CN115300104A - Medical operation image registration method and system - Google Patents
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Abstract
The invention discloses a medical operation image registration method and a system, wherein the method comprises the following steps: collecting an actual position point set sensed by a surgical tool; converting each actual position point in the actual position point set into a spatial coordinate system of the preoperative three-dimensional image by adopting an initial conversion matrix to obtain a conversion position point set; carrying out correction transformation on the transformation position point set to obtain a correction position point set so as to minimize the sum of center distances; obtaining a correction transformation matrix according to the position of each conversion position point and the position of each correction position point; updating the initial conversion matrix according to the modified transformation matrix to obtain a new initial conversion matrix; judging whether the sum of the center distances is smaller than a preset sum, and if so, carrying out the next step; if not, repeating the steps; and performing subsequent registration by taking the updated initial transformation matrix as a standard transformation matrix. The invention can effectively improve the registration precision.
Description
Technical Field
The invention relates to the field of medical operations, in particular to a medical operation image registration method and system.
Background
The operation navigation system accurately corresponds the preoperative or intraoperative image data of a patient to the anatomical structure of the patient on an operation bed, tracks the surgical instrument during the operation and updates and displays the position of the surgical instrument on the image of the patient in real time in the form of a virtual probe, so that a doctor can clearly know the position of the surgical instrument relative to the anatomical structure of the patient, and the surgical operation is quicker, more accurate and safer.
In the multi-mode information registration process in the existing medical image operation navigation system, a rigid registration method based on reference points is mainly used, and the method needs manual selection of a plurality of reference points in human bodies of preoperative medical images and intraoperative patients, so that much inconvenience is brought to navigation of minimally invasive surgical intervention, for example, the precision of manual selection of the reference points is not high, time and labor are consumed in the operation process, and the burden of surgeons is increased. Meanwhile, due to the influence of deformation motion such as the breathing of the human body of the patient, the registration accuracy of the rigid registration method based on the datum points is low and the efficiency is low.
The existing method for registering without reference points includes: by excluding the position points outside the tube cavity, the registration method for registration optimization can reduce the influence of iteration times and deformation motion such as the breathing of the human body of the patient, and the like, so as to improve the registration efficiency and precision. However, this method of excluding all the positions outside the lumen is likely to exclude the correct positions, and thus has a limited improvement in the registration accuracy.
Disclosure of Invention
The research of the applicant finds that: in the prior art, a method for performing registration by excluding a position point outside a lumen is available, and a correct registration point is possibly excluded, because a medical image shot before an operation is possibly shot when the lumen is contracted, a position point acquired during the expansion of the lumen is possibly outside the lumen of the medical image. In addition, because only a small number of inaccurate position points exist in the actual registration process, the method is easy to eliminate the position points in a large scale (the reason is that images are shot when the lumen contracts, and the position points are collected when the lumen expands), so that the correct position points are eliminated, the wrong position points are reserved, and the registration accuracy is low.
In view of some of the above-mentioned defects in the prior art, the present invention provides a method and a system for registering medical operation images, which aims to improve the registration accuracy.
In order to achieve the above object, a first aspect of the present invention discloses a medical operation image registration method, which includes:
s1, controlling a surgical tool to move in a lumen of a lumen structure organ according to a preoperative three-dimensional image of the lumen structure organ, and collecting an actual position point set P sensed by the surgical tool; the number of the positions of the actual position point set P is N, N is more than or equal to 3, and the surgical tool is a medical endoscope, an ultrasonic probe, a surgical catheter, a puncture biopsy needle or a laser ablation probe;
step S2, adopting an initial conversion matrix L 1 Converting each actual position point in the actual position point set P into a spatial coordinate system where the preoperative three-dimensional image is located to obtain a converted position point set Q; wherein Q = PxL 1 The initial conversion matrix L 1 Is a 3 x 3 matrix, the set of switch location points Q is
The set of actual position points P is
S3, performing correction transformation on the conversion position point set Q to obtain a correction position point set R so as to minimize the sum S of center distances; wherein the sum of the center distances S is the sum of the distances from each corrected position point in the corrected position point set R to the center line of the corresponding lumen, and the sum of the center distances S satisfies
The M is a central point set corresponding to the corrected position point set R, the central point set M is a set from the corrected position points to corresponding lumen central line points on the preoperative three-dimensional image, the E is a unit matrix, the H is a matrix of Nx 1, and each row is 1;
s4, obtaining a correction transformation matrix L according to the position of each conversion position point and the position of each correction position point 2 (ii) a Wherein, R = P × L 1 ×L 2 The corrected position point set R is
The modified transformation matrix L 2 A 3 × 3 matrix;
s5, transforming the matrix L according to the correction 2 For the initial transformation matrix L 1 Updating to obtain new initial conversion matrix L 1 '; wherein L is 1 '＝L 1 ×L 2 ；
S6, judging whether the sum of the center distances S is smaller than a preset sum, and if so, performing S7; if not, repeating the step S1 to the step S5;
step S7, the updated initial conversion matrix L 1 ' as a standard conversion matrix, converting each actual position point acquired by the surgical tool into a spatial coordinate system in which the preoperative three-dimensional image is located by using the standard conversion matrix to realize registration.
Optionally, before step S1, the method further includes:
step A: collecting information of each lumen bifurcation point in the lumen structure organ;
and B: and generating the initial conversion matrix at the beginning according to the lumen bifurcation point information and the preoperative three-dimensional image.
Optionally, the step S3 includes:
step S301: randomly transforming all the conversion position points in the conversion position point set, and calculating to obtain the center distance sum S;
step S302: and repeating the step S302 for preset times to obtain the corrected position point set R when the sum of the center distances S in the preset times is shortest.
Optionally, a plurality of positioning sensors arranged in an array are arranged on the surgical tool, the positioning sensors are located in the middle of the surgical tool, and when the surgical tool enters the lumen, the positioning sensors are located at or close to the center line of the lumen.
Optionally, after the step S7, the method further includes:
and C: updating the position of the surgical tool in a spatial coordinate system of the preoperative three-dimensional image in real time according to the position point information acquired by the surgical tool;
step D: generating an optimal path for the surgical tool to reach the position of the focus according to the position of the focus in a space coordinate system of the preoperative three-dimensional image and the structural characteristics of the lumen;
step E: and navigating the surgical tool according to the optimal path.
In a second aspect, the present invention discloses a medical operation image registration system, which comprises: the device comprises an acquisition control unit, an initial conversion unit, a modification transformation matrix obtaining unit, a matrix updating unit, a judgment unit and a registration unit;
the acquisition control unit is used for controlling a surgical tool to move in the lumen of the lumen structure organ according to the preoperative three-dimensional image of the lumen structure organ and acquiring an actual position point set P sensed by the surgical tool; the number of the positions of the actual position point set P is N, N is more than or equal to 3, and the surgical tool is a medical endoscope, an ultrasonic probe, a surgical catheter, a puncture biopsy needle or a laser ablation probe;
the initial conversion unit is used for adopting an initial conversion matrix L 1 Converting each actual position point in the actual position point set P into a spatial coordinate system where the preoperative three-dimensional image is located to obtain a converted position point set Q; wherein Q = P × L 1 The initial conversion matrix L 1 Is a 3 x 3 matrix, the set of switch location points Q is
The set of actual position points P is
The correction transformation unit is used for performing correction transformation on the conversion position point set Q to obtain a correction position point set R so as to minimize the sum S of center distances; wherein the sum of the center distances S is the sum of the distances from each corrected position point in the corrected position point set R to the center line of the corresponding lumen, and the sum of the center distances S satisfies
The M is a central point set corresponding to the corrected position point set R, the central point set M is a set from the corrected position points to corresponding lumen central line points on the preoperative three-dimensional image, the E is a unit matrix, the H is a matrix of Nx 1, and each row is 1;
the modified transformation matrix obtaining unit is configured to obtain a modified transformation matrix L according to the position of each of the conversion position points and the position of each of the modified position points 2 (ii) a Wherein, R = P × L 1 ×L 2 The corrected position point set R is
The modified transformation matrix L 2 A 3 × 3 matrix;
the matrix updating unit is used for transforming a matrix L according to the modification 2 For the initial transformation matrix L 1 Updating to obtain new initial conversion matrix L 1 '; wherein L is 1 '＝L 1 ×L 2 ；
The judging unit is used for judging whether the sum of the center distances S is smaller than a preset sum, and if so, controlling the registering unit to work; if not, the acquisition control unit, the initial conversion unit, the correction conversion matrix obtaining unit and the matrix updating unit work again;
the registration unit is used for updating the initial transformation matrix L 1 ' as a standard conversion matrix, converting each actual position point acquired by the surgical tool into a spatial coordinate system in which the preoperative three-dimensional image is located by using the standard conversion matrix to realize registration.
Optionally, the system further includes: the device comprises a bifurcation point acquisition unit and an initial matrix generation unit, wherein the bifurcation point acquisition unit and the initial matrix generation unit work before the acquisition control unit works;
the bifurcation point acquisition unit is used for acquiring the information of each lumen bifurcation point in the lumen structure organ;
the initial matrix generating unit is configured to generate the initial transformation matrix at the beginning according to the lumen bifurcation point information and the preoperative three-dimensional image.
Optionally, the modified transform unit includes: a random transformation subunit and a modified position point set obtaining subunit,
the random transformation subunit is configured to perform random transformation on all the transformation position points in the transformation position point set, and calculate to obtain the center distance sum S;
and the corrected position point set obtaining subunit is configured to repeat step S302 for the preset number of times, and obtain the corrected position point set R when the sum S of the center distances is the shortest within the preset number of times.
Optionally, a plurality of positioning sensors arranged in an array are arranged on the surgical tool, the positioning sensors are located in the middle of the surgical tool, and when the surgical tool enters the lumen, the positioning sensors are located at or close to the center line of the lumen.
Optionally, the system further includes: the surgical tool position updating unit, the optimal path generating unit and the navigation unit; the surgical tool position updating unit, the optimal path generating unit, and the navigation unit operate after the registration unit operates;
the surgical tool position updating unit is used for updating the position of the surgical tool in a spatial coordinate system of the preoperative three-dimensional image in real time according to the position point information acquired by the surgical tool;
the optimal path generating unit is used for generating an optimal path for the surgical tool to reach the position of the focus according to the position of the focus in a space coordinate system of the preoperative three-dimensional image and the structural characteristics of the lumen;
and the navigation unit is used for navigating the surgical tool according to the optimal path.
The invention has the beneficial effects that: 1. the method comprises the steps of collecting an actual position point set; then, primarily converting the actual position point set into a spatial coordinate system of the preoperative three-dimensional image; then, correction transformation is carried out to ensure that the sum distance of all correction position points reaching the corresponding lumen center line is shortest; then solving to obtain a modified transformation matrix, and updating the initial transformation matrix; and judging whether the sum of the center distances meets the requirement, if so, taking the updated matrix as a standard conversion matrix for registration, and if not, repeating the steps to iterate until the requirement is met. Firstly, all the position point information is adopted in the embodiment of the invention, and the position points outside the tube cavity are not required to be eliminated, so that the condition of mistakenly deleting the correct position points is avoided, and the registration is more accurate. Secondly, the invention determines the correction transformation matrix in a mode of minimizing the sum of the center distances, so that the position points after correction change better conform to the actual condition (the actual condition is that each position point is on or near the center line of the lumen), thereby improving the registration accuracy. Thirdly, the embodiment of the invention also sets the requirement of the minimum sum of center distances, so that the initial transformation matrix is continuously updated and iterated until the requirement is met, and the registration precision is further improved. 2. Compared with the prior art that the original position point coordinates are replaced by the points corresponding to the nearest central lines, the method and the device directly use the specific coordinates of the position points, avoid the condition that the acquired position point information may not be on the central line of the tube cavity, and improve the registration accuracy. 3. The invention converts the position points collected subsequently by adopting the standard conversion matrix and then navigates according to the position of the focus, thereby effectively improving the operation precision and the operation success rate. In conclusion, the invention realizes the registration optimization of all position points, avoids the elimination of correct position points, can effectively improve the registration precision, improve the success rate of the operation and ensure the life safety of patients.
Drawings
Fig. 1 is a flowchart illustrating a medical procedure image registration method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a medical operation image registration system according to an embodiment of the present invention.
Detailed Description
The invention discloses a medical operation image registration method and a medical operation image registration system, and a person skilled in the art can appropriately improve technical details for realization by referring to the content. It is expressly intended that all such similar substitutes and modifications which would be obvious to one skilled in the art are deemed to be included in the invention. While the methods and applications of this invention have been described in terms of preferred embodiments, it will be apparent to those of ordinary skill in the art that variations and modifications in the methods and applications described herein, as well as other suitable variations and combinations, may be made to implement and use the techniques of this invention without departing from the spirit and scope of the invention.
The applicant researches and discovers that: in the prior art, a method for performing registration by excluding a position point outside a lumen is possible to exclude a correct registration point, because a medical image taken before an operation is possible to be taken when the lumen is contracted, so that a position point acquired when the lumen is expanded is possible to fall outside the lumen of the medical image. In addition, because only a small number of inaccurate position points exist in the actual registration process, the method is easy to eliminate the position points in a large scale (the reason is that images are shot when the lumen contracts, and the position points are collected when the lumen expands), so that the correct position points are eliminated, the wrong position points are reserved, and the registration accuracy is low.
Accordingly, an embodiment of the present invention provides a medical operation image registration method, as shown in fig. 1, the method includes:
s1, controlling the operation tool to move in the lumen of the lumen structure organ according to the preoperative three-dimensional image of the lumen structure organ, and collecting an actual position point set P sensed by the operation tool.
The number of the positions of the actual position point set P is N, N is more than or equal to 3, and the surgical tool is a medical endoscope, an ultrasonic probe, a surgical catheter, a puncture biopsy needle or a laser ablation probe.
In a specific embodiment, a plurality of positioning sensors arranged in an array are arranged on the surgical tool, the positioning sensors are positioned in the middle of the surgical tool, and when the surgical tool enters the lumen, the positioning sensors are positioned at or close to the central line of the lumen.
It should be noted that the position sensed by the positioning sensor may be a position in the lumen, and the surgical tool generally moves at the centerline of the lumen in order not to touch the lumen wall, so the position sensed by the positioning sensor is generally on or near the centerline of the lumen. The tube cavity is generally divided into a main tube cavity and a branch tube cavity, the branch tube cavity is communicated with the main tube cavity, and a surgical tool can enter the branch tube cavity from the main tube cavity. The main lumen and the lumen branches are collectively referred to as a lumen in the present invention.
In addition, the preoperative three-dimensional image can be acquired through imaging equipment such as CT, MRI, PET, ultrasound and the like to obtain three-dimensional data of an organ, and a naked eye three-dimensional display image can be realized through an integral video display technology (IV).
Optionally, before step S1, the method further includes:
step A: collecting the information of each lumen bifurcation point in a lumen structural organ;
and B: and generating an initial conversion matrix at the beginning according to the information of each lumen bifurcation point and the preoperative three-dimensional image.
It should be noted that the lumen bifurcation point is generally the intersection position of the main lumen and the branch lumen or different lumens, and the position is easy to determine, so that the initial transformation matrix can be generated accordingly.
Step S2, adopting an initial conversion matrix L 1 And converting each actual position point in the actual position point set P into a spatial coordinate system where the preoperative three-dimensional image is located to obtain a converted position point set Q.
Wherein Q = P × L 1 Initial transformation matrix L 1 Is a 3 x 3 matrix, and the set of conversion position points Q is
Set of actual position points P is
It should be noted that, converting the three-dimensional coordinates of the detected actual position point set to the spatial coordinate system of the preoperative three-dimensional image through the initial transformation matrix is the first step of registration, and then performing adjustment and optimization based on the first step.
And S3, performing correction transformation on the transformation position point set Q to obtain a correction position point set R so as to minimize the sum S of the center distances.
Wherein, the sum S of the center distances is the sum of the distances from each corrected position point in the corrected position point set R to the center line of the corresponding lumen, and the sum S of the center distances satisfies
M is a central point set corresponding to the corrected position point set R, the central point set M is a set from the corrected position points to corresponding lumen central line points on the preoperative three-dimensional image, E is a unit matrix, H is a matrix of Nx 1, and each row is 1.
The center point set is a set from the corrected position point to the closest point of the corresponding lumen centerline, that is, a set of intersection points of the corrected position point and the closest perpendicular line of the lumen centerline. Wherein the distance can be expressed in terms of two three-dimensional coordinates for solving, i.e. the distance between the centers
From this, the sum of the center distances can be calculated as
An identity matrix E of NxN, e.g.
H is a matrix of Nx 1 and 1 for each row, e.g.
Further, the modified transformation includes scaling, rotation, and translation. In the embodiment of the present invention, the deviation of the position point after the initial conversion is not very large. Scaling, rotation, and translation are all transformed within a small magnitude. Meanwhile, the zooming is influenced by the lumen bifurcation point information, and the lumen bifurcation point is too far away from the original position due to the fact that the zooming cannot be carried out excessively.
Optionally, step S3 includes:
step S301: randomly transforming all the transformation position points in the transformation position point set, and calculating to obtain a center distance sum S;
step S302: and repeating the step S302 for preset times to obtain the corrected position point set R when the sum of the center distances S in the preset times is shortest.
It should be noted that the preset number is generally a larger number, but cannot be infinite or easily burdens the computer to perform continuous iteration, thereby reducing the registration efficiency.
S4, obtaining a correction transformation matrix L according to the positions of the conversion position points and the correction position points 2 。
Wherein, R = P × L 1 ×L 2 The corrected position point set R is
Modifying the transformation matrix L 2 A 3 x 3 matrix.
It should be noted that the present invention uses all the location point information in the correction transformation process, and does not exclude any point. And the phenomenon that the registration is deviated due to the fact that correct and error-free position points are excluded is avoided.
Step S5, transforming the matrix L according to the correction 2 For the initial transformation matrix L 1 Updating to obtain new initial conversion matrix L 1 '。
Wherein L is 1 '＝L 1 ×L 2 。
S6, judging whether the sum of the center distances S is smaller than a preset sum, and if so, performing S7; if not, repeating the steps S1 to S5.
By setting the preset sum, the initial transformation matrix L is guaranteed 1 ' the requirements of the standard transformation matrix can be met, thereby improving the registration accuracy.
Step S7, updating the initial conversion matrix L 1 And as a standard conversion matrix, converting each actual position point acquired by the surgical tool into a spatial coordinate system of the preoperative three-dimensional image by adopting the standard conversion matrix to realize registration.
Optionally, after step S7, the method further includes:
step C: updating the position of the surgical tool in a spatial coordinate system of the preoperative three-dimensional image in real time according to the position point information acquired by the surgical tool;
step D: generating an optimal path for the surgical tool to reach the position of the focus according to the position of the focus in a spatial coordinate system of the preoperative three-dimensional image and the structural characteristics of a lumen;
step E: and navigating the surgical tool according to the optimal path.
It should be noted that the embodiment of the invention realizes registration, combines registration and surgical navigation, improves the success rate of surgery and ensures the life safety of patients.
In conclusion, the embodiment of the method can effectively utilize all the collected position information points to carry out registration optimization, and avoids registration optimization errors caused by deleting correct position points so as to reduce registration accuracy. In addition, the mode of minimum center distance sum accords with the actual conditions of all position points, and the registration accuracy is improved.
Based on the medical operation image registration method, the embodiment of the invention also provides a medical operation image registration system, which comprises: an acquisition control unit 201, an initial conversion unit 202, a modification transformation unit 203, a modification transformation matrix obtaining unit 204, a matrix updating unit 205, a judgment unit 206 and a registration unit 207;
the acquisition control unit 201 is used for controlling the movement of the surgical tool in the lumen of the lumen structure organ according to the preoperative three-dimensional image of the lumen structure organ and acquiring an actual position point set P sensed by the surgical tool; the number of the positions of the actual position point set P is N, N is more than or equal to 3, and the surgical tool is a medical endoscope, an ultrasonic probe, a surgical catheter, a puncture biopsy needle or a laser ablation probe;
an initial transformation unit 202 for employing an initial transformation matrix L 1 Converting each actual position point in the actual position point set P into a spatial coordinate system where a preoperative three-dimensional image is located to obtain a converted position point set Q; wherein Q = P × L 1 Initial transformation matrix L 1 Is a 3 x 3 matrix, and the set of conversion position points Q is
Set of actual position points P is
A correction transformation unit 203, configured to perform correction transformation on the transformation position point set Q to obtain a correction position point set R so as to minimize the center distance sum S; wherein, the sum S of the center distances is the sum of the distances from each corrected position point in the corrected position point set R to the center line of the corresponding lumen, and the sum S of the center distances satisfies
M is a central point set corresponding to the corrected position point set R, the central point set M is a set from the corrected position points to corresponding lumen central line points on the preoperative three-dimensional image, E is a unit matrix, H is N multiplied by 1, and each row is a matrix of 1.
A modified transformation matrix obtaining unit 204 for obtaining a modified transformation matrix L based on the position of each conversion position point and the position of each modified position point 2 (ii) a Wherein, R = P × L 1 ×L 2 The corrected position point set R is
Modifying the transformation matrix L 2 A 3 × 3 matrix;
a matrix updating unit 205 for transforming the matrix L according to the modification 2 For the initial transformation matrix L 1 Updating to obtain new initial conversion matrix L 1 '; wherein L is 1 '＝L 1 ×L 2 ；
A determining unit 206, configured to determine whether the sum of center distances S is smaller than a preset sum, and if so, control the registering unit 207 to operate; if not, the acquisition control unit 201, the initial conversion unit 202, the correction transformation unit 203, the correction transformation matrix obtaining unit 204 and the matrix updating unit 205 are enabled to work again;
a registering unit 207 for updating the initial transformation matrix L 1 ' As the standard transformation matrix, the standard transformation matrix is adoptedAnd converting each actual position point acquired by the surgical tool into a spatial coordinate system where the preoperative three-dimensional image is located to realize registration.
Optionally, the system further comprises: the bifurcation point acquisition unit and the initial matrix generation unit work before the acquisition control unit 201 works;
the bifurcation point acquisition unit is used for acquiring the information of each lumen bifurcation point in the lumen structure organ;
and the initial matrix generating unit is used for generating an initial conversion matrix at the beginning according to the information of each lumen bifurcation point and the preoperative three-dimensional image.
Optionally, the modified transform unit 203 includes: a random transformation subunit and a modified position point set obtaining subunit,
the random transformation subunit is used for carrying out random transformation on all the transformation position points in the transformation position point set and calculating to obtain a center distance sum S;
and a corrected position point set obtaining subunit, configured to repeat step S302 for the preset number of times, and obtain a corrected position point set R when the sum S of the center distances is the shortest within the preset number of times.
Optionally, a plurality of positioning sensors arranged in an array are arranged on the surgical tool, the positioning sensors are located in the middle of the surgical tool, and when the surgical tool enters the lumen, the positioning sensors are located at or close to the center line of the lumen.
Optionally, the system further comprises: the surgical tool position updating unit, the optimal path generating unit and the navigation unit; the surgical tool position updating unit, the optimal path generating unit, and the navigation unit operate after the registration unit 207 operates;
the surgical tool position updating unit is used for updating the position of the surgical tool in a spatial coordinate system of the preoperative three-dimensional image in real time according to the position point information acquired by the surgical tool;
the optimal path generating unit is used for generating an optimal path for the surgical tool to reach the position of the focus according to the position of the focus in a spatial coordinate system of the preoperative three-dimensional image and the structural characteristics of a lumen;
and the navigation unit is used for navigating the surgical tool according to the optimal path.
With the combination of the above embodiments, the embodiment of the present invention collects the actual position point set; then, primarily converting the actual position point set into a spatial coordinate system of the preoperative three-dimensional image; then, correction transformation is carried out to ensure that the sum distance of all correction position points reaching the corresponding lumen center line is shortest; then solving to obtain a modified transformation matrix, and updating the initial transformation matrix; and judging whether the sum of the center distances meets the requirement, if so, taking the updated matrix as a standard conversion matrix for registration, and if not, repeating the steps to iterate until the requirement is met. Compared with the prior art, the embodiment of the invention adopts all the position point information without excluding the position points outside the tube cavity, thereby avoiding the situation of mistakenly deleting the correct position points and further ensuring the registration to be more accurate. Secondly, the invention determines the correction transformation matrix by the mode of minimum center distance sum, so that the position points after correction change are more in line with the actual situation (the actual situation is that each position point is on or near the center line of the lumen). Thirdly, the embodiment of the invention also sets the requirement of the minimum sum of center distances, so that the initial transformation matrix is continuously updated and iterated until the requirement is met, and the registration precision is further improved. Compared with the prior art that the original position point coordinates are replaced by the points corresponding to the nearest central lines, the embodiment of the invention directly uses the specific coordinates of the position points, avoids the condition that the acquired position point information may not be on the central line of the tube cavity, and improves the registration accuracy. The embodiment of the invention converts the subsequently collected position points by adopting a standard conversion matrix and then carries out navigation according to the position of a focus. Therefore, the operation precision and the operation success rate can be effectively improved. In conclusion, the embodiment of the invention realizes the registration optimization of all position points, avoids the elimination of correct position points and can effectively improve the registration precision.
It should be noted that, in this document, 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. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A method of medical procedure image registration, the method comprising:
s1, controlling a surgical tool to move in a lumen of a lumen structure organ according to a preoperative three-dimensional image of the lumen structure organ, and collecting an actual position point set P sensed by the surgical tool; the number of the positions of the actual position point set P is N, N is more than or equal to 3, and the surgical tool is a medical endoscope, an ultrasonic probe, a surgical catheter, a puncture biopsy needle or a laser ablation probe;
step S2, adopting an initial conversion matrix L 1 Converting each actual position point in the actual position point set P into a spatial coordinate system where the preoperative three-dimensional image is located to obtain a converted position point set Q; wherein Q = P × L 1 The initial conversion momentArray L 1 Is a 3 x 3 matrix, the set of switch location points Q is
The set of actual position points P is
S3, performing correction transformation on the conversion position point set Q to obtain a correction position point set R so as to minimize the sum S of center distances; wherein the sum of the center distances S is the sum of the distances from each corrected position point in the corrected position point set R to the center line of the corresponding lumen, and the sum of the center distances S satisfies
The M is a central point set corresponding to the corrected position point set R, the central point set M is a set from the corrected position points to corresponding lumen central line points on the preoperative three-dimensional image, the E is a unit matrix, the H is a matrix of Nx 1, and each row is 1;
s4, obtaining a correction transformation matrix L according to the position of each conversion position point and the position of each correction position point 2 (ii) a Wherein, R = P × L 1 ×L 2 The corrected position point set R is
The modified transformation matrix L 2 A 3 × 3 matrix;
s5, transforming the matrix L according to the correction 2 For the initial conversion matrix L 1 Updating to obtain new initial conversion matrix L 1 '; wherein L is 1 '＝L 1 ×L 2 ；
S6, judging whether the sum of the center distances S is smaller than a preset sum, and if so, performing S7; if not, repeating the step S1 to the step S5;
step S7, the updated initial conversion matrix L 1 ' conversion as standardAnd the standard conversion matrix is adopted to convert each actual position point acquired by the surgical tool into a spatial coordinate system in which the preoperative three-dimensional image is located so as to realize registration.
2. The medical procedure image registration method according to claim 1, wherein before step S1, the method further comprises:
step A: collecting the information of each lumen bifurcation point in the lumen structure organ;
and B: and generating the initial conversion matrix at the beginning according to the lumen bifurcation point information and the preoperative three-dimensional image.
3. The medical operation image registration method according to claim 1, wherein the step S3 comprises:
step S301: randomly transforming all the conversion position points in the conversion position point set, and calculating to obtain the center distance sum S;
step S302: and repeating the step S302 for preset times to obtain the corrected position point set R when the sum of the center distances S in the preset times is shortest.
4. The medical operation image registration method according to claim 1, wherein a plurality of positioning sensors are arranged on the operation tool in an array, the positioning sensors are located in a middle portion of the operation tool, and when the operation tool enters the lumen, the positioning sensors are located at or close to a center line of the lumen.
5. The medical procedure image registration method according to claim 1, wherein after the step S7, the method further comprises:
and C: updating the position of the surgical tool in a spatial coordinate system of the preoperative three-dimensional image in real time according to the position point information acquired by the surgical tool;
step D: generating an optimal path for the surgical tool to reach the position of the focus according to the position of the focus in a space coordinate system of the preoperative three-dimensional image and the structural characteristics of the lumen;
step E: navigating the surgical tool according to the optimal path.
6. A medical procedure image registration system, the system comprising: the device comprises an acquisition control unit, an initial conversion unit, a modification transformation matrix obtaining unit, a matrix updating unit, a judgment unit and a registration unit;
the acquisition control unit is used for controlling a surgical tool to move in the lumen of the lumen structure organ according to the preoperative three-dimensional image of the lumen structure organ and acquiring an actual position point set P sensed by the surgical tool; the number of the positions of the actual position point set P is N, N is more than or equal to 3, and the surgical tool is a medical endoscope, an ultrasonic probe, a surgical catheter, a puncture biopsy needle or a laser ablation probe;
the initial conversion unit is used for adopting an initial conversion matrix L 1 Converting each actual position point in the actual position point set P into a spatial coordinate system where the preoperative three-dimensional image is located to obtain a converted position point set Q; wherein Q = PxL 1 The initial conversion matrix L 1 Is a 3 x 3 matrix, the set of switch location points Q is
The set of actual position points P is
The correction transformation unit is used for performing correction transformation on the conversion position point set Q to obtain a correction position point set R so as to minimize the sum S of the center distances; wherein the sum of the center distances S is the sum of the distances from each corrected position point in the corrected position point set R to the center line of the corresponding lumen, and the sum of the center distances S satisfies
The M is a central point set corresponding to the corrected position point set R, the central point set M is a set from the corrected position points to corresponding lumen central line points on the preoperative three-dimensional image, the E is a unit matrix, the H is a matrix of Nx 1, and each row is 1;
the modified transformation matrix obtaining unit is configured to obtain a modified transformation matrix L according to the position of each of the conversion position points and the position of each of the modified position points 2 (ii) a Wherein, R = P × L 1 ×L 2 The corrected position point set R is
The modified transformation matrix L 2 Is a 3 × 3 matrix;
the matrix updating unit is used for transforming a matrix L according to the modification 2 For the initial transformation matrix L 1 Updating to obtain new initial conversion matrix L 1 '; wherein L is 1 '＝L 1 ×L 2 ；
The judging unit is used for judging whether the sum of the center distances S is smaller than a preset sum, and if so, the registering unit is controlled to work; if not, the acquisition control unit, the initial conversion unit, the correction conversion matrix obtaining unit and the matrix updating unit work again;
the registration unit is used for updating the initial transformation matrix L 1 ' as a standard conversion matrix, converting each actual position point acquired by the surgical tool into a spatial coordinate system in which the preoperative three-dimensional image is located by using the standard conversion matrix to realize registration.
7. The medical procedure image registration system of claim 6, wherein the system further comprises: the device comprises a bifurcation point acquisition unit and an initial matrix generation unit, wherein the bifurcation point acquisition unit and the initial matrix generation unit work before the acquisition control unit works;
the bifurcation point acquisition unit is used for acquiring the information of each lumen bifurcation point in the lumen structure organ;
the initial matrix generating unit is configured to generate the initial transformation matrix at the beginning according to the lumen bifurcation point information and the preoperative three-dimensional image.
8. The medical procedure image registration system according to claim 6, wherein the modification transformation unit includes: a random transformation subunit and a modified position point set obtaining subunit,
the random transformation subunit is configured to perform random transformation on all the transformation position points in the transformation position point set, and calculate to obtain the center distance sum S;
and the corrected position point set obtaining subunit is configured to repeat step S302 for the preset number of times, and obtain the corrected position point set R when the sum S of the center distances is the shortest within the preset number of times.
9. The medical procedure image registration system according to claim 6, wherein the surgical tool is provided with a plurality of positioning sensors arranged in an array, the positioning sensors are located in a middle portion of the surgical tool, and the positioning sensors are located at or near a center line of the lumen when the surgical tool enters the lumen.
10. The medical procedure image registration system of claim 6, wherein the system further comprises: the surgical tool position updating unit, the optimal path generating unit and the navigation unit; the surgical tool position updating unit, the optimal path generating unit and the navigation unit operate after the registration unit operates;
the surgical tool position updating unit is used for updating the position of the surgical tool in a spatial coordinate system of the preoperative three-dimensional image in real time according to the position point information acquired by the surgical tool;
the optimal path generating unit is used for generating an optimal path for the surgical tool to reach the position of the focus according to the position of the focus in a space coordinate system of the preoperative three-dimensional image and the structural characteristics of the lumen;
and the navigation unit is used for navigating the surgical tool according to the optimal path.
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