CN116019554A - Spatial registration acceleration method and system in spinal surgery navigation - Google Patents
Spatial registration acceleration method and system in spinal surgery navigation Download PDFInfo
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Abstract
The invention provides a spine surgery navigation method and system, which specifically comprises the following steps: determining two groups of cores according to the core occupancy rate and the point set size, and calculating a first point pair with the farthest distance, a second point pair with the nearest distance and a point pair set M with the distance within a specified range in the CT space point set of the spine in the first group of cores s Calculating a third point pair farthest from the spatial point set of the operating table, a fourth point pair closest to the spatial point set of the operating table and a point pair set M within a specified range in a second group of cores t The method comprises the steps of carrying out a first treatment on the surface of the According to the position relation of the first point pair and the position relation of the third point pair, the second pointPositional relationship of pairs and positional relationship of fourth point pair, and point pair set M s Center of gravity and point pair set M t Is used for determining the center of gravity of the spinal column CT space point set P s And (3) a rotation mode and a translation mode, and realize the registration of the two modes. The invention can dynamically adjust the resources used in the registration, improves the speed of spatial registration in the navigation of the spine operation and saves the registration time.
Description
Technical Field
The application relates to the medical field, in particular to a spatial registration acceleration method and a spatial registration acceleration system in spinal surgery navigation.
Background
Long-time sitting in front of a computer for working, long-distance driving, long-time low-head mobile phone playing and high-strength physical labor can hurt the spine, and along with the acceleration of aging, the spine problem becomes a great problem for puzzling middle-aged and elderly people. The treatment of the related diseases of the spine mainly comprises two schemes of conservative treatment and surgical treatment, wherein the conservative treatment adopts non-invasive modes such as medicines, massage and the like, the surgical treatment is to treat focus through minimally invasive surgery, and the surgical treatment has the characteristics of quick response and the like. In the past, the operation of spinal surgery is mainly performed by doctors through equipment such as a microscope, an endoscope and the like, and along with the progress of computer technology and image processing technology, the current advanced mode is to perform the operation by using computer assistance, such as C-arm spinal surgery auxiliary equipment, and the main principle is to position a patient part by adopting a surgery navigation system, accurately position the patient part and avoid errors of the doctor depending on experience operation.
The operation by using the C-shaped arm firstly establishes a three-dimensional image of the affected part, then unifies the patient, the operation instrument and the three-dimensional image into a coordinate system, and firstly realizes the space registration of the three-dimensional space to realize the accurate positioning. Registration can be divided into image registration and space registration, wherein the image registration is an important concept in the image field, mainly image matching of different sensors or different angles is realized, image enhancement, image synthesis and the like, and the space registration is different from the image registration, namely, the space registration is that three-dimensional image space of an operation space and a patient is matched, and only if the three-dimensional image space is matched with the operation space and the three-dimensional image space, the operation can be successfully completed, particularly for spinal surgery, a large number of nerves are distributed around the spine, and if registration errors are large, secondary injury is likely to be caused to the patient. The current common registration method is iterative closest point method (ICP, iterative Closest Point), and a considerable number of navigation surgical instruments are ICP or improved ICP registration methods, wherein ICP registration is to register a point cloud of a three-dimensional image of a patient and a point cloud of a patient on an operating table.
Since ICP registration is an iterative calculation that is continuously approximated, when there are many points in the point cloud, it takes a long time to perform registration, and if there are too few points, there is a large error, how to quickly and accurately implement spatial registration in spinal surgical navigation is a problem to be solved in the art.
Disclosure of Invention
Because the precision of different spine CT scanning devices is different, the number of the acquired spine CT space point sets is different, and the bending degree of the spine is different, the spine registration speed is affected, and in the traditional space registration, the registration process is slow.
In a first aspect, the present invention provides a method for accelerating spatial registration in spinal surgical navigation, the method comprising the steps of:
s1, acquiring a spinal column CT space point set P s And operating table patient space point set P t Determining two groups of cores according to the core occupancy and the point set size, and calculating P in the first group of cores s First point pair with the farthest distance, second point pair with the nearest distance and point pair set M with the distance within a specified range s Calculating P in the second set of cores t Third point pair with farthest middle distance, fourth point pair with nearest middle distance and point pair set M with distance within specified range t ；
S2, determining a third core, wherein the third core calculates a first absolute value of a difference value between the first point pair distance and the third point pair distance and a second absolute value of a difference value between the second point pair distance and the fourth point pair distance, and executing S3 if the first absolute value is smaller than a first threshold value and the second absolute value is smaller than a second threshold value;
s3, determining the spatial points of the spine CT according to the first informationSet P s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t Is a registration of (2); the first information is: the positional relationship of the first point pair and the positional relationship of the third point pair, the positional relationship of the second point pair and the positional relationship of the fourth point pair, and the point pair set M s Center of gravity and point pair set M t Is defined by the center of gravity of the container.
Preferably, the determining two groups of cores according to the core occupancy rate and the point set size specifically includes:
sequencing according to the order of the utilization rate of the CPU cores from small to large, taking the first sequenced core as a first CPU core, and taking the second sequenced core as a second CPU core;
sequencing according to the order of the utilization rate of the SMs in the GPU from small to large, taking the first H ordered SMs as a first SM set, and taking the H+1th to 2H ordered SMs as a second SM set; wherein H is a positive integer;
judgment Point set P s Sum point set P t If the size of the point set P s Not less than the point set P t The number of midpoints, the first CPU core and the first SM set are used as a first group of cores, and the second CPU core and the second SM set are used as a second group of cores; otherwise, the second CPU core and the second SM set are used as a first group of cores, and the first CPU core and the first SM set are used as a second group of cores.
Preferably, the third core is the first CPU core.
Preferably, the determination of the spinal CT spatial point set P s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t After registration of (2), further comprising: from point set P t Selecting k points, and judging a point set P for each of the k points s After the rotation mode and the translation mode, calculating the sum of squares of the distance differences between each point and the point closest to the point, and if the sum of squares is smaller than a third threshold value, realizing a point set P s Sum point set P t Otherwise, the point set P is registered by ICP s And after rotation and translationPoint set P t ICP registration is performed.
Preferably, the slave point set P t The k points are specifically: will point set P s Dividing the square into k cubes with the same size, and selecting a point closest to the center of each cube as a candidate point.
In another aspect, the present invention also provides a spinal surgical navigation spatial registration acceleration system, the system comprising:
a first distance calculation module for acquiring a spine CT space point set P s And operating table patient space point set P t Determining two groups of cores according to the core occupancy and the point set size, and calculating P in the first group of cores s First point pair with the farthest distance, second point pair with the nearest distance and point pair set M with the distance within a specified range s Calculating P in the second set of cores t Third point pair with farthest middle distance, fourth point pair with nearest middle distance and point pair set M with distance within specified range t ；
The judging module is used for determining a third core, the third core is used for calculating a first absolute value of a difference value between the first point pair distance and the third point pair distance and a second absolute value of a difference value between the second point pair distance and the fourth point pair distance, and if the first absolute value is smaller than a first threshold value and the second absolute value is smaller than a second threshold value, the registering module is executed;
a registration module for determining a spinal CT space point set P according to the first information s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t Is a registration of (2); the first information is: the positional relationship of the first point pair and the positional relationship of the third point pair, the positional relationship of the second point pair and the positional relationship of the fourth point pair, and the point pair set M s Center of gravity and point pair set M t Is defined by the center of gravity of the container.
Preferably, the determining two groups of cores according to the core occupancy rate and the point set size specifically includes:
sequencing according to the order of the utilization rate of the CPU cores from small to large, taking the first sequenced core as a first CPU core, and taking the second sequenced core as a second CPU core;
sequencing according to the order of the utilization rate of the SMs in the GPU from small to large, taking the first H ordered SMs as a first SM set, and taking the H+1th to 2H ordered SMs as a second SM set; wherein H is a positive integer;
judgment Point set P s Sum point set P t If the size of the point set P s Not less than the point set P t The number of midpoints, the first CPU core and the first SM set are used as a first group of cores, and the second CPU core and the second SM set are used as a second group of cores; otherwise, the second CPU core and the second SM set are used as a first group of cores, and the first CPU core and the first SM set are used as a second group of cores.
Preferably, the third core is the first CPU core.
Preferably, the determination of the spinal CT spatial point set P s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t After registration of (2), further comprising: from point set P t Selecting k points, and judging a point set P for each of the k points s After the rotation mode and the translation mode, calculating the sum of squares of the distance differences between each point and the point closest to the point, and if the sum of squares is smaller than a third threshold value, realizing a point set P s Sum point set P t Otherwise, the point set P is registered by ICP s And a rotated and translated point set P t ICP registration is performed.
Preferably, the slave point set P t The k points are specifically: will point set P s Dividing the square into k cubes with the same size, and selecting a point closest to the center of the positive and negative cube in each cube as a candidate point.
Finally, the invention also provides a computer storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the method as described above.
Aiming at the problem of low space registration operation speed in the prior spinal surgical navigation, the invention provides a spinal columnThe method and the system for accelerating the spatial registration in the surgical navigation are used for improving the speed of the spatial registration and saving the operation time. The invention aims at the spinal column CT space point set P s And operating table patient space point set P t Is characterized in that the computing resource used in the registration process is adjusted, and two groups of core determination point sets P are determined according to the core occupancy rate and the point set size s Sum point set P t And the calculation of the midpoint to the distance further improves the calculation speed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a first embodiment of the present invention;
FIG. 2 is a point set P t Schematic of (2);
FIG. 3 is a point set P s Schematic of (2);
FIG. 4 is a point set P s Is another schematic diagram of (a);
fig. 5 is a flow chart of an embodiment of the present invention.
Detailed Description
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In a first embodiment, the present invention provides a method for accelerating spatial registration in spinal surgical navigation, as shown in fig. 1, comprising the steps of:
s1, acquiring a spinal column CT space point set P s And operating table patient space point set P t Determining two groups of cores according to the core occupancy and the point set size, and calculating P in the first group of cores s First point pair with the farthest distance, second point pair with the nearest distance and point pair set M with the distance within a specified range s Calculating P in the second set of cores t Third point pair with farthest middle distance, fourth point pair with nearest middle distance and point pair set M with distance within specified range t ；
The point cloud has a collection of multiple points, a common point cloud file format is PTS, LAS, PCD, the most simple point cloud points are represented by D (x, y, z), namely three-dimensional coordinates, and some point clouds also comprise information such as RGB. The point cloud may represent the shape of two-dimensional as well as three-dimensional objects. In spine surgery, a 3D view of the spine of a patient can be obtained through CT scanning, a spine CT space point set can be further obtained according to the 3D view, and before surgery, the spine navigation robot needs to match the spine CT3D view with a patient part of the patient on an operating table, so that the position can be accurately determined.
The spatial registration of the point cloud can realize the matching of the spine CT3D view and the patient position on the operating table, and the spatial point set of the spine CT and the patient position on the operating table except the difference of the position and the directionThe invention calculates P first for the feature that the number and the position relation of the points in the point set are not much different s First point pair with the farthest distance, second point pair with the nearest distance and point pair set M with the distance within a specified range s And P t Third point pair with farthest middle distance, fourth point pair with nearest middle distance and point pair set M with distance within specified range t . As shown in fig. 2, the point set P t The first point pair is (1, 4) and the second point pair is (3, 4) when the distances between 1 and 4 are maximum and the distances between 3 and 4 are minimum. As shown in fig. 3, the point set P s And five points are included, the distances 1 and 3 are the largest, the distances 1 and 5 are the smallest, the third point pair is (1, 3), and the fourth point pair is (1, 5).
In addition, in order to obtain the direction of the point cloud, it is also necessary to obtain a set of point pairs M whose distances are within a specified range s Sum point pair set M t ；M s And M t For calculating the center of gravity or centroid from which the direction of the line is determined.
S2, determining a third core, wherein the third core calculates a first absolute value of a difference value between the first point pair distance and the third point pair distance and a second absolute value of a difference value between the second point pair distance and the fourth point pair distance, and executing S3 if the first absolute value is smaller than a first threshold value and the second absolute value is smaller than a second threshold value;
as shown in fig. 2 and 3, assuming that the first point pair distance is S1, the second point pair distance is S2, the third point pair distance is S3, and the fourth point pair distance is S4, if |s1-s3| < thr1 and |s2-s4| < thr2, then S3 is executed. Wherein the distance may be a euclidean distance.
S3, determining a spinal CT space point set P according to the first information s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t Is a registration of (2); the first information is: the positional relationship of the first point pair and the positional relationship of the third point pair, the positional relationship of the second point pair and the positional relationship of the fourth point pair, and the point pair set M s Center of gravity and point pair set M t Is defined by the center of gravity of the container.
From the first and third pairs of points, two straight lines can be obtained, e.g.The two longest straight lines (1) (3) of the broken lines in FIGS. 1 and 2 also need to be based on the point pair set M because the straight lines have no direction s Center of gravity and point pair set M t The center of gravity or the centroid of (a) determines the direction, and then when two straight lines coincide or the distance between the two straight lines is minimum, the point set P s Sum point set P t Registration or coarse registration is achieved. As shown in fig. 2 and 3, the point set P can be realized by rotating the point set in fig. 3 to a certain angle and then translating a certain distance s Sum point set P t Is a superposition of (a).
Since it is not possible to achieve a perfect registration of the two point sets in practice, in one embodiment, four straight lines are determined based on the positional relationship of the first point pair and the positional relationship of the third point pair, and the positional relationship of the second point pair and the positional relationship of the fourth point pair, as shown by the four straight lines (1) (2) (3) (4) shown by the broken lines in fig. 2, 3, wherein the point set P s Sum point set P t Two of each, and are in one-to-one correspondence according to the length. Determining the final point set P based on the positional relationship of the two long dashed lines (1) (3) in FIGS. 2 and 3 and the positional relationship of the two short dashed lines (2) (4) in FIGS. 2 and 3 s For example, the rotation angle and the translation distance of the long dashed line and the short dashed line, respectively.
Due to the difference of acquisition equipment and acquisition time, the number of the point sets and the positions of the points, such as the point set P, can be affected s If the registration is still performed according to the longest or shortest distance, there is a problem that the registration is impossible or the registration error is extremely large, as shown in fig. 4. In view of this problem, another embodiment of the present invention further includes, if the first absolute value is not less than the first threshold and/or the second absolute value is not less than the second threshold, executing S4, as shown in fig. 5;
s4, respectively aligning P according to the size of the point-to-distance s And P t The pairs of points in the sequence are ordered to obtain a sequence Q of pairs s And Q t Acquiring Q s First n dot pairs and last m dot pairs, and Q t The first n point pairs and the last m point pairs, calculate Q s And Q t Two point pairs with the smallest intermediate distance difference are respectively used as a first point pair and a third point pair to calculate Q s And Q t Two point pairs with the smallest intermediate distance difference are respectively used as a second point pair and a fourth point pair, and S2 is executed, wherein m and n are positive integers which are not 1.
As P in FIG. 2 t The first three pairs of points of greatest distance are (1, 4), (1, 3), (2, 4), as shown at P in FIG. 4 s The first three pairs of points with the greatest distance are (5, 3), (2, 4), (5, 4), and the pair with the smallest distance difference is P t (2, 4) and P of (B) s (2, 4), then P t (2, 4) as a first point pair, P s As a third point pair. Likewise, a second point pair and a fourth point pair can be found.
Wherein m and n are related to the number of point sets and the required registration accuracy, specifically, the larger the number of point sets is, and the higher the registration accuracy is, the smaller the number of point sets is. In one embodiment of the present invention, in one embodiment,
wherein L (P) s ) Representing P s The number of midpoints, L (P t ) Representing P t The number of the midpoints, sigma, represents the proportion of the point set, mu represents the precision requirement coefficient, mu represents the higher the precision requirement, and 0 < mu < 1. For example P s And P t Assuming 2% σ, m=n=9 when μ=0.1, and m=n=4 when μ=0.6.
With the improvement of the performance of the computer, more and more CPUs and GPUs of the computer adopt multiple cores, and the invention improves the dispatching of registration tasks among cores. The method comprises the steps of determining two groups of cores according to the core occupancy rate and the point set size, wherein the two groups of cores are specifically as follows:
sequencing according to the order of the utilization rate of the CPU cores from small to large, taking the first sequenced core as a first CPU core, and taking the second sequenced core as a second CPU core;
sequencing according to the order of the utilization rate of the SMs in the GPU from small to large, taking the first H ordered SMs as a first SM set, and taking the H+1th to 2H ordered SMs as a second SM set; wherein H is a positive integer;
judgment Point set P s Sum point set P t If the size of the point set P s Not less than the point set P t The number of midpoints, the first CPU core and the first SM set are used as a first group of cores, and the second CPU core and the second SM set are used as a second group of cores; otherwise, the second CPU core and the second SM set are used as a first group of cores, and the first CPU core and the first SM set are used as a second group of cores.
In a more specific embodiment, each set of cores includes one CPU core and at least one GPU SM (Streaming Multiprocessor). The cores are ordered according to the order of the core resource idle rate from large to small, the larger point set is allocated to each ordered first group of cores, the other point set is allocated to the ordered second group of cores, and the method specifically comprises the following steps: firstly, ordering CPU cores according to the order of the CPU core resource idle rate from large to small to obtain a first CPU core and a second CPU core; then, sequencing the SMs according to the order of the resource idle rate of the SMs of the GPU from large to small to obtain a first group of SMs and a second group of SMs, combining the first CPU core with the first group of SMs, combining the second CPU core with the second group of SMs, obviously, the computing power of the first combination is larger than that of the second combination, and combining the point set P s Sum point set P t The point set with large number of the middle points is bound with the first combination, and the point set with small number is bound with the second combination, so that quick calculation can be realized. The third core group is composed entirely of CPU cores. Preferably, the third core is the first CPU core. The first set of SMs and the second set of SMs each comprise at least one SM.
Preferably, the determination of the spinal CT spatial point set P s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t After registration of (2), further comprising: from point set P t Selecting k points, and judging a point set P for each of the k points s After the rotation mode and the translation mode, calculating the sum of squares of the distance differences between each point and the point closest to the point, and if the sum of squares is smaller than a third threshold value, realizing a point set P s Sum point set P t Otherwise, the point set P is registered by ICP s And a rotated and translated point set P t ICP registration is performed.
Preferably, the slave point set P t The k points are specifically: will point set P s Dividing the square into k cubes with the same size, and selecting a point closest to the center of the positive and negative cube in each cube as a candidate point.
If P t And P s The method provided by the invention can realize accurate spatial registration, but if the noise is large or the deformation is large, the final accurate matching can be affected, and the method is realized by P t And P s The sum of squares of the distance differences of the closest points in (a) can judge whether the threshold is met, if so, accurate registration is realized, otherwise, further accurate registration is carried out by utilizing an ICP registration mode.
In a second embodiment, the present invention also provides a spinal surgical navigation spatial registration acceleration system, the system comprising the following modules:
a first distance calculation module for acquiring a spine CT space point set P s And operating table patient space point set P t Determining two groups of cores according to the core occupancy and the point set size, and calculating P in the first group of cores s First point pair with the farthest distance, second point pair with the nearest distance and point pair set M with the distance within a specified range s Calculating P in the second set of cores t Third point pair with farthest middle distance, fourth point pair with nearest middle distance and point pair set M with distance within specified range t ；
The judging module is used for determining a third core, the third core is used for calculating a first absolute value of a difference value between the first point pair distance and the third point pair distance and a second absolute value of a difference value between the second point pair distance and the fourth point pair distance, and if the first absolute value is smaller than a first threshold value and the second absolute value is smaller than a second threshold value, the registering module is executed;
a registration module for determining a spinal CT space point set P according to the first information s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t Is a registration of (2); the first information is: first pointPositional relationship of pair and positional relationship of third point pair, positional relationship of second point pair and positional relationship of fourth point pair, and point pair set M s Center of gravity and point pair set M t Is defined by the center of gravity of the container.
Preferably, if the first absolute value is not less than the first threshold and/or the second absolute value is not less than the second threshold, executing the second distance calculation module;
a second distance calculation module for respectively matching P according to the distance of the point to the distance s And P t The pairs of points in the sequence are ordered to obtain a sequence Q of pairs s And Q t Acquiring Q s First n dot pairs and last m dot pairs, and Q t The first n point pairs and the last m point pairs, calculate Q s And Q t Two point pairs with the smallest intermediate distance difference are respectively used as a first point pair and a third point pair to calculate Q s And Q t And respectively taking two point pairs with the smallest intermediate distance difference as a second point pair and a fourth point pair, and then executing the judging module, wherein m and n are positive integers which are not 1.
Preferably, the determining two groups of cores according to the core occupancy rate and the point set size specifically includes:
sequencing according to the order of the utilization rate of the CPU cores from small to large, taking the first sequenced core as a first CPU core, and taking the second sequenced core as a second CPU core;
sequencing according to the order of the utilization rate of the SMs in the GPU from small to large, taking the first H ordered SMs as a first SM set, and taking the H+1th to 2H ordered SMs as a second SM set; wherein H is a positive integer;
judgment Point set P s Sum point set P t If the size of the point set P s Not less than the point set P t The number of midpoints, the first CPU core and the first SM set are used as a first group of cores, and the second CPU core and the second SM set are used as a second group of cores; otherwise, the second CPU core and the second SM set are used as a first group of cores, and the first CPU core and the first SM set are used as a second group of cores.
Preferably, the third core is the first CPU core.
Preferably, the determination of the spinal CT spatial point set P s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t After registration of (2), further comprising: from point set P t Selecting k points, and judging a point set P for each of the k points s After the rotation mode and the translation mode, calculating the sum of squares of the distance differences between each point and the point closest to the point, and if the sum of squares is smaller than a third threshold value, realizing a point set P s Sum point set P t Otherwise, the point set P is registered by ICP s And a rotated and translated point set P t ICP registration is performed.
Preferably, the slave point set P t The k points are specifically: will point set P s Dividing the square into k cubes with the same size, and selecting a point closest to the center of the positive and negative cube in each cube as a candidate point.
In a third embodiment, the present invention also provides a computer storage medium having instructions stored therein which, when executed on a computer, cause the computer to perform the method of embodiment one.
The above-described embodiment of the apparatus is merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by adding necessary general purpose hardware platforms, or may be implemented by a combination of hardware and software. Based on such understanding, the foregoing aspects, in essence and portions contributing to the art, may be embodied in the form of a computer program product, which may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for accelerating spatial registration in spinal surgical navigation, the method comprising the steps of:
s1, acquiring a spinal column CT space point set P s And operating table patient space point set P t Determining two groups of cores according to the core occupancy and the point set size, and calculating P in the first group of cores s First point pair with the farthest distance, second point pair with the nearest distance and point pair set M with the distance within a specified range s Calculating P in the second set of cores t Third point pair with farthest middle distance, fourth point pair with nearest middle distance and point pair set M with distance within specified range t ；
S2, determining a third core, wherein the third core calculates a first absolute value of a difference value between the first point pair distance and the third point pair distance and a second absolute value of a difference value between the second point pair distance and the fourth point pair distance, and executing S3 if the first absolute value is smaller than a first threshold value and the second absolute value is smaller than a second threshold value;
s3, determining a spinal CT space point set P according to the first information s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t Is a registration of (2); the first information is: the positional relationship of the first point pair and the positional relationship of the third point pair, the positional relationship of the second point pair and the positional relationship of the fourth point pair, and the point pair set M s Center of gravity and point pair set M t Is defined by the center of gravity of the container.
2. The method according to claim 1, wherein the two groups of cores are determined according to the core occupancy and the point set size, in particular:
sequencing according to the order of the utilization rate of the CPU cores from small to large, taking the first sequenced core as a first CPU core, and taking the second sequenced core as a second CPU core;
sequencing according to the order of the utilization rate of the SMs in the GPU from small to large, taking the first H ordered SMs as a first SM set, and taking the H+1th to 2H ordered SMs as a second SM set; wherein H is a positive integer;
judgment Point set P s Sum point set P t If the size of the point set P s Not less than the point set P t The number of midpoints, the first CPU core and the first SM set are used as a first group of cores, and the second CPU core and the second SM set are used as a second group of cores; otherwise, the second CPU core and the second SM set are used as a first group of cores, and the first CPU core and the first SM set are used as a second group of cores.
3. The method of claim 2, wherein the third core is the first CPU core.
4. The method of claim 1, wherein the determining a set of spinal CT spatial points P s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t After registration of (2), further comprising: from point set P t Selecting k points, and judging a point set P for each of the k points s After the rotation mode and the translation mode, calculating the sum of squares of the distance differences between each point and the point closest to the point, and if the sum of squares is smaller than a third threshold value, realizing a point set P s Sum point set P t Otherwise, the point set P is registered by ICP s And a rotated and translated point set P t ICP registration is performed.
5. The method as claimed in claim 4Characterized in that the slave point set P t The k points are specifically: will point set P s Dividing the square into k cubes with the same size, and selecting a point closest to the center of each cube as a candidate point.
6. A spatial registration acceleration system for spinal surgical navigation, the system comprising:
a first distance calculation module for acquiring a spine CT space point set P s And operating table patient space point set P t Determining two groups of cores according to the core occupancy and the point set size, and calculating P in the first group of cores s First point pair with the farthest distance, second point pair with the nearest distance and point pair set M with the distance within a specified range s Calculating P in the second set of cores t Third point pair with farthest middle distance, fourth point pair with nearest middle distance and point pair set M with distance within specified range t ；
The judging module is used for determining a third core, the third core is used for calculating a first absolute value of a difference value between the first point pair distance and the third point pair distance and a second absolute value of a difference value between the second point pair distance and the fourth point pair distance, and if the first absolute value is smaller than a first threshold value and the second absolute value is smaller than a second threshold value, the registering module is executed;
a registration module for determining a spinal CT space point set P according to the first information s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t Is a registration of (2); the first information is: the positional relationship of the first point pair and the positional relationship of the third point pair, the positional relationship of the second point pair and the positional relationship of the fourth point pair, and the point pair set M s Center of gravity and point pair set M t Is defined by the center of gravity of the container.
7. The method according to claim 6, wherein the two groups of cores are determined according to the core occupancy and the point set size, in particular:
sequencing according to the order of the utilization rate of the CPU cores from small to large, taking the first sequenced core as a first CPU core, and taking the second sequenced core as a second CPU core;
sequencing according to the order of the utilization rate of the SMs in the GPU from small to large, taking the first H ordered SMs as a first SM set, and taking the H+1th to 2H ordered SMs as a second SM set; wherein H is a positive integer;
judgment Point set P s Sum point set P t If the size of the point set P s Not less than the point set P t The number of midpoints, the first CPU core and the first SM set are used as a first group of cores, and the second CPU core and the second SM set are used as a second group of cores; otherwise, the second CPU core and the second SM set are used as a first group of cores, and the first CPU core and the first SM set are used as a second group of cores.
8. The method of claim 7, wherein the third core is the first CPU core.
9. The method of claim 6, wherein the determining a set of spinal CT spatial points P s Realizes the point set P by a rotation mode and a translation mode s Sum point set P t After registration of (2), further comprising: from point set P t Selecting k points, and judging a point set P for each of the k points s After the rotation mode and the translation mode, calculating the sum of squares of the distance differences between each point and the point closest to the point, and if the sum of squares is smaller than a third threshold value, realizing a point set P s Sum point set P t Otherwise, the point set P is registered by ICP s And a rotated and translated point set P t ICP registration is performed.
10. The system of claim 9, wherein the slave point set P t The k points are specifically: will point set P s Dividing the square into k cubes with the same size, and selecting a point closest to the center of the positive and negative cube in each cube as a candidate point.
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