CN116630206A - Positioning method and system for rapid registration - Google Patents
Positioning method and system for rapid registration Download PDFInfo
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- CN116630206A CN116630206A CN202310890308.7A CN202310890308A CN116630206A CN 116630206 A CN116630206 A CN 116630206A CN 202310890308 A CN202310890308 A CN 202310890308A CN 116630206 A CN116630206 A CN 116630206A
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- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H30/00—ICT specially adapted for the handling or processing of medical images
- G16H30/20—ICT specially adapted for the handling or processing of medical images for handling medical images, e.g. DICOM, HL7 or PACS
Abstract
The application provides a positioning method and a system for rapid registration, wherein a medical image data processing module constructs a three-dimensional model of the surface of a target part of a patient based on medical image data of the target part of the patient; the image acquisition module acquires first two-dimensional image information data of a target part of a patient; the correction module carries out deformation correction on the three-dimensional model based on the first two-dimensional image information data to obtain a three-dimensional model of the surface of the target part of the corrected patient; the image acquisition module acquires second two-dimensional image information data of a target part of a patient under a target visual angle; the rigid registration module performs rigid registration based on the corrected three-dimensional model and the second two-dimensional image information data. The correction module carries out deformation correction on the three-dimensional model based on the first two-dimensional image information data so as to eliminate errors caused by micro-deformation of the appearance of the patient; rigid registration real-time positioning can be realized; the rigid registration is carried out without using auxiliary points or auxiliary targets, so that the registration speed can be improved, and the operation flow is reduced.
Description
Technical Field
The application relates to the technical field of medical positioning, in particular to a positioning method and a positioning system for rapid registration.
Background
Currently, there are two ways to do medical localization: (1) The instrument scans spatial information data of a target part of a patient, generates fusion point clouds of the target part of the patient according to the spatial information data, registers the medical image point clouds and the fusion point clouds, and obtains a coordinate transformation relation for rigid registration. (2) And (3) carrying out special marking on the target part of the patient to obtain characteristic points, and registering the characteristic points with the model of the medical image data directly.
However, the two modes have the defects of low registration speed, complicated flow, larger error caused by slight deformation of the appearance of the patient which is not considered, rigid registration which is needed to be carried out again after the relative position of the patient or the monitor is moved, no real-time function and the like.
Disclosure of Invention
Therefore, the application aims to provide a positioning method and a system for rapid registration, which are used for eliminating errors caused by slight shape changes of patients, improving the registration speed, reducing the operation flow and realizing rigid registration real-time positioning.
In a first aspect, an embodiment of the present application provides a positioning method for rapid registration, which is applied to a positioning system, where the positioning system includes: the medical image data processing module, the image acquisition module, the correction module and the rigid registration module, the method comprises the following steps: the medical image data processing module constructs a three-dimensional model of the surface of the target part of the patient based on medical image data of the target part of the patient; the image acquisition module acquires first two-dimensional image information data of a target part of a patient; the correction module carries out deformation correction on the three-dimensional model based on the first two-dimensional image information data to obtain a three-dimensional model of the surface of the target part of the corrected patient; the image acquisition module acquires second two-dimensional image information data of a target part of a patient under a target visual angle; the rigid registration module performs rigid registration based on the corrected three-dimensional model and the second two-dimensional image information data.
In an optional embodiment of the present application, the step of performing deformation correction on the three-dimensional model by the correction module based on the first two-dimensional image information data to obtain a three-dimensional model of the surface of the target portion of the patient after correction includes: the correction module determines first spatial three-dimensional coordinates of a plurality of feature points of a target part of the patient based on the first two-dimensional image information data; the correction module determines second spatial three-dimensional coordinates of a plurality of feature points on the surface of the target part of the patient based on the three-dimensional model; and the correction module carries out deformation correction based on the first space three-dimensional coordinate and the second space three-dimensional coordinate to obtain a three-dimensional model of the surface of the target part of the corrected patient.
In an alternative embodiment of the present application, the first spatial three-dimensional coordinates and the second spatial three-dimensional coordinates are in one-to-one correspondence.
In an alternative embodiment of the present application, the step of performing rigid registration by the rigid registration module based on the corrected three-dimensional model and the second two-dimensional image information data includes: the rigid registration module determines third spatial three-dimensional coordinates of a plurality of feature points of the target part of the patient based on the second two-dimensional image information data; the rigid registration module performs rigid registration based on the corrected three-dimensional model and the third spatial three-dimensional coordinate.
In an alternative embodiment of the present application, the step of performing rigid registration by the rigid registration module based on the corrected three-dimensional model and the third spatial three-dimensional coordinate includes: determining a target viewing angle based on the third spatial three-dimensional coordinates; and carrying out rigid registration on the corrected three-dimensional model and the third space three-dimensional coordinate based on the target view angle to obtain a coordinate transformation relation of the corrected three-dimensional model and the third space three-dimensional coordinate.
In an alternative embodiment of the present application, the medical image data includes: and performing imaging examination on the target part to obtain a medical image file.
In an alternative embodiment of the present application, the target site includes: head, neck, torso.
In an alternative embodiment of the present application, the method further includes: and carrying out three-dimensional modeling on the target part of the patient to obtain a three-dimensional model of the surface of the target part of the patient.
In an optional embodiment of the present application, after the step of performing the rigid registration by the rigid registration module based on the corrected three-dimensional model and the second two-dimensional image information data, the method further includes: and positioning the target part of the patient based on the three-dimensional model after rigid registration.
In a second aspect, the embodiment of the application further provides a positioning system for rapid registration, which is used for the positioning method for rapid registration.
The embodiment of the application has the following beneficial effects:
the embodiment of the application provides a positioning method and a system for rapid registration, wherein a medical image data processing module constructs a three-dimensional model of the surface of a target part of a patient based on medical image data of the target part of the patient; the image acquisition module acquires first two-dimensional image information data of a target part of a patient; the correction module carries out deformation correction on the three-dimensional model based on the first two-dimensional image information data to obtain a three-dimensional model of the surface of the target part of the corrected patient; the image acquisition module acquires second two-dimensional image information data of a target part of a patient under a target visual angle; the rigid registration module performs rigid registration based on the corrected three-dimensional model and the second two-dimensional image information data. In the mode, the correction module carries out deformation correction on the three-dimensional model based on the first two-dimensional image information data, so that errors caused by micro-deformation of the appearance of a patient can be eliminated; based on the second two-dimensional image information data detected in real time and the corrected three-dimensional model, rigid registration real-time positioning can be realized; the rigid registration is carried out without using auxiliary points or auxiliary targets, so that the registration speed can be improved, and the operation flow is reduced.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the techniques of the disclosure.
The foregoing objects, features and advantages of the disclosure will be more readily apparent from the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a positioning system according to an embodiment of the present application;
fig. 2 is a positioning method for rapid registration according to an embodiment of the present application;
FIG. 3 is a flow chart of another method of positioning for rapid registration provided by an embodiment of the present application;
fig. 4 is a schematic structural diagram of a positioning device for rapid registration according to an embodiment of the present application;
FIG. 5 is a schematic view of another embodiment of a positioning device for rapid registration;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Currently, there are two ways to do medical localization: (1) The instrument scans spatial information data of a target part of a patient, generates fusion point clouds of the target part of the patient according to the spatial information data, registers the medical image point clouds and the fusion point clouds, and obtains a coordinate transformation relation for rigid registration. (2) And (3) carrying out special marking on the target part of the patient to obtain characteristic points, and registering the characteristic points with the model of the medical image data directly. However, the two modes have the defects of low registration speed, complicated flow, larger error caused by slight deformation of the appearance of the patient which is not considered, rigid registration which is needed to be carried out again after the relative position of the patient or the monitor is moved, no real-time function and the like.
Based on the above, the embodiment of the application provides a positioning method and a system for rapid registration, in particular to a positioning method and a system with excellent speed, precision, operation, cost and the like, which can eliminate errors caused by slight shape changes of patients, improve the registration speed, reduce the operation flow and realize rigid registration real-time positioning.
For the sake of understanding the present embodiment, a method for positioning fast registration disclosed in the present embodiment is first described in detail.
Embodiment one:
an embodiment of the present application provides a positioning method for rapid registration, which is applied to a positioning system, referring to a schematic diagram of a positioning system shown in fig. 1, where the positioning system includes: the system comprises a medical image data processing module, an image acquisition module, a correction module and a rigid registration module.
Based on the above description, referring to the flowchart of a fast registration positioning method shown in fig. 2, the fast registration positioning method includes the following steps:
in step S202, the medical image data processing module constructs a three-dimensional model of the target site surface of the patient based on the medical image data of the target site of the patient.
In some embodiments, the medical image data includes: for a medical image file obtained by performing an imaging examination including the target site, for example: electronic computed tomography (Computed Tomography, CT) image data or magnetic resonance imaging (Magnetic Resonance Imaging, MRI) image data. The medical image data may be data acquired in non-real time.
The medical image data processing module can reconstruct and process a three-dimensional model according to CT image data or MRI image data of a target part (such as a head, a trunk and the like) of a patient, so as to obtain a three-dimensional model of the surface of the target part of the patient.
In step S204, the image acquisition module acquires first two-dimensional image information data of a target portion of the patient.
The image acquisition module can acquire first two-dimensional image information data of a target part of a patient in real time. Wherein the first two-dimensional image information data may be complete two-dimensional image information of the target site of the patient.
In step S206, the correction module performs deformation correction on the three-dimensional model based on the first two-dimensional image information data, so as to obtain a three-dimensional model of the surface of the target part of the patient after correction.
As already mentioned above, the medical image data may be data acquired in non-real time, and the first two-dimensional image information number may be data acquired in real time. In order to eliminate errors between the surface of the target part of the current patient and the surface of the patient when the patient shoots medical image data, the correction module can perform deformation correction on the three-dimensional model according to the first two-dimensional image information data to obtain a corrected three-dimensional model of the surface of the target part of the patient.
In step S208, the image acquisition module acquires second two-dimensional image information data of the target portion of the patient at the target viewing angle.
After the deformation correction of the three-dimensional model is completed, the corrected three-dimensional model may be rigidly registered. First, the image acquisition module can acquire second two-dimensional image information data of a target part of a patient in real time. The second two-dimensional image information data may not be complete two-dimensional image information of the target portion of the patient, and may be second two-dimensional image information data of the target portion at the target viewing angle.
In step S210, the rigid registration module performs rigid registration based on the corrected three-dimensional model and the second two-dimensional image information data.
Wherein rigid registration may refer to translating and rotating an object without changing shape. The rigid registration module may be based on rigid registration of the three-dimensional model of the corrected target site surface of the patient and the second two-dimensional image information data of the target site of the patient at the target view angle. The above-described rigid registration may be real-time, as the image acquisition module may acquire second two-dimensional image information data of the target site of the patient in real-time.
The embodiment of the application provides a quick registration positioning method, wherein a medical image data processing module constructs a three-dimensional model of the surface of a target part of a patient based on medical image data of the target part of the patient; the image acquisition module acquires first two-dimensional image information data of a target part of a patient; the correction module carries out deformation correction on the three-dimensional model based on the first two-dimensional image information data to obtain a three-dimensional model of the surface of the target part of the corrected patient; the image acquisition module acquires second two-dimensional image information data of a target part of a patient under a target visual angle; the rigid registration module performs rigid registration based on the corrected three-dimensional model and the second two-dimensional image information data. In the mode, the correction module carries out deformation correction on the three-dimensional model based on the first two-dimensional image information data, so that errors caused by micro-deformation of the appearance of a patient can be eliminated; based on the second two-dimensional image information data detected in real time and the corrected three-dimensional model, rigid registration real-time positioning can be realized; the rigid registration is carried out without using auxiliary points or auxiliary targets, so that the registration speed can be improved, and the operation flow is reduced.
Embodiment two:
the present embodiment provides a positioning method for quick registration, which is implemented on the basis of the foregoing embodiment, as shown in a flowchart of another positioning method for quick registration in fig. 3, where the positioning method for quick registration in this embodiment includes the following steps:
in step S302, the medical image data processing module constructs a three-dimensional model of the target site surface of the patient based on the medical image data of the target site of the patient.
In some embodiments, the target site comprises: head, neck, torso. Therefore, the present embodiment will be described taking the head of the patient as an example of the target site.
The medical imaging information of the head of the patient can be acquired in advance by the instruments of the hospital. The medical image data processing module can acquire medical image information of the head of the patient, reconstruct the medical image information in a three-dimensional mode, and then process the medical image information to generate a three-dimensional model of the head surface of the patient.
In addition, in some embodiments, the three-dimensional modeling of the target site of the patient may also be performed to obtain a three-dimensional model of the target site surface of the patient.
That is, the three-dimensional model may not be constructed according to the medical image data in the embodiment, and the three-dimensional model may be obtained by directly performing three-dimensional modeling in the embodiment. At this time, the patient can perform subsequent positioning monitoring without acquiring medical image information.
In step S304, the image acquisition module acquires first two-dimensional image information data of a target portion of the patient.
In some embodiments, the first two-dimensional image information data comprises: two-dimensional image information of multiple views of the target site, such as: front, side, and rear two-dimensional image information. The image acquisition module may acquire a complete two-dimensional image of a head of a patient as first two-dimensional image information data, comprising: two-dimensional image information of the patient's face, side face and hindbrain.
In step S306, the correction module performs deformation correction on the three-dimensional model based on the first two-dimensional image information data, so as to obtain a three-dimensional model of the surface of the target part of the patient after correction.
In some embodiments, the correction module determines first spatial three-dimensional coordinates of a plurality of feature points of the target site of the patient based on the first two-dimensional image information data; the correction module determines second spatial three-dimensional coordinates of a plurality of feature points on the surface of the target part of the patient based on the three-dimensional model; and the correction module carries out deformation correction based on the first space three-dimensional coordinate and the second space three-dimensional coordinate to obtain a three-dimensional model of the surface of the target part of the corrected patient.
In this embodiment, the algorithm model may be used to determine, based on the three-dimensional model, the head feature point of the three-dimensional model of the head surface of the patient, and return the three-dimensional coordinates of the head feature point with the center point of the three-dimensional model as the origin, which is referred to as the second spatial three-dimensional coordinates.
In this embodiment, the algorithm model may also be used to detect feature points of the two-dimensional image information data of the complete head of the patient based on the first two-dimensional image information data, and return three-dimensional coordinates of the feature points of the head of the patient, which uses the center point of the head of the patient as the origin, to be referred to as the first spatial three-dimensional coordinates.
The first space three-dimensional coordinates and the second space three-dimensional coordinates are in one-to-one correspondence, so that deformation correction can be conveniently carried out subsequently.
When deformation correction is carried out, the correction module can carry out deformation correction on the second space three-dimensional coordinates of the three-dimensional model of the head surface of the patient by using the first space three-dimensional coordinates of the real characteristic points of the patient, and can eliminate the variation gap between the information of the medical image shot by the patient and the head at the current time, thereby obtaining the corrected three-dimensional model with the same proportion and shape as the head of the patient.
In step S308, the image acquisition module acquires second two-dimensional image information data of the target portion of the patient at the target viewing angle.
In some embodiments, the second two-dimensional image information data includes: two-dimensional image information of a target site of a patient at a target viewing angle, such as: two-dimensional image information of the patient's head at a target viewing angle.
The image acquisition module can acquire two-dimensional image information containing any view angle target of the head of the patient as second two-dimensional image information. The second two-dimensional image information can be two-dimensional image information acquired by the image acquisition module in real time, and the relative position and the visual angle of the patient and the image acquisition module can be adjusted in real time when the second two-dimensional image information is acquired.
In step S310, the rigid registration module performs rigid registration based on the corrected three-dimensional model and the second two-dimensional image information data.
In some embodiments, the rigid registration module determines third spatial three-dimensional coordinates of a plurality of feature points of the target site of the patient based on the second two-dimensional image information data; the rigid registration module performs rigid registration based on the corrected three-dimensional model and the third spatial three-dimensional coordinate.
In this embodiment, the algorithm model may be used to detect the feature point of the two-dimensional image information data of the target view angle of the head of the patient based on the second two-dimensional image information data, and return the three-dimensional coordinate of the feature point of the head of the patient with the center point of the head of the patient as the origin, which is referred to as the third spatial three-dimensional coordinate.
Because the second two-dimensional image information data can be acquired in real time, the implementation of rigid registration real-time positioning can be performed in the embodiment. Therefore, in this embodiment, the three-dimensional model of the head of the corrected real patient may be registered in real time according to the third spatial three-dimensional coordinates of the real feature points.
In some embodiments, the target perspective may be determined based on the third spatial three-dimensional coordinates; and carrying out rigid registration on the corrected three-dimensional model and the third space three-dimensional coordinate based on the target view angle to obtain a coordinate transformation relation of the corrected three-dimensional model and the third space three-dimensional coordinate.
In this embodiment, the third spatial three-dimensional coordinate may be processed to obtain the target viewing angle at which the image acquisition module acquires the second two-dimensional image information data. And carrying out space registration on the corrected three-dimensional model and the third space three-dimensional coordinate based on the target view angle, so that a coordinate transformation relation can be obtained, and further, rigid registration is completed. In the above-mentioned rigid registration process, if the relative position of the patient head is changed due to movement of the patient head or movement of the image acquisition module, the rigid registration module may perform real-time position calibration and real-time registration, so that subsequent operations are not affected.
Step S312, positioning the target portion of the patient based on the rigidly registered three-dimensional model.
After the rigid registration is completed, a doctor can position the target part of the patient based on the three-dimensional model after the rigid registration, and the doctor can more conveniently position the target part due to higher precision of the three-dimensional model after the rigid registration, so that the doctor has good experience.
The existing medical positioning mode has the defects of low registration speed, complicated flow, larger error caused by slight deformation of the appearance of a patient, need to carry out rigid registration again after the relative position of the patient or the monitor moves, and does not have a real-time function.
The registration speed is low, the flow is complicated, the relative position movement of the patient or the monitor can influence the positioning process to a certain extent, the relative position movement of the patient or the monitor can increase the complexity and difficulty of positioning, and the error of rigid registration can be increased without considering the shape micro-variation of the patient.
According to the method provided by the embodiment of the application, the three-dimensional model of the surface of the medical image data can be transformed and corrected by utilizing a mode of combining the correction module and the rigid registration module, and then the rigid registration real-time positioning is realized.
Specifically, the algorithm model can be used for directly detecting the second space three-dimensional coordinate of the three-dimensional model of the surface of the medical image data of the patient, detecting the first space three-dimensional coordinate of the real space of the patient in real time, and firstly, carrying out deformation correction on the three-dimensional model of the surface of the medical image data of the patient, thereby eliminating the micro-deformation error of the appearance of the patient. And obtaining a real-time coordinate transformation relation by using a third space three-dimensional coordinate of the real space of the patient detected in real time and the surface three-dimensional model after deformation correction, so as to realize rigid registration. Therefore, the method provided by the embodiment realizes rapid and accurate rigid registration, has real-time position calibration and real-time registration effects on position change, and does not need repeated registration.
Embodiment III:
corresponding to the above method embodiments, the embodiments of the present application provide a positioning device for rapid registration, which is applied to a positioning system, and the positioning system includes: the system comprises a medical image data processing module, an image acquisition module, a correction module and a rigid registration module. Referring to the schematic structural view of a quick-registration positioning device shown in fig. 4, the quick-registration positioning device includes:
a first three-dimensional model construction module 41 for constructing a three-dimensional model of a target site surface of a patient based on medical image data of the target site of the patient by the medical image data processing module;
a first two-dimensional image information data acquisition module 42 for acquiring first two-dimensional image information data of a target region of a patient;
the three-dimensional model deformation correction module 43 is configured to perform deformation correction on the three-dimensional model based on the first two-dimensional image information data, so as to obtain a three-dimensional model of the surface of the target part of the patient after correction;
a second two-dimensional image information data acquisition module 44, configured to acquire second two-dimensional image information data of a target portion of the patient at a target viewing angle;
the three-dimensional model rigid registration module 45 is configured to perform rigid registration based on the corrected three-dimensional model and the second two-dimensional image information data.
The embodiment of the application provides a positioning device for rapid registration, and a medical image data processing module constructs a three-dimensional model of the surface of a target part of a patient based on medical image data of the target part of the patient; the image acquisition module acquires first two-dimensional image information data of a target part of a patient; the correction module carries out deformation correction on the three-dimensional model based on the first two-dimensional image information data to obtain a three-dimensional model of the surface of the target part of the corrected patient; the image acquisition module acquires second two-dimensional image information data of a target part of a patient under a target visual angle; the rigid registration module performs rigid registration based on the corrected three-dimensional model and the second two-dimensional image information data. In the mode, the correction module carries out deformation correction on the three-dimensional model based on the first two-dimensional image information data, so that errors caused by micro-deformation of the appearance of a patient can be eliminated; based on the second two-dimensional image information data detected in real time and the corrected three-dimensional model, rigid registration real-time positioning can be realized; the rigid registration is carried out without using auxiliary points or auxiliary targets, so that the registration speed can be improved, and the operation flow is reduced.
The three-dimensional model deformation correction module is used for determining first space three-dimensional coordinates of a plurality of characteristic points of a target part of a patient based on first two-dimensional image information data; determining second spatial three-dimensional coordinates of a plurality of feature points of the target site surface of the patient based on the three-dimensional model; and carrying out deformation correction based on the first space three-dimensional coordinate and the second space three-dimensional coordinate to obtain a three-dimensional model of the surface of the target part of the corrected patient.
The first space three-dimensional coordinates and the second space three-dimensional coordinates are in one-to-one correspondence.
The three-dimensional model rigid registration module is used for determining third space three-dimensional coordinates of a plurality of characteristic points of a target part of a patient based on second two-dimensional image information data; and carrying out rigid registration based on the corrected three-dimensional model and the third space three-dimensional coordinate.
The three-dimensional model rigid registration module is used for determining a target view angle based on a third space three-dimensional coordinate; and carrying out rigid registration on the corrected three-dimensional model and the third space three-dimensional coordinate based on the target view angle to obtain a coordinate transformation relation of the corrected three-dimensional model and the third space three-dimensional coordinate.
The medical image data includes: and performing imaging examination on the target part to obtain a medical image file.
The target site includes: head, neck, torso.
Referring to the schematic structural view of another quick-registration positioning device shown in fig. 5, the quick-registration positioning device further includes: the second three-dimensional modeling module 46 is coupled to the first two-dimensional image information data acquisition module 42. The second three-dimensional modeling module 46 is configured to perform three-dimensional modeling on a target portion of the patient, so as to obtain a three-dimensional model of a surface of the target portion of the patient.
As shown in fig. 5, the quick registration positioning device further includes: the positioning module 47 is connected with the three-dimensional model rigid registration module 45. The positioning module 47 is configured to position the target portion of the patient based on the three-dimensional model after the rigid registration.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described quick registration positioning device may refer to the corresponding process in the foregoing embodiment of the quick registration positioning method, which is not described herein again.
Embodiment four:
corresponding to the above method embodiments, the present application provides a quick registration positioning system for performing the quick registration positioning method provided in the foregoing embodiments.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working procedure of the above-described quick registration positioning system may refer to the corresponding procedure in the foregoing embodiment of the quick registration positioning method, which is not described herein again.
Fifth embodiment:
the embodiment of the application also provides electronic equipment for running the positioning method for the rapid registration; referring to the schematic structural diagram of an electronic device shown in fig. 6, the electronic device includes a memory 100 and a processor 101, where the memory 100 is configured to store one or more computer instructions, and the one or more computer instructions are executed by the processor 101 to implement the positioning method for rapid registration as described above.
Further, the electronic device shown in fig. 6 further includes a bus 102 and a communication interface 103, and the processor 101, the communication interface 103, and the memory 100 are connected through the bus 102.
The memory 100 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 103 (which may be wired or wireless), and may use the internet, a wide area network, a local network, a metropolitan area network, etc. Bus 102 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 6, but not only one bus or type of bus.
The processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 101 or instructions in the form of software. The processor 101 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 100 and the processor 101 reads information in the memory 100 and in combination with its hardware performs the steps of the method of the previous embodiments.
The embodiment of the application also provides a computer readable storage medium, which stores computer executable instructions that, when being called and executed by a processor, cause the processor to implement the positioning method for rapid registration, and the specific implementation can be seen in the method embodiment and will not be described herein.
The positioning method and system for rapid registration provided by the embodiments of the present application include a computer readable storage medium storing a program code, and instructions included in the program code may be used to execute the method in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be described herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and/or apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In addition, in the description of embodiments of the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A positioning method for rapid registration, applied to a positioning system, the positioning system comprising: the medical image data processing module, the image acquisition module, the correction module and the rigid registration module, the method comprises the following steps:
the medical image data processing module constructs a three-dimensional model of the surface of the target part of the patient based on medical image data of the target part of the patient;
the image acquisition module acquires first two-dimensional image information data of a target part of the patient;
the correction module carries out deformation correction on the three-dimensional model based on the first two-dimensional image information data to obtain a corrected three-dimensional model of the surface of the target part of the patient;
the image acquisition module acquires second two-dimensional image information data of a target part of the patient under a target visual angle;
the rigid registration module performs rigid registration based on the corrected three-dimensional model and the second two-dimensional image information data.
2. The method of claim 1, wherein the step of the rectification module performing a deformation rectification on the three-dimensional model based on the first two-dimensional image information data to obtain a rectified three-dimensional model of the target site surface of the patient comprises:
the correction module determines first spatial three-dimensional coordinates of a plurality of feature points of a target site of the patient based on the first two-dimensional image information data;
the correction module determines second spatial three-dimensional coordinates of a plurality of feature points of a target site surface of the patient based on the three-dimensional model;
and the correction module performs deformation correction based on the first space three-dimensional coordinate and the second space three-dimensional coordinate to obtain a corrected three-dimensional model of the surface of the target part of the patient.
3. The method of claim 2, wherein the first spatial three-dimensional coordinate and the second spatial three-dimensional coordinate are in one-to-one correspondence.
4. The method of claim 1, wherein the step of the rigid registration module performing rigid registration based on the corrected three-dimensional model and the second two-dimensional image information data comprises:
the rigid registration module determines third spatial three-dimensional coordinates of a plurality of feature points of a target site of the patient based on the second two-dimensional image information data;
the rigid registration module performs rigid registration based on the three-dimensional model after correction and the third spatial three-dimensional coordinate.
5. The method of claim 4, wherein the step of the rigid registration module performing rigid registration based on the three-dimensional model after rectification and the third spatial three-dimensional coordinate comprises:
determining the target viewing angle based on the third spatial three-dimensional coordinates;
and carrying out rigid registration on the corrected three-dimensional model and the third space three-dimensional coordinate based on the target view angle to obtain a coordinate transformation relation between the corrected three-dimensional model and the third space three-dimensional coordinate.
6. The method of any one of claims 1-5, wherein the medical image data comprises: and performing imaging examination on the target part to obtain a medical image file.
7. The method of any one of claims 1-5, wherein the target site comprises: head, neck, torso.
8. The method according to any one of claims 1-5, further comprising:
and carrying out three-dimensional modeling on the target part of the patient to obtain a three-dimensional model of the surface of the target part of the patient.
9. The method of any of claims 1-5, wherein the rigid registration module, after the step of rigidly registering based on the rectified three-dimensional model and the second two-dimensional image information data, further comprises:
positioning a target part of the patient based on the three-dimensional model after rigid registration.
10. A fast registration positioning system for performing the fast registration positioning method according to any of claims 1-9.
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