relation between the coordinate system of the second magnetic sensor and the reference coordinate system is obtained in advance, other positioning devices, such as a visual positioning device, are not needed to be added to determine the reference coordinate system irrelevant to the pose of the magnetic field generator, so that the positioning cost of magnetic navigation can be further reduced.

Drawings

FIG. 1 is a schematic diagram of an application scenario of a magnetic navigation positioning system in the prior art;

FIG. 2 is a schematic diagram of an application scenario of a magnetic navigation positioning system according to an embodiment of the present invention;

FIG. 3 is a block diagram of a magnetic navigation positioning system according to an embodiment of the present invention;

FIG. 4 is a schematic diagram showing the connection relationship between the magnetic field generator and the first fixing device according to the first embodiment of the present invention;

FIG. 5 is a schematic diagram showing the connection relationship between the magnetic field generator and the first fixing device according to the second embodiment of the present invention;

FIG. 6 is a schematic diagram showing the connection relationship between the magnetic field generator and the first fixing device according to the third embodiment of the present invention;

FIG. 7 is a schematic diagram of the measurement principle of the magnetic navigation positioning system according to the first embodiment of the present invention;

FIG. 8 is a schematic diagram of a measurement principle of a magnetic navigation positioning system according to a second embodiment of the present invention;

FIG. 9 is a schematic diagram showing a mounting structure of a second magnetic sensor according to an embodiment of the present invention;

FIG. 10 is a schematic view of a calibration scenario in a first embodiment of the present invention;

FIG. 11 is a schematic illustration of a calibration flow in a first embodiment of the invention;

FIG. 12 is a schematic view of a calibration scenario in a second embodiment of the present invention;

FIG. 13 is a schematic view of a calibration scenario in a third embodiment of the present invention;

FIG. 14 is a schematic illustration of a calibration flow in a second embodiment of the invention;

FIG. 15 is a flow chart of a magnetic navigation positioning method according to an embodiment of the invention;

FIG. 16 is a block diagram of an electronic device according to an embodiment of the invention;

wherein, the reference numerals are as follows:

a robot-1; a trolley-11; a mechanical arm-12; patient support means-2; a display device-3; a surgical instrument-4;

a magnetic field generator-10; a first magnetic inductor-20; a second magnetic sensor-30; a controller-40; a second magnetic sensor-30A to be calibrated; reference is made to a second magnetic inductor-30B; an intermediate second magnetic inductor-30C; a first fixing means-50; a second fixing means-60; a support rod-61; a connecting rod-62; a temporary magnetic inductor-70; a magnetic field-a; a magnetic field-b; a first magnetic field-11A; a second magnetic field-11B;

a processor-101; a communication interface-102; a memory-103; communication bus-104.

Detailed Description

The magnetic navigation positioning system and method, the calibration method, the electronic device and the storage medium provided by the invention are further described in detail below with reference to the accompanying drawings and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the present disclosure for the understanding and reading of the present disclosure, and are not intended to limit the scope of the invention, which is defined by the appended claims, and any structural modifications, proportional changes, or dimensional adjustments, which may be made by the present disclosure, should fall within the scope of the present disclosure under the same or similar circumstances as the effects and objectives attained by the present invention.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. The plural number includes two.

Please refer to fig. 1, which schematically illustrates an application scenario of a magnetic navigation positioning system in the prior art. As shown in fig. 1, the magnetic navigation positioning system is applied to a surgical robot system, the surgical robot system comprises a robot 1, a patient support device 2 and a display device 3, and the patient support device 2 is used for supporting a patient, and examples of the patient support device include an operating bed, an operating deck chair or the like. The robot 1 comprises a trolley 11 and a mechanical arm 12 mounted on the trolley 11, wherein a surgical instrument 4, such as a bronchoscope catheter, a flexible surgical instrument with a surgical actuator, is mounted at the end of the mechanical arm 12. Wherein at least the distal end of the surgical instrument 4 is provided with a first magnetic sensor 20 for providing pose information of the distal end of the surgical instrument 4.

The magnetic navigation system comprises a magnetic field generator 10, the magnetic field generator 10 is mounted on the patient support device 2, and the first magnetic sensor 20 can collect first magnetic field intensity information corresponding to pose information thereof in the moving process of the magnetic field generator 10 in the magnetic field range provided by the magnetic field generator. Since the magnetic navigation coordinate system is used as a reference invariant coordinate system in the prior art, that is, the magnetic field generator 10 cannot move in pose during use, the following problems are caused: (1) The working range of the magnetic field generator 10 for maintaining the measurement accuracy is small, and if an interfering object exists in the working range, the pose of the first magnetic sensor 20 cannot be tracked; (2) Because the high-precision working range of the magnetic field generator 10 is smaller, the magnetic field generator 10 is required to be close to an operation area in actual use, so that the positioning of the magnetic field generator 10 can limit and influence the joint use of other devices such as a C arm, X rays or ultrasound; (3) After the magnetic field generator 10 moves, the pose mapping relationship may fail. The existence of the problems can cause great limitation on the operation space of doctors, and is not beneficial to the free operation of the doctors in the minimally invasive surgery process.

The invention provides a magnetic navigation positioning system and method, a calibration method, electronic equipment and a storage medium, and aims to solve the problem that in the prior art, a magnetic field generator cannot move in pose, and once the magnetic field generator moves, the pose mapping relation is invalid. It should be noted that, the magnetic navigation positioning method according to the embodiment of the present invention may be applied to the magnetic navigation positioning system according to the embodiment of the present invention, the electronic device may be a personal computer, a mobile terminal, etc., and the mobile terminal may be a hardware device with various operating systems, such as a mobile phone, a tablet computer, etc.

To achieve the above-described idea, the present invention provides a magnetic navigation positioning system applied to the positioning of a surgical instrument 4. Referring to fig. 2 and fig. 3, fig. 2 schematically shows an application scenario of the magnetic navigation positioning system according to an embodiment of the present invention, and fig. 3 schematically shows a block structure of the magnetic navigation positioning system according to an embodiment of the present invention. As shown in fig. 2 and 3, the surgical instrument 4 is provided with a first magnetic sensor 20 at the distal end thereof, and the magnetic navigation positioning system includes a magnetic field generator 10, a controller 40 and at least one second magnetic sensor 30, wherein the magnetic field generator 10, the first magnetic sensor 20 and the second magnetic sensor 30 are all in communication connection with the controller 40.

For convenience of the following description, the magnetic navigation coordinate system refers to a coordinate system of a magnetic field generator, that is, a coordinate system created by taking a certain point on the magnetic field generator as an origin. The reference coordinate system is a coordinate system created by taking the position of a certain second magnetic sensor as an origin; or a coordinate system constructed for utilizing landmark devices in an operating room environment, wherein at least one second magnetic sensor has a pre-calibrated relative positional relationship with the landmark devices in the operating room environment. The landmark device is a calibrated entity object in an operating room. For example, means for providing an identification code, such as a label paper or a label station providing a two-dimensional code; or surgical equipment fixed in an operating room, such as an operating lamp, or an operating robot, etc.

In addition, in the present invention, the magnetic navigation coordinate system changes with the movement of the magnetic field generator, and the positions of the reference coordinate system and the second magnetic sensor are kept unchanged during the positioning process, that is, the positions of the reference coordinate system and the second magnetic sensor do not change with the movement of the magnetic field generator, and the positions of the first magnetic sensor change with the movement of the surgical instrument.

Still referring to fig. 2 and 3, the magnetic field generator 10 is configured to generate a magnetic field within a predetermined range. It should be noted that, as will be understood by those skilled in the art, the predetermined range refers to the sum of the magnetic field ranges radiated before and after the movement of the magnetic field generator 10 (i.e., the sum of the working ranges before and after the movement of the magnetic field generator 10), and the predetermined range is set according to the focal position of the patient, so that the magnetic field range radiated before and after the movement of the magnetic field generator 10 can fully cover all points on the path from the insertion point position to the focal position of the surgical instrument 4, thereby enabling the magnetic navigation system provided by the present invention to track the movement track of the surgical instrument 4 in real time, and increasing the high-precision identification space during the operation.

Further, the magnetic navigation positioning system further comprises a first fixture 50 for mounting the magnetic field generator 10, the magnetic field generator 10 being movable on the first fixture 50 and/or the first fixture 50 being movable relative to the patient such that the magnetic field generator 10 is capable of generating a magnetic field within a predetermined range. Thus, by moving the magnetic field generator 10 on the first fixing device 50 and/or moving the first fixing device 50 relative to the patient, the movement of the magnetic field generator 10 can be more conveniently realized, so that when the magnetic field generator 10 needs to be used in combination with devices interfering with magnetic navigation such as C-arm, X-ray or ultrasound, the magnetic field generator 10 can be moved to a position where the devices do not interfere with each other, so that the operation can be continued.

Specifically, please refer to fig. 4, which schematically illustrates a connection structure between the magnetic field generator 10 and the first fixing device 50 according to the first embodiment of the present invention. As shown in fig. 4, in the present embodiment, the first fixing device 50 is configured to be mounted on a patient support device 2 (e.g., a hospital bed), the patient support device 2 is configured to support a patient, and the first fixing device 50 is configured to be movable relative to the patient support device 2. Therefore, the whole structure of the magnetic navigation positioning system provided by the invention can be further simplified, and the cost is further reduced.

Further, as shown in fig. 4, the first fixing device 50 is disposed in a ring shape, and the magnetic field generator 10 is capable of moving along the circumferential direction of the first fixing device 50. Thus, the first fixing device 50 can be sleeved on the patient support device 2 to mount the first fixing device 50 on the patient support device 2, so that the first fixing device 50 can be mounted more conveniently. Furthermore, since the magnetic field generator 10 is movable in the circumferential direction of the first fixture 50, it is possible to adjust the pose of the magnetic field generator 10 by moving the first fixture 50 on the patient support device 2 and/or moving the magnetic field generator 10 on the first fixture 50, so that not only a better positioning can be achieved, but also mutual interference between the magnetic field generator 10 and other devices can be avoided.

Further, please refer to fig. 5, which schematically illustrates a connection structure between the magnetic field generator 10 and the first fixing device 50 according to the second embodiment of the present invention. As shown in fig. 5, the present embodiment is different from the previous embodiment in that in the present embodiment, the first fixing device 50 is a C-arm, and the magnetic field generator 10 is mounted at the end of the C-arm. Thus, by using a C-arm as the first fixing means 50, the pose of the magnetic field generator 10 can be adjusted by moving and rotating the C-arm, so that not only can positioning be better achieved, but also mutual interference between the magnetic field generator 10 and other devices can be avoided.

With continued reference to fig. 6, a schematic diagram of the connection relationship between the magnetic field generator 10 and the first fixing device 50 according to the third embodiment of the present invention is schematically shown. As shown in fig. 6, in the present embodiment, the first fixing device 50 is a mechanical arm, and the magnetic field generator 10 is mounted at the end of the mechanical arm. Thus, by attaching the magnetic field generator 10 to the distal end of the mechanical arm, the position and orientation of the magnetic field generator 10 can be adjusted by adjusting the position and orientation of the distal end of the mechanical membrane, so that not only can positioning be better achieved, but also mutual interference between the magnetic field generator 10 and other devices can be avoided.

As shown in fig. 2, the first magnetic sensor 20 is mounted at the distal end of the surgical instrument 4 and is used to collect first magnetic field 11A intensity information in the magnetic field. In particular, the surgical instrument 4 may be a catheter, and the first magnetic inductor 20 is configured to be mounted at an end of the catheter. Of course, the surgical device 4 may be other devices than a catheter, as will be appreciated by those skilled in the art, as the invention is not limited in this regard.

As shown in fig. 2, the at least one second magnetic sensor 30 is configured to be fixed outside the patient (the pose of the second magnetic sensor 30 does not change before and after the movement of the magnetic field generator 10). Wherein at least one of the second magnetic sensors 30 is capable of collecting second magnetic field strength information in the magnetic field generated by any position of the magnetic field generator 10 that moves within a predetermined range.

It should be noted that, as will be understood by those skilled in the art, all the second magnetic inductors 30 are installed within the predetermined range, and at least one second magnetic inductor 30 of the at least one second magnetic inductors 30 can acquire second magnetic field intensity information in the magnetic field generated by the magnetic field generator 10 before the magnetic field generator 10 moves, and at least one second magnetic inductor 30 of the at least one second magnetic inductors 30 can acquire second magnetic field intensity information in the magnetic field generated by the magnetic field generator 10 after the magnetic field generator 10 moves, that is, at any position where the magnetic field generator moves within the predetermined range, at least one second magnetic inductor 30 can acquire second magnetic field intensity information.

In addition, as will be understood by those skilled in the art, the number of the second magnetic inductors 30 may be determined according to the location of the lesion and the operating range of the magnetic field generator 10, and the number of the second magnetic inductors 30 is at least one. For example, the number of the second magnetic sensors 30 is one, which is located at a position where the corresponding magnetic field can be covered when the magnetic field generator 10 is moved to different positions within a predetermined range. As another example, the number of the second magnetic sensors 30 is plural, and when the magnetic field generator 10 moves to different positions within a predetermined range, the corresponding magnetic field can cover at least one second magnetic sensor 30.

Referring to fig. 7, a schematic diagram of a measurement principle of the magnetic navigation system according to the first embodiment of the present invention is schematically shown, wherein the magnetic field generator 10 and the first magnetic sensor 20 before moving are shown by solid lines, and the magnetic field generator 10 and the first magnetic sensor 20 after moving are shown by dashed lines. As shown in fig. 7, when the number of the second magnetic sensors 30 is one, the second magnetic sensors 30 are located in the magnetic field a generated before the movement of the magnetic field generator 10 and in the magnetic field b generated after the movement of the magnetic field generator 10. With continued reference to fig. 8, a schematic diagram of a measurement principle of the magnetic navigation system according to the second embodiment of the present invention is schematically shown. As shown in fig. 8, when the number of the second magnetic sensors 30 is more than two (including two), at least one second magnetic sensor 30 is located in the magnetic field a generated before the movement of the magnetic field generator 10, and at least one second magnetic sensor 30 is located in the magnetic field b generated after the movement of the magnetic field generator 10.

With continued reference to fig. 9, a schematic diagram of an installation structure of the second magnetic sensor 30 according to an embodiment of the present invention is schematically shown. As shown in fig. 9, all the second magnetic sensors 30 are mounted on the same second fixture 60. Thus, by mounting all the second magnetic inductors 30 on the same second fixing device 60, the fixing and mounting of the second magnetic inductors 30 can be more facilitated. Specifically, as shown in fig. 9, the second fixing device 60 may include at least one support bar 61, any two adjacent support bars 61 are connected by a connecting bar 62, and the second magnetic inductor 30 is mounted at the end of the support bar 61.

It should be noted that, although four second magnetic inductors 30 are provided in fig. 9, as those skilled in the art will understand, this is merely illustrative, and not limiting to the present invention, and the number of second magnetic inductors 30 is not limited to the present invention, and in other embodiments, the number of second magnetic inductors 30 may be one, two, three, five or more. In addition, in other embodiments, the second fixing device 60 may not be provided, and all the second magnetic sensors 30 may be directly fixed to the surface of the patient support apparatus 2 and located within the predetermined range.

Preferably, the second fixing device 60 is of a variable structure, and the pose of at least one second magnetic inductor 30 on the second fixing device 60 is adjustable. Therefore, by changing the mechanical structure of the second fixing device 60, the pose of the second magnetic sensor 30 on the second fixing device 60 can be changed, so that the composite device combined with the second fixing device 60 and the at least one second magnetic sensor 30 can be suitable for different application scenes, and the application range of the magnetic navigation positioning system provided by the invention can be further improved. Specifically, the support bar 61 and/or the connecting bar 62 in the second fixing device 60 shown in fig. 9 may be provided in a structure including a plurality of articulated arms, whereby the pose of each of the second magnetic inductors 30 may be adjusted by rotating the support bar 61 and/or the connecting bar 62. Of course, as those skilled in the art will appreciate, the second fixing device 60 may have other variable structures, as long as the second magnetic sensor 30 can be changed in pose, which is not limited by the present invention.

The controller 40 is configured to obtain pose information of the first magnetic sensor 20 under a magnetic navigation coordinate system according to first magnetic field 11A intensity information acquired by the first magnetic sensor 20, obtain pose information of the second magnetic sensor 30 under the magnetic navigation coordinate system according to second magnetic field intensity information acquired by the second magnetic sensor 30, and obtain pose information of the first magnetic sensor 20 under the magnetic navigation coordinate system, pose information of the second magnetic sensor 30 under the magnetic navigation coordinate system, and pre-obtained pose information of the second magnetic sensor 30 under the reference coordinate system. In other words, the controller 40 is configured to establish a mapping relationship between a magnetic field coordinate system and a reference coordinate system when the magnetic field generator moves to any position according to a preset reference coordinate system and according to at least one second magnetic field strength information in the magnetic field; determining pose information of the first magnetic inductor 20 under the reference coordinate system according to the mapping relation and the first magnetic field intensity information; wherein the reference coordinate system is constructed based on the at least one second magnetic inductor 30.

Specifically, the controller 40 may obtain the mapping relationship between the magnetic navigation coordinate system and the reference coordinate system according to the pose information of the second magnetic sensor 30 under the magnetic navigation coordinate system and the pose information of the second magnetic sensor 30 under the reference coordinate system, so that the pose information of the first magnetic sensor 20 under the reference coordinate system may be obtained according to the pose information of the first magnetic sensor 20 under the magnetic navigation coordinate system and the mapping relationship between the magnetic navigation coordinate system and the reference coordinate system. Since the reference coordinate system is kept unchanged before and after the magnetic field generator 10 moves, by acquiring the pose information of the first magnetic sensor 20 under the reference coordinate system, it can be ensured that the acquired pose information of the first magnetic sensor 20 is always under the same coordinate system before and after the magnetic field generator 10 moves, so that the validity of the acquired pose mapping relationship can be ensured, and navigation and positioning can be better realized.

In addition, since the magnetic field generator 10 is no longer fixed, the first magnetic sensor 20 can be always located in the magnetic field environment by moving the magnetic field generator 10, so that not only can the real-time tracking of the pose of the first magnetic sensor 20 be realized, namely, the real-time tracking of the motion track of the surgical instrument 4 be realized, but also the high-precision working range of the magnetic navigation positioning system can be expanded, so that the magnetic navigation positioning system is not limited by the range of the magnetic field generator. In addition, when it is desired to use the magnetic field generator 10 in conjunction with equipment that interferes with the magnetic navigation system, such as the C-arm, X-ray or ultrasound, the magnetic field generator can be moved to a position where no interference between the equipment occurs so that the procedure can continue. In addition, since the position information of the second magnetic sensor 30 in the reference coordinate system is acquired in advance, it is unnecessary to add other positioning devices, such as a visual positioning device, to determine the reference coordinate system independent of the pose of the magnetic field generator 10, so that the positioning cost of magnetic navigation can be further reduced.

Specifically, since the position of the second magnetic sensor 30 is fixed, the mapping relation M between the magnetic navigation coordinate system EM and the reference coordinate system RF can be obtained according to the pose information of the second magnetic sensor 30 under the magnetic navigation coordinate system EM and the pose information of the second magnetic sensor 30 under the reference coordinate system RF _EM→RF 。

Assume that the pose information of the first magnetic sensor 20 in the magnetic navigation coordinate system EM is P _EM The pose of the first magnetic sensor 20 in the reference frame RF is:

P _RF ＝P _EM *M _EM→RF

thus, according to the pose information of the first magnetic sensor 20 in the magnetic navigation coordinate system and the mapping relationship between the magnetic navigation coordinate system and the reference coordinate system, the pose information of the first magnetic sensor 20 in the reference coordinate system can be obtained, and further the pose information of the tail end of the surgical instrument 4 in the reference coordinate system can be obtained.

Further, when the magnetic navigation system includes a second magnetic sensor 30, the reference coordinate system RF may be a coordinate system created by using the position of the second magnetic sensor 30 as the origin, so that the mapping relationship M between the magnetic navigation coordinate system EM and the reference coordinate system RF can be obtained according to the pose information of the second magnetic sensor 30 in the magnetic navigation coordinate system EM _EM→RF 。

When the magnetic navigation positioning system comprises at least two second magnetic inductors 30, pose information of the second magnetic inductors 30 under the reference coordinate system can be obtained through calibration. Specifically, pose information of each of the second magnetic inductors 30 in the reference coordinate system may be calibrated by the following process:

defining a reference coordinate system according to second magnetic field intensity information acquired by at least one second magnetic sensor 30 in the same magnetic field and/or temporary magnetic field intensity information acquired by at least one temporary magnetic sensor in the same magnetic field when the magnetic field generator 10 is positioned at a starting calibration position, and calibrating pose information of the at least one second magnetic sensor 30 and/or the at least one temporary magnetic sensor in the reference coordinate system;

moving the magnetic field generator 10 to a plurality of calibration positions including the starting calibration position; and

acquiring second magnetic field intensity information of a plurality of second magnetic inductors 30 including the calibrated second magnetic inductors 30 and/or temporary magnetic induction intensity information of the calibrated temporary magnetic inductors at each calibration position; and calibrating pose information of other corresponding second magnetic inductors 30 under the reference coordinate system by using the second magnetic field intensity information and/or the temporary magnetic induction intensity information and the pose information of the calibrated second magnetic inductors 30 under the reference coordinate system and/or the pose information of the calibrated temporary magnetic inductors under the reference coordinate system until all the pose information of the second magnetic inductors 30 under the reference coordinate system is calibrated.

The calibration position is here the position of the magnetic field generator 10 determined during calibration in order to obtain the second magnetic field strength information of the second magnetic sensor 30. Wherein the spacing between adjacent ones of the calibration positions is determined based on the spacing between the second magnetic inductors 30. The plurality of second magnetic inductors 30 may be located within the magnetic field generated by the magnetic field generator 10 at the same calibration location or distributed within the magnetic field covered by different calibration locations.

Further, a reference coordinate system may be created with the position of one of the second magnetic sensors 30 as an origin, and pose information of the other second magnetic sensors 30 under the reference coordinate system may be obtained through calibration. It should be noted that, when the reference coordinate system is a coordinate system constructed by using landmark devices in the operating room environment, pose information of each second magnetic sensor 30 in the reference coordinate system may be obtained by a similar calibration method, which is not described herein.

Specifically, any one of the second magnetic sensors 30 is defined as a reference second magnetic sensor 30B, that is, the reference coordinate system is a coordinate system created by taking the position of the reference second magnetic sensor 30B as the origin, and the second magnetic sensors 30 except for the reference second magnetic sensor 30B are defined as the second magnetic sensors 30A to be calibrated.

The maximum diameter of the operating range of the magnetic field generator 10 is determined, which maintains the measurement accuracy, without changing the position.

It is determined whether the distance between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B is smaller than the maximum diameter.

If yes, the following steps are executed:

magnetic field intensity information acquired by the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B in the magnetic field generated by the magnetic field generator 10 is acquired, so as to acquire pose information of the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B under a magnetic navigation coordinate system.

And acquiring the mapping relation between the magnetic navigation coordinate system and the reference coordinate system according to the pose information of the reference second magnetic sensor 30B in the magnetic navigation coordinate system.

And acquiring pose information of the second magnetic sensor 30A to be calibrated under the reference coordinate system according to the pose information of the second magnetic sensor 30A to be calibrated under the magnetic navigation coordinate system and the mapping relation between the magnetic navigation coordinate system and the reference coordinate system.

If not, the second magnetic sensor 30A to be calibrated is calibrated by using a temporary magnetic sensor 70. For example, the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B are distributed in magnetic fields of different calibration positions, wherein the temporary magnetic sensor 70 is located in a common area covered by the two magnetic fields, and the temporary magnetic sensor 70 is used to calibrate the second magnetic sensor 30A to be calibrated. For example, the following steps are performed:

In the first calibration position, the magnetic field generator 10 generates a first magnetic field 11A, and the navigation system acquires pose information of the reference second magnetic sensor 30B and the temporary magnetic sensor 70 in a magnetic navigation coordinate system, so that a pose mapping relationship between the temporary magnetic sensor 70 and the reference second magnetic sensor 30B can be acquired. In the second calibration position, the magnetic field generator generates a second magnetic field, the navigation system obtains pose information of the second magnetic sensor 30A to be calibrated and the temporary magnetic sensor 70 under a magnetic navigation coordinate system, so that a pose mapping relationship between the second magnetic sensor 30A to be calibrated and the temporary magnetic sensor 70 can be obtained, and finally, according to the pose mapping relationship between the temporary magnetic sensor 70 and the reference second magnetic sensor 30B and the pose mapping relationship between the second magnetic sensor 30A to be calibrated and the temporary magnetic sensor 70, the pose mapping relationship between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B can be obtained, so that pose information of the second magnetic sensor 30A under the reference coordinate system can be obtained.

Therefore, the calibration method provided by the invention does not need to additionally increase other positioning devices, so that the cost of the magnetic navigation positioning system can be effectively reduced. It should be noted that, as will be understood by those skilled in the art, the calibration is to determine the relative positional relationship between the second magnetic sensors 30 according to the location of the lesion and the working range of the magnetic field generator 10, so as to record the landmark data for reference in advance under the reference coordinate system.

Specifically, please refer to fig. 10, which schematically illustrates a calibration scenario provided by the first embodiment of the present invention. As shown in fig. 10, in the present embodiment, the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B are both located within the working range of the magnetic field generator 10, that is, the distance between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B is smaller than the maximum diameter d of the working range of the magnetic field generator 10 that maintains the measurement accuracy _EM . Referring to fig. 10 and 11, fig. 11 schematically shows a calibration flow chart according to a first embodiment of the present invention. As shown in fig. 10 and 11, when the distance between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B is smaller than the maximum diameter d of the operating range of the magnetic field generator 10 that maintains the measurement accuracy _EM When the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B are fixed, the magnetic field generator 10 is placed at a proper position, so that the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B are both located in the working range of the magnetic field generator 10, and therefore pose information of the second magnetic sensor 30A to be calibrated in the magnetic navigation coordinate system EM can be obtained according to magnetic field intensity information acquired by the second magnetic sensor 30A to be calibrated in the magnetic field generated by the magnetic field generator 10. Similarly, according to the reference second magnetic induction The magnetic field intensity information acquired by the sensor 30B in the magnetic field generated by the magnetic field generator 10 can obtain pose information of the reference second magnetic sensor 30B in the magnetic navigation coordinate system EM. Thus, according to the pose information of the reference second magnetic sensor 30B in the magnetic navigation coordinate system EM, the mapping relation M between the magnetic navigation coordinate system EM and the coordinate system RF (i.e. reference coordinate system) of the reference second magnetic sensor 30B can be obtained _EM→RF . Finally, according to the pose information of the second magnetic sensor 30A to be calibrated in the magnetic navigation coordinate system EM and the mapping relation M between the magnetic navigation coordinate system EM and the coordinate system RF (i.e. reference coordinate system) of the reference second magnetic sensor 30B _EM→RF The pose information of the second magnetic sensor 30A to be calibrated in the coordinate system RF (i.e. reference coordinate system) of the reference second magnetic sensor 30B can be obtained.

With continued reference to fig. 12 and 13, fig. 12 schematically illustrates a calibration scenario provided by a second embodiment of the present invention; fig. 13 schematically shows a calibration scenario provided by a third embodiment of the present invention. As shown in fig. 12, in the second embodiment, one of the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B is located within the operating range of the magnetic field generator 10, and the other is located outside the operating range of the magnetic field generator 10, that is, the distance between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B is smaller than the maximum diameter d of the operating range of the magnetic field generator 10 that maintains the measurement accuracy _EM And as shown in fig. 12, in a second embodiment, the second magnetic sensor 30A to be calibrated is adjacent to the reference second magnetic sensor 30B. As shown in fig. 13, the difference between the present embodiment and the previous embodiment is that there is an intermediate second magnetic sensor 30C between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B, that is, the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B are not in adjacent positional relationship. In a third embodiment, as shown in fig. 13, the intermediate second magnetic sensor 30C is not identical to the second magnetic sensor 30A to be calibratedWithin the same magnetic field operating range as the reference second magnetic sensor 30B, i.e. at least one of the distance between the intermediate second magnetic sensor 30C and the second magnetic sensor 30A to be calibrated and the distance between the intermediate second magnetic sensor 30C and the reference second magnetic sensor 30B is larger than the maximum diameter d of the operating range of the magnetic field generator 10 maintaining the measurement accuracy _EM A kind of electronic device. For the calibration scenario shown in fig. 12 and 13, a temporary magnetic sensor 70 needs to be disposed between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B, so that the distance between the second magnetic sensor 30A to be calibrated and the temporary magnetic sensor 70 and the distance between the reference second magnetic sensor 30B and the temporary magnetic sensor 70 are smaller than the maximum diameter d of the working range of the magnetic field generator 10 for maintaining the measurement accuracy _EM . In contrast, as shown in fig. 12, when the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B are in an adjacent positional relationship, the temporary magnetic sensor 70 may be disposed at a suitable position on the connecting rod 62 between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B, that is, the temporary magnetic sensor 70 may be disposed at a suitable position on the second fixing device 60; as shown in fig. 13, when the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B are not in an adjacent positional relationship, the temporary magnetic sensor 70 may be disposed on another temporary device other than the second fixing device 60, and then the temporary device with the temporary magnetic sensor 70 is placed at a suitable position, and a subsequent calibration process is performed.

Specifically, please refer to fig. 12 to 14, wherein fig. 14 schematically shows a calibration flow chart provided by a second embodiment of the present invention. As shown in fig. 14, the magnetic field generator 10 may be placed at the first calibration position, so that the second magnetic sensor 30A to be calibrated and the temporary magnetic sensor 70 are both located within the working range of the magnetic field generator 10 at the first calibration position (i.e., within the first magnetic field 11A), and then the second magnetic sensor to be calibrated according to the first magnetic sensor to be calibrated The magnetic field intensity information acquired by the sensor 30A in the first magnetic field 11A is obtained, and the second magnetic sensor 30A to be calibrated is acquired in a first magnetic navigation coordinate system EM _A Lower pose information. Similarly, according to the magnetic field intensity information acquired by the temporary magnetic inductor 70 in the first magnetic field 11A, the temporary magnetic inductor 70 in the first magnetic navigation coordinate system EM may be acquired _A Lower pose information. According to the second magnetic sensor 30A to be calibrated, the electromagnetic sensor is arranged in the first magnetic navigation coordinate system EM _A The following pose information and the temporary magnetic sensor 70 are in the first magnetic navigation coordinate system EM _A The pose information can be used for acquiring the pose mapping relation M between the second magnetic sensor 30A to be calibrated and the temporary magnetic sensor 70 _α→t . Specifically, the second magnetic sensor 30A to be calibrated is positioned in the first magnetic navigation coordinate system EM _A The lower pose can acquire the coordinate system alpha of the second magnetic sensor 30A to be calibrated and the first magnetic navigation coordinate system EM _A Mapping relation between

According to the pose of the temporary magnetic inductor 70 under the first magnetic navigation coordinate system EMA, the mapping relationship between the first magnetic navigation coordinate system EMA and the coordinate system t of the temporary magnetic inductor 70 can be obtained >

And then according to the coordinate system alpha of the second magnetic sensor 30A to be calibrated and the EM _A Mapping relation between coordinate systems->

The first magnetically permeable coordinate system EM _A Mapping relation between the coordinate system t of the temporary magnetic inductor 70>

The pose mapping relation M between the second magnetic sensor 30A to be calibrated and the temporary magnetic sensor 70 can be obtained _α→t 。

The magnetic field generator 10 is then placed in a second calibration positionThe reference second magnetic sensor 30B and the temporary magnetic sensor 70 are located within the working range of the magnetic field generator 10 at the second calibration position (i.e. within the second magnetic field 11B), and then the reference second magnetic sensor 30B is acquired in the second magnetic navigation coordinate system EM according to the magnetic field intensity information acquired by the reference second magnetic sensor 30B within the second magnetic field 11B _B Lower pose information. Similarly, according to the magnetic field intensity information acquired by the temporary magnetic inductor 70 in the second magnetic field 11B, the temporary magnetic inductor 70 in the second magnetic navigation coordinate system EM may be acquired _B Lower pose information. Thereby, the second magnetic inductor 30B is positioned in the second magnetic navigation coordinate system EM according to the reference _B The position and orientation information of the temporary magnetic sensor 70 in the second magnetic navigation coordinate system EM _B The pose information below can obtain the pose mapping relationship between the reference second magnetic sensor 30B and the temporary magnetic sensor 70. Specifically, the second magnetic sensor 30B is positioned in a second magnetic navigation coordinate system EM according to the reference _B The second magnetic navigation coordinate system EM can be obtained by the lower pose _B Mapping relation with the coordinate system RF (i.e., reference coordinate system) of the reference second magnetic sensor 30B

In a second magnetic navigation coordinate system EM according to the temporary magnetic sensor 70 _B The coordinate system t of the temporary magnetic sensor 70 and the second magnetic navigation coordinate system EM can be obtained according to the pose information _B Mapping relation between

According to the second magnetic navigation coordinate system EM _B Mapping relation between the reference second magnetic inductor 30B and the coordinate system RF (i.e. reference coordinate system)>

And the coordinate system t of the temporary magnetic sensor 70 and the second magnetic navigation coordinate system EM _B Mapping relation between->

The pose mapping relation M between the temporary magnetic sensor 70 and the reference second magnetic sensor 30B can be obtained _t→RF 。

Finally, according to the mapping relation M between the coordinate system alpha of the second magnetic sensor 30A to be calibrated and the coordinate system of the temporary magnetic sensor 70 _α→t And a mapping M between the coordinate system t of the temporary magnetic inductor 70 and the coordinate system RF of the reference second magnetic inductor 30B (i.e., reference coordinate system) _t→RF The pose mapping relation M between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B can be obtained _α→RF ：

M _α→RF ＝M _α→t *M _t→RF

Thereby, according to the pose mapping relation M between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B _α→RF The pose information of the second magnetic sensor 30A to be calibrated in the coordinate system RF (i.e. the reference coordinate system) of the second magnetic sensor 30B can be obtained.

It should be noted that, in other embodiments, when the intermediate second magnetic sensor 30C located between the second magnetic sensor 30A to be calibrated and the reference second magnetic sensor 30B satisfies the following conditions: the distance between the intermediate second magnetic sensor 30C and the second magnetic sensor 30A to be calibrated and the distance between the intermediate second magnetic sensor 30C and the reference second magnetic sensor 30B are smaller than the maximum diameter d of the working range of the magnetic field generator 10 for maintaining the measurement accuracy _EM The intermediate second magnetic sensor 30C may also be used as the temporary magnetic sensor 70 above to calibrate the pose information of the second magnetic sensor 30A to be calibrated in the reference coordinate system. Furthermore, it should be noted that, when the positioning system includes at least three second magnetic inductors 30, one of the second magnetic inductors 30 is taken as a reference second magnetic inductor 30B, and then each second magnetic inductor 30A to be calibrated is calibrated under the coordinate system (i.e. reference coordinate system) of the reference second magnetic inductor 30B according to the calibration procedure above The positional relationship between the second magnetic sensors 30 is fixed during the calibration process.

In an exemplary embodiment, the controller 40 is further configured to register the plurality of pose information of the first magnetic sensor 20 under the reference coordinate system with a pre-acquired three-dimensional model of the medical image to acquire a mapping relationship between the reference coordinate system and a three-dimensional model coordinate system corresponding to the three-dimensional model of the medical image, so that pose information of the distal end of the surgical instrument is determined on the three-dimensional model of the medical image. Therefore, the mapping relation between the reference coordinate system and the three-dimensional model coordinate system is obtained, so that the real space mapping relation between the intraoperative scene and the three-dimensional model can be obtained, and the intraoperative navigation is realized. In addition, by acquiring real-time pose information of the distal end of the surgical instrument 4 on the three-dimensional model, the position of the distal end of the surgical instrument on the three-dimensional model can be displayed in real time, so that the doctor can more conveniently perform the walk-down operation.

In an exemplary embodiment, the controller 40 is further configured to obtain a real-time positional relationship between the distal end of the surgical instrument 4 and a target path planned according to the three-dimensional model of the medical image according to real-time pose information of the distal end of the surgical instrument 4 under the three-dimensional model coordinate system; or the controller 40 is further configured to obtain a real-time positional relationship between the distal end of the surgical instrument 4 and the lesion according to real-time pose information of the distal end of the surgical instrument 4 in the three-dimensional model coordinate system. Thus, by acquiring the real-time positional relationship between the distal end of the surgical instrument 4 and the target path, it is possible to make a doctor know in time whether the movement path of the surgical instrument 4 deviates from the target path, so that the movement path of the surgical instrument 4 can be adjusted in time when the movement path of the surgical instrument 4 deviates from the target path. By acquiring the real-time positional relationship between the distal end of the surgical instrument 4 and the lesion, a doctor can conveniently and timely adjust the movement path of the surgical instrument 4, so that the distal end of the surgical instrument 4 can smoothly reach the lesion position.

Corresponding to the magnetic navigation positioning system, the invention also provides a magnetic navigation positioning method, which is mainly executed by a controller and comprises the following steps: acquiring second magnetic field intensity information acquired by at least one second magnetic sensor and first magnetic field intensity information acquired by a first magnetic sensor under a magnetic field provided by any position of the magnetic field generator moving within a preset range;

Specifically, please refer to fig. 15, which schematically illustrates a flowchart of a magnetic navigation positioning method according to an embodiment of the present invention, as shown in fig. 15, the positioning method includes the following steps:

step S100, acquiring first magnetic field intensity information acquired by a first magnetic sensor arranged at the tail end of a surgical instrument in a magnetic field generated by a magnetic field generator and second magnetic field intensity information acquired by at least one second magnetic sensor fixed outside a patient in the magnetic field;

Step 200, acquiring pose information of the first magnetic sensor under a magnetic navigation coordinate system according to the first magnetic field intensity information, and acquiring pose information of the second magnetic sensor under the magnetic navigation coordinate system according to the second magnetic field intensity information;

and step 300, acquiring pose information of the first magnetic sensor under a preset reference coordinate system according to the pose information of the first magnetic sensor under the magnetic navigation coordinate system, the pose information of the second magnetic sensor under the magnetic navigation coordinate system and the pre-acquired pose information of the second magnetic sensor under the preset reference coordinate system.

Specifically, because the mapping relationship between the magnetic navigation coordinate system and the reference coordinate system can be obtained according to the pose information of the second magnetic sensor under the magnetic navigation coordinate system and the pose information of the two magnetic sensors under the reference coordinate system, the pose information of the first magnetic sensor under the reference coordinate system can be obtained according to the pose information of the first magnetic sensor under the magnetic navigation coordinate system and the mapping relationship between the magnetic navigation coordinate system and the reference coordinate system. Because the reference coordinate system is kept unchanged before and after the magnetic field generator moves, by acquiring the pose information of the first magnetic sensor under the reference coordinate system, the pose information of the first magnetic sensor acquired before and after the magnetic field generator moves can be ensured to be always under the same coordinate system, so that the effectiveness of the acquired pose mapping relation can be ensured, and navigation and positioning can be better realized. In addition, because the magnetic field generator is not fixed, the first magnetic inductor can be always in a magnetic field environment by moving the magnetic field generator, so that the real-time tracking of the pose of the first magnetic inductor can be realized, namely, the real-time tracking of the motion track of a surgical instrument is realized, and meanwhile, the high-precision working range of the magnetic navigation positioning system can be expanded, so that the magnetic navigation positioning system is not limited by the range of the magnetic field generator. In addition, when the magnetic navigation system is used in combination with equipment such as a C-arm, X-ray or ultrasonic interference magnetic navigation system in the operation, the magnetic field generator can be moved to a position where interference between the equipment does not occur, so that the operation can be continued. In addition, as the reference coordinate system and the pose information of each second magnetic sensor under the reference coordinate system are predetermined, other positioning devices, such as a visual positioning device, are not needed to be added to determine the reference coordinate system which is irrelevant to the pose of the magnetic field generator, so that the positioning cost of magnetic navigation can be further reduced.

In an exemplary embodiment, the pose information of the first magnetic sensor provided by the magnetic navigation positioning method is used for reflecting the real-time position of the tail end of the surgical instrument in the operating room moving in the patient body on a medical image three-dimensional model pre-photographed by the patient before the operation for viewing by a doctor. The method may be performed by the controller described above, or by other stand-alone computer devices. The method comprises the following steps:

registering the medical image three-dimensional model acquired in advance according to the plurality of pose information of the first magnetic sensor under the reference coordinate system so as to acquire the mapping relation between the reference coordinate system and the three-dimensional model coordinate system corresponding to the medical image three-dimensional model.

In an exemplary embodiment, the method further comprises:

and acquiring real-time pose information of the tail end of the surgical instrument under the three-dimensional model coordinate system according to the mapping relation between the reference coordinate system and the three-dimensional model coordinate system and the real-time pose information of the first magnetic inductor under the reference coordinate system.

Thus, by acquiring the real-time pose information of the distal end of the surgical instrument under the three-dimensional model coordinate system, the pose information of the distal end of the surgical instrument can be determined on the medical image three-dimensional model.

In an exemplary embodiment, the method further comprises:

acquiring real-time position relation between the tail end of the surgical instrument and a target path planned according to the medical image three-dimensional model according to real-time pose information of the tail end of the surgical instrument under the three-dimensional model coordinate system; or according to the real-time pose information of the tail end of the surgical instrument under the three-dimensional model coordinate system, acquiring the real-time position relationship between the tail end of the surgical instrument and the focus.

Based on the same inventive concept, the present invention further provides an electronic device, please refer to fig. 16, which schematically shows a block structure schematic diagram of the electronic device according to an embodiment of the present invention. As shown in fig. 16, the electronic device includes a processor 101 and a memory 103, the memory 103 storing a computer program that, when executed by the processor 101, implements the magnetic navigation positioning method described above. The electronic equipment provided by the invention can realize the magnetic navigation positioning method or the calibration method, so that the electronic equipment has all the advantages of the magnetic navigation positioning method or the calibration method, and therefore, the description is not repeated.

As shown in fig. 16, the electronic device further comprises a communication interface 102 and a communication bus 104, wherein the processor 101, the communication interface 102, and the memory 103 communicate with each other via the communication bus 104. The communication bus 104 may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The communication bus 104 may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus. The communication interface 102 is used for communication between the electronic device and other devices.

The processor 101 of the present invention may be a central processing unit (Central Processing Unit, CPU), other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 101 is a control center of the electronic device, and connects various parts of the entire electronic device using various interfaces and lines.

The memory 103 may be used to store the computer program, and the processor 101 may implement various functions of the electronic device by running or executing the computer program stored in the memory 103 and invoking data stored in the memory 103.

The memory 103 may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

The present invention also provides a readable storage medium having stored therein a computer program which, when executed by a processor, can implement the magnetic navigation positioning method described above. The computer program stored on the storage medium provided by the invention can realize the magnetic navigation positioning method or the calibration method when being executed, thereby having all the advantages of the magnetic navigation positioning method or the calibration method, and therefore, the description thereof is not repeated.

The readable storage media of embodiments of the present invention may take the form of any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer hard disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

In summary, compared with the prior art, the magnetic navigation positioning system, the positioning method, the calibration method, the electronic device and the storage medium provided by the invention have the following advantages: the magnetic field generator in the invention can move within a preset range to generate a magnetic field at any position of the movement; the generated magnetic field is used for at least one second magnetic inductor positioned in the magnetic field to acquire second magnetic field intensity information and the first magnetic inductor to acquire first magnetic field intensity information; thus, according to a preset reference coordinate system and according to at least one second magnetic field intensity information in the magnetic field, a mapping relation between the magnetic field coordinate system and the reference coordinate system when the magnetic field generator moves to any position in the preset range can be established; therefore, pose information of the first magnetic sensor under the reference coordinate system can be determined according to the mapping relation and the first magnetic field intensity information. Because the reference coordinate system is kept unchanged before and after the magnetic field generator moves, by acquiring the pose information of the first magnetic sensor under the reference coordinate system, the pose information of the first magnetic sensor acquired before and after the magnetic field generator moves can be ensured to be always under the same coordinate system, so that the effectiveness of the acquired pose mapping relation can be ensured, and navigation and positioning can be better realized. In addition, because the magnetic field generator is not fixed, the first magnetic inductor can be always in a magnetic field environment by moving the magnetic field generator, so that the real-time tracking of the pose of the first magnetic inductor can be realized, namely, the real-time tracking of the motion track of a surgical instrument is realized, and meanwhile, the high-precision working range of the magnetic navigation positioning system can be expanded, so that the magnetic navigation positioning system is not limited by the range of the magnetic field generator, and the high-precision identification space in the surgical process is increased. In addition, when the magnetic navigation system is used in combination with equipment such as a C-arm, X-ray or ultrasonic interference magnetic navigation system in the operation, the magnetic field generator can be moved to a position where interference between the equipment does not occur, so that the operation can be continued. In addition, since the mapping relation between the coordinate system of the second magnetic sensor and the reference coordinate system is obtained in advance, other positioning devices, such as a visual positioning device, are not needed to be added to determine the reference coordinate system irrelevant to the pose of the magnetic field generator, so that the positioning cost of magnetic navigation can be further reduced.

It should be noted that the apparatus and methods disclosed in the embodiments herein may be implemented in other ways. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments herein may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.

Furthermore, in the description herein, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples described in this specification and the features of the various embodiments or examples may be combined and combined by those skilled in the art without contradiction.

The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the present invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, the present invention is intended to include such modifications and alterations insofar as they come within the scope of the invention or the equivalents thereof.

Claims

1. The magnetic navigation positioning system is applied to positioning of a surgical instrument, and is characterized in that a first magnetic inductor is arranged at the tail end of the surgical instrument, the positioning system comprises a magnetic field generator, a controller and at least two second magnetic inductors, and the magnetic field generator, the first magnetic inductor and the second magnetic inductors are all in communication connection with the controller;

the controller is used for establishing a mapping relation between a magnetic field coordinate system and a reference coordinate system when the magnetic field generator moves to any position in the preset range according to a preset reference coordinate system, pose information of each second magnetic inductor under the reference coordinate system, which is obtained through pre-calibration, and at least one second magnetic field intensity information in the magnetic field; determining pose information of the first magnetic sensor under the reference coordinate system according to the mapping relation and the first magnetic field intensity information; wherein the reference coordinate system is constructed based on the at least one second magnetic inductor.

2. The magnetic navigation positioning system of claim 1, further comprising a first fixture for mounting the magnetic field generator, the magnetic field generator being movable on the first fixture and/or the first fixture being movable relative to the patient such that the magnetic field generator is capable of generating a magnetic field at any position within a predetermined range.

3. The magnetic navigation positioning system of claim 2, wherein the first fixture is configured to be mounted on a patient support device configured to support a patient, the first fixture being movable relative to the patient support device.

4. A magnetic navigation positioning system according to claim 3, wherein the first fixture is annularly arranged and the magnetic field generator is movable in a circumferential direction of the first fixture.

5. The magnetic navigation positioning system of claim 2, wherein the first fixture is a C-arm and the magnetic field generator is mounted to a distal end of the C-arm.

6. The magnetic navigation positioning system of claim 2, wherein the first fixture is a robotic arm and the magnetic field generator is mounted to an end of the robotic arm.

7. The magnetic navigation positioning system of claim 1, wherein the reference coordinate system is determined based on a pose relationship between a predetermined second magnetic sensor and a predetermined landmark device.

8. The magnetically permeable positioning system of claim 1, wherein the reference coordinate system is obtained by calibrating at least one second magnetic sensor therein.

9. The magnetic navigation positioning system of claim 1, wherein the at least one second magnetic sensor is mounted on the same second fixture; the controller pre-stores or pre-calibrates the pose relation among the second magnetic sensors assembled on the second fixing device.

10. The magnetic navigation positioning system of claim 9, wherein the second fixture is a variable structure and the pose of at least one of the second magnetic sensors on the second fixture is adjustable.

11. The magnetic navigation positioning system of claim 1, wherein the controller is further configured to register the plurality of pose information of the first magnetic sensor in the reference coordinate system with a pre-acquired medical image three-dimensional model to acquire a mapping relationship between the reference coordinate system and a three-dimensional model coordinate system corresponding to the medical image three-dimensional model, such that pose information of an end of the surgical instrument is determined on the medical image three-dimensional model.

12. The magnetic navigation positioning system of claim 11, wherein the controller is further configured to obtain a real-time positional relationship between the distal end of the surgical instrument and a target path planned according to the three-dimensional model of the medical image based on real-time pose information of the distal end of the surgical instrument in the three-dimensional model coordinate system; or alternatively

13. A magnetic navigation positioning method, comprising:

establishing a mapping relation between a magnetic navigation coordinate system and a preset reference coordinate system when the magnetic field generator moves to any position according to the acquired at least one second magnetic field intensity information and the pre-calibrated pose information of each second magnetic sensor under the reference coordinate system; wherein the reference coordinate system is constructed based on the at least one second magnetic inductor; and

14. The magnetic navigation positioning method of claim 13, wherein the predetermined range is determined based on a range in which the magnetic field energy covers at least one of the second magnetic sensors.

15. A calibration method applied to the magnetic navigation positioning system according to any one of claims 1 to 12, characterized in that the calibration method comprises:

16. The calibration method according to claim 15, wherein a spacing between adjacent calibration positions is determined based on a spacing between the second magnetic inductors.

17. An electronic device comprising a processor and a memory, the memory having stored thereon a computer program which, when executed by the processor, implements the magnetic navigation positioning method of claim 14 or the calibration method of any of claims 15 to 16.

18. A readable storage medium, characterized in that a computer program is stored in the readable storage medium, which computer program, when being executed by a processor, implements the magnetic navigation positioning method of claim 14 or the calibration method of any of claims 15 to 16.