CN116172703A

CN116172703A - Spatial registration method, device, system and medium for surgical navigation

Info

Publication number: CN116172703A
Application number: CN202310224381.0A
Authority: CN
Inventors: 盛鸿; 陈云; 刘技; 谷会东; 章征贵; 朱聪; 张道文
Original assignee: Suzhou Dikaier Medical Technology Co ltd
Current assignee: Suzhou Dikaier Medical Technology Co ltd
Priority date: 2023-03-09
Filing date: 2023-03-09
Publication date: 2023-05-30

Abstract

The invention discloses a spatial registration method, a spatial registration device, a spatial registration system and a storage medium for surgical navigation, wherein the method comprises the following steps: acquiring CT three-dimensional data and navigation data of a target object wearing a registration device, wherein the registration device is provided with own characteristic patterns and at least three common characteristic patterns arranged in a neighborhood range set by the own characteristic patterns, and the common characteristic patterns are made of developing materials; determining a first space position of the own characteristic pattern in a navigation coordinate system corresponding to the navigation data, and determining a second space position of each common characteristic pattern in the navigation coordinate system according to the first space position; and registering the navigation data and the CT three-dimensional data according to the second spatial positions and the third spatial positions of the common characteristic patterns in the CT three-dimensional data to obtain a spatial registration result. The problem that the existing surgical navigation system registration method cannot achieve both stability and operation convenience is solved, and the stability and operation convenience of the surgical navigation system registration are improved.

Description

Spatial registration method, device, system and medium for surgical navigation

Technical Field

The present invention relates to the field of data processing technologies, and in particular, to a spatial registration method, apparatus, system, and medium for surgical navigation.

Background

In surgical navigation, surgical instruments can be tracked and guided in real-time through navigation registration. The existing navigation registration method based on the registration device needs to accurately calibrate the registration device before delivery, and has high operation complexity. And during storage and use, the registration accuracy is affected if the registration device is deformed. Thus, stability and operational convenience of navigation registration are to be improved. In summary, the existing navigation registration method has the problem that stability and operation convenience cannot be considered.

Disclosure of Invention

The invention provides a spatial registration method, a spatial registration device, a spatial registration system and a spatial registration medium for surgical navigation, which are used for solving the problem that the existing navigation spatial registration method cannot achieve both stability and operation convenience.

According to an aspect of the present invention, there is provided a spatial registration method for surgical navigation, the method comprising:

acquiring CT three-dimensional data and navigation data of a target object wearing a registration device, wherein the registration device is provided with own characteristic patterns and at least three common characteristic patterns which are regularly arranged in a preset arrangement range of the own characteristic patterns, and the common characteristic patterns are made of developing materials;

determining a first space position of the own characteristic pattern in a navigation coordinate system corresponding to the navigation data, and determining a second space position of each common characteristic pattern in the navigation coordinate system according to the first space position;

and registering the navigation data with the CT three-dimensional data according to the second spatial positions and the third spatial positions of the common characteristic patterns in the CT three-dimensional data so as to obtain a spatial registration result for surgical navigation.

According to another aspect of the present invention, there is provided an apparatus comprising:

the data acquisition module is used for acquiring CT three-dimensional data and navigation data of a target object wearing a registration device, the registration device is provided with own characteristic patterns and at least three common characteristic patterns which are regularly arranged in a set arrangement mode in a neighborhood range of the own characteristic patterns, and the common characteristic patterns are made of developing materials;

the position determining module is used for determining a first space position of the own characteristic pattern in a navigation coordinate system corresponding to the navigation data, and determining a second space position of each common characteristic pattern in the navigation coordinate system according to the first space position;

and the registration module is used for registering the navigation data and the CT three-dimensional data according to the second spatial positions and the third spatial positions of the common characteristic patterns in the CT three-dimensional data so as to obtain a spatial registration result for surgical navigation.

According to yet another aspect of the present invention, there is provided a system comprising:

the registration device is arranged at the relevant part of the operation part of the target object, is configured with self-feature patterns and at least three common feature patterns which are regularly arranged in a set arrangement range of the self-feature patterns, and the relevant part cannot deform in the operation process;

a navigation device for acquiring navigation data including the own characteristic pattern and the common characteristic pattern;

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the spatial registration method for surgical navigation of any one of the embodiments of the present invention.

According to yet another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to perform the spatial registration method for surgical navigation of any of the embodiments of the present invention.

According to the technical scheme provided by the embodiment of the invention, the stability and the operation convenience of navigation registration are improved by performing spatial registration of surgical navigation on the common characteristic pattern of the registration device in the navigation data and the CT three-dimensional data.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows. The data acquisition, storage, use, processing and the like in the technical scheme meet the relevant regulations of national laws and regulations.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1A is a block diagram of a surgical navigation system provided in accordance with an embodiment of the present invention;

fig. 1B is a schematic structural view of a registration device according to an embodiment of the present invention;

FIG. 2 is a flow chart of a spatial registration method for surgical navigation provided in accordance with an embodiment of the present invention;

FIG. 3 is a flow chart of another spatial registration method for surgical navigation provided in accordance with an embodiment of the present invention;

fig. 4A is a block diagram of a spatial registration apparatus for surgical navigation provided in accordance with an embodiment of the present invention;

fig. 4B is a block diagram of another spatial registration apparatus for surgical navigation provided in accordance with an embodiment of the present invention;

FIG. 4C is a block diagram of yet another spatial registration apparatus for surgical navigation provided in accordance with an embodiment of the present invention;

fig. 4D is a block diagram of a spatial registration apparatus for surgical navigation according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," "third," and "fourth," etc. in the description and claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described 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.

Fig. 1A is a block diagram of a surgical navigation system provided in accordance with an embodiment of the present invention, the components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not intended to limit implementations of the invention described and/or claimed herein.

As shown in fig. 1A, the system includes a registration device 2, which is disposed at an associated part of a surgical site of a target object, configured with a self-feature pattern and at least three common feature patterns arranged in a set arrangement rule within a set neighborhood of the self-feature pattern, the associated part not being deformed during the surgical procedure; navigation means 10 for acquiring navigation data comprising the registration means 2; at least one processor 11, and a memory communicatively coupled to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like.

Wherein the associated site is located near the surgical site of the target object. For example, in an oral surgery, the patient wears the registration device 2, and the registration device 2 is fixed on a certain tooth of the patient with good physiological condition, that is, the tooth at least has no loose transmission, so as to ensure that the position of the registration device 2 is not changed due to the loose tooth in the process of taking CT three-dimensional data and in the process of the surgery.

The own characteristic pattern is a characteristic which can only be shot by the navigation device, is configured as a strong characteristic, namely is not easy to be interfered by other characteristics when the navigation data is identified, and can be a pattern such as a two-dimensional code or a characteristic code.

In one embodiment, the number of common feature patterns is greater than or equal to three, and the at least three common feature patterns are arranged in a row around the own feature pattern. Fig. 1B is a schematic structural diagram of a registration device according to an embodiment of the present invention, and as shown in fig. 1B, a registration device 75 is provided with an own feature pattern 71, where the own feature pattern 71 is a two-dimensional code pattern; the 4 common feature patterns 70 are circumferentially arranged around the own feature pattern 71 with a radius of 1cm centered on the own feature pattern 71. Wherein the common feature pattern 70 is made of a developing material, and the shape thereof is optionally a sphere; the consolidation feature 72 is disposed on a reference plate 73, the reference plate 73 being configured to be connected to a registration device 75 by a connecting rod 74 and always being visible by the navigation device during the procedure. The connecting rod 74 is configured to not deform during surgery, e.g., it is made of a rigid material. The placement of the reference plate 73 allows the common feature pattern 70 to be located by locating the consolidated feature pattern 72 on the reference plate 73 given the spatial positional relationship between the consolidated feature pattern 72 on the reference plate 73 and the common feature pattern 70.

In which a memory stores a computer program executable by at least one processor, the processor 11 may perform various suitable actions and processes according to the computer program stored in a Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into a Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the surgical navigation system can also be stored. The processor 11, the ROM12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14. The various components of the surgical navigation system are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 may perform the spatial registration method for surgical navigation described below.

Fig. 2 is a flowchart of a spatial registration method for surgical navigation according to an embodiment of the present invention, which is applicable to a scenario in which registration of preoperative navigation data and CT three-dimensional data is completed based on own feature patterns and common feature patterns provided on a registration device worn by a target object, and the method is configured in a processor of a surgical navigation system.

As shown in fig. 2, a spatial registration method for surgical navigation includes the steps of:

s210, CT three-dimensional data and navigation data of a target object with a registration device are acquired, wherein the registration device is provided with own characteristic patterns and at least three common characteristic patterns which are regularly arranged in a set arrangement range of the own characteristic patterns, and the common characteristic patterns are made of developing materials.

In one embodiment, the CT three-dimensional data is electronic computed tomography (Computed Tomography, CT) data of the pre-operative target object wearing the registration device, but may also be other medical image data of the target object wearing the registration device.

In one embodiment, navigation data of a target object wearing a registration device is acquired by a binocular navigation device. For example, navigation data of the target subject wearing the registration device may be acquired prior to oral surgery.

In one embodiment, the CT three-dimensional data of the target object includes a common characteristic pattern, and the navigation data includes a self-contained characteristic pattern and a common characteristic pattern. Wherein the common feature pattern is made of a developing material. Illustratively, high density spheres made of CT developed material are used as the self-feature pattern. The method has the advantages that common characteristic patterns can be conveniently identified in the CT three-dimensional data and the navigation data, and the stability of navigation registration is improved.

Optionally, the self-feature pattern is a feature code, and feature code information in the navigation data can be extracted by means of image binarization, quadrilateral searching or codeword information searching, and the feature code information can be information such as number, side length, area, center coordinates and/or corner coordinates of the feature code.

S220, determining a first space position of the own characteristic pattern in a navigation coordinate system corresponding to the navigation data, and determining a second space position of each common characteristic pattern in the navigation coordinate system according to the first space position.

The present embodiment is not limited to this, and the present embodiment may be applied to extracting the first spatial position of the self-feature pattern in the navigation data by using an existing image processing algorithm or training a corresponding model.

Specifically, extracting coordinates of the own characteristic patterns in a coordinate system corresponding to navigation data as a first space position; establishing a polar coordinate system of navigation data by taking a coordinate corresponding to the center of the self-contained characteristic pattern as an origin, and taking the polar coordinate system as a navigation coordinate system; and determining the coordinates of the common feature patterns arranged around the own feature patterns in the navigation coordinate system in the navigation data according to the set neighborhood range and the set arrangement rule as a second space position. The method has the advantages that the searching range of the common characteristic pattern can be reduced according to the self-contained characteristic pattern, noise interference is reduced, and the stability of spatial registration is improved.

Further, determining a first spatial position of the own feature pattern in a navigation coordinate system corresponding to the navigation data, and determining a second spatial position of each common feature pattern in the navigation coordinate system according to the first spatial position, including:

and a1, identifying a first space position of the self-contained characteristic pattern in a navigation coordinate system, and determining neighborhood navigation data containing the common characteristic pattern according to the first space position and a set neighborhood range.

Specifically, extracting coordinates of the own characteristic patterns in a navigation coordinate system corresponding to navigation data as a first space position; and determining the coordinate range of the set neighborhood range arranged around the own characteristic pattern in the navigation coordinate system according to the set neighborhood range and the first space position in the navigation data, and determining the navigation data corresponding to the set neighborhood range as the neighborhood navigation data containing the common characteristic pattern.

And a2, determining a second spatial position of each common characteristic pattern in a navigation coordinate system according to the neighborhood navigation data.

Establishing polar constraint of the two neighborhood navigation data based on the coordinates of the camera optical centers of the two neighborhood navigation data and the center point of the own characteristic pattern; respectively taking the corresponding coordinates of the central point of the own characteristic pattern in the two pieces of neighborhood navigation data as an origin, taking the polar line as a polar axis to establish a polar coordinate system, and determining the conversion relation between the polar coordinate system and the navigation coordinate system; according to the coordinate of the common characteristic pattern in the two pieces of neighborhood navigation data in the polar coordinate system and the polar constraint, matching the characteristic points of the common characteristic pattern in the two pieces of neighborhood navigation data to obtain a matching result of the characteristic points of the common characteristic pattern, namely the coordinate of the characteristic points in the polar coordinate system; and obtaining the coordinates of the feature points in the navigation coordinate system as a second space position through the conversion relation between the polar coordinate system and the navigation coordinate system.

In one embodiment, taking a high-density sphere as an example of a common characteristic pattern, the high-density sphere is in a circular shape in the neighborhood navigation data, two pieces of neighborhood navigation data acquired by a binocular navigation device can be subjected to binarization, connected domain screening, hough transformation and other modes to extract the circular shape, sub-pixel boundary fitting circle centers are extracted to obtain coordinates of characteristic points of the common characteristic pattern, and characteristic points of the common characteristic pattern in the two pieces of navigation data are matched based on polar constraint to obtain a common characteristic matching result. The method has the advantages that only the characteristic points of the common characteristic pattern are needed to be searched on the polar lines, the whole neighborhood navigation data is not needed to be searched, the calculated amount is reduced, and the speed of space registration is improved. The directions of polar axes in the two pieces of neighborhood navigation data are not limited, and the directions of polar axes in the two pieces of neighborhood navigation data are kept consistent.

Further, determining the position of the common feature pattern in the neighborhood navigation data in the navigation coordinate system by the following method comprises:

and b1, identifying at least three candidate common characteristic patterns included in the neighborhood navigation data, and a second spatial position of each candidate common characteristic pattern in a navigation coordinate system.

Specifically, when at least three common feature patterns are identified in the navigation data, the at least three common feature patterns are used as candidate common feature patterns, and coordinates of the at least three candidate common feature patterns in a navigation coordinate system in the navigation data are determined to be used as second space positions.

And b2, screening out the common characteristic patterns conforming to the known position relation from at least three candidate common characteristic patterns according to the first space position and each second space position, and determining the positions of the common characteristic patterns in a navigation coordinate system.

The known position relationship is the position relationship between the own characteristic pattern and each common characteristic pattern in the CT three-dimensional data.

Specifically, all candidate common feature patterns are screened according to the second spatial positions of the candidate common feature patterns and the position relation between the candidate common feature patterns in the CT three-dimensional data, and the second spatial positions of the screened candidate common feature patterns are used as the second spatial positions of the common feature patterns.

And S230, registering the navigation data and the CT three-dimensional data according to the second spatial positions and the third spatial positions of the common characteristic patterns in the CT three-dimensional data so as to obtain a spatial registration result for surgical navigation.

And taking the position of the common characteristic pattern in the CT three-dimensional data as a third spatial position, and registering the common characteristic pattern in the navigation data and the common characteristic pattern in the CT three-dimensional data by registering the second spatial position and the third spatial position to realize registration of the navigation data and the CT three-dimensional data so as to obtain a spatial registration result for surgical navigation.

According to the technical scheme of the embodiment, the self-contained characteristic patterns in the navigation data are identified, a navigation coordinate system is established, registration of the navigation data and CT three-dimensional data is carried out according to the positions of the common characteristic patterns in the navigation coordinate system, a spatial registration result for surgical navigation is obtained, and stability and operation convenience of surgical spatial registration are further improved.

Fig. 3 is a flowchart of another spatial registration method for surgical navigation according to an embodiment of the present invention, where the spatial registration method for surgical navigation in the embodiment is the same as the spatial registration method for surgical navigation in the above embodiment, and on the basis of the above embodiment, after obtaining a spatial registration result for surgical navigation, the following steps are added: acquiring current navigation data comprising a consolidation characteristic pattern and a spatial position corresponding relation between the consolidation characteristic pattern and a common characteristic pattern which are created in advance; and determining a fourth spatial position of the consolidation feature pattern in the navigation coordinate system, and determining the position of the target structure in the CT three-dimensional data according to the corresponding relation of the spatial position and the fourth spatial position.

S310, CT three-dimensional data and navigation data of a target object with a registration device are acquired, wherein the registration device is provided with own characteristic patterns and at least three common characteristic patterns which are regularly arranged in a set arrangement range of the own characteristic patterns, and the common characteristic patterns are made of developing materials.

The registration device is detachably connected with the reference plate, and the connection mode is not particularly limited in this embodiment.

S320, determining a first space position of the own characteristic pattern in a navigation coordinate system corresponding to the navigation data, and determining a second space position of each common characteristic pattern in the navigation coordinate system according to the first space position.

S330, registering the navigation data and the CT three-dimensional data according to the second spatial positions and the third spatial positions of the common characteristic patterns in the CT three-dimensional data so as to obtain a spatial registration result for surgical navigation.

S3401, acquiring current navigation data comprising the consolidated feature pattern, and pre-creating a spatial position corresponding relation between the consolidated feature pattern and the common feature pattern.

The space position corresponding relation is determined before operation, when the registration device is connected with the reference plate, the space position corresponding relation between the consolidated feature pattern and the common feature pattern can be obtained and stored only by ensuring that the navigation data of the common feature pattern and the inherent feature pattern on the registration device can be obtained simultaneously; at the moment, only the spatial position corresponding relation between the pre-stored consolidation characteristic pattern and the common characteristic pattern is acquired, and the spatial position corresponding relation is combined with the spatial registration result, so that registration of navigation data and CT three-dimensional data in operation navigation is realized.

Further, determining a spatial position correspondence between the consolidated feature pattern and the common feature pattern includes:

and c1, acquiring reference navigation data comprising the consolidated feature pattern and the common feature pattern.

And c2, determining the spatial position relation between the consolidated characteristic pattern and the common characteristic pattern according to the reference navigation data.

Specifically, before surgical navigation, navigation data simultaneously comprising a consolidated characteristic pattern and a common characteristic pattern is acquired and used as reference navigation data; and mapping the reference navigation data into a target navigation coordinate system based on the coordinates of the self-contained characteristic pattern in the reference navigation data, and taking the position relationship between the consolidated characteristic pattern and the common characteristic pattern under the target navigation coordinate system as the spatial position relationship between the inherent characteristic pattern and the common characteristic pattern.

S3402, determining a fourth spatial position of the consolidated feature pattern in the navigation coordinate system, and determining the position of a target structure in the CT three-dimensional data according to the corresponding relation of the spatial position and the fourth spatial position, wherein the target structure is any human body structure with a known position relation of the common feature pattern in the CT three-dimensional data.

Specifically, determining coordinates of the consolidation feature pattern in a navigation coordinate system corresponding to the consolidation feature pattern in the navigation process as a fourth space position; and determining the position of the target structure in the CT three-dimensional data according to the spatial position corresponding relation between the target structure and the common characteristic pattern and the fourth spatial position.

According to the technical scheme, the consolidation characteristic patterns are arranged on the detachable reference plate; before surgical navigation, establishing a spatial position corresponding relation between the inherent characteristic pattern and the common characteristic pattern; the spatial position corresponding relation is combined with the spatial registration result in the surgical navigation process, so that the spatial registration in the surgery can be realized, and the operation convenience and stability of the spatial registration are further improved.

Fig. 4A is a block diagram of a surgical navigation space device according to an embodiment of the present invention. As shown in fig. 4A, the apparatus includes:

a data acquisition module 401, configured to acquire CT three-dimensional data and navigation data of a target object wearing a registration device, where the registration device is provided with a self-feature pattern and at least three common feature patterns regularly arranged in a set arrangement within a set neighborhood range of the self-feature pattern, and the common feature patterns are made of a developing material;

a position determining module 402, configured to determine a first spatial position of the own feature pattern in a navigation coordinate system corresponding to the navigation data, and determine a second spatial position of each common feature pattern in the navigation coordinate system according to the first spatial position;

the registration module 403 is configured to register the navigation data with the CT three-dimensional data according to the second spatial positions and the third spatial positions of the common feature patterns in the CT three-dimensional data, so as to obtain a spatial registration result for surgical navigation.

Optionally, as shown in fig. 4B, the apparatus further includes a surgical registration module 404, where the surgical registration module 404 is configured to:

acquiring current navigation data comprising a consolidation feature pattern and a spatial position corresponding relation between the consolidation feature pattern and a common feature pattern which are created in advance, wherein the consolidation feature pattern is arranged on a reference plate, and the reference plate is configured to be connected with a registration device and can be always shot by the navigation device in the operation process;

and determining a fourth spatial position of the consolidated feature pattern in the navigation coordinate system, and determining the position of a target structure in the CT three-dimensional data according to the corresponding relation of the spatial position and the fourth spatial position, wherein the target structure is any human body structure with a known position relation of the common feature pattern in the CT three-dimensional data.

Optionally, the location determining module 402 is further configured to:

identifying a first space position of the self-contained characteristic pattern in a navigation coordinate system, and determining neighborhood navigation data containing the common characteristic pattern according to the first space position and a set neighborhood range;

and determining a second spatial position of each common characteristic pattern in the navigation coordinate system according to the neighborhood navigation data.

Optionally, as shown in fig. 4C, the apparatus further includes a spatial position corresponding module 405, where the spatial position corresponding module 405 is configured to:

acquiring reference navigation data comprising consolidated feature patterns and common feature patterns;

and determining the spatial position relation between the consolidated feature pattern and the common feature pattern according to the reference navigation data.

Optionally, as shown in fig. 4D, the apparatus further includes a common feature determination module 406, where the common feature determination module 406 is configured to:

identifying at least three candidate common feature patterns included in the neighborhood navigation data, and a second spatial position of each candidate common feature pattern in a navigation coordinate system;

and screening the common characteristic patterns conforming to the known position relationship from at least three candidate common characteristic patterns according to the first spatial position and each second spatial position, and determining the positions of the common characteristic patterns in a navigation coordinate system, wherein the known position relationship is the spatial position relationship between the self characteristic patterns and each common characteristic pattern.

According to the technical scheme, through mutual matching of the modules, the spatial registration of surgical navigation is performed on the common characteristic pattern of the registration device in the navigation data and the CT three-dimensional data, and the stability and the operation convenience of navigation registration are improved.

The spatial registration device for surgical navigation provided by the embodiment of the invention can execute the spatial registration method for surgical navigation provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

In some embodiments, the spatial registration method for surgical navigation may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18 in fig. 1A. In some embodiments, part or all of the computer program as shown in fig. 1A may be loaded and/or installed onto the surgical navigation system via ROM12 and/or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method described above for spatial registration X for surgical navigation may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the spatial registration method for surgical navigation in any other suitable way (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a surgical navigation system having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the surgical navigation system. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet. The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A spatial registration method for surgical navigation, comprising:

acquiring CT three-dimensional data and navigation data of a target object wearing a registration device, wherein the registration device is provided with own characteristic patterns and at least three common characteristic patterns which are regularly arranged in a set arrangement within a set neighborhood range of the own characteristic patterns, and the common characteristic patterns are made of developing materials;

and registering the navigation data and the CT three-dimensional data according to the second spatial positions and the third spatial positions of the common characteristic patterns in the CT three-dimensional data so as to obtain a spatial registration result for surgical navigation.

2. The method of claim 1, wherein after obtaining the spatial registration results for surgical navigation, further comprising:

acquiring current navigation data comprising a consolidated feature pattern and a pre-created spatial position correspondence between the consolidated feature pattern and the common feature pattern, wherein the consolidated feature pattern is arranged on a reference plate, the reference plate is configured to be connected with the registration device and is always shot by the navigation device in the surgical process;

and determining a fourth spatial position of the consolidated feature pattern in a navigation coordinate system, and determining the position of a target structure in CT three-dimensional data according to the spatial position corresponding relation and the fourth spatial position, wherein the target structure is any human body structure with a known position relation of the consolidated feature pattern and the common feature pattern in the CT three-dimensional data.

3. The method of claim 1, wherein determining a first spatial location of the own feature pattern in a navigation coordinate system corresponding to the navigation data, and determining a second spatial location of each common feature pattern in the navigation coordinate system based on the first spatial location, comprises:

identifying a first space position of the own characteristic pattern in the navigation coordinate system, and determining neighborhood navigation data containing a common characteristic pattern according to the first space position and the set neighborhood range;

4. The method of claim 2, wherein determining the spatial positional correspondence between the consolidated feature pattern and the common feature pattern comprises:

acquiring reference navigation data comprising a consolidated feature pattern and the common feature pattern;

5. The method of claim 4, wherein the registration device is removably coupled to the reference plate.

6. The method of claim 1, wherein the number of common feature patterns is greater than or equal to three, and the at least three common feature patterns are arranged in a row around the own feature pattern.

7. The method according to claim 3 or 4, wherein determining the position of the common feature pattern in the neighborhood navigation data in the navigation coordinate system comprises:

identifying at least three candidate common feature patterns included in the neighborhood navigation data, and a second spatial position of each candidate common feature pattern in the navigation coordinate system;

and screening common characteristic patterns conforming to a known position relationship from the at least three candidate common characteristic patterns according to the first spatial position and the second spatial positions, and determining the positions of the common characteristic patterns in the navigation coordinate system, wherein the known position relationship is the spatial position relationship between the own characteristic pattern and the common characteristic patterns.

8. The method of claim 1, wherein the step of determining the position of the substrate comprises,

the self-owned characteristic pattern is a two-dimensional code pattern.

9. A spatial registration apparatus for surgical navigation, comprising:

the system comprises a data acquisition module, a display module and a display module, wherein the data acquisition module is used for acquiring CT three-dimensional data and navigation data of a target object wearing a registration device, the registration device is provided with own characteristic patterns and at least three common characteristic patterns which are regularly arranged in a set arrangement within a set neighborhood range of the own characteristic patterns, and the common characteristic patterns are made of developing materials;

10. A surgical navigation system, the surgical navigation system comprising:

a registration device, which is arranged at an associated part of a surgical site of a target object and is configured with self-feature patterns and at least three common feature patterns which are regularly arranged in a set arrangement within a set neighborhood range of the self-feature patterns, wherein the associated part is not deformed in a surgical process;

at least one processor; and

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the spatial registration method for surgical navigation of any one of claims 1-8.

11. A computer-readable storage medium, characterized in that it stores computer instructions for causing a processor to implement the spatial registration method for surgical navigation according to any one of claims 1-8 when executed.