CN114305682B - Neural intervention navigation real-time positioning system and method - Google Patents
Neural intervention navigation real-time positioning system and method Download PDFInfo
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- CN114305682B CN114305682B CN202011052619.9A CN202011052619A CN114305682B CN 114305682 B CN114305682 B CN 114305682B CN 202011052619 A CN202011052619 A CN 202011052619A CN 114305682 B CN114305682 B CN 114305682B
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Abstract
The invention provides a neural intervention navigation real-time positioning system and a neural intervention navigation real-time positioning method, wherein the system comprises the following steps: a measurement module and a processor unit; the measuring module is used for measuring the space position information of a preset site on the upper teeth of the patient in real time; the processor unit is used for responding to a calibration instruction, calculating initial pose information of the upper teeth according to the space position information of the preset position at the current moment to finish initial position calibration, responding to an operation instruction, calculating real-time pose information of the upper teeth according to the space position information of the preset position at the current moment, and carrying out skull real-time positioning according to the initial pose information and the real-time pose information. The invention can solve the problems of low degree of automation and low precision of registration positioning in the neural intervention navigation in the prior art.
Description
Technical Field
The invention relates to the technical field of surgical navigation, in particular to a neural intervention navigation real-time positioning system, a neural intervention navigation real-time positioning method, a computer readable storage medium and computer equipment.
Background
The human brain is complex in structure, and various neurovascular structures are densely interwoven to jointly form our central nervous system, between which 1000 hundred million interconnected neurons are available, which can perform complex calculations. Surgery is performed in the brain with a high level of sophistication and complexity. The method has the advantages that the skull is required to be positioned in real time in the operation, and the position and the boundary of the lesion can be well determined based on the neural intervention navigation of registration positioning, so that a doctor is assisted to remove the tumor efficiently and damage to the brain is reduced as much as possible.
There are many techniques related to neural interventional navigation, however, the existing registration positioning method has the following disadvantages:
(1) The characteristic equipment is needed to fix detection points on the head of a patient for registration positioning, the time consumption of the marking point identification process is long, and the degree of automation is low;
(2) Acquiring a facial point cloud from the facial contour of a patient by laser, and registering the facial point cloud with the facial point cloud on CT or MR, wherein the facial is subjected to local deformation, and the problem of registration accuracy deviation is likely to occur;
(3) Three-dimensional point cloud data of the face of a patient are acquired through a three-dimensional scanner and registered with preoperative CT image data, and the problem that local deformation of the face can occur and registration accuracy deviation can occur is solved.
Disclosure of Invention
The invention aims to provide a neural intervention navigation real-time positioning system, a neural intervention navigation real-time positioning method, a computer readable storage medium and computer equipment, so as to solve the problems of low registration positioning automation degree and low precision in the neural intervention navigation of the neural intervention navigation in the prior art.
In order to achieve the above object, the present invention provides a neural intervention navigation real-time positioning system, comprising:
a measurement module and a processor unit;
The measuring module is used for measuring the space position information of a preset site on the upper teeth of the patient in real time;
the processor unit is used for responding to a calibration instruction, calculating initial pose information of the upper teeth according to the space position information of the preset position at the current moment to finish initial position calibration, responding to an operation instruction, calculating real-time pose information of the upper teeth according to the space position information of the preset position at the current moment, and carrying out skull real-time positioning according to the initial pose information and the real-time pose information.
Optionally, in the neural intervention navigation real-time positioning system, the measurement module includes: the tooth socket comprises a magnetic field generator, a first tooth socket device and a plurality of magnetic sensors, wherein the magnetic sensors are respectively arranged at a plurality of preset sites in the first tooth socket device, and the first tooth socket device is fixedly connected with the upper teeth of the patient and manufactured according to an upper tooth model of the patient;
the magnetic field generator is for generating a magnetic field through the patient's head;
the magnetic sensor is used for collecting magnetic field intensity information of the position where the magnetic sensor is located in real time and calculating spatial position information of the corresponding preset position.
Optionally, in the neural intervention navigation real-time positioning system, the number of the magnetic sensors is at least three, and the positions of the at least three magnetic sensors are at least three preset positions;
the processor unit is used for calculating the initial pose information and the real-time pose information of the upper teeth according to the spatial position information of at least three preset sites and the upper tooth model.
Optionally, in the neural intervention navigation real-time positioning system, the number of the magnetic sensors is two, and the positions of the two magnetic sensors are two preset sites;
the magnetic sensor is used for collecting magnetic field intensity information of the position where the magnetic sensor is located in real time, and calculating corresponding spatial position information of the preset position and orientation information of the magnetic sensor;
the processor unit is used for calculating the initial pose information and the real-time pose information of the upper teeth according to the space position information of the two preset sites, the orientation information of the two magnetic sensors and the upper tooth model.
Optionally, in the neural intervention navigation real-time positioning system, the measurement module includes: the infrared point cloud distance measuring device, the second dental socket device and the infrared positioning point device are arranged on the second dental socket device, and the second dental socket device is fixedly connected with the upper teeth of the patient and manufactured according to the upper tooth model of the patient;
The infrared point cloud distance measuring equipment is used for irradiating the infrared positioning point device to obtain the space position information of the preset position corresponding to the positioning point in the infrared positioning point device in real time.
Optionally, in the neural intervention navigation real-time positioning system, the number of positioning points in the infrared positioning point device is at least three, and at least three positioning points correspond to at least three preset positions;
the processor unit is used for calculating the initial pose information and the real-time pose information of the upper teeth according to the spatial position information of at least three preset sites and the upper tooth model.
Optionally, in the neural intervention navigation real-time positioning system, the upper tooth model of the patient is obtained by:
acquiring a brain volume data image of the patient;
dividing the maxilla in the brain volume data image to obtain maxilla region volume data; and
and establishing the upper tooth model based on the maxillary region body data.
Optionally, in the neural intervention navigation real-time positioning system, the measurement module includes: the depth sensing device is used for irradiating the upper teeth of the patient to acquire first 3D point cloud data of the upper teeth in real time.
Optionally, in the neural intervention navigation real-time positioning system, the processor unit is configured to register the first 3D point cloud data and the second 3D point cloud data obtained in advance, so as to obtain initial pose information and the real-time pose information of the upper teeth; wherein the second 3D point cloud data is generated based on extracting the upper dental region from maxillary region volume data of the patient.
Optionally, in the neural intervention navigation real-time positioning system, the processor unit performs skull positioning according to the initial pose information and the real-time pose information, including:
calculating a rotation translation matrix of the upper teeth according to the initial pose information and the real-time pose information;
calculating the rotation translation amount of the skull of the patient according to the rotation translation matrix and the brain volume data image of the patient; and
and performing skull positioning according to the rotation translation amount.
In order to achieve the above purpose, the present invention provides a neural intervention navigation real-time positioning method, comprising:
acquiring spatial position information of a preset site on the upper teeth of a patient, which is measured in real time by a measuring module;
responding to a calibration instruction, and calculating initial pose information of the upper teeth according to the spatial position information of the preset locus at the current moment to finish initial position calibration;
Responding to an operation instruction, calculating real-time pose information of the upper teeth according to the space position information of the preset site at the current moment, and performing skull real-time positioning according to the initial pose information and the real-time pose information.
Optionally, in the neural intervention navigation real-time positioning method, the measurement module includes: the tooth socket comprises a magnetic field generator, a first tooth socket device and a plurality of magnetic sensors, wherein the magnetic sensors are respectively arranged at a plurality of preset sites in the first tooth socket device, and the first tooth socket device is fixedly connected with the upper teeth of the patient and is designed and manufactured according to the upper tooth model of the patient;
the magnetic field generator is used for generating a magnetic field passing through the head of the patient;
the magnetic sensor is used for collecting magnetic field intensity information of the position where the magnetic sensor is located in real time and calculating spatial position information of the corresponding preset position.
Optionally, in the neural intervention navigation real-time positioning method, the number of the magnetic sensors is at least three, and the positions of the at least three magnetic sensors are at least three preset positions;
the initial pose information and the real-time pose information of the upper teeth are calculated according to the following modes:
And calculating initial pose information and real-time pose information of the upper teeth according to the spatial position information of at least three preset sites and the upper tooth model.
Optionally, in the neural intervention navigation real-time positioning method, the number of the magnetic sensors is two, and the positions of the two magnetic sensors are two preset sites;
the magnetic sensor is used for collecting magnetic field intensity information of the position in real time and calculating corresponding spatial position information of the preset position and orientation information of the magnetic sensor;
the initial pose information and the real-time pose information of the upper teeth are calculated according to the following modes:
and calculating the initial pose information and the real-time pose information of the upper teeth according to the space position information of the two preset sites, the orientation information of the two magnetic sensors and the upper tooth model.
Optionally, in the neural intervention navigation real-time positioning method, the measurement module includes: the infrared point cloud distance measuring device, the second dental socket device and the infrared positioning point device are arranged on the second dental socket device, and the second dental socket device is fixedly connected with the upper teeth of the patient and manufactured according to the upper tooth model of the patient;
The infrared point cloud distance measuring equipment is used for irradiating the infrared positioning point device to obtain the space position information of the preset position corresponding to the positioning point in the infrared positioning point device in real time.
Optionally, in the neural intervention navigation real-time positioning method, the number of positioning points in the infrared positioning point device is at least three, and at least three positioning points correspond to at least three preset positions;
the initial pose information and the real-time pose information of the upper teeth are calculated according to the following modes:
and calculating the initial pose information and the real-time pose information of the upper teeth according to the spatial position information of at least three preset sites and the upper tooth model.
Optionally, in the neural intervention navigation real-time positioning method, the upper tooth model of the patient is obtained by the following method:
acquiring a brain volume data image of the patient;
dividing the maxilla in the brain volume data image to obtain maxilla region volume data; and
and establishing the upper tooth model based on the maxillary region body data.
Optionally, in the neural intervention navigation real-time positioning method, the measurement module includes: the depth sensing device is used for irradiating the upper teeth of the patient to acquire first 3D point cloud data of the upper teeth in real time.
Optionally, in the neural intervention navigation real-time positioning method, the initial pose information and the real-time pose information of the upper teeth are calculated according to the following modes:
registering the first 3D point cloud data and the second 3D point cloud data obtained in advance to obtain initial pose information and real-time pose information of the upper teeth; wherein the second 3D point cloud data is generated based on extracting the upper dental region from maxillary region volume data of the patient.
Optionally, in the neural intervention navigation real-time positioning method, the performing skull positioning according to the initial pose information and the real-time pose information includes:
calculating a rotation translation matrix of the upper teeth according to the initial pose information and the real-time pose information;
calculating the rotation translation amount of the skull of the patient according to the rotation translation matrix and the brain volume data image of the patient; and
and performing skull positioning according to the rotation translation amount.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the neural intervention navigation real-time localization method as described above.
To achieve the above object, the present invention also provides a computer device comprising a memory and a processor, the memory storing a computer program, the processor executing the steps of the neural intervention navigation real-time localization method as described above.
Compared with the prior art, the neural intervention navigation real-time positioning system, the neural intervention navigation real-time positioning method, the computer readable storage medium and the computer equipment provided by the invention have the following advantages:
according to the invention, the measurement module is adopted to measure the spatial position information of the preset position on the upper teeth of the patient in real time, the initial pose information of the upper teeth is calculated according to the spatial position information of the preset position at the current moment before the operation is started so as to finish initial position calibration, the real-time pose information of the upper teeth is calculated according to the spatial position information of the preset position at the current moment in the operation process, and the skull real-time positioning is carried out according to the initial pose information and the real-time pose information. Because the upper teeth of the person are positioned on the maxilla, and the maxilla is rigidly connected with the skull of the person, the registration positioning of the skull of the person can be realized through the registration positioning of the upper teeth (namely the maxilla), the interference resistance is strong through the upper teeth registration positioning mode, the introduced error is small, the precision is high, and compared with the mode of adopting the facial contour for registration positioning, the problem of poor registration precision caused by local deformation is avoided; in addition, the invention carries out real-time registration positioning by measuring the spatial position information of the upper teeth, does not need invasive equipment such as skull nails, headstock and the like in the operation process, and has no wound on patients; in addition, an end-to-end calculation flow is used, so that the calculation efficiency is high, the real-time performance is high, the integrated execution unit is convenient, and a doctor is assisted to finish accurate operation.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a neural interventional navigation real-time positioning system according to an embodiment of the present invention;
FIG. 2a is a view showing a state of use of the measuring module in a first embodiment during surgery;
FIG. 2b is a schematic illustration of the connection of the first shell device to the upper teeth;
FIG. 3a is a view showing a state of use of the measurement module in a second embodiment during surgery;
FIG. 3b is a schematic illustration of the connection of a second shell device to an upper tooth;
FIG. 4 is a view showing a state of use of the measurement module at the time of surgery in the third embodiment;
fig. 5 is a flowchart of a neural intervention navigation real-time positioning method according to an embodiment of the invention.
Detailed Description
The neural intervention navigation real-time positioning system, the neural intervention navigation real-time positioning method, the neural intervention navigation real-time positioning computer readable storage medium and the neural intervention navigation real-time positioning computer device are further described in detail below with reference to the attached 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 for illustration purposes only and should not be construed as limiting the invention to the extent that any modifications, changes in the proportions, or adjustments of the sizes of structures, proportions, or otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or essential characteristics thereof.
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 invention provides a neural intervention navigation real-time positioning system, a neural intervention navigation real-time positioning method, a computer readable storage medium and computer equipment, which are used for solving the problems of low registration positioning automation degree and low precision in the neural intervention navigation in the prior art. As described in the background art, in the existing neural intervention navigation technology, registration positioning is performed based on optical acquisition of the external contour of facial skin, but because the skin of a person is soft and elastic, and the skin and the cranium are not rigidly connected, the facial contour is deformed due to factors such as pose change, expression change and the like in preoperative operation, so that the registration positioning method based on the facial skin has a great risk of precision. The invention is based on the registration of the upper teeth (maxilla) of a person, and the upper teeth and the skull are in rigid connection in physiology, so that the positioning accuracy can be improved, and the deviation risk can be reduced.
Referring to fig. 1, the neural intervention navigation real-time positioning system provided by the present invention includes a measurement module 10 and a processor unit 20;
the measuring module 10 is used for measuring the spatial position information of a preset site on the teeth of a patient in real time and transmitting the measurement data to the processor unit 20;
the processor unit 20 is configured to calculate initial pose information of the upper teeth according to spatial position information of the preset site at a current time in response to a calibration instruction to complete initial position calibration, calculate real-time pose information of the upper teeth according to spatial position information of the preset site at the current time in response to a surgical instruction, and perform skull real-time positioning according to the initial pose information and the real-time pose information.
Specifically, the processor unit 20 performs skull positioning according to the initial pose information and the real-time pose information, including: calculating a rotation translation matrix of the upper teeth according to the initial pose information and the real-time pose information; calculating the rotation translation amount of the skull of the patient according to the rotation translation matrix and the brain volume data image of the patient; and performing skull positioning according to the rotation translation amount.
It can be understood that the upper teeth of the person are positioned on the maxilla, and the maxilla is rigidly connected with the skull of the person, so that the registration positioning of the skull of the person can be realized through the registration positioning of the upper teeth (namely the maxilla), the interference resistance is strong through the upper teeth registration positioning mode, the introduced error is small, the precision is high, and compared with the mode of adopting the facial contour for registration positioning, the problem of poor registration precision caused by local deformation is avoided; in addition, the neural intervention navigation real-time positioning system provided by the invention is used for carrying out real-time registration positioning by measuring the spatial position information of the upper teeth, no invasive equipment such as skull nails, headstock and the like is needed in the operation process, and the patient is not wounded; in addition, an end-to-end calculation flow is used, so that the calculation efficiency is high, the real-time performance is high, the integrated execution unit is convenient, and a doctor is assisted to finish accurate operation. In addition, in the invention, because the measuring module, the actuating mechanism and the bed body are in a rigid connection state, and the three are unified in coordinate system, registration operation is not needed, and the invention has one of the advantages compared with the prior art, and can realize simple process and high precision.
The neural intervention navigation real-time positioning system provided by the invention is described in detail below with reference to three specific embodiments.
Example 1
The present embodiment provides a structure of the measuring module 10. Referring to fig. 2a and 2b, fig. 2a shows a usage state diagram of the measuring module 10 of the present embodiment during operation, and fig. 2b shows a connection relationship between the first dental floss device and the upper teeth in the measuring module 10. The measurement module 10 includes a magnetic field generator 111, a first dental socket device 112, and a plurality of magnetic sensors 113, wherein the plurality of magnetic sensors 113 are respectively disposed at a plurality of preset sites in the first dental socket device 112, and the first dental socket device 112 is fixedly connected with the upper teeth of the patient.
The first dental floss device 112 is designed and manufactured according to the upper dental model of the patient. Specifically, the patient's upper teeth model is obtained by: firstly, acquiring a brain volume data image of the patient, and then dividing a maxilla in the brain volume data image to obtain maxilla region volume data, so that the upper tooth model can be established based on the maxilla region volume data.
In this embodiment, the brain volume data image may be a CTA (computed tomography) volume data image of the patient, or may be another type of medical image. It should be noted that the size of the brain volume data image may be set according to the specific situation, and the present invention is not limited thereto, for example, the three-dimensional data size of the brain volume data image may be 512×512×160. Preferably, the brain volume data image may be further filtered to remove noise information in the image, so as to improve image quality of the brain volume data image, for example, a three-dimensional gaussian smoothing filter may be used for filtering.
The region growing mode can be adopted to segment the Maxilla in the brain Volume data image, and because the density of the Maxilla and the teeth attached to the Maxilla is higher, the Maxilla and the teeth attached to the Maxilla in the brain Volume data image show high gray values, seed points can be manually selected, and the region growing mode is utilized to segment, so that the Maxilla region Volume data Maxilla-Volume is obtained, wherein the Maxilla region pixel value is 1, and the other region pixel values are 0.
Then, an upper Tooth model Tooth-model can be built based on the segmented maxillary region Volume data Maxilla-Volume, and the specific building method can refer to the prior art and is not described herein.
The first dental floss device 112 may be manufactured by a 3D printing method based on the dental floss model, however, other manufacturing processes may be used to obtain the first dental floss device 112, which is not limited in the present invention.
The number of the magnetic sensors 113 may be 2, 3, or 3 or more. Preferably, the plurality of magnetic sensors 113 may be symmetrically disposed on the first dental floss device 112, for example, when the number of the magnetic sensors 113 is 2, 2 magnetic sensors 113 are disposed at positions corresponding to the 17 th and 27 th teeth of the first dental floss device 112, respectively, and when the number of the magnetic sensors 113 is 3, 3 magnetic sensors 113 are disposed at positions corresponding to the 1 st, 17 th and 27 th teeth of the first dental floss device 112, respectively. In a specific implementation, when the first dental floss device 112 is designed according to the Tooth model Tooth-model, a sensor mounting groove 1121 may be reserved at a corresponding position, after the first dental floss device 112 is manufactured, the magnetic sensor 113 is placed into the mounting groove 1121 of the first dental floss device 112 before an operation, and then the first dental floss device 112 is sleeved on the upper teeth of the patient and fixed, and at this time, the first dental floss device 112 and the upper jawbone of the patient are in a rigid connection state. Preferably, as shown in fig. 2b, the first dental socket device 112 may further be connected to a head fixing device 114, and when the first dental socket device 112 is fitted over the upper teeth of the patient, the head fixing device 114 may be fitted over the head of the patient to strengthen the connection between the first dental socket device 112 and the upper teeth, so as to prevent the first dental socket device 112 from falling off from the upper teeth.
In operation, the patient lies on the operating table, the magnetic field generator 111 is placed near the oral cavity of the patient, so that the magnetic field generator 111 can generate a magnetic field passing through the head of the patient, preferably a uniform magnetic field, the magnetic sensor 113 disposed in the first tooth socket device 112 is located in the magnetic field, the magnetic sensor 113 can collect magnetic field intensity information of the position of the magnetic sensor 113 in real time, calculate spatial position information of the corresponding preset position, and transmit the spatial position information of the preset position to the processor unit 20, so that the processor unit 20 can perform related calculation according to the spatial position information of the preset position in the operation process to realize registration positioning.
In one implementation, as shown in fig. 2b, the number of the magnetic sensors 113 is three, and the positions of the three magnetic sensors 113 are three preset positions; the three magnetic sensors 113 may transmit spatial position information of the three preset sites in the magnetic field to the processor unit 20 through the data output interface 30, and the processor unit 20 may calculate the initial pose information and the real-time pose information of the upper teeth according to the spatial position information of the three preset sites in combination with the upper tooth model.
It can be understood that the spatial position information of the three preset positions on the first dental floss device 112 in the magnetic field is represented by p1, p2, and p3, and the position and posture information (i.e., the posture information, represented by (x, y, z, v), where v is a three-dimensional spatial vector) of the first dental floss device 112 can be calculated by combining the upper dental floss model corresponding to the first dental floss device 112, and the posture information of the first dental floss device 112 is the posture information of the upper teeth of the patient because the first dental floss device 112 is attached to the upper teeth of the patient.
Before the operation starts, a doctor may input a calibration command, and the processor unit 20 calculates pose information of the upper teeth of the patient at the current time in response to the calibration command to obtain initial pose information (x 0 ，y 0 ，z 0 ，v 0 ) And performing initial position calibration.
After the calibration is completed, the doctor can input a surgical instruction (or the system can automatically send out the surgical instruction), and the operation is formally started. During the operation, the processor unit 20 uses the spatial position information p1, p2, p3 of the preset site transmitted by the three magnetic sensors 113 in real time to calculate the pose information of the upper teeth of the patient at the current time t in real time to obtain the real-time pose information (x t ，y t ，z t ，v t ) And then according to the initial pose information (x 0 ，y 0 ，z 0 ，v 0 ) And the real-time pose information (x t ，y t ，z t ，v t ) A rotational-translational matrix M of the patient's upper teeth can be calculated 1 Since the upper teeth are in rigid connection with the maxilla and skull 50, the matrix M can be translated by the rotation 1 And the pre-operation skull CT image (i.e. brain volume data image) of the patient obtains the rotation translation amount of the skull 50 in real time, so as to perform corresponding compensation on the operation executing mechanism 40, thereby realizing accurate operation positioning. The specific compensation method can be referred to the prior art, and will not be described herein.
Wherein, the rotation translation matrix M 1 The calculation formula of (2) is as follows, M 1_rot And M 1_trans Is the calculation M 1 Respectively representing rotation and translation, are combined together into a rotation translation matrix M 1 。
In another implementation manner, the number of the magnetic sensors 113 is two, and the positions of the two magnetic sensors 113 are two preset positions; unlike the three magnetic sensors 113, the two magnetic sensors 113 can calculate the spatial position information of the corresponding preset position after collecting the magnetic field intensity information of the position where the two magnetic sensors 113 are located in real time, and meanwhile, the two magnetic sensors 113 can also calculate the respective orientation information, so that the spatial position information of the two preset positions in the magnetic field and the orientation information of the two magnetic sensors 113 can be transmitted to the processor unit 20 through the data output interface 30, so that the processor unit 20 can calculate the initial pose information and the real-time pose information of the upper teeth according to the spatial position information of the two preset positions and the orientation information of the two magnetic sensors 113 and combining the upper tooth model.
It can be understood that the spatial position information of the two preset positions on the first dental floss device 112 in the magnetic field and the orientation information of the two magnetic sensors 113 are represented by (p 1, v 1), (p 2, v 2), and the position and posture information (i.e., pose information, represented by (x, y, z, v)) of the first dental floss device 112 can be calculated by combining the upper dental floss model corresponding to the first dental floss device 112, and the pose information of the first dental floss device 112 is the pose information of the upper teeth of the patient because the first dental floss device 112 is attached to the upper teeth of the patient.
Likewise, before the operation is started, the doctor may input a calibration command, and the processor unit 20 calculates pose information of the upper teeth of the patient at the current time in response to the calibration command to obtain initial pose information (x 0 ，y 0 ，z 0 ，v 0 ) And performing initial position calibration.
After the calibration is completed, a doctor can input a surgical instruction (or the system automatically sends out the surgical instruction), and the operation is formally started. During the operation, the processor unit 20 uses the spatial position information of the preset position transmitted by the two magnetic sensors 113 in real time and the orientation information of the two magnetic sensors 113 to be represented by (p 1, v 1), (p 2, v 2), and can calculate the pose information of the upper teeth of the patient at the current time t in real time to obtain the real-time pose information (x) t ，y t ，z t ，v t ) And then according to the initial pose information (x 0 ，y 0 ，z 0 ，v 0 ) And the real-time pose information (x t ，y t ，z t ，v t ) The rotation translation matrix M1 of the upper teeth of the patient can be calculated, and the upper teeth, the maxilla and the skull 50 are in a rigid connection state, so that the rotation translation amount of the skull 50 can be obtained in real time by the rotation translation matrix M1 and the pre-operation skull CT image (namely brain volume data image) of the patient, and further, corresponding compensation can be performed on an operation executing mechanism, and accurate operation positioning can be realized. The specific compensation method can be referred to the prior art, and will not be described herein.
Wherein, the rotation translation matrix M 1 The calculation formula of (2) is as follows, M 1_rot And M 1_trans Is the calculation M 1 Respectively representing rotation and translation, are combined together into a rotation translation matrix M 1 。
< example two >
This embodiment provides another structure of the measuring module 10. Referring to fig. 3a and 3b, fig. 3a shows a state diagram of the measurement module 10 of the present embodiment during operation, and fig. 3b shows a schematic diagram of the connection relationship between the second dental floss device and the upper teeth. Wherein the measurement module 10 comprises: the infrared point cloud range unit 121, second facing device 122 and infrared locating point device 123, infrared locating point device 123 set up in on the second facing device 122, second facing device 122 with patient's upper teeth fixed connection.
The second dental floss device 122 is designed and manufactured according to the upper dental model of the patient, and the specific manufacturing process can refer to the first embodiment, which is not described herein.
The infrared anchor point device 123 is generally spherical and typically needs to include at least three anchor points. Therefore, when the second dental floss device 122 is designed according to the Tooth model Tooth-model, the fixing position 1221 of the infrared positioning point device 123 can be reserved at the corresponding position, after the second dental floss device 122 is manufactured, the infrared positioning point device 123 is firstly placed into the fixing position 1221 of the second dental floss device 122 before operation, then the second dental floss device 122 is sleeved on the upper teeth of the patient and fixed, and at the moment, the second dental floss device 122 and the upper jaw bone of the patient are in a rigid connection state. Preferably, as shown in fig. 3b, the second dental socket device 122 may also be connected to a head fixing device 124, and when the second dental socket device 122 is fitted over the upper teeth of the patient, the head fixing device 124 may be fitted over the head of the patient to strengthen the connection between the second dental socket device 122 and the upper teeth, so as to prevent the second dental socket device 122 from falling off from the upper teeth.
During operation, the patient lies on the operating table, the infrared point cloud ranging device 121 is used to irradiate the infrared positioning point device 123, and the relative positions of the infrared point cloud ranging device and the infrared positioning point device can be adjusted so that the positioning points in the infrared positioning point device 123 are all in the effective working range of the infrared point cloud ranging device 121, so that the infrared point cloud ranging device 121 can measure the spatial position information of the preset position corresponding to the positioning point in the infrared positioning point device 123 in real time and transmit the spatial position information of the preset position to the processor unit 20, and the processor unit 20 can perform relevant calculation according to the spatial position information of the preset position in the operation process to realize registration positioning.
Specifically, as shown in fig. 3b, the number of positioning points in the infrared positioning point device 123 is three, and the three positioning points correspond to the three preset positions; the infrared point cloud ranging device 121 may transmit spatial position information of the three preset positions relative to the infrared point cloud ranging device 121 to the processor unit 20 through the data output interface 30, and the processor unit 20 may calculate the initial pose information and the real-time pose information of the upper teeth according to the spatial position information of the three preset positions and in combination with the upper tooth model.
It can be understood that the spatial position information of the three preset positions on the second dental floss device 122 relative to the infrared point cloud distance measuring device 121 is represented by p1, p2, and p3, and the position and posture information (i.e., pose information, represented by (x, y, z, v)) of the second dental floss device 122 can be calculated by combining the upper dental floss model corresponding to the second dental floss device 122, and the pose information of the second dental floss device 122 is the pose information of the upper teeth of the patient because the second dental floss device 122 is attached to the upper teeth of the patient.
Before the operation starts, a doctor may input a calibration command, and the processor unit 20 calculates pose information of the upper teeth of the patient at the current time in response to the calibration command to obtain initial pose information (x 0 ，y 0 ，z 0 ，v 0 ) And performing initial position calibration.
After the calibration is completed, the doctor can input a surgical instruction (or the system can automatically send out the surgical instruction), and the operation is formally started. After the operationIn the process, the processor unit 20 may calculate the pose information of the upper teeth of the patient at the current time t in real time by using the spatial position information p1, p2, p3 of the three preset sites transmitted in real time by the infrared point cloud ranging device 121 to obtain the real-time pose information (x t ，y t ，z t ，v t ) And then according to the initial pose information (x 0 ，y 0 ，z 0 ，v 0 ) And the real-time pose information (x t ，y t ，z t ，v t ) A rotational-translational matrix M of the patient's upper teeth can be calculated 1 Since the upper teeth are in rigid connection with the maxilla and skull 50, the matrix M can be translated by the rotation 1 And the pre-operation skull CT image (i.e. brain volume data image) of the patient can obtain the rotation translation amount of the skull 50 in real time, so that corresponding compensation can be performed on an operation executing mechanism, and accurate operation positioning can be realized. The specific compensation method can be referred to the prior art, and will not be described herein.
Wherein, the rotation translation matrix M 1 The calculation formula of (2) is as follows, M 1_rot And M 1_trans Is the calculation M 1 Respectively representing rotation and translation, are combined together into a rotation translation matrix M 1 。
Example III
The present embodiment provides yet another structure of the measuring module 10. Referring to fig. 4, fig. 4 shows a state diagram of the use of the measurement module 10 of the present embodiment at the time of surgery. The measurement module includes a depth sensing device 131, and is configured to irradiate an upper tooth of the patient to collect first 3D point cloud data of the upper tooth in real time.
During operation, the patient lies on the operation table, an oral cavity opening device 132 may be used to expose the upper teeth of the patient, so that the depth sensing device 131 may irradiate the upper teeth of the patient, and the relative position of the depth sensing device 131 and the oral cavity opening device 132 may be adjusted so that the upper teeth are located in the effective working range of the depth sensing device 131, so that the depth sensing device 131 may collect the first 3D point cloud data of the upper teeth in real time, and transmit the first 3D point cloud data to the processor unit 20, so that the processor unit 20 performs relevant calculation according to the first 3D point cloud data during operation to realize registration positioning.
Specifically, the processor unit 20 registers the first 3D point cloud data and the second 3D point cloud data obtained in advance to obtain initial pose information and the real-time pose information of the upper teeth; wherein the second 3D point cloud data is generated based on extracting the upper dental region from maxillary region volume data of the patient.
The method for acquiring the maxillary region Volume data of the patient is the same as that of the first embodiment, and will not be described herein. Before the operation, the upper dental region may be extracted in advance based on the Maxilla-Volume data of the maxillary region, so as to generate the second 3D point cloud data, which is denoted by point-closed-1, and a specific process for generating the 3D point cloud data may refer to the prior art, which is not described herein.
The depth sensing device 131 acquires first 3D point cloud data of the upper teeth of the patient in real time, which is represented by point-close-2, and the processor unit 20 may register the first 3D point cloud data point-close-2 and the second 3D point cloud data point-close-1 by using a registration algorithm, so as to obtain position and posture information (i.e., pose information, which is represented by (x, y, z, v)) of the upper teeth of the patient relative to the depth sensing device 131.
Before the operation starts, a doctor may input a calibration command, and the processor unit 20 calculates pose information of the upper teeth of the patient at the current time in response to the calibration command to obtain initial pose information (x 0 ，y 0 ，z 0 ，v 0 ) And performing initial position calibration.
After the calibration is completed, the doctor can input a surgical instruction (or the system can automatically send out the surgical instruction) The procedure is formally started. During the operation, the processor unit 20 may calculate the pose information of the upper teeth of the patient at the current time t in real time by using the first 3D point cloud data transmitted from the depth sensing device 131 in real time to obtain the real-time pose information (x t ，y t ，z t ，v t ) And then according to the initial pose information (x 0 ，y 0 ，z 0 ，v 0 ) And the real-time pose information (x t ，y t ，z t ，v t ) A rotational-translational matrix M of the patient's upper teeth can be calculated 1 Since the upper teeth are in rigid connection with the maxilla and skull 50, the matrix M can be translated by the rotation 1 And the pre-operation skull CT image (i.e. brain volume data image) of the patient obtains the rotation translation amount of the skull 50 in real time, so as to perform corresponding compensation on the operation executing mechanism 40, thereby realizing accurate operation positioning. The specific compensation method can be referred to the prior art, and will not be described herein.
Wherein, the rotation translation matrix M 1 The calculation formula of (2) is as follows, M 1_rot And M 1_trans Is the calculation M 1 Respectively representing rotation and translation, are combined together into a rotation translation matrix M 1 。
Based on the same inventive concept, the invention also provides a neural intervention navigation real-time positioning method, which comprises the following steps:
s100, acquiring spatial position information of a preset site on the upper teeth of a patient, which is measured in real time by a measurement module;
s200, responding to a calibration instruction, and calculating initial pose information of the upper teeth according to the spatial position information of the preset locus at the current moment to finish initial position calibration;
s300, responding to an operation instruction, calculating real-time pose information of the upper teeth according to the space position information of the preset site at the current moment, and performing skull real-time positioning according to the initial pose information and the real-time pose information.
Preferably, in the neural intervention navigation real-time positioning method, the measurement module includes: the tooth socket comprises a magnetic field generator, a first tooth socket device and a plurality of magnetic sensors, wherein the magnetic sensors are respectively arranged at a plurality of preset sites in the first tooth socket device, and the first tooth socket device is fixedly connected with the upper teeth of the patient and is designed and manufactured according to the upper tooth model of the patient;
The magnetic field generator is used for generating a magnetic field passing through the head of the patient;
the magnetic sensor is used for collecting magnetic field intensity information of the position where the magnetic sensor is located in real time and calculating spatial position information of the corresponding preset position.
Preferably, in the neural intervention navigation real-time positioning method, the number of the magnetic sensors is at least three, and the positions of the at least three magnetic sensors are at least three preset positions;
the initial pose information and the real-time pose information of the upper teeth are calculated according to the following modes:
and calculating initial pose information and real-time pose information of the upper teeth according to the spatial position information of the three preset sites and the upper tooth model.
Preferably, in the neural intervention navigation real-time positioning method, the number of the magnetic sensors is two, and the positions of the two magnetic sensors are two preset sites;
the magnetic sensor is used for collecting magnetic field intensity information of the position where the magnetic sensor is located in real time, and calculating corresponding spatial position information of the preset position and orientation information of the magnetic sensor;
the initial pose information and the real-time pose information of the upper teeth are calculated according to the following modes:
And calculating the initial pose information and the real-time pose information of the upper teeth according to the space position information of the two preset sites, the orientation information of the two magnetic sensors and the upper tooth model.
Preferably, in the neural intervention navigation real-time positioning method, the measurement module includes: the infrared point cloud distance measuring device, the second dental socket device and the infrared positioning point device are arranged on the second dental socket device, and the second dental socket device is fixedly connected with the upper teeth of the patient and manufactured according to the upper tooth model of the patient;
the infrared point cloud distance measuring equipment is used for irradiating the infrared positioning point device to obtain the space position information of the preset position corresponding to the positioning point in the infrared positioning point device in real time.
Preferably, in the neural intervention navigation real-time positioning method, the number of positioning points in the infrared positioning point device is at least three, and at least three positioning points correspond to at least three preset positions;
the initial pose information and the real-time pose information of the upper teeth are calculated according to the following modes:
and calculating the initial pose information and the real-time pose information of the upper teeth according to the spatial position information of at least three preset sites and the upper tooth model.
Preferably, in the neural intervention navigation real-time positioning method, the upper tooth model of the patient is obtained by the following method:
acquiring a brain volume data image of the patient;
dividing the maxilla in the brain volume data image to obtain maxilla region volume data; and
and establishing the upper tooth model based on the maxillary region body data.
Preferably, in the neural intervention navigation real-time positioning method, the measurement module includes: the depth sensing device is used for irradiating the upper teeth of the patient to acquire first 3D point cloud data of the upper teeth in real time.
Preferably, in the neural intervention navigation real-time positioning method, the initial pose information and the real-time pose information of the upper teeth are calculated according to the following modes:
registering the first 3D point cloud data and the second 3D point cloud data obtained in advance to obtain initial pose information and real-time pose information of the upper teeth; wherein the second 3D point cloud data is generated based on extracting the upper dental region from maxillary region volume data of the patient.
Preferably, in the neural intervention navigation real-time positioning method, the performing skull positioning according to the initial pose information and the real-time pose information includes:
Calculating a rotation translation matrix of the upper teeth according to the initial pose information and the real-time pose information;
calculating the rotation translation amount of the skull of the patient according to the rotation translation matrix and the brain volume data image of the patient; and
and performing skull positioning according to the rotation translation amount.
Based on the same inventive concept, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a neural intervention navigation real-time localization method as described above. The storage medium may include: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Based on the same inventive concept, the invention also provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor realizes the neural intervention navigation real-time positioning method when executing the computer program.
Specifically, in the embodiment of the present invention, the processor may be a central processing unit (centralprocessing unit, abbreviated as CPU), and the processor may also be other general purpose processors, digital signal processors (digital signalprocessor, abbreviated as DSP), application specific integrated circuits (application specificintegrated circuit, abbreviated as ASIC), off-the-shelf programmable gate arrays (field programmable gate array, abbreviated as FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It should also be appreciated that the memory in embodiments of the present invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (random accessmemory, RAM for short) which acts as an external cache. By way of example but not limitation, many forms of random access memory (random access memory, abbreviated as RAM) are available, such as static random access memory (static RAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (double datarate SDRAM, abbreviated as DDR SDRAM), enhanced Synchronous Dynamic Random Access Memory (ESDRAM), synchronous Link DRAM (SLDRAM), and direct memory bus random access memory (direct rambus RAM, abbreviated as DR RAM).
It should be noted that, in the present specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment is mainly described in a different point from other embodiments. In particular, for the method, computer readable storage medium, computer device, since it is substantially similar to the system embodiment, the description is relatively simple, and relevant references are made to the partial description of the system embodiment.
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 appended claims.
Claims (11)
1. A neural intervention navigation real-time positioning system, comprising: a measurement module and a processor unit;
the measuring module is used for measuring the space position information of a preset site on the upper teeth of the patient in real time;
the processor unit is used for responding to a calibration instruction, calculating initial pose information of the upper teeth according to the space position information of the preset locus at the current moment to finish initial position calibration, responding to an operation instruction, calculating real-time pose information of the upper teeth according to the space position information of the preset locus at the current moment, and carrying out skull real-time positioning according to the initial pose information and the real-time pose information;
The processor unit performs skull positioning according to the initial pose information and the real-time pose information, and comprises:
calculating a rotation translation matrix of the upper teeth according to the initial pose information and the real-time pose information;
calculating the rotation translation amount of the skull of the patient according to the rotation translation matrix and the brain volume data image of the patient; and
and performing skull positioning according to the rotation translation amount.
2. The neural interventional navigation real-time localization system of claim 1, wherein the measurement module comprises: the tooth socket comprises a magnetic field generator, a first tooth socket device and a plurality of magnetic sensors, wherein the magnetic sensors are respectively arranged at a plurality of preset sites in the first tooth socket device, and the first tooth socket device is fixedly connected with the upper teeth of the patient and manufactured according to an upper tooth model of the patient;
the magnetic field generator is for generating a magnetic field through the patient's head;
the magnetic sensor is used for collecting magnetic field intensity information of the position where the magnetic sensor is located in real time and calculating spatial position information of the corresponding preset position.
3. The neural interventional navigation real-time positioning system according to claim 2, wherein the number of the magnetic sensors is at least three, and the positions of the at least three magnetic sensors are at least three preset positions;
The processor unit is used for calculating the initial pose information and the real-time pose information of the upper teeth according to the spatial position information of at least three preset sites and the upper tooth model.
4. The neural intervention navigation real-time positioning system according to claim 2, wherein the number of the magnetic sensors is two, and the positions of the two magnetic sensors are two preset sites;
the magnetic sensor is used for collecting magnetic field intensity information of the position where the magnetic sensor is located in real time, and calculating corresponding spatial position information of the preset position and orientation information of the magnetic sensor;
the processor unit is used for calculating the initial pose information and the real-time pose information of the upper teeth according to the space position information of the two preset sites, the orientation information of the two magnetic sensors and the upper tooth model.
5. The neural interventional navigation real-time localization system of claim 1, wherein the measurement module comprises: the infrared point cloud distance measuring device, the second dental socket device and the infrared positioning point device are arranged on the second dental socket device, and the second dental socket device is fixedly connected with the upper teeth of the patient and manufactured according to the upper tooth model of the patient;
The infrared point cloud distance measuring equipment is used for irradiating the infrared positioning point device to obtain the space position information of the preset position corresponding to the positioning point in the infrared positioning point device in real time.
6. The neural interventional navigation real-time positioning system according to claim 5, wherein the number of positioning points in the infrared positioning point device is at least three, and at least three positioning points correspond to at least three preset positions;
the processor unit is used for calculating the initial pose information and the real-time pose information of the upper teeth according to the spatial position information of at least three preset sites and the upper tooth model.
7. The neural interventional navigation real-time localization system of any of claims 2-6, wherein the patient's upper dental model is obtained by:
acquiring a brain volume data image of the patient;
dividing the maxilla in the brain volume data image to obtain maxilla region volume data; and
and establishing the upper tooth model based on the maxillary region body data.
8. The neural interventional navigation real-time localization system of claim 1, wherein the measurement module comprises: the depth sensing device is used for irradiating the upper teeth of the patient to acquire first 3D point cloud data of the upper teeth in real time.
9. The neural intervention navigation real-time positioning system according to claim 8, wherein the processor unit is configured to register the first 3D point cloud data and the second 3D point cloud data obtained in advance to obtain initial pose information and the real-time pose information of the upper teeth; wherein the second 3D point cloud data is generated based on extracting the upper dental region from maxillary region volume data of the patient.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of;
acquiring spatial position information of a preset site on the upper teeth of a patient, which is measured in real time by a measuring module;
responding to a calibration instruction, and calculating initial pose information of the upper teeth according to the spatial position information of the preset locus at the current moment to finish initial position calibration; and
responding to an operation instruction, calculating real-time pose information of the upper teeth according to the space position information of the preset site at the current moment, and performing skull real-time positioning according to the initial pose information and the real-time pose information;
skull positioning is carried out according to the initial pose information and the real-time pose information, and the skull positioning method comprises the following steps:
Calculating a rotation translation matrix of the upper teeth according to the initial pose information and the real-time pose information;
calculating the rotation translation amount of the skull of the patient according to the rotation translation matrix and the brain volume data image of the patient; and
and performing skull positioning according to the rotation translation amount.
11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the following steps when executing the computer program:
acquiring spatial position information of a preset site on the upper teeth of a patient, which is measured in real time by a measuring module;
responding to a calibration instruction, and calculating initial pose information of the upper teeth according to the spatial position information of the preset locus at the current moment to finish initial position calibration; and
responding to an operation instruction, calculating real-time pose information of the upper teeth according to the space position information of the preset site at the current moment, and performing skull real-time positioning according to the initial pose information and the real-time pose information;
skull positioning is carried out according to the initial pose information and the real-time pose information, and the skull positioning method comprises the following steps:
calculating a rotation translation matrix of the upper teeth according to the initial pose information and the real-time pose information;
Calculating the rotation translation amount of the skull of the patient according to the rotation translation matrix and the brain volume data image of the patient; and
and performing skull positioning according to the rotation translation amount.
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