CN114176777B - Precision detection method, device, equipment and medium of operation-assisted navigation system - Google Patents
Precision detection method, device, equipment and medium of operation-assisted navigation system Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The present disclosure relates to a method, an apparatus, a device, and a medium for precision detection of a surgical assisted navigation system. According to the method, three-dimensional reconstruction coordinates of a first measuring point and a second measuring point are obtained by obtaining a scanning image of a preset device, and according to relative position relations between first coordinates of more than three marking points detected by an optical positioning system under an optical coordinate system and the corresponding measuring points of the more than three marking points, second coordinates of the first measuring point under the optical coordinate system and third coordinates of the second measuring point under the optical coordinate system are determined, so that a data basis is provided for calculating the precision of an operation auxiliary navigation system; according to the three-dimensional reconstruction coordinate of the first measuring point, the three-dimensional reconstruction coordinate of the second measuring point, the second coordinate and the third coordinate, the coordinate difference of the first measuring point and the second measuring point and the direction difference from the first measuring point to the second measuring point are respectively determined, so that the precision of the operation auxiliary navigation system is determined, the method is simple to operate, and the cost is low.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method, an apparatus, a device, and a medium for precision detection of an operation-assisted navigation system.
Background
The operation auxiliary navigation system is a complex system which is completed by matching an optical positioning system, medical imaging equipment, an auxiliary navigation tool and the like. The medical imaging device may be an X-ray fluoroscopic imaging device. Based on the medical imaging equipment and the optical positioning system, planning of the operation path and accurate positioning of the operation path can be realized. Thereby enabling the surgeon to perform a surgical procedure with reference to the planned surgical path.
However, the current single precision measurement tool cannot meet the precision measurement requirement of the surgery assisted navigation system.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, the present disclosure provides a precision detection method, device, equipment and medium for an operation-assisted navigation system, so as to verify the precision of the operation-assisted navigation system, without using a mechanical arm, which is simple, practical and low in cost.
In a first aspect, an embodiment of the present disclosure provides a method for detecting accuracy of a surgery-assisted navigation system, where the surgery-assisted navigation system includes an X-ray fluoroscopic image apparatus and an optical positioning system, and the method includes:
acquiring a scanning image, wherein the scanning image is obtained by scanning a preset device by using the X-ray perspective image equipment, and the preset device comprises more than three mark points and a plurality of measuring points;
determining three-dimensional reconstruction coordinates of a first measuring point in the plurality of measuring points and three-dimensional reconstruction coordinates of a second measuring point in the plurality of measuring points according to the scanning image, wherein the first measuring point and the second measuring point are used for planning a path;
acquiring first coordinates of the more than three mark points detected by the optical positioning system under an optical coordinate system respectively;
determining a second coordinate of the first measuring point in the optical coordinate system and a third coordinate of the second measuring point in the optical coordinate system according to the first coordinates of the more than three marking points in the optical coordinate system and the relative position relationship between the more than three marking points and the plurality of measuring points;
and determining the precision of the surgery auxiliary navigation system according to the three-dimensional reconstruction coordinates of the first measuring point, the three-dimensional reconstruction coordinates of the second measuring point, the second coordinates and the third coordinates.
In a second aspect, an embodiment of the present disclosure provides an accuracy detection apparatus for a surgical assistant navigation system, where the surgical assistant navigation system includes an X-ray fluoroscopic imaging apparatus and an optical positioning system, and the accuracy detection apparatus includes:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a scanning image, the scanning image is obtained by scanning a preset device by using the X-ray perspective image equipment, and the preset device comprises more than three mark points and a plurality of measuring points;
a first determining module, configured to determine, according to the scan image, three-dimensional reconstruction coordinates of a first measurement point of the multiple measurement points and three-dimensional reconstruction coordinates of a second measurement point of the multiple measurement points, where the first measurement point and the second measurement point are used for planning a path;
the second acquisition module is used for acquiring first coordinates of the more than three mark points detected by the optical positioning system under an optical coordinate system respectively;
the second determining module is used for determining a second coordinate of the first measuring point in the optical coordinate system and a third coordinate of the second measuring point in the optical coordinate system according to the first coordinate of the more than three marking points in the optical coordinate system and the relative position relation between the more than three marking points and the plurality of measuring points;
and the third determining module is used for determining the precision of the surgery auxiliary navigation system according to the three-dimensional reconstruction coordinates of the first measuring point, the three-dimensional reconstruction coordinates of the second measuring point, the second coordinates and the third coordinates.
In a third aspect, an embodiment of the present disclosure provides an accuracy detection device for a surgical assistant navigation system, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of the first aspect.
In a fourth aspect, the present disclosure provides a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect.
The method, the device, the equipment and the medium for detecting the precision of the surgical assistant navigation system are characterized in that three-dimensional reconstruction coordinates of a first measuring point and a second measuring point are obtained by acquiring a scanning image of a preset device, and a second coordinate of the first measuring point in an optical coordinate system and a third coordinate of the second measuring point in the optical coordinate system are determined according to relative position relations between a first coordinate of more than three marking points detected by an optical positioning system in the optical coordinate system and a plurality of measuring points, so that a data base is provided for calculating the precision of the surgical assistant navigation system; according to the three-dimensional reconstruction coordinate of the first measuring point, the three-dimensional reconstruction coordinate of the second measuring point, the second coordinate and the third coordinate, the coordinate difference of the first measuring point and the second measuring point and the direction difference from the first measuring point to the second measuring point are respectively determined, so that the precision of the operation auxiliary navigation system is determined, the method is simple to operate, and the cost is low.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a flowchart of a precision detection method of a surgical assisted navigation system according to an embodiment of the present disclosure;
fig. 2 is a schematic top view of a preset device according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a preset device viewed from the bottom according to an embodiment of the disclosure;
fig. 4 is a schematic diagram illustrating an accuracy structure of a surgical assistant navigation system provided in an embodiment of the present disclosure;
fig. 5 is a schematic diagram of a precision detection process of a surgical assistant navigation system according to another embodiment of the present disclosure;
fig. 6 is a schematic diagram of a flow of obtaining three-dimensional reconstruction information of a first path according to another embodiment of the present disclosure;
FIG. 7 is a schematic diagram illustrating a process of obtaining optical trace information of a second path according to another embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an accuracy detection device of a surgical assistant navigation system provided in an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of an accuracy detection device of a surgical assistant navigation system according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Surgical assisted navigation systems are used in surgery for the precise positioning of surgical instruments or implants. Based on the combined use of the medical imaging equipment and the optical positioning system, the precise positioning of the operation fixed points (in point and out point) and the planning of the operation path can be realized, and a doctor can complete the operation by referring to the planned operation path. The planned surgical path is a line segment with a direction in space and comprises three major elements of an in point, an out point and the direction, so that the accuracy consideration of the system also needs to comprise double indexes of fixed point accuracy and direction accuracy.
In general, an operation-assisted navigation system is an optical positioning system, an x-ray recognition module and an assisted navigation tool are matched to complete a complex system, and a single precision measurement tool cannot meet the requirement of system precision measurement.
In view of this problem, the embodiments of the present disclosure provide a method for detecting accuracy of a surgical assistant navigation system, which is described below with reference to specific embodiments.
Fig. 1 is a flowchart of a precision detection method of a surgery-assisted navigation system provided in an embodiment of the present disclosure, where the surgery-assisted navigation system includes an X-ray fluoroscopic image apparatus and an optical positioning system. The method for detecting the accuracy of the surgical assistant navigation system shown in fig. 1 is described below with reference to the schematic structural diagram of the preset device shown in fig. 2 viewed from above and the schematic structural diagram of the preset device shown in fig. 3 viewed from below, and the method includes the following specific steps:
s101, obtaining a scanning image, wherein the scanning image is obtained by scanning a preset device by using the X-ray perspective image equipment, and the preset device comprises more than three mark points and a plurality of measuring points.
In this embodiment, after the X-ray fluoroscopic image apparatus scans the preset device 200, a scanned image of the preset device 200 is obtained, where the number of the scanned images is not limited, and may be one or more, for example. Further, the X-ray fluoroscopic image apparatus may send one or more scanned images obtained by scanning thereof to the upper computer, so that the upper computer may obtain the one or more scanned images of the preset device 200.
The preset device 200 includes three or more mark points and a plurality of measuring points. The three or more mark points are respectively a mark point 201, a mark point 202, a mark point 203 and a mark point 204; the plurality of measurement points includes eight points such as 205-212 shown in fig. 2.
Optionally, the structures other than the mark point and the measuring point are made of materials with poor X-ray absorption capacity, so that the specific positions of the mark point and the measuring point can be determined by scanning conveniently.
Optionally, the X-ray perspective image device may also be a scanning device such as a laser scanner, an electronic computer tomography device, and the like, which is not limited in this scheme.
S102, according to the scanning image, determining a three-dimensional reconstruction coordinate of a first measuring point in the plurality of measuring points and a three-dimensional reconstruction coordinate of a second measuring point in the plurality of measuring points, wherein the first measuring point and the second measuring point are used for planning a path.
For example, after the upper computer receives one or more scan images of the preset apparatus 200 from the X-ray fluoroscopic equipment, three-dimensional reconstruction may be performed according to the one or more scan images of the preset apparatus 200 to generate a three-dimensional model of the preset apparatus 200. It is understood that the scanned image of the preset device 200 may be a two-dimensional image or a three-dimensional image. When the scanned image of the preset device 200 is a two-dimensional image, the upper computer may perform three-dimensional reconstruction according to at least two scanned images of the preset device 200 to obtain a three-dimensional model of the preset device 200. Further, the upper computer may determine the three-dimensional reconstruction coordinates of each of the plurality of measurement points according to the three-dimensional model of the preset apparatus 200. In addition, the upper computer can select a measuring point from the plurality of measuring points as an entry point, and the entry point is marked as a first measuring point. In addition, the upper computer can also select another measuring point from the plurality of measuring points as an exit point, and the exit point is marked as a second measuring point. It is understood that in other embodiments, the out-point may be denoted as a first measurement point and the in-point may be denoted as a second measurement point. In addition, the process of selecting the entry point and the exit point from the plurality of measurement points is not limited to be executed by the upper computer, for example, other equipment can select the entry point and the exit point from the plurality of measurement points, and the selected result is sent to the upper computer, so that the upper computer can determine which measurement point in the plurality of measurement points is the entry point, for example, a first measurement point, and which measurement point is the exit point, for example, a second measurement point. Further, the upper computer can determine the three-dimensional reconstruction coordinates of a first measuring point in the plurality of measuring points and the three-dimensional reconstruction coordinates of a second measuring point in the plurality of measuring points according to the three-dimensional reconstruction coordinates of each measuring point in the plurality of measuring points. In addition, the upper computer or other equipment may also determine a planned path according to the first measurement point and the second measurement point, as shown in fig. 3, where the planned path is a line segment 44 from the first measurement point to the second measurement point.
Optionally, the first measuring point 40 and the second measuring point 42 may be selected manually and then the selected result is sent to the upper computer. The scheme is not limited to this.
S103, acquiring first coordinates of the more than three mark points detected by the optical positioning system under an optical coordinate system respectively.
The optical positioning system is used for detecting first coordinates of more than three mark points of the preset device 200 in an optical coordinate system respectively, and the first coordinates of the more than three mark points in the optical coordinate system are sent to the upper computer respectively, so that the upper computer obtains the first coordinates of the more than three mark points of the preset device 200 in the optical coordinate system respectively.
For example, the optical positioning system is used to detect the first coordinate (x) of the mark point 201 of the preset device 200 in the optical coordinate system1，y1，z1) A first coordinate (x) of the mark point 202 in the optical coordinate system2，y2，z2) The first coordinate (x) of the mark point 203 in the optical coordinate system3，y3，z3) A first coordinate (x) of the mark point 204 in the optical coordinate system4，y4，z4) And respectively sending the first coordinates of the mark point 201, the mark point 202, the mark point 203 and the mark point 204 in the optical coordinate system to an upper computer, so that the upper computer obtains the first coordinates (x) of the mark point 201, the mark point 202, the mark point 203 and the mark point 204 of the preset device 200 in the optical coordinate system respectively1，y1，z1)、(x2，y2，z2)、(x3，y3，z3)、(x4，y4，z4)。
S104, determining a second coordinate of the first measuring point in the optical coordinate system and a third coordinate of the second measuring point in the optical coordinate system according to the first coordinate of the more than three marking points in the optical coordinate system and the relative position relation between the more than three marking points and the plurality of measuring points.
And the upper computer calculates a second coordinate 41 of the first measuring point in the optical coordinate system and a third coordinate 43 of the second measuring point in the optical coordinate system according to the obtained first coordinates of the three or more marking points in the optical coordinate system and the relative position relationship between the three or more marking points loaded in the upper computer and the plurality of measuring points. The first measuring point and the second measuring point are used for planning a path, and the planned path in the optical coordinate system is a second path, specifically a line segment 45 with a direction from the second coordinate 41 to the third coordinate 43.
Optionally, the relative position relationship between each of the three or more marking points and the plurality of measuring points is inherent, and when the presetting device is made, the coordinates of each marking point and the plurality of measuring points are measured and marked, and are marked as calibration parameters, and the calibration parameters are placed in a calibration file. Therefore, the relative position relationship between more than three mark points and the plurality of measuring points can be calculated and can be repeatedly used. Here, the coordinate of each mark point and the coordinates of a plurality of measurement points can be measured by the three-coordinate measuring method, but the cost is high and the method cannot be used repeatedly.
And S105, determining the precision of the surgery auxiliary navigation system according to the three-dimensional reconstruction coordinate of the first measuring point, the three-dimensional reconstruction coordinate of the second measuring point, the second coordinate and the third coordinate.
And the upper computer determines the precision of the operation auxiliary navigation system according to the three-dimensional reconstruction coordinates 40 of the first measuring point, the three-dimensional reconstruction coordinates 42 of the second measuring point, the second coordinates 41 and the third coordinates 43.
Optionally, the precision of the surgical assistant navigation system may be the precision of the first measurement point, the precision of the second measurement point, or the precision of a path from two points in the first book to the second measurement point.
The method comprises the steps of obtaining a scanning image of a preset device to obtain three-dimensional reconstruction coordinates of a first measuring point and a second measuring point, determining a second coordinate of the first measuring point in an optical coordinate system and a third coordinate of the second measuring point in the optical coordinate system according to relative position relations between first coordinates of more than three marking points detected by an optical positioning system in the optical coordinate system and the plurality of measuring points, and providing a data basis for calculating the precision of an operation auxiliary navigation system; according to the three-dimensional reconstruction coordinate of the first measuring point, the three-dimensional reconstruction coordinate of the second measuring point, the second coordinate and the third coordinate, the coordinate difference of the first measuring point and the second measuring point and the direction difference from the first measuring point to the second measuring point are respectively determined, so that the precision of the surgery auxiliary navigation system is determined, the precision of the surgery auxiliary navigation system is calculated and compared in a three-dimensional space, the vision is more visual and clear, the method is simple to operate, and the cost is low.
On the basis of the above embodiment, the precision of the surgery assisted navigation system comprises: the precision of the first measurement point, the precision of the second measurement point;
determining the precision of the surgery assisted navigation system according to the three-dimensional reconstruction coordinates of the first measuring point, the three-dimensional reconstruction coordinates of the second measuring point, the second coordinates and the third coordinates, and comprising: determining the precision of the first measuring point according to the three-dimensional reconstruction coordinate of the first measuring point and the second coordinate; and determining the precision of the second measuring point according to the three-dimensional reconstruction coordinates of the second measuring point and the third coordinates.
The upper computer calculates the distance between the three-dimensional reconstruction coordinate 40 and the second coordinate 41 of the first measuring point according to the three-dimensional reconstruction coordinate 40 of the first measuring point and the second coordinate 41 of the first measuring point in the optical coordinate system, or calculates the coordinate difference between the three-dimensional reconstruction coordinate 40 and the second coordinate 41 of the first measuring point, and the distance or the coordinate difference can be used as the precision of the first measuring point; and the upper computer calculates the distance between the three-dimensional reconstruction coordinate 42 and the third coordinate 43 of the second measuring point according to the three-dimensional reconstruction coordinate 42 of the second measuring point and the third coordinate 43 of the second measuring point in the optical coordinate system, or calculates the coordinate difference between the three-dimensional reconstruction coordinate 42 and the third coordinate 43 of the second measuring point, and the distance or the coordinate difference can be used as the precision of the second measuring point.
According to the embodiment of the disclosure, the precision of the surgery auxiliary navigation system is determined by calculating the precision of the first measuring point and the precision of the second measuring point, the coordinate distance or the coordinate difference is calculated in a three-dimensional space, the vision is more intuitive and clear, and the flexibility of the precision detection method of the surgery auxiliary navigation system is improved.
On the basis of the above embodiment, the precision of the surgery assisted navigation system comprises: the precision of the path;
determining the precision of the surgery assisted navigation system according to the three-dimensional reconstruction coordinates of the first measuring point, the three-dimensional reconstruction coordinates of the second measuring point, the second coordinates and the third coordinates, and comprising: determining a first direction from the first measuring point to the second measuring point according to the three-dimensional reconstruction coordinates of the first measuring point and the three-dimensional reconstruction coordinates of the second measuring point; determining a second direction from the first measuring point to the second measuring point according to the second coordinate and the third coordinate; and determining the precision of the path according to the first direction and the second direction.
The upper computer determines a first direction 44 from the first measuring point to the second measuring point according to the three-dimensional reconstruction coordinates 40 and 42 of the first measuring point and the second measuring point, and the obtained three-dimensional reconstruction path is a line segment with the direction from the three-dimensional reconstruction coordinates 40 of the first measuring point to the three-dimensional reconstruction coordinates 42 of the second measuring point, namely an operation planning path obtained based on three-dimensional reconstruction information and marked as a first path; the upper computer determines a second direction 45 from the first measuring point to the second measuring point according to the second coordinate 41 and the third coordinate 43, and obtains that the optical tracking path is a line segment with a direction from the second coordinate 41 to the third coordinate 43, namely, the optical tracking information-based surgical planning path is recorded as a second path; and determining the included angle between the first direction 44 and the second direction 45 as the accuracy of the path according to the first direction 44 and the second direction 45.
Optionally, the size of the included angle between the first direction 44 and the second direction 45 may be calculated according to trigonometric function theorem, and the included angle between the first direction 44 and the second direction 45 may be an acute angle, a right angle, or an obtuse angle.
According to the embodiment of the invention, the precision of the surgery auxiliary navigation system is determined by calculating the precision of the path, so that the flexibility of the precision detection method of the surgery auxiliary navigation system is further improved, and the precision detection method is more comprehensive.
On the basis of the embodiment, the more than three mark points are respectively provided with the reflective materials.
Retroreflective material, also known as retroreflective material. The strength of the reflecting effect of the reflecting material is an important index for measuring the reflecting effect of the reflecting material, and the higher the retroreflection coefficient is, the stronger the reflecting effect is. The reflective material respectively arranged on one or more of the mark points in the embodiment may be a reflective film, a reflective sheet, glass beads, or the like.
Optionally, the reflective material may also be an object that is easy to be detected by the optical position finder, such as an active light-emitting device.
Alternatively, more than three marker points may be spheres or other shapes, more than 50% of which are exposed, facilitating the optical positioning system to measure their specific positions.
According to the embodiment of the disclosure, the reflecting material is arranged on the mark points, and the reflecting material can reflect light back according to the original path, so that the optical positioning system can simply and quickly obtain the positions of the mark points.
On the basis of the above embodiment, the plurality of measuring points are arranged around the preset device.
As shown in fig. 2, a plurality of measuring points are disposed around the preset device.
The embodiment of the disclosure makes it simpler to determine the relative positions of the mark point and the measuring point by arranging the plurality of measuring points around the preset device.
Fig. 5 is a schematic diagram of a precision detection process of a surgical assistance navigation system according to another embodiment of the present disclosure, and as shown in fig. 5, the process includes the following steps:
s501, three-dimensional reconstruction information of the first path is obtained.
And S502, acquiring optical tracking information of the second path.
S503, calculating the precision of the surgery auxiliary navigation system.
Specifically, S501 may be implemented by the method shown in fig. 6. Specifically, as shown in fig. 6, S501 may be specifically implemented by the following steps:
s601, acquiring a scanning image of a preset device.
The implementation principle and the specific method of S601 and S101 are the same, and are not described herein again.
And S602, according to the scanned image, three-dimensionally reconstructing to determine an in-point and an out-point.
For example, after the upper computer receives one or more scan images of the preset apparatus 200 from the X-ray fluoroscopic equipment, three-dimensional reconstruction may be performed according to the one or more scan images of the preset apparatus 200 to generate a three-dimensional model of the preset apparatus 200. It is understood that the scanned image of the preset device 200 may be a two-dimensional image or a three-dimensional image. When the scanned image of the preset device 200 is a two-dimensional image, the upper computer may perform three-dimensional reconstruction according to at least two scanned images of the preset device 200 to obtain a three-dimensional model of the preset device 200. The host computer can select a measuring point from a plurality of measuring points as the access point, and this access point is marked as first measuring point. In addition, the upper computer can also select another measuring point from the plurality of measuring points as an exit point, and the exit point is marked as a second measuring point. It is understood that in other embodiments, the out-point may be denoted as a first measurement point and the in-point may be denoted as a second measurement point. In addition, the process of selecting the entry point and the exit point from the plurality of measurement points is not limited to be executed by the upper computer, for example, other equipment can select the entry point and the exit point from the plurality of measurement points, and the selected result is sent to the upper computer, so that the upper computer can determine which measurement point in the plurality of measurement points is the entry point, for example, a first measurement point, and which measurement point is the exit point, for example, a second measurement point.
Optionally, the selection manner of the in-point 40 and the out-point 42 may also be manual selection and then sending the selected result to the upper computer. The present solution is not limited to this.
And S603, calculating an in-point coordinate, an out-point coordinate and a first path.
The upper computer can determine the three-dimensional reconstruction coordinates 40 of the middle entry points of the plurality of measurement points and the three-dimensional reconstruction coordinates 42 of the middle exit points of the plurality of measurement points according to the three-dimensional reconstruction coordinates of each measurement point in the plurality of measurement points by using an image registration algorithm. In addition, the upper computer or other device may determine a first path according to the entry point and the exit point, as shown in fig. 3, where the first path is a line segment 44 in a belt direction from the entry point to the exit point.
Alternatively, the image registration algorithm may be replaced by another algorithm, which may determine the positions of the plurality of measurement points according to a spatial three-dimensional image of the preset device.
Specifically, S502 may be implemented by the method shown in fig. 7. Specifically, as shown in fig. 7, S502 may be specifically implemented by the following steps:
s701, loading calibration parameters of a preset device in a calibration file, wherein the calibration parameters comprise the relative position relation of a calibration point and a measurement point.
When the preset device is made, the coordinates of each mark point and a plurality of measuring points are measured and marked, are marked as calibration parameters, and are placed in a calibration file. Therefore, the relative position relationship between the mark point and the measuring point can be calculated and can be repeatedly used.
And the upper computer loads calibration parameters of a preset device in the calibration file, wherein the calibration parameters comprise the relative position relation of the marking points and the measuring points.
S702, acquiring first coordinates of more than three mark points detected by the optical positioning system under an optical coordinate system respectively.
The implementation principle and the specific method of S702 and S103 are the same, and are not described herein again.
And S703, calculating an in-point coordinate, an out-point coordinate and a second path according to the calibration parameters.
And the upper computer calculates a second coordinate 41 of the inlet point under the optical coordinate system and a third coordinate 43 of the outlet point under the optical coordinate system according to the obtained first coordinates of the more than three marking points respectively under the optical coordinate system and the calibration parameters of a preset device in the calibration file loaded in the upper computer, namely the relative position relation between the more than three marking points and the plurality of measuring points respectively. The entry point and the exit point are used for planning a path, and the planned path in the optical coordinate system is a second path, specifically a line segment 45 with a direction from a second coordinate 41 to a third coordinate 43.
Specifically, the implementation method of S503 is as follows:
the precision of the surgery-assisted navigation system comprises: the accuracy of the entry point, the accuracy of the exit point and the accuracy of the path.
And the upper computer calculates the distance between the three-dimensional reconstruction coordinate 40 of the entry point and the second coordinate 41 of the entry point according to the three-dimensional reconstruction coordinate 40 of the entry point and the second coordinate 41 of the entry point in the optical coordinate system, or calculates the coordinate difference between the three-dimensional reconstruction coordinate 40 of the entry point and the second coordinate 41 of the entry point, and the distance or the coordinate difference can be used as the precision of the entry point.
And the upper computer calculates the distance between the three-dimensional reconstruction coordinate 42 of the exit point and the third coordinate 43 of the exit point according to the three-dimensional reconstruction coordinate 42 of the exit point and the third coordinate 43 of the exit point in the optical coordinate system, or calculates the coordinate difference between the three-dimensional reconstruction coordinate 42 of the exit point and the third coordinate 43 of the exit point, and the distance or the coordinate difference can be used as the accuracy of the exit point.
The upper computer determines a first direction 34 from the entry point to the exit point according to the three-dimensional reconstruction coordinates 30 of the entry point and the three-dimensional reconstruction coordinates 32 of the exit point, and the obtained three-dimensional reconstruction path is a line segment with the direction from the three-dimensional reconstruction coordinates 30 of the entry point to the three-dimensional reconstruction coordinates 32 of the exit point and is recorded as a first path; the upper computer determines a second direction 35 from the point-in point to the point-out point according to the second coordinate 31 and the third coordinate 33, and obtains a line segment of the optical tracking path, which is a line segment with the direction from the second coordinate 31 to the third coordinate 33 and is marked as a second path; and determining the included angle between the first direction 34 and the second direction 35 as the accuracy of the path according to the first direction 34 and the second direction 35.
Fig. 8 is a schematic structural diagram of an accuracy detection device of a surgical assistant navigation system according to an embodiment of the present disclosure. The operation auxiliary navigation system comprises X-ray perspective image equipment and an optical positioning system, wherein the precision detection device of the operation auxiliary navigation system can be precision detection equipment of the operation auxiliary navigation system, or the precision detection device can be a component or part in the precision detection equipment, and the precision detection equipment can be the upper computer in the embodiment. The precision detection device of the surgical assistant navigation system provided in the embodiment of the present disclosure may execute the processing procedure provided in the precision detection method of the surgical assistant navigation system, as shown in fig. 8, the precision detection device 80 of the surgical assistant navigation system includes: a first obtaining module 81, a first determining module 82, a second obtaining module 83, a second determining module 84, and a third determining module 85; the first obtaining module 81 is configured to obtain a scanned image, where the scanned image is obtained by scanning a preset device with the X-ray fluoroscopic imaging apparatus, and the preset device includes more than three mark points and a plurality of measurement points; a first determining module 82, configured to determine, according to the scan image, three-dimensional reconstructed coordinates of a first measurement point in the plurality of measurement points and three-dimensional reconstructed coordinates of a second measurement point in the plurality of measurement points, where the first measurement point and the second measurement point are used for planning a path; a second obtaining module 83, configured to obtain first coordinates of the three or more mark points detected by the optical positioning system in an optical coordinate system; a second determining module 84, configured to determine, according to the first coordinates of the three or more mark points in the optical coordinate system and the relative position relationships between the three or more mark points and the plurality of measurement points, a second coordinate of the first measurement point in the optical coordinate system and a third coordinate of the second measurement point in the optical coordinate system; and a third determining module 85, configured to determine the precision of the surgery assisted navigation system according to the three-dimensional reconstructed coordinates of the first measurement point, the three-dimensional reconstructed coordinates of the second measurement point, the second coordinates, and the third coordinates.
Optionally, the precision of the surgery-assisted navigation system comprises: the precision of the first measurement point, the precision of the second measurement point;
the third determining module 85 is specifically configured to:
determining the precision of the first measuring point according to the three-dimensional reconstruction coordinate of the first measuring point and the second coordinate;
and determining the precision of the second measuring point according to the three-dimensional reconstruction coordinates of the second measuring point and the third coordinates.
Optionally, the precision of the surgery-assisted navigation system includes: the precision of the path;
the third determining module 85 is specifically configured to:
determining a first direction from the first measuring point to the second measuring point according to the three-dimensional reconstruction coordinates of the first measuring point and the three-dimensional reconstruction coordinates of the second measuring point;
determining a second direction from the first measuring point to the second measuring point according to the second coordinate and the third coordinate;
and determining the precision of the path according to the first direction and the second direction.
Optionally, the three or more mark points are respectively provided with a reflective material.
Optionally, the plurality of measurement points are arranged around the preset device.
The precision detection device of the surgical assistant navigation system in the embodiment shown in fig. 8 can be used for implementing the technical solution of the precision detection method of the surgical assistant navigation system, and the implementation principle and the technical effect are similar, which are not described herein again.
Fig. 9 is a schematic structural diagram of an accuracy detection device of a surgical assistant navigation system according to an embodiment of the present disclosure. The precision detection device of the surgical assistant navigation system provided by the embodiment of the present disclosure may execute the processing flow provided by the precision detection method of the surgical assistant navigation system, as shown in fig. 9, the precision detection device 90 of the surgical assistant navigation system includes: memory 91, processor 92, computer programs and communications interface 93; therein, a computer program is stored in the memory 91 and is configured to be executed by the processor 92 for the accuracy detection method of the surgery assisted navigation system as described above.
In addition, the embodiment of the disclosure also provides a computer readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the accuracy detection method of the surgery assisted navigation system according to the above embodiment.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be 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. Also, 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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An accuracy detection method of an operation-assisted navigation system, the operation-assisted navigation system comprising an X-ray fluoroscopic image device and an optical positioning system, the X-ray fluoroscopic image device being configured to scan a preset device to obtain a scanned image, the preset device comprising three or more mark points and a plurality of measurement points, the scanned image being configured to determine a three-dimensional reconstruction coordinate of a first measurement point of the plurality of measurement points and a three-dimensional reconstruction coordinate of a second measurement point of the plurality of measurement points, the first measurement point and the second measurement point being configured to plan a path, the method comprising:
acquiring first coordinates of the more than three mark points detected by the optical positioning system under an optical coordinate system respectively;
determining a second coordinate of the first measuring point in the optical coordinate system and a third coordinate of the second measuring point in the optical coordinate system according to the first coordinates of the more than three marking points in the optical coordinate system and the relative position relationship between the more than three marking points and the plurality of measuring points;
and determining the precision of the surgery auxiliary navigation system according to the three-dimensional reconstruction coordinates of the first measuring point, the three-dimensional reconstruction coordinates of the second measuring point, the second coordinates and the third coordinates.
2. The method of claim 1, wherein the accuracy of the surgical assisted navigation system comprises: the precision of the first measurement point, the precision of the second measurement point;
determining the precision of the surgery assisted navigation system according to the three-dimensional reconstruction coordinates of the first measuring point, the three-dimensional reconstruction coordinates of the second measuring point, the second coordinates and the third coordinates, and comprising:
determining the precision of the first measuring point according to the three-dimensional reconstruction coordinate of the first measuring point and the second coordinate;
and determining the precision of the second measuring point according to the three-dimensional reconstruction coordinates of the second measuring point and the third coordinates.
3. The method of claim 1, wherein the accuracy of the surgical assisted navigation system comprises: the precision of the path;
determining the precision of the surgery assisted navigation system according to the three-dimensional reconstruction coordinates of the first measuring point, the three-dimensional reconstruction coordinates of the second measuring point, the second coordinates and the third coordinates, and comprising:
determining a first direction from the first measuring point to the second measuring point according to the three-dimensional reconstruction coordinates of the first measuring point and the three-dimensional reconstruction coordinates of the second measuring point;
determining a second direction from the first measuring point to the second measuring point according to the second coordinate and the third coordinate;
and determining the precision of the path according to the first direction and the second direction.
4. The method of claim 1, wherein the three or more marking points are each provided with a reflective material.
5. The method of claim 1, wherein the plurality of measurement points are disposed about the preset device.
6. An accuracy detection device of an operation auxiliary navigation system, the operation auxiliary navigation system comprising an X-ray perspective image device and an optical positioning system, the X-ray perspective image device being used for scanning a preset device to obtain a scanning image, the preset device comprising more than three mark points and a plurality of measuring points, the scanning image being used for determining a three-dimensional reconstruction coordinate of a first measuring point of the plurality of measuring points and a three-dimensional reconstruction coordinate of a second measuring point of the plurality of measuring points, the first measuring point and the second measuring point being used for planning a path, the accuracy detection device comprising:
the second acquisition module is used for acquiring first coordinates of the more than three mark points detected by the optical positioning system under an optical coordinate system respectively;
the second determining module is used for determining a second coordinate of the first measuring point in the optical coordinate system and a third coordinate of the second measuring point in the optical coordinate system according to the first coordinate of the more than three marking points in the optical coordinate system and the relative position relation between the more than three marking points and the plurality of measuring points;
and the third determining module is used for determining the precision of the surgery auxiliary navigation system according to the three-dimensional reconstruction coordinates of the first measuring point, the three-dimensional reconstruction coordinates of the second measuring point, the second coordinates and the third coordinates.
7. The apparatus of claim 6, wherein the accuracy of the surgical assisted navigation system comprises: the precision of the first measurement point, the precision of the second measurement point;
the third determining module is specifically configured to:
determining the precision of the first measuring point according to the three-dimensional reconstruction coordinate of the first measuring point and the second coordinate;
and determining the precision of the second measuring point according to the three-dimensional reconstruction coordinates of the second measuring point and the third coordinates.
8. The apparatus of claim 6, wherein the accuracy of the surgical assisted navigation system comprises: the precision of the path;
the third determining module is specifically configured to:
determining a first direction from the first measuring point to the second measuring point according to the three-dimensional reconstruction coordinates of the first measuring point and the three-dimensional reconstruction coordinates of the second measuring point;
determining a second direction from the first measuring point to the second measuring point according to the second coordinate and the third coordinate;
and determining the precision of the path according to the first direction and the second direction.
9. An accuracy detection apparatus of a surgery-assisted navigation system, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-5.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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