CN114424978A - Fusion registration method and device, electronic equipment and storage medium - Google Patents

Fusion registration method and device, electronic equipment and storage medium Download PDF

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CN114424978A
CN114424978A CN202111391628.5A CN202111391628A CN114424978A CN 114424978 A CN114424978 A CN 114424978A CN 202111391628 A CN202111391628 A CN 202111391628A CN 114424978 A CN114424978 A CN 114424978A
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laser positioning
positioning lamp
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point
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CN114424978B (en
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任敬轶
庞鑫哲
齐畅
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Sinovision Technology Beijing Co ltd
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    • 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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Abstract

The application discloses a fusion registration method and device, electronic equipment and a storage medium. Wherein the method comprises the following steps: determining pose information of the first laser positioning lamp according to the focus target point and the result of projecting the needle feeding point to a first preset plane; determining pose information of a second laser positioning lamp according to the focus target point and the result of projecting the needle inlet point to a second preset plane; when the position information of the focus target point and the needle feeding point changes, according to the matching result of the position information, intersecting lines of laser sectors on laser light paths of the second laser positioning lamp and the first laser positioning lamp are formed; and simulating a needle inserting route determined by the needle inserting point and the focus target point based on the laser sector intersecting line. The fusion registration method achieves real-time pose information fusion and laser image registration so as to obtain the needle insertion line. The application can be used for laser-assisted systems.

Description

Fusion registration method and device, electronic equipment and storage medium
Technical Field
The application relates to the fields of medical treatment and computer software, in particular to a fusion registration method and device, electronic equipment and a storage medium.
Background
Interventional therapy (Interventional Treatment) is an emerging discipline that has been rapidly developed in recent years and integrates image diagnosis and clinical Treatment. The interventional therapy is technically characterized in that images of CT and MRI are utilized to plan before operation, auxiliary devices such as a magnetic navigation system and a laser positioning system are utilized to guide needle insertion, and in the operation, under the guidance of image equipment such as a Digital Subtraction Angiography (DSA), CT, MRI, B-ultrasonic and the like, specific instruments are guided into a diseased part of a human body through puncture needles, catheters and other interventional devices and through natural pores or tiny wounds of the human body to carry out minimally invasive therapy.
In the related art, due to actual needs, when the position information of a focus target point and a needle insertion point changes, the effect of laser-assisted positioning is affected.
Aiming at the problems that the fusion and the registration of the projection light path and the position information can not be well realized by an auxiliary laser system when the position information of a focus target point and a needle insertion point is changed in the related technology, an effective solution is not provided at present.
Disclosure of Invention
The present application mainly aims to provide a fusion registration method and apparatus, an electronic device, and a storage medium, so as to solve the problem that when position information of a focus target point and a needle insertion point changes, a projection optical path and position information fusion and registration cannot be well achieved by an auxiliary laser system.
To achieve the above object, according to one aspect of the present application, a fusion registration method is provided.
The fusion registration method according to the application comprises the following steps: determining pose information of the first laser positioning lamp according to the focus target point and the result of projecting the needle feeding point to a first preset plane; determining pose information of a second laser positioning lamp according to a result of projecting a focus target point and a needle feeding point to a second preset plane, wherein the second laser positioning lamp and the first laser positioning lamp are both installed on target equipment, and the first preset plane and the second preset plane are intersected in a three-dimensional space; when the position information of the focus target point and the needle feeding point changes, according to the matching result of the position information, intersecting lines of laser sectors on laser light paths of the second laser positioning lamp and the first laser positioning lamp are formed; and simulating a needle inserting route determined by the needle inserting point and the focus target point based on the laser sector intersecting line.
Further, when the position information of the lesion target point and the needle insertion point changes, according to the matching result of the position information, the intersection line of the laser sectors on the laser light paths of the second laser positioning lamp and the first laser positioning lamp further includes: a step of positioning navigation by a laser positioning lamp, the laser positioning lamp comprising: the first laser positioning lamp, the step that the navigation was fixed a position to the laser positioning lamp includes: when positioning navigation is started through the laser positioning lamps, the first laser positioning lamp of the laser positioning lamps is relative to a coordinate system CDETThe position of the origin, and a first laser positioning lamp coordinate system C of the laser positioning lampLaAfter rotating around the Z axis of the body, the angle theta is obtainedLa。
Further, when the laser positioning lamp carries out positioning navigation, the method further comprises the following steps: the laser positioning lamp includes: a second laser positioning lamp, the second laser positioning lamp of the laser positioning lamp being a position relative to the origin of the coordinate system CDET, and the second laser positioning lamp of the laser positioning lamp being in a second laser positioning lamp coordinate system CLbAngle theta of rotation about its own X-axisLb。
Further, according to the result of projecting the focus target point and the needle insertion point onto the first preset plane, determining the pose information of the first laser positioning lamp, including: the M is addedDETAnd said NDETProjecting to a first preset plane X-Y plane to obtain Mxy and Nxy with coordinates of MDETAnd NDETX of (A),Y coordinate, determining the rotating angle theta of the first laser positioning lamp in the laser positioning lampsLaAnd OLaCoordinate information of (2); determination of OLaCoordinate (X) ofLa，YLa，ZLa) Middle variable XLaCoordinate information of (2); determining pose information of the second laser positioning lamp according to the result of projecting the focus target point and the needle inserting point to a second preset plane, wherein the pose information comprises the following steps: will MDETAnd NDETProjected onto a second predetermined plane Z-Y plane to obtain Mzy and Nzy with M coordinatesDETAnd NDETZ, Y, determining the angle theta rotated by the second laser positioning lamp in the laser positioning lampsLbAnd OLbCoordinate information of (2); determination of OLbCoordinate (X) ofLa，YLa，ZLa) Middle variable ZLaThe coordinate information of (2).
Further, the pose information includes: the first laser positioning lamp and the second laser positioning lamp correspond to a first position, a first angle, a second position and a second angle of movement.
Further, comprising: positioning the first laser positioning lamp coordinate system CLaIs configured as: origin at the detector coordinate system CDETThe coordinates ofLa，YLa，ZLa) The coordinate system moves along an X axis and rotates around a Z axis simultaneously, a clockwise angle is positive, a counterclockwise angle is negative, the first laser positioning lamp is positioned on the positive side of the target equipment and close to the bed side, and the origin is positioned on the laser surface; positioning the second laser positioning lamp coordinate system CLbIs configured to: origin at the detector coordinate system CDETThe coordinates ofLb， YLb，ZLb) The coordinate system moves along the Z axis and rotates around the X axis simultaneously, the clockwise angle is positive, the anticlockwise angle is negative, the second laser positioning lamp is located on one side face of the target device, and the origin is located on the laser surface.
Further, the initial position is determined according to the focus target point and the needle inserting point according to the following modes: the needle inlet point is in a CT coordinate system C0Wherein the coordinates areDetermined after a preset planning from a CT image (X)N,YN,ZN) (ii) a The focus target point is in a CT coordinate system C0Wherein the coordinates are determined after a preset planning from the CT image (X)M,YM,ZM) (ii) a Said (X)N,YN,ZN) The above-mentioned (X)M,YM,ZM) The first laser positioning lamp coordinate system CLaThe second laser positioning lamp coordinate system CLbThe detector coordinate system CDETAnd coordinate unified conversion is carried out through a preset coordinate conversion program.
To achieve the above object, according to another aspect of the present application, a fusion registration apparatus is provided.
The fusion registration apparatus according to the present application includes:
the first determination module is used for determining pose information of the first laser positioning lamp according to the focus target point and the result of projecting the needle inlet point to a first preset plane;
the second determining module is used for determining pose information of a second laser positioning lamp according to a result of projecting a focus target point and a needle inserting point to a second preset plane, wherein the second laser positioning lamp and the first laser positioning lamp are both installed on target equipment, and the first preset plane and the second preset plane are intersected in a three-dimensional space;
the matching module is used for intersecting laser sectors on laser light paths of the second laser positioning lamp and the first laser positioning lamp according to a matching result of the position information under the condition that the position information of the focus target point and the needle feeding point is changed;
and the simulation module is used for simulating a needle inserting route determined by the needle inserting point and the focus target point based on the laser sector intersecting line.
In order to achieve the above object, according to yet another aspect of the present application, there is provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the method when executed.
In order to achieve the above object, according to yet another aspect of the present application, there is provided an electronic device comprising a memory and a processor, the memory having a computer program stored therein, the processor being configured to execute the computer program to perform the method.
In the embodiment of the application, a registration method and device, electronic equipment and a storage medium are fused, and the pose information of a first laser positioning lamp is determined by adopting a result of projecting a focus target point and a needle point to a first preset plane; according to the result of projecting the focus target point and the needle feeding point to the second preset plane, the pose information of the second laser positioning lamp is determined, so that under the condition that the position information of the focus target point and the needle feeding point is changed, according to the matching result of the position information, the technical effect of the needle inserting route determined by the needle inserting point and the focus target point is simulated on the basis of the laser sector intersection lines on the laser light paths of the second laser positioning lamp and the first laser positioning lamp, so that the technical effects of real-time pose information fusion and laser image registration are realized, and the technical problems that the fusion and the registration of the projection light path and the position information can not be well realized through an auxiliary laser system when the position information of the focus target point and the needle feeding point is changed are solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a schematic structural diagram of a hardware system implemented by a fusion registration method according to an embodiment of the present application;
fig. 2 is a flow chart diagram of a fusion registration method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of CT and DSA coordinate systems in a fusion registration method according to an embodiment of the present application;
FIG. 4 shows a detector coordinate system C in a fusion registration method according to an embodiment of the present applicationDETA schematic diagram;
FIG. 5 is a schematic diagram of a laser lamp coordinate system in a fusion registration method according to an embodiment of the present application;
FIG. 6(a) is a schematic diagram illustrating laser lamp displacement and angle calculation in a fusion registration method according to an embodiment of the present application;
FIG. 6(b) is a schematic diagram illustrating laser lamp displacement and angle calculation in the fusion registration method according to the embodiment of the present application;
FIG. 6(c) is a schematic diagram illustrating laser lamp displacement and angle calculation in the fusion registration method according to the embodiment of the present application;
FIG. 7 is a schematic diagram illustrating a laser-assisted positioning implementation of a fusion registration method according to an embodiment of the present application;
fig. 8 is a schematic structural view of a DSA laser-assisted positioning device based on CT guidance according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The interventional therapy is technically characterized in that images of CT and MRI are used for planning before operation, auxiliary devices such as magnetic navigation and laser positioning systems are used for needle insertion guidance, and specific instruments are guided into a human pathological change part through puncture needles, catheters and other interventional devices and through natural pores or tiny wounds of a human body under the guidance of image equipment such as a Digital Subtraction Angiography (DSA), CT, MRI, B-ultrasound and the like in the operation for minimally invasive therapy.
The inventor finds that in the traditional percutaneous puncture interventional operation under CT guidance, a doctor determines the position and the needle inserting path of a focus according to a CT scanning image, and places a positioning grid on the body surface for CT scanning again to determine the position of a skin needle inserting point; the doctor manually inserts the needle according to experience, multiple CT scanning verifications are needed in the operation, and the angle of the puncture needle is adjusted for multiple times; at the moment, the operation difficulty is high at a complex angle, and the radiation quantity of a patient is large; some auxiliary laser positioning devices have appeared on the market, and the principle is that after a positioning grid is used for scanning, after a puncture path and a skin needle insertion point are planned by a doctor, the position and the angle of a positioning laser line are manually adjusted, so that the operation and the use are complex, the precision is low, and the switching between different devices is needed.
The application provides a fusion registration method which can be used for a laser auxiliary system, and a laser line is generated through the positioning of equipment and a laser positioning device so as to simulate a puncture needle insertion path, so that a doctor can be guided to complete intervention operation conveniently and accurately.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the hardware system architecture includes: CT100, DSA200 and laser positioning light 201. The CT100 is used to mark the lesion target and the skin needle insertion site. The laser positioning lamp 201 is used for generating an orthogonal laser plane intersection line and simulating a puncture needle insertion path through a laser line.
The two orthogonal laser auxiliary positioning devices of the laser positioning lamp 201 can be arranged on the shell of the (flat panel) detector of the DSA200, according to the focus target point marked by the CT100 and the skin needle insertion point position, the DSA200 carries out equipment positioning and laser auxiliary positioning device positioning, the intersecting line of the two orthogonal laser surfaces simulates a needle insertion line formed by the focus point and the skin needle insertion point, and an operator is guided to complete the percutaneous puncture operation conveniently, quickly and accurately.
As shown in fig. 2, the method includes steps S201 to S204 as follows:
step S201, determining pose information of a first laser positioning lamp according to a focus target point and a result of projecting a needle point to a first preset plane;
step S202, determining pose information of a second laser positioning lamp according to a result of projecting a focus target point and a needle point to a second preset plane, wherein the second laser positioning lamp and the first laser positioning lamp are both installed on target equipment, and the first preset plane and the second preset plane are intersected in a three-dimensional space;
step S203, when the position information of the focus target point and the needle inlet point changes, according to the matching result of the position information, intersecting lines of laser sectors on laser light paths of the second laser positioning lamp and the first laser positioning lamp are obtained;
step S204, based on the laser sector intersection line, simulating a needle insertion route determined by the needle insertion point and the focus target point.
From the above description, it can be seen that the following technical effects are achieved by the present application:
determining pose information of the first laser positioning lamp by adopting a result of projecting to a first preset plane according to a focus target point and a needle inserting point; according to the result of projecting the focus target point and the needle feeding point to the second preset plane, the pose information of the second laser positioning lamp is determined, so that under the condition that the position information of the focus target point and the needle feeding point is changed, according to the matching result of the position information, the technical effect of the needle inserting route determined by the needle inserting point and the focus target point is simulated on the basis of the laser sector intersection lines on the laser light paths of the second laser positioning lamp and the first laser positioning lamp and the laser sector intersection lines, thereby realizing the technical effects of stability, real-time pose information fusion and laser image registration, and the technical problems that the fusion and the registration of the projection light path and the position information can not be well realized through an auxiliary laser system when the position information of the focus target point and the needle feeding point is changed are solved. In addition, based on the method, the DSA percutaneous puncture interventional operation under CT guidance is provided, a more convenient, quicker and more accurate needle insertion guidance system is provided, and the accuracy and the efficiency of clinical operation are improved.
In step S201, the pose information of the first laser positioning lamp is determined according to the result of projecting the focus target point and the needle insertion point onto the first preset plane. The focus target point and the needle feeding point are initially marked by a doctor. In addition, the focus target point and the needle insertion point need to be subjected to coordinate transformation in a DSA system.
In step S202, the pose information of the second laser positioning lamp is determined according to the result of projecting the focus target and the needle insertion point onto the second preset plane. And the second laser positioning lamp and the first laser positioning lamp are both arranged on target equipment and used as laser auxiliary positioning equipment on the target equipment. The first preset plane and the second preset plane are intersected in a three-dimensional space. The target device is referred to as DSA.
Specifically, the first preset plane refers to an XY plane, and the second preset plane refers to a ZY plane.
In step S203, when the position information of the lesion target point and the needle insertion point changes, according to the matching result of the position information, the intersection line of the laser sectors on the laser light paths of the second laser positioning lamp and the first laser positioning lamp.
In specific implementation, the positions of all moving parts of the DSA are calculated according to the space positions of a focus target point and an insertion point, and the laser beams realize the indication of the insertion point and the insertion angle.
In step S204, based on the intersection line of the laser sectors obtained after the fusion and registration, a needle insertion route determined by the needle insertion point and the lesion target point is simulated. That is, the intersection line of the laser sectors formed at the current position of the laser lamp is the needle insertion route determined by two points of the simulated needle insertion point and the focus target point.
It can be understood that the images of DSA angiography are processed by Digital processing equipment (DSA for short) to eliminate the unnecessary tissue images and only keep the blood vessel images, and this technique is called Digital subtraction technique, and features clear images, high resolution, providing real stereo images for observing the vascular lesion, positioning measurement of vascular stenosis, diagnosis and interventional therapy, and providing necessary conditions for various interventional therapies.
As a preferred embodiment, the coordinates of the lesion target point and the needle point between the CT system and the DSA system have a corresponding relationship, so based on the initial positioning of the DSA, the coordinates of the lesion target point and the needle point under the CT system and the DSA system can be corresponded.
As an alternative embodiment, the moving part includes at least one of: DSA main frame, guide tube bed, (flat panel) detector, laser positioning lamp. For the moving parts of the DSA, several or one of the above may be included, i.e. it is possible that several moving parts all need to be changed or only parts thereof are changed.
As a preferable example in this embodiment, when the position information of the lesion target point and the needle insertion point changes, according to the matching result of the position information, the method further includes: a step of positioning navigation by a laser positioning lamp, the laser positioning lamp comprising: the first laser positioning lamp, the step that the navigation was fixed a position to the laser positioning lamp includes: when positioning navigation is started through the laser positioning lamps, the first laser positioning lamp of the laser positioning lamps is relative to a coordinate system CDETThe position of the origin, and a first laser positioning lamp coordinate system C of the laser positioning lampLaAfter rotating around the Z axis of the body, the angle theta is obtainedLa。
In specific implementation, when laser positioning navigation is carried out through the laser positioning lamp, the first laser positioning lamp corresponds to the coordinate system CDETThe position of the origin, or the origin of the first laser positioning lamp coordinate system CLa, is in coordinate system CDETThe coordinates OLa of (c). When laser positioning navigation is carried out through the laser positioning lamp, the first laser positioning lamp coordinate system CLa rotates around the Z axis by an angle theta La;
as in the present embodimentPreferably, the laser positioning lamp further comprises, when performing positioning navigation: the laser positioning lamp includes: a second laser positioning lamp, the second laser positioning lamp of the laser positioning lamps being in a position relative to the origin of the coordinate system CDET, and the second laser positioning lamp of the laser positioning lamps having a second laser positioning lamp coordinate system CLbAngle theta of rotation about its own X-axisLb。
In specific implementation, when the laser positioning lamp is used for laser positioning navigation, the second laser positioning lamp is relative to the coordinate system CDETLocation of origin, or laser B coordinate system CLbIs in the coordinate system CDETCoordinate O ofLb. When the laser positioning lamp is used for laser positioning navigation, the laser lamp B has a coordinate system CLbAngle theta of rotation about its own X axisLb；
As a preferred feature of this embodiment, determining pose information of the first laser positioning lamp according to a result of projecting the lesion target and the needle insertion point onto the first preset plane includes:
the M is addedDETAnd said NDETProjecting to a first preset plane X-Y plane to obtain Mxy and Nxy with coordinates of MDETAnd NDETX, Y, determining the angle theta of rotation of a first laser positioning lamp of the laser positioning lampsLaAnd OLaCoordinate information of (2);
determination of OLaCoordinate (X) ofLa，YLa，ZLa) Middle variable XLaCoordinate information of (2);
determining pose information of the second laser positioning lamp according to the result of projecting the focus target point and the needle inserting point to a second preset plane, wherein the pose information comprises the following steps:
will MDETAnd NDETProjected onto a second predetermined plane Z-Y plane to obtain Mzy and Nzy with M coordinatesDETAnd NDETZ, Y, determining the angle theta rotated by the second laser positioning lamp in the laser positioning lampsLbAnd OLbCoordinate information of (2);
determination of OLbCoordinate (X) ofLa，YLa，ZLa) Middle variable ZLaThe coordinate information of (2).
As a preferable aspect in the present embodiment, the pose information includes: the first laser positioning lamp and the second laser positioning lamp correspond to a first position, a first angle, a second position and a second angle of movement.
As a preference in the present embodiment, the following are included:
positioning the first laser positioning lamp coordinate system CLaIs configured as:
origin at the detector coordinate system CDETThe coordinates ofLa，YLa，ZLa) The coordinate system moves along an X axis and rotates around a Z axis simultaneously, a clockwise angle is positive, a counterclockwise angle is negative, the first laser positioning lamp is positioned on the positive side of the target equipment and close to the bed side, and the origin is positioned on the laser surface;
positioning the second laser positioning lamp coordinate system CLbIs configured to:
origin at the detector coordinate system CDETThe coordinates ofLb，YLb，ZLb) The coordinate system moves along the Z axis and rotates around the X axis simultaneously, the clockwise angle is positive, the anticlockwise angle is negative, the second laser positioning lamp is located on one side face of the target device, and the origin is located on the laser surface.
Preferably, in this embodiment, the initial position is determined according to the target point of the lesion and the needle insertion point as follows:
the needle inlet point is in a CT coordinate system C0Wherein the coordinates are determined after a preset planning from the CT image (X)N,YN,ZN)；
The focus target point is in a CT coordinate system C0Wherein the coordinates are determined after a preset planning from the CT image (X)M,YM,ZM)；
Said (X)N,YN,ZN) The above-mentioned (X)M,YM,ZM) The first laser positioning lamp coordinate system CLaThe second laser positioning lamp coordinate system CLbThe detector coordinate system CDETAnd coordinate unified conversion is carried out through a preset coordinate conversion program.
In specific implementation, the needle feeding point N is in the main coordinate system C0Given by the workstation after planning from the CT image (X)N,YN,ZN). Focus target point M in main coordinate system C0Given by the workstation after planning from the CT image (X)M,YM,ZM)。
Preferably, as shown in fig. 3, the CT and the DSA using the catheter bed and keeping the CT mainframe and the DSA mainframe coordinate in the same, including: coordinate system C of the CT0Setting as a main coordinate system and locating an origin at a scanning center of the CT; coordinate system C of the DSADSASet to the origin at C0(0, 0, -T) in the coordinate systemoffset) Wherein, the T isoffsetAs the origin C of the main coordinate system0A distance in the Z-axis direction from the origin of the DSA coordinate system, CDSACoordinate system around CDSAWhen the Z axis of the coordinate system rotates, the rotation angle is theta DSA, the clockwise angle is positive, and the anticlockwise angle is negative; establishing the CDSACoordinates of an arbitrary point in a coordinate system to said C0And (3) coordinate system transformation relation of any point in the coordinate system.
In practice, the CT coordinate system (main coordinate system) C0: the origin is located at the center of the CT scan and the coordinate system is stationary.
DSA coordinate system CDSA: the origin is located in the C0 coordinate system (0, 0, -T)offset) Wherein T isoffsetAs the origin C of the main coordinate systemDSAAnd origin C of DSA coordinate system0In the Z-direction.
The DSA coordinate system rotates around the Z axis of the DSA coordinate system by a rotation angle thetaDSAThe clockwise angle is positive and the counterclockwise angle is negative.
Coordinate system transformation relation:
Figure RE-GDA0003579117160000121
wherein x isDSA、yDSA、zDSAIs 3 coordinates, x, of an arbitrary point of the DSA coordinate systemC、yC、zCIs 3 coordinates of any point of the CT coordinate system.
Preferably, in this embodiment, the obtaining of the lesion target point marked by the CT scan and the needle insertion point includes: the at least two laser positioning lamps are respectively arranged on two planes which are orthogonal to the detector, each laser positioning lamp has two freedom degrees of movement, and the first laser positioning lamp moves linearly along the Z axis and swings around the X axis; the second laser positioning lamp moves linearly along the X axis and swings around the Z axis; when fan-shaped light beams emitted by the first laser positioning lamp and the second laser positioning lamp move along with the DSA main frame and the detector moves, the first laser positioning lamp and the second laser positioning lamp move to intersect in a space straight line to obtain an intersection line L, and the L forms a cross intersection point on the surface of the bed plate or the object; obtaining a focus target point A marked by the CT scanning and selecting a needle inlet point B, wherein the focus target point A and the needle inlet point B determine a straight line L1; and in the process of adjusting the DSA positioning position and the positioning positions of the two laser positioning lamps, after the intersecting line L is superposed with a straight line L1, determining the needle inserting point and the needle inserting direction.
During specific implementation, the first laser positioning lamp and the second laser positioning lamp are arranged on two orthogonal planes of the flat panel detector. Each laser lamp has two degrees of freedom of movement:
the first laser positioning lamp moves linearly along the Z axis and swings around the X axis;
the second laser positioning lamp moves linearly along the X axis; swinging around a Z axis;
the first laser positioning lamp and the second laser positioning lamp emit fan-shaped light beams, the fan-shaped light beams move along with the DSA main machine frame, the detector moves, the catheter bed moves and the laser positioning lamps move and intersect on a space straight line L (not shown), and the L forms a cross intersection point on a bed board of the catheter bed or the surface of a human body.
During the interventional operation, an operator obtains a focus target point M through CT scanning, and a doctor selects two optimal needle inserting points N and M, N to determine a straight line L1. The system adjusts the equipment and the A/B laser lamp to make the intersecting line L coincide with L1, so as to determine the needle insertion point on the surface of the human body, and the L space angle is the needle insertion direction.
As shown in fig. 4 and 5, in this embodiment, the spatial position of the moving component in the DSA is calculated according to the lesion target point and the spatial position of the needle insertion point in the world coordinate system, and the needle insertion point and the needle insertion angle are calculated, where the moving component includes at least one of the following components: DSA main frame, pipe bed, detector, laser positioning lamp includes two at least, still includes before: a coordinate system provided with the detector and the laser positioning lamp, and a coordinate system C of the detectorDETThe origin is located at the center of the surface of the detector, in the DSA coordinate system CDSAHas the coordinate of (X)DET，YDET，ZDET) Wherein Y is a variable related to the detector vertical distance SID position of the detector in the Y direction; the laser positioning lamp comprises a first laser positioning lamp coordinate system CLaAnd a second laser positioning lamp coordinate system CLb；
Wherein the first laser positioning lamp coordinate system CLaThe initial position of (A) is: origin in coordinate system CDETThe lower coordinate is (X)La，YLa，ZLa) The coordinate system moves along an X axis and rotates around a Z axis simultaneously, a clockwise angle is positive, a counterclockwise angle is negative, the first laser positioning lamp is positioned on the positive side of the detector close to the bed side, and the origin is positioned on the laser surface; second laser positioning lamp coordinate system CLbThe initial position of (A) is: origin in coordinate system CDETThe lower coordinate is (X)Lb，YLb，ZLb) The coordinate system moves along the Z axis and rotates around the X axis simultaneously, the clockwise angle is positive, the anticlockwise angle is negative, the second laser positioning lamp is located on one side face of the detector, and the origin is located on the laser face.
In practice, the detector coordinate system CDET: origin pointAt the center of the surface of the flat panel detector, in the coordinate system CDSAHas the coordinates of (X)DET，YDET，ZDET) (ii) a Where Y is a variable related to the detector position in the Y direction (SID). SID refers to the detector vertical distance.
First laser positioning lamp coordinate system CLa: the first laser positioning lamp is positioned on the front side of the flat panel detector and close to the bed side. The center of gravity is located on the laser plane (in the initial position, the laser plane and C)DETThe YZ plane of the coordinate system is parallel). CLaThe initial position is defined as follows: origin in coordinate system CDETThe coordinates ofLa，YLa，ZLa). The coordinate system moves along the X-axis while rotating around the Z-axis, with clockwise angles being positive and counterclockwise angles being negative.
Coordinate system C of second laser positioning lampLb: the first laser positioning lamp is positioned on the left (or right) side surface of the flat panel detector. The center of gravity is located on the laser plane (in the initial position, the laser plane and C)DETXY plane of the coordinate system is parallel). CLbThe initial position is defined as follows: origin in coordinate system CDETThe coordinates ofLb，YLb， ZLb). X, Y, Z initial direction of axis and CDETThe coordinate systems are the same. The coordinate system moves along the Z-axis while rotating around the X-axis, with clockwise angles being positive and counterclockwise angles being negative.
As a preference in this embodiment, as shown in fig. 6(a) -6(b), the spatial position of the moving part in the DSA is calculated according to the focal target point and the spatial position of the needle insertion point in the world coordinate system, and the needle insertion point and the needle insertion angle are calculated, where the moving part includes at least one of the following components: DSA main frame, pipe bed, detector, laser positioning lamp includes two at least, still includes: the focus target points M and N are determined in the detector coordinate system C after moving the catheter bed, rotating the DSA main frame and moving the detectorDETCoordinate position information of (2); according to the coordinate position information, calculating the coordinate system C of the M and the N pointsDETCoordinate M inDETAnd NDET(ii) a According to said M,The two points N are in a coordinate system CDETCoordinate M inDETAnd NDETAnd calculating the moving position and angle of the laser positioning lamp.
In specific implementation, the focus target points M and N are rotated by a moving bed and a DSA (flat panel) detector, and the detector moves in a detector coordinate system CDETThe coordinates of (a) are as follows:
Figure RE-GDA0003579117160000141
Figure RE-GDA0003579117160000142
XDET、ZDETin a coordinate system CDSAIs a constant value of in, YDETIs a function of the SID.
M, N two points can be calculated in the coordinate system C by the above formulaDETCoordinate M inDETAnd NDETAnd then the position and the angle of the laser lamp can be calculated.
As a preferred feature of this embodiment, as shown in fig. 6(a) -6(b), the spatial position of the moving component in the DSA is calculated according to the focal target point and the spatial position of the needle insertion point in the world coordinate system, and the needle insertion point and the needle insertion angle are calculated, where the moving component includes at least one of the following components: DSA main frame, pipe bed, detector, laser positioning lamp includes two at least, includes:
the M is addedDETAnd said NDETProjecting to X-Y plane to obtain Mxy and Nxy with coordinate MDETAnd NDETX, Y, determining the angle theta rotated by the first laser positioning lamp of the laser positioning lampsLaAnd OLaCoordinate information of (2); determination of OLaCoordinate (X) ofLa，YLa，ZLa) Middle variable XLaCoordinate information of (2); will MDETAnd NDETProjected onto the Z-Y plane to obtain Mzy and Nzy with M coordinatesDETAnd NDETZ, Y, determining the angle theta rotated by the second laser positioning lamp in the laser positioning lampsLbAnd OLbCoordinate information of (2); determination of OLbCoordinate (X) ofLa，YLa，ZLa) Middle variable ZLaCoordinate information of (2); according to the thetaLa，OLaOf variable XLaCoordinate information of, variable ZLaObtaining the position information of one or more moving parts in the DSA main frame, the guide pipe bed, the detector and the laser positioning lamp; according to the position information, a laser sector intersection line formed on the laser light path of the two laser positioning lamp laser lamps is obtained and simulated to obtain a needle insertion route determined by the needle insertion point and the focus target point,
obtaining CT images according to the CT scanning, planning and determining a needle inlet point N in a main coordinate system C0And the focus target point M is in a main coordinate system C0The coordinates of (a); relative main coordinate system C of the guide pipe bed0Coordinate position movement information (Xt, Yt, Zt) of the origin; angle theta of the DSA rotationDSAThe distance Tdet over which the detector moves; when navigation is started through the laser positioning lamps, a first laser positioning lamp of the laser positioning lamps is relative to a coordinate system CDETLocation of origin, or laser lamp A coordinate system CLaIs in the coordinate system CDETCoordinate O ofla(ii) a First laser positioning lamp coordinate system C of laser positioning lampLaAngle theta of rotation about its own Z axisLa(ii) a During laser positioning navigation, a second laser positioning lamp of the laser positioning lamps is relative to a coordinate system CDETLocation of origin, or laser B coordinate system CLbIs in the coordinate system CDETCoordinate of (a) OLb(ii) a During laser positioning navigation, a second laser positioning lamp coordinate system C of the laser positioning lampLbAngle theta of rotation about its own X axisLb。
In specific implementation, the needle feeding point N is in the main coordinate system C0Given by the workstation after planning from the CT image (X)N,YN,ZN). Focus target pointM is in the main coordinate system C0Given by the workstation after planning from the CT image (X)M,YM,ZM)。
The scan bed moves (Xt, Yt, Zt) relative to the origin of the main coordinate system C0.
The angle of DSA rotation, thetasda, where the detector can be set to 0 at 12 o' clock, positive counterclockwise and negative clockwise.
The detector moves a distance Tdet, where the detector plate 0 bit at the time of the SID maximum can be set.
When the laser positioning lamp is used for laser positioning navigation, the first laser positioning lamp is relative to the coordinate system CDETThe position of the origin, or the origin of the first laser positioning lamp coordinate system CLa, is in coordinate system CDETThe coordinates OLa of (c).
When laser positioning navigation is carried out through the laser positioning lamp, the first laser positioning lamp coordinate system CLa rotates around the Z axis by an angle theta La;
when the laser positioning lamp is used for laser positioning navigation, the second laser positioning lamp is relative to the coordinate system CDETLocation of origin, or laser B coordinate system CLbIs in the coordinate system CDETCoordinate O ofLb。
When the laser positioning lamp is used for laser positioning navigation, the laser lamp B has a coordinate system CLbAngle theta of rotation about its own X-axisLb；
In addition, for the variable (X)N,YN,ZN)、(XM,YM,ZM)、(Xt,Yt,Zt)、θDSA、TdetIs determined by the operator through navigation planning and actual operation, and the target is the movement of the lesion target location to the ISO center of the DSA, and thus can be considered as a known variable. O isLa、θLa、OLb、θLbThe four variables are unknown variables and can be calculated by the following algorithm.
Further, when embodied, M isDETAnd NDETProjecting to XY plane to obtain MxyAnd Nxy with the coordinate MDETAnd BDETX, Y coordinates.
The coordinates of the angles θ La and OLa by which the first laser positioning lamp is rotated can be calculated by the following formula:
Figure RE-GDA0003579117160000161
only XLa coordinates among the coordinates (XLa, YLa, ZLa) of OLa are variables, so XLa coordinates can be calculated by the following formula:
Figure RE-GDA0003579117160000171
in the same way, the MDETAnd ZDETProjected onto the ZY plane to obtain Mzy and Nzy with M coordinatesDETAnd NDETZ, Y coordinates. The coordinates of the angles θ Lb and OLb by which the second laser positioning is rotated can be calculated by the following formula:
Figure RE-GDA0003579117160000172
since only ZLa coordinates among the coordinates (XLa, YLa, ZLa) of OLb are variables, ZLa coordinates can be calculated by the following formula:
Figure RE-GDA0003579117160000173
through the above calculation, the movement positions of the respective moving members can be obtained. And turning on the laser lamp, wherein the intersection line of the laser sectors formed at the position of the laser lamp is the needle insertion route determined by two points of the simulated needle insertion point and the focus target point. The catheter needle is placed at the intersection point of the laser line and the surface of the human body, the other end of the surgical catheter needle is rotated to enable the laser cross line to coincide with the catheter needle, and the catheter needle is located on the needle inserting route at the moment.
As a preferable example in this embodiment, if it is determined that the initial positioning of the patient does not satisfy the condition of the preset needle inserting operation, the adjustment is performed according to the adjustment result of the DSAThe angle and the position of the laser positioning lamp are used for keeping the laser indicating intersection line projected by the laser positioning lamp to indicate and simulating the needle inserting point and the needle inserting angle, wherein the needle inserting point and the needle inserting angle are used for determining a needle inserting line and the method comprises the following steps: after the catheter bed is repositioned again, the laser positioning light goes off and new M 'is recalculated'DETAnd N'DETCoordinate information; according to the coordinate system C of the M and the N pointsDETCoordinate M 'of'DETAnd N'DET(ii) a And calculating the positions and the swing angles of the first laser positioning lamp and the first laser positioning lamp again so as to enable the first laser positioning lamp and the second laser positioning lamp to move to new positions and obtain a new needle inserting line.
When in specific implementation, the laser auxiliary positioning system automatically tracks, the laser line keeps indicating the current needle inserting point and the needle inserting angle,
when fine tuning pipe bed position (X't，Y′t，Z′t) And the laser lamp is turned off and reminds the user that the navigation needs to be recalculated at the moment, and is new M'DETAnd N'DETThe coordinates are as follows:
Figure RE-GDA0003579117160000181
Figure RE-GDA0003579117160000182
as described above, the positions and swing angles of the first laser positioning lamp and the second laser positioning lamp are calculated again, and the laser lamps are moved to new positions. At this point, the user turns on the laser light again, and a new needle insertion route indication is obtained.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present application, there is also provided, as shown in fig. 8, an apparatus including:
the first determining module 301 is configured to determine pose information of the first laser positioning lamp according to a result of projecting the focus target point and the needle insertion point onto a first preset plane;
a second determining module 302, configured to determine pose information of a second laser positioning lamp according to a result of projecting a focus target point and a needle insertion point onto a second preset plane, where the second laser positioning lamp and the first laser positioning lamp are both installed on a target device, and the first preset plane and the second preset plane intersect in a three-dimensional space;
a matching module 303, configured to, when the position information of the lesion target point and the needle insertion point changes, according to a matching result of the position information, cross a laser sector on a laser light path of the second laser positioning lamp and a laser sector on a laser light path of the first laser positioning lamp;
a simulation module 304, configured to simulate a needle insertion route determined by the needle insertion point and the lesion target point based on the laser sector intersection line.
In the first determining module 301 of the embodiment of the present application, the pose information of the first laser positioning lamp is determined according to the result of projecting the lesion target and the needle insertion point onto the first preset plane. The focus target point and the needle feeding point are initially marked by a doctor. In addition, the focus target point and the needle insertion point need to be subjected to coordinate transformation in a DSA system.
In the second determining module 302 of the embodiment of the present application, the pose information of the second laser positioning lamp is determined according to the result of projecting the lesion target and the needle insertion point onto the second preset plane. And the second laser positioning lamp and the first laser positioning lamp are both arranged on target equipment and used as laser auxiliary positioning equipment on the target equipment. The first preset plane and the second preset plane are intersected in a three-dimensional space. The target device is referred to as DSA.
Specifically, the first preset plane refers to an XY plane, and the second preset plane refers to a ZY plane.
In the matching module 303 of the embodiment of the present application, when the position information of the lesion target point and the needle insertion point changes, the laser sector intersection line on the laser light path of the second laser positioning lamp and the laser sector intersection line on the laser light path of the first laser positioning lamp are determined according to the matching result of the position information.
During specific implementation, the positions of all moving parts of the DSA are calculated according to the space positions of a focus target point and an injection point, and the injection point and the injection angle are indicated by laser beams.
In the simulation module 304 of the embodiment of the present application, based on the laser sector intersection line obtained after the fusion registration, a needle insertion route determined by the needle insertion point and the lesion target point is simulated. That is, the intersection line of the laser sectors formed at the current position of the laser lamp is the needle insertion route determined by two points of the simulated needle insertion point and the focus target point.
It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present application is not limited to any specific combination of hardware and software.
In order to better understand the flow of the DSA laser positioning method based on CT guidance, the following explains the technical solutions with reference to preferred embodiments, but the technical solutions of the embodiments of the present invention are not limited thereto.
The DSA laser positioning method based on CT guidance in the embodiment of the application is used for marking focus target points and skin needle inserting point positions through CT scanning in a percutaneous puncture interventional operation process under the CT guidance, and a laser auxiliary positioning system is arranged through equipment and a laser positioning device to generate a laser line so as to simulate a puncture needle inserting path, so that a doctor can be guided conveniently and accurately to complete interventional operation.
As shown in fig. 7, a first laser positioning lamp 2011(a) and a second laser positioning lamp 2012(B) are installed on two orthogonal planes of the flat panel detector 1001. Each laser lamp has two degrees of freedom of movement: the first laser positioning lamp moves linearly along the Z axis and swings around the X axis; the second laser positioning lamp moves linearly along the X axis; oscillating about the Z axis. Wherein, still include: catheter bed 1002, image center 1003, sagittal plane location line 1004, interventional reference point (ISO center)1005, coronal location line 1006, and spherical focus 1007.
The first laser positioning lamp and the second laser positioning lamp emit fan-shaped light beams, the fan-shaped light beams move along with the DSA main machine frame, the detector moves, the catheter bed moves and the laser positioning lamps move and intersect on a space straight line L (not shown), and the L forms a cross intersection point on a bed board of the catheter bed or the surface of a human body.
In the percutaneous puncture intervention operation process under the CT guidance, focus target points and skin needle insertion point positions are marked through CT scanning, a laser auxiliary positioning system is arranged through equipment and a laser positioning device, a laser line is generated to simulate a puncture needle insertion path, the intervention operation can be completed by a doctor conveniently and accurately guided, and the realized specific process comprises the following steps:
step S1001, according to CT scanning, a doctor marks a focus target point and a needle inserting point.
Step S1002, DSA is initially placed, and the patient is placed.
The CT and the DSA share the catheter bed and keep the CT mainframe and the DSA mainframe coordinate in line;
and step S1003, performing coordinate transformation on the focus target point and the needle inserting point in a DSA system.
The CT uses the catheter bed with the DSA and maintains the CT mainframe in-line with the DSA mainframe coordinates, including: coordinate system C of the CT0Setting as a main coordinate system and locating an origin at the scanning center of the CT; coordinate system C of the DSADSASet as the origin at C0(0, 0, -T) in the coordinate systemoffset) Wherein, the T isoffsetAs the origin C of the main coordinate system0A distance in the Z-axis direction from the origin of the DSA coordinate system, CDSACoordinate system around CDSAWhen the Z axis of the coordinate system rotates, the rotation angle is theta DSA, the clockwise angle is positive, and the anticlockwise angle is negative; establishing the CDSACoordinates of an arbitrary point in a coordinate system to said C0And (3) coordinate system transformation relation of any point in the coordinate system.
Step S1004, according to the space positions of the focus target point and the needle insertion point, the positions of all moving parts of the DSA are calculated, the DSA main frame, the catheter bed, the detector and the laser lamp are moved and positioned, and the laser beam realizes the indication of the needle insertion point and the needle insertion angle.
Coordinate system C of the detectorDET: the origin is located at the center of the surface of the flat panel detector and is C in a coordinate systemDSAHas the coordinates of (X)DET，YDET，ZDET) (ii) a Where Y is a variable related to the detector position in the Y direction (SID). SID refers to the detector vertical distance.
First laser positioning lamp coordinate system CLa: the first laser positioning lamp is positioned on the front side of the flat panel detector and close to the bed side. The center of gravity is located on the laser plane (in the initial position, the laser plane and C)DETThe YZ plane of the coordinate system is parallel). CLaThe initial position is defined as follows: origin in coordinate system CDETThe coordinates ofLa，YLa，ZLa). The coordinate system moves along the X-axis while rotating around the Z-axis, with clockwise angles being positive and counterclockwise angles being negative.
Coordinate system C of second laser positioning lampLb: the first laser positioning lamp is positioned on the left (or right) side surface of the flat panel detector. The center of gravity is located on the laser plane (in the initial position, the laser plane and C)DETXY plane of the coordinate system is parallel). CLbThe initial position is defined as follows: origin in coordinate system CDETThe lower coordinate is (X)Lb，YLb， ZLb). X, Y, Z initial direction of axis and CDETThe coordinate systems are the same. The coordinate system moves along the Z-axis while rotating around the X-axis, clockwise by a positive angle and counterclockwise by a negative angle.
The needle feeding point N is in a main coordinate system C0Given by the workstation after planning from the CT image (X)N,YN,ZN). Focus target point M in main coordinate system C0Given by the workstation after planning from the CT image (X)M,YM,ZM)。
The scan bed moves (Xt, Yt, Zt) relative to the origin of the main coordinate system C0.
The angle of DSA rotation, thetasda, where the detector can be set to 0 at 12 o' clock, positive counterclockwise and negative clockwise.
The detector moves a distance Tdet, where the detector plate 0 bit at the time of the SID maximum can be set.
When the laser positioning lamp is used for laser positioning navigation, the first laser positioning lamp is relative to the coordinate system CDETThe position of the origin, or the origin of the first laser positioning lamp coordinate system CLa, is in coordinate system CDETThe coordinates OLa of (c).
When laser positioning navigation is carried out through the laser positioning lamp, the first laser positioning lamp coordinate system CLa rotates around the Z axis by an angle theta La;
when the laser positioning lamp is used for laser positioning navigation, the second laser positioning lamp is opposite to the coordinate system CDETLocation of origin, or laser B coordinate system CLbIs in the coordinate system CDETCoordinate of (a) OLb。
When the laser positioning lamp is used for laser positioning navigation, the laser lamp B is in a coordinate system CLbAngle theta of rotation about its own X-axisLb；
The focus target points M and N are moved in a detector coordinate system C through moving bed, DSA rotation and (flat plate) detector movementDETThe coordinates of (a) are as follows:
Figure RE-GDA0003579117160000221
Figure RE-GDA0003579117160000222
XDET、ZDETin a coordinate system CDSAIn is a constant, YDETIs a function of the SID.
M, N two points can be calculated in the coordinate system C by the above formulaDETCoordinate M inDETAnd NDETAnd then the position and the angle of the laser lamp can be calculated.
Will MDETAnd NDETProjecting to XY plane to obtain MxyAnd Nxy with the coordinate MDETAnd BDETX, Y coordinates.
The coordinates of the angles θ La and OLa by which the first laser positioning lamp is rotated can be calculated by the following formula:
Figure RE-GDA0003579117160000223
only XLa coordinates among the coordinates (XLa, YLa, ZLa) of OLa are variables, so XLa coordinates can be calculated by the following formula:
Figure RE-GDA0003579117160000224
in the same way, the MDETAnd ZDETProjected onto the ZY plane to obtain Mzy and Nzy with M coordinatesDETAnd NDETZ, Y coordinates. The coordinates of the angles θ Lb and OLb by which the second laser positioning is rotated can be calculated by the following formula:
Figure RE-GDA0003579117160000231
since only ZLa coordinates among the coordinates (XLa, YLa, ZLa) of OLb are variables, ZLa coordinates can be calculated by the following formula:
Figure RE-GDA0003579117160000232
through the above calculation, the movement positions of the respective moving members can be obtained. And turning on the laser lamp, wherein the intersection line of the laser sectors formed at the position of the laser lamp is the needle insertion route determined by two points of the simulated needle insertion point and the focus target point. The catheter needle is placed at the intersection point of the laser line and the surface of the human body, the other end of the surgical catheter needle is rotated to enable the laser cross line to coincide with the catheter needle, and the catheter needle is located on the needle inserting route at the moment.
Step S1005, judging whether the current patient is easy to insert the needle.
In step S1006, an intervention operation is performed.
Step 1007, the laser auxiliary positioning system automatically tracks, and the laser line keeps indicating the current needle inserting point and the needle inserting angle.
The laser auxiliary positioning system automatically tracks, the laser line keeps indicating the current needle inserting point and the needle inserting angle,
when fine tuning pipe bed position (X't，Y′t，Z′t) And the laser lamp is turned off and reminds the user that the navigation needs to be recalculated at the moment, and is new M'DETAnd N'DETThe coordinates are as follows:
Figure RE-GDA0003579117160000233
Figure RE-GDA0003579117160000234
as described above, the positions and swing angles of the first laser positioning lamp and the second laser positioning lamp are calculated again, and the laser lamps are moved to new positions. At this point, the user turns on the laser light again, and a new needle insertion route indication is obtained.
Step S1008, a puncture intervention.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A method of fused registration, comprising:
determining pose information of the first laser positioning lamp according to the focus target point and the result of projecting the needle feeding point to a first preset plane;
determining pose information of a second laser positioning lamp according to a result of projecting a focus target point and a needle feeding point to a second preset plane, wherein the second laser positioning lamp and the first laser positioning lamp are both installed on target equipment, and the first preset plane and the second preset plane are intersected in a three-dimensional space;
when the position information of the focus target point and the needle feeding point changes, according to the matching result of the position information, intersecting lines of laser sectors on laser light paths of the second laser positioning lamp and the first laser positioning lamp are formed;
and simulating a needle inserting route determined by the needle inserting point and the focus target point based on the intersecting line of the laser sectors.
2. The method according to claim 1, wherein when the position information of the lesion target point and the needle insertion point changes, according to the matching result of the position information, the intersection line of the laser sectors on the laser light path of the second laser positioning lamp and the laser sector on the laser light path of the first laser positioning lamp further comprises: a step of positioning navigation by a laser positioning lamp, the laser positioning lamp comprising: the first laser positioning lamp, the step that the navigation was fixed a position to the laser positioning lamp includes:
when positioning navigation is started through the laser positioning lamps, the first laser positioning lamp of the laser positioning lamps is relative to a coordinate system CDETThe position of the origin, and a first laser positioning lamp coordinate system C of the laser positioning lampLaAfter rotating around the Z axis of the body, the angle theta is obtainedLa。
3. The method of claim 2, wherein the laser positioning light is used for positioning navigation, and further comprising: the laser positioning lamp includes: a second laser positioning lamp is arranged on the second side of the frame,
the second laser positioning lamp of the laser positioning lamps is a position relative to the origin of the coordinate system CDET, and the second laser positioning lamp coordinate system C of the laser positioning lampsLbAngle theta of rotation about its own X-axisLb。
4. The method of claim 2, wherein:
determining pose information of the first laser positioning lamp according to the focus target point and the result of projecting the needle feeding point to the first preset plane, wherein the pose information comprises the following steps:
the M is addedDETAnd said NDETProjecting to a first preset plane X-Y plane to obtain Mxy and Nxy with coordinates of MDETAnd NDETX, Y, determining the angle theta rotated by the first laser positioning lamp of the laser positioning lampsLaAnd OLaCoordinate information of (2);
determination of OLaCoordinate (X) ofLa，YLa，ZLa) Middle variable XLaCoordinate information of (2);
determining pose information of the second laser positioning lamp according to the result of projecting the focus target point and the needle inserting point to a second preset plane, wherein the pose information comprises the following steps:
will MDETAnd NDETProjected onto a second predetermined plane Z-Y plane to obtain Mzy and Nzy with M coordinatesDETAnd NDETZ, Y, determining the angle theta rotated by the second laser positioning lamp in the laser positioning lampsLbAnd OLbCoordinate information of (2);
determination of OLbCoordinate (X) ofLa，YLa，ZLa) Middle variable ZLaThe coordinate information of (2).
5. The method according to claim 1, characterized in that the pose information comprises: the first laser positioning lamp and the second laser positioning lamp correspond to a first position, a first angle, a second position and a second angle of movement.
6. The method of claim 1, comprising:
positioning the first laser positioning lamp coordinate system CLaIs configured as:
origin at the detector coordinate system CDETThe coordinates ofLa，YLa，ZLa) The coordinate system moves along an X axis and rotates around a Z axis simultaneously, a clockwise angle is positive, a counterclockwise angle is negative, the first laser positioning lamp is positioned on the positive side of the target equipment and close to the bed side, and the origin is positioned on the laser surface;
positioning the second laser positioning lamp coordinate system CLbIs configured to:
origin at the detector coordinate system CDETThe lower coordinate is (X)Lb，YLb，ZLb) The coordinate system moves along the Z axis and rotates around the X axis simultaneously, the clockwise angle is positive, the anticlockwise angle is negative, the second laser positioning lamp is located on one side face of the target device, and the origin is located on the laser surface.
7. The method of claim 6, wherein the initial position is determined based on the focal target point and the needle insertion point as follows:
the needle inlet point is in a CT coordinate system C0Wherein the coordinates are determined after a preset planning from the CT image (X)N,YN,ZN)；
The focus target point is in a CT coordinate system C0Wherein the coordinates are determined after a preset planning from the CT image (X)M,YM,ZM)；
Said (X)N,YN,ZN) The above-mentioned (X)M,YM,ZM) The first laser positioning lamp coordinate system CLaThe second laser positioning lamp coordinate system CLbThe detector coordinate system CDETThrough a preset coordinate conversion processAnd performing coordinate unified transformation.
8. A fused registration apparatus, comprising:
the first determination module is used for determining pose information of the first laser positioning lamp according to the focus target point and the result of projecting the needle inlet point to a first preset plane;
the second determining module is used for determining pose information of a second laser positioning lamp according to a result of projecting a focus target point and a needle inserting point to a second preset plane, wherein the second laser positioning lamp and the first laser positioning lamp are both installed on target equipment, and the first preset plane and the second preset plane are intersected in a three-dimensional space;
the matching module is used for intersecting laser sectors on laser light paths of the second laser positioning lamp and the first laser positioning lamp according to a matching result of the position information under the condition that the position information of the focus target point and the needle feeding point is changed;
and the simulation module is used for simulating a needle inserting route determined by the needle inserting point and the focus target point based on the laser sector intersecting line.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of fusing registration of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of fused registration according to any one of claims 1 to 7.
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