CN116919588A

CN116919588A - Error detection method and related device of operation navigation system

Info

Publication number: CN116919588A
Application number: CN202210334375.6A
Authority: CN
Inventors: 谢卫国; 高金兴; 张旭; 叶宗州
Original assignee: Shenzhen Weide Precision Medical Technology Co ltd
Current assignee: Shenzhen Weide Precision Medical Technology Co ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2023-10-24

Abstract

The embodiment of the application provides an error detection method and a related device of a surgical navigation system.

Description

Error detection method and related device of operation navigation system

Technical Field

The embodiment of the application relates to the technical field of computers, in particular to an error detection method of a surgical navigation system and a related device.

Background

With the continuous development of science and technology, minimally invasive surgery is increasingly used. The minimally invasive surgery realizes the visual feedback inside the patient through a surgery navigation system. In an operation navigation system based on optical navigation equipment, CT data of a patient are acquired through CT equipment to perform three-dimensional reconstruction, then positions of the patient and an operation instrument in an actual space are acquired through optical measurement equipment in real time, and finally the two are corresponding through a registration algorithm, so that the relative position relation between the patient and the operation instrument is displayed in real time.

Because the surgical navigation system is very important in minimally invasive surgery, accurate measurement of errors of the surgical navigation system is not only a guarantee of product safety, but also a guarantee of surgical safety. Therefore, a method of detecting errors in a surgical navigation system is needed.

Disclosure of Invention

In a first aspect, an embodiment of the present application provides an error detection method of a surgical navigation system, where the surgical navigation system includes an optical measurement device and a surgical needle, the method includes:

obtaining a first image and a first conversion matrix, wherein the first image is obtained according to a CT image of a detection device acquired by a CT (computed tomography) device, the first conversion matrix is a registration matrix between a CT coordinate system and an optical coordinate system, the CT coordinate system is a coordinate system corresponding to the CT device, the optical coordinate system is a coordinate system corresponding to the optical measurement device, the detection device comprises M upright posts, and the M is an integer greater than or equal to 1;

Determining a first coordinate of a target point from the first image, wherein the target point is a conical groove at the top end of the upright post;

obtaining a second coordinate of the needle tip of the surgical needle when the needle tip of the surgical needle is positioned at the target point on the detection device under the optical coordinate system by using a second conversion matrix between the needle tip of the surgical needle and the optical coordinate system;

converting the first coordinate or the second coordinate into the same coordinate system by using the first conversion matrix, wherein the same coordinate system is the optical coordinate system or the CT coordinate system, so as to obtain a first reference coordinate or a second reference coordinate;

and taking the first coordinate and the second reference coordinate or the distance between the first reference coordinate and the second coordinate as an error of the operation navigation system.

In one possible embodiment, the surgical navigation system further includes a guide connected to the surgical needle by a connection structure, and the method further includes, before obtaining the second coordinates of the needle tip of the surgical needle when the needle tip of the surgical needle is located at the target point on the detection device in the optical coordinate system using the second transformation matrix between the needle tip of the surgical needle and the optical coordinate system:

The second transformation matrix is obtained according to a third transformation matrix and a fourth transformation matrix obtained by calibrating the surgical needle, wherein the fourth transformation matrix is a real-time transformation matrix between a first coordinate system and the optical coordinate system when the needle tip of the surgical needle is positioned at the target point on the detection device, the first coordinate system is determined according to the guide, and the third transformation matrix is a transformation matrix from the guide to the needle tip of the surgical needle.

In one possible embodiment, the surgical navigation system further includes a calibrator, the calibrator including a groove, and the method further includes, before the second conversion matrix is obtained according to a third conversion matrix and a fourth conversion matrix obtained by calibrating the surgical needle:

determining a second coordinate system according to the calibrator when the needle body of the surgical needle is positioned in the groove and the calibrator, the surgical needle and the guide are in a stationary state;

determining a first initial conversion matrix of the first coordinate system and the optical coordinate system, and a second initial conversion matrix of the second coordinate system and the optical coordinate system;

The third transformation matrix from the introducer to the needle tip of the surgical needle is obtained based on the position of the needle tip of the surgical needle in the second coordinate system, the first initial transformation matrix, and the second initial transformation matrix.

In one possible embodiment, the calibrator further includes a calibration hole, and the method further includes, after the obtaining a third transformation matrix from the introducer to the tip of the surgical needle according to the position of the tip of the surgical needle in the second coordinate system, the first initial transformation matrix, and the second initial transformation matrix.

Acquiring a third coordinate of the calibration hole under the optical coordinate system;

obtaining a fourth coordinate of the needle tip of the surgical needle when the needle tip of the surgical needle is positioned in the calibration hole under the optical coordinate system by using the third transformation matrix and the fifth transformation matrix; the fifth transformation matrix is a real-time transformation matrix between the first coordinate system and the optical coordinate system when the needle tip of the surgical needle is positioned in the calibration hole;

and determining that the third transformation matrix is accurate when the distance between the third coordinate and the fourth coordinate is less than or equal to a first threshold value.

In one possible embodiment, the detecting device further includes N first markers, where N is an integer greater than or equal to 3, the first image includes the N first markers, and the obtaining the first conversion matrix includes:

dividing N fifth coordinates of the N first markers from the first image;

acquiring N sixth coordinates of the N first markers by using the optical measurement device;

and registering the N fifth coordinates and the N sixth coordinates based on a registration algorithm to obtain the first conversion matrix.

In one possible embodiment, the dividing the N fifth coordinates of the N first markers from the first image includes:

carrying out Gaussian difference processing on the first image at least once to obtain an image after Gaussian difference processing, wherein the pixel value corresponding to the pixel point of the area where the marker is located in the image after Gaussian difference processing is larger than the pixel value corresponding to the pixel point of other areas;

and carrying out clustering processing based on pixel distances on pixel points with pixel values larger than or equal to a second threshold value in the Gaussian difference processed image to obtain N fifth coordinates, wherein the N fifth coordinates are obtained based on coordinates of a clustering center obtained through the clustering processing.

In one possible embodiment, in the case where M is an integer greater than or equal to 2, at least two of the M columns have different heights.

In a second aspect, an embodiment of the present application provides an error detection apparatus of a surgical navigation system including an optical measurement device and a surgical needle, the apparatus including:

an obtaining unit, configured to obtain a first image, where the first image is obtained according to a CT image of a detection device acquired by a computed tomography CT apparatus, the detection device includes M columns, and M is an integer greater than or equal to 1;

the obtaining unit is further configured to obtain a first conversion matrix, where the first conversion matrix is a registration matrix between a CT coordinate system and an optical coordinate system, the CT coordinate system is a coordinate system corresponding to the CT apparatus, and the optical coordinate system is a coordinate system corresponding to the optical measurement apparatus;

the determining unit is used for determining a first coordinate of a target point from the first image, wherein the target point is a conical groove at the top end of the upright post;

the obtaining unit is further configured to obtain a second coordinate of the needle tip of the surgical needle when the needle tip of the surgical needle is located at the target point on the detecting device in the optical coordinate system by using a second transformation matrix between the needle tip of the surgical needle and the optical coordinate system;

The first processing unit is used for converting the first coordinate or the second coordinate into the same coordinate system by utilizing the first conversion matrix, wherein the same coordinate system is the optical coordinate system or the CT coordinate system, and a first reference coordinate or a second reference coordinate is obtained;

the determining unit is further configured to use the first coordinate and the second reference coordinate, or a distance between the first reference coordinate and the second reference coordinate as an error of the surgical navigation system.

In one possible embodiment, the surgical navigation system further includes a guide, the guide is connected to the surgical needle through a connection structure, the obtaining unit is further configured to obtain the second transformation matrix according to a third transformation matrix obtained by calibrating the surgical needle and a fourth transformation matrix, the fourth transformation matrix is a real-time transformation matrix between a first coordinate system and the optical coordinate system when the needle tip of the surgical needle is located at the target point on the detection device, the first coordinate system is determined according to the guide, and the third transformation matrix is a transformation matrix from the guide to the needle tip of the surgical needle.

In a possible embodiment, the surgical navigation system further comprises a calibrator, the calibrator comprising a groove, the determining unit further configured to determine a second coordinate system according to the calibrator when the needle body of the surgical needle is located in the groove and the calibrator, the surgical needle, and the guide are in a stationary state;

the determining unit is further configured to determine a first initial conversion matrix of the first coordinate system and the optical coordinate system, and a second initial conversion matrix of the second coordinate system and the optical coordinate system;

the determining unit is further configured to obtain the third transformation matrix from the introducer to the needle tip of the surgical needle based on the position of the needle tip of the surgical needle in the second coordinate system, the first initial transformation matrix, and the second initial transformation matrix.

In a possible embodiment, the calibrator further includes a calibration hole, and the obtaining unit is further configured to obtain a third coordinate of the calibration hole in the optical coordinate system;

the obtaining unit is further configured to obtain a fourth coordinate of the needle tip of the surgical needle when the needle tip of the surgical needle is positioned in the calibration hole in the optical coordinate system by using the third transformation matrix and the fifth transformation matrix; the fifth transformation matrix is a real-time transformation matrix between the first coordinate system and the optical coordinate system when the needle tip of the surgical needle is positioned in the calibration hole;

The determining unit is further configured to determine that the third transformation matrix is accurate when a distance between the third coordinate and the fourth coordinate is less than or equal to a first threshold.

In one possible embodiment, the detection device further includes N first markers, where N is an integer greater than or equal to 3, and the device further includes a segmentation unit configured to segment N fifth coordinates of the N first markers from the first image;

the obtaining unit is further configured to obtain N sixth coordinates of the N first markers by using the optical measurement device;

the obtaining unit is further configured to register the N fifth coordinates and the N sixth coordinates based on a registration algorithm, to obtain the first transformation matrix.

In a possible implementation manner, the device further includes a second processing unit, configured to perform at least one gaussian difference processing on the first image, to obtain a gaussian difference processed image, where a pixel value corresponding to a pixel point in a region where the marker is located in the gaussian difference processed image is greater than a pixel value corresponding to a pixel point in another region;

the device further comprises a third processing unit, wherein the third processing unit is used for carrying out clustering processing based on pixel distances on pixel points with pixel values larger than or equal to a second threshold value in the Gaussian difference processed image to obtain N fifth coordinates, and the N fifth coordinates are obtained based on coordinates of a clustering center obtained through the clustering processing.

In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory, wherein the memory has stored therein a computer program, the processor invoking the computer program stored in the memory for performing the method as in the first aspect or any of the possible implementations of the first aspect.

In a fourth aspect, the present application also provides another electronic device, including: a processor, a transmitting means, an input means, an output means and a memory for storing computer program code comprising computer instructions which, when executed by the processor, cause the electronic device to perform the method as in the first aspect or any one of the possible implementation manners of the first aspect.

In a fifth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored therein, which when run on one or more processors, causes the method as in the first aspect or any one of the possible implementations of the first aspect to be performed.

In a sixth aspect, embodiments of the present application provide a computer program product comprising program instructions which, when executed by a processor, cause the processor to perform a method as in the first aspect or any of the possible implementations of the first aspect.

Drawings

In order to more clearly describe the embodiments of the present application or the technical solutions in the background art, the following will briefly describe the drawings that are required to be used in the embodiments of the present application or the background art.

FIG. 1 is a schematic diagram of a surgical navigation system provided by an embodiment of the present application;

FIG. 2 is a schematic view of a surgical needle according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a calibrator in accordance with an embodiment of the present application;

FIG. 4 is a schematic illustration of an embodiment of the present application providing for insertion of a surgical needle into a calibrator recess;

fig. 5 is a flow chart of an error detection method of a surgical navigation system according to an embodiment of the present application;

fig. 6 is a schematic diagram of a detection device 60 according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an error detection device of a surgical navigation system according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an error detection device of another surgical navigation system according to an embodiment of the present application.

Detailed Description

The terminology used in the following embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates to the contrary. It should also be understood that the term "and/or" as used in this disclosure is intended to encompass any or all possible combinations of one or more of the listed items. The terms first and second and the like in the description, in the claims and in the drawings are used for distinguishing between different objects and not for describing a particular sequential order.

Along with the continuous development of computer science and technology, medical technology has made a major breakthrough, so that the minimally invasive surgery is more and more widely applied. Compared with open surgery, minimally invasive surgery has the characteristics of small wound area, low infection rate, quick recovery of patients, short hospitalization time and the like. Because of the small wound of the minimally invasive surgery, doctors cannot directly see the internal organs and tissue structures of the patients when performing the minimally invasive surgery, namely, the direct visual feedback to the real-time operation site is lost; in addition, the minimally invasive surgery has the problem that the field area is too small in the surgery, so that doctors need to repeatedly view images before the surgery, and the minimally invasive surgery depends on a surgery navigation system.

In the embodiment of the application, the operation navigation system can map the operation needle, the patient body and the like in the actual scene onto the display in real time through the optical measurement equipment, so that a doctor can acquire more information through the display, thereby improving the operation precision and relieving the pressure of the doctor. Referring to fig. 1, fig. 1 is a schematic diagram of a surgical navigation system according to an embodiment of the present application. As shown in fig. 1, the surgical navigation system includes an optical measurement device 101, an electronic device 102, and a marker 103. In addition, a portion 104 in fig. 1 may be understood as an implementation object, which is referred to as implementation object 104 hereinafter for convenience of understanding. In the practice of the present application, the subject may be understood as a patient (e.g., a patient in need of surgery), or, in some scenarios, may be understood as other subjects or users in need of data acquisition by the surgical navigation system described above. For ease of understanding, the following explanation will be made mainly with "implementation objects". The portion 105 in fig. 1 may be understood as a communication connection between the optical measurement device 101 and the electronic device 102, which will be referred to as a communication connection 105 hereinafter for convenience of understanding, and it should be understood that the communication connection 105 may be a wired connection or a wireless connection, which is not limited by the present application.

In the embodiment of the application, the markers can be stuck on different positions in different application scenes. For example, the marker may be affixed to the application tool, for example, the marker may be affixed to a guide that is fixedly attached to the surgical needle; also, as an example, the marker may be attached to the body surface of the implementation object, and as shown in fig. 1, the marker 103 is attached to the body surface of the implementation object 104, and as an example, the marker 103 includes 4 markers.

In embodiments of the present application, the markers may be disposed within a range that the optical measurement device 101 is capable of tracking. The marker may be an optical marker and the surface of the marker may include a reflective coating that may be used to reflect infrared light. The optical measurement device 101 may include a first infrared sensor 1011 and a second infrared sensor 1012. Both the first infrared sensor 1011 and the second infrared sensor 1012 may transmit and receive infrared light. The marker (as illustrated in fig. 1 by the principle of the optical measurement device 101 tracking the marker 1031) may reflect (rather than scatter) Infrared (IR) light back to the first infrared sensor 1011 and the second infrared sensor 1012 through a reflective coating on the surface. The first infrared sensor 1011 and the second infrared sensor 1012 achieve measurement of the three-dimensional coordinates of the marker through the intersection of the light rays (the broken lines as shown in fig. 1) as shown in fig. 1 by binocular vision, thereby obtaining the three-dimensional coordinates of the marker in the optical coordinate system. Wherein the optical measurement device 101 can record three-dimensional coordinates of each marker in the tracking range in real time. For example, the optical measurement device 101 may periodically acquire the three-dimensional coordinates of each of the markers 103 in FIG. 1.

It will be appreciated that there is a communication link 105 between the electronic device 102 and the optical measurement device 101, and that after the optical measurement device 101 obtains the three-dimensional spatial coordinates of the marker, the electronic device 102 may obtain the coordinate data of the marker through the communication link 105. Optionally, the electronic device 102 comprises a display, so that after the electronic device 102 has acquired the three-dimensional spatial coordinates of the marker, the marker may be displayed on the display with reference to the coordinate system of the optical measurement device 101.

It should be understood that the surgical needle is used to puncture a subject during an actual surgical procedure, and referring to fig. 2, for example, fig. 2 is a schematic view of a surgical needle according to an embodiment of the present application. In order to enable the surgical navigation system to position the surgical needle, the surgical needle 201 and the guide 202 are connected together by a connection structure, as shown in fig. 2, the connection between the surgical needle 201 and the guide 202 may be a threaded connection, for example. In an embodiment of the present application, the guide 202 includes at least 3 markers, illustratively, 4 markers are shown in fig. 2, namely marker 2021, marker 2022, marker 2023, and marker 2024.

It will also be appreciated that the optical measurement device collects the coordinates of the markers on the guide, and that a calibrator is also required in order to obtain the coordinates of the tip of the surgical needle from the coordinates of the markers on the guide. Referring to fig. 3, fig. 3 is a schematic diagram of a calibrator according to an embodiment of the present application. As shown in fig. 3, calibrator 300 includes at least 3 markers, and fig. 3 is shown by way of example with 4 markers, namely marker 302, marker 303, marker 304, and marker 305; the calibrator 300 further includes a recess 301, wherein the recess 301 is used for inserting the surgical needle 201, and for ease of understanding, referring to fig. 4, for exemplary purposes, fig. 4 is a schematic illustration of the insertion of the surgical needle into the calibrator recess according to an embodiment of the present application. As shown in fig. 4, the tip of the surgical needle is abutted against the end of the groove by the groove on the calibrator. Optionally, the calibrator may further include calibration holes, as shown in fig. 3, and the calibrator 300 includes 3 calibration holes, as shown in fig. 3 at 306.

In the actual operation process, before the operation, the calibrator, the surgical needle and the guide are static in the surgical navigation system in the mode shown in fig. 4, namely, the markers on the device are located in the tracking range of the optical measurement device, the conversion relation between the guide and the needle tip of the surgical needle can be obtained through the coordinate conversion relation of the markers on different devices, and in the subsequent operation process, the surgical navigation system can obtain the real-time coordinates of the needle tip of the surgical needle through the conversion relation between the guide and the needle tip of the surgical needle, so that the real-time positioning of the needle tip of the surgical needle is realized.

The above fig. 1-4 can be understood as the basic principle of the surgical navigation system in the embodiment of the present application, and it is because the surgical navigation system is very important in the minimally invasive surgery, and the accurate measurement of the error of the surgical navigation system is not only the guarantee of product safety, but also the guarantee of surgical safety. Accordingly, there is a need for a method of accurately and effectively detecting errors in surgical navigation systems.

Based on the above problems, the embodiment of the application provides an error detection method and a related device of a surgical navigation system, and the error of the surgical navigation system is measured by using a detection device comprising a target spot and a marker, and by simulating the whole surgical process, namely CT scanning the detection device, coordinate system registration based on the marker and surgical needle penetration into the target spot, the error of the surgical navigation system can be accurately and effectively detected.

It can be understood that the error detection method of the surgical navigation system provided by the embodiment of the present application may be executed by the error detection device of the surgical navigation system, where the error detection device of the surgical navigation system may be any electronic device capable of executing the technical scheme disclosed in the embodiment of the method of the present application. The registration device may be a computer, a tablet computer, a desktop computer, or the like, for example, and the present application is not limited thereto. It should also be understood that the method embodiments of the present application may also be implemented by way of a processor executing computer program code.

Referring to fig. 5, fig. 5 is a flowchart illustrating an error detection method of a surgical navigation system according to an embodiment of the present application. As shown in fig. 5, the method includes:

501: the method comprises the steps of obtaining a first image and a first conversion matrix, wherein the first image is obtained according to a CT image of a detection device acquired by CT equipment, the first conversion matrix is a registration matrix between a CT coordinate system and an optical coordinate system, the CT coordinate system is a coordinate system corresponding to the CT equipment, the optical coordinate system is a coordinate system corresponding to optical measurement equipment, the detection device comprises M upright posts, and M is an integer greater than or equal to 1.

It can be understood that the CT apparatus and the optical measurement apparatus are two independent apparatuses, and different coordinate systems are respectively adopted.

In the embodiment of the application, when the error of the operation navigation system is detected, the detection device is placed in the tracking range of the optical measurement equipment in the operation navigation system, so that the operation navigation system can track the detection device. In the embodiment of the present application, the above-mentioned detection device may also be referred to as a detection tool, an accuracy detection device, an error detection device, etc., which is not limited in this application. For ease of understanding, referring to fig. 6, fig. 6 is a schematic diagram of a detection device 60 according to an embodiment of the present application. As shown in fig. 6, the detection device 60 includes a base 601, and the base 601 may be a rectangular parallelepiped, a square, or the like. The upper side of the base 601 includes M columns, the top ends of which include tapered recesses, and as shown in FIG. 6, the columns 602 include tapered recesses 6021. In the embodiment of the present application, the tapered recess 6021 may be a conical recess or a pyramid recess. It should be understood that, in the embodiment of the present application, the tapered groove is used as the target point, and the tapered groove includes the vertex, so that in the error detection process, the coordinate of the target point can be conveniently determined from the CT image, and the needle point of the surgical needle can be effectively located at the target point on the detection device, thereby improving the accuracy of error detection.

In some embodiments, when M is an integer greater than or equal to 2, at least two of the M columns have different heights, so that, on one hand, the surgical needle can be inserted into a plurality of different positions during the error detection process, thereby expanding the test range; on the other hand, in actual operation, the focus positions that different patients need to be pricked are different, and the puncture scope of most puncture operations can be better simulated through error measurement of a plurality of stand columns with different heights, so that the accuracy and the comprehensiveness of error detection are improved.

Illustratively, the detection device 60 shown in FIG. 6 also includes a marker, and in embodiments of the present application, the marker on the detection device may be used for registration between the CT coordinate system and the optical coordinate system.

In some embodiments, the detection device further includes N first markers, the first image includes the N first markers, where N is an integer greater than or equal to 3, and the obtaining the first conversion matrix includes:

1. segmenting N fifth coordinates of the N first markers from the first image;

in this embodiment, it can be understood that, since two points form a line segment and the line segment can rotate, matching between two points can only limit two degrees of freedom, and therefore, when three-dimensional registration is performed by using a registration algorithm, 3 or more coordinates are selected for registration, and therefore, N is an integer greater than or equal to 3. Illustratively, as shown in FIG. 6, the detection device includes 9 markers, each of which is affixed to the top end of a cylindrical post, such as marker 603.

In this step, the error detection device of the surgical navigation system may acquire labeling information of the marker in the first image, determine a position of the marker in the first image based on the labeling information, and use coordinates of a pixel point corresponding to a center of a region occupied by the marker as coordinates of the marker. Also by way of example, the error detection means of the surgical navigation system may highlight the region in which the marker is located from the first image according to the distribution characteristics of the marker in the first image, and then divide the region in which the marker is located.

In some embodiments, the step 1 includes:

101. and carrying out Gaussian difference processing on the first image at least once to obtain an image subjected to Gaussian difference processing, wherein the pixel value corresponding to the pixel point of the area where the marker is located in the image subjected to Gaussian difference processing is larger than the pixel values corresponding to the pixel points of other areas.

In the embodiment of the application, the gaussian difference processing can be understood as convolution processing of an image by using a gaussian difference (difference of Gaussian, DOG) function, wherein the gaussian difference function can be understood as a function obtained by subtracting two gaussian functions with different standard deviations. Because the first image is a CT image acquired by the detection device, and the detection device comprises N first markers, after the Gaussian difference processing, a marker pixel set with large blurring degree is subtracted from a marker pixel set with smaller blurring degree, the weight of the edge pixels becomes stronger, and the pixels of the edge part can be highlighted, namely the effect of enhancing the edge is achieved, namely after the Gaussian difference processing, the pixel value corresponding to the pixel point of the region where the marker is located in the image is larger than the pixel values corresponding to the pixel points of other regions, namely the marker is highlighted.

In this step, the number of times the error detection device of the surgical navigation system performs the gaussian difference processing on the first image is at least one, and it is understood that one gaussian difference processed image may be obtained by one gaussian difference processing, and therefore, in the case where the number of times of the gaussian difference processing is two or more, the above-mentioned gaussian difference processed image should be understood as a generic term of a plurality of images.

102. And carrying out clustering processing based on pixel distances on pixel points with pixel values larger than or equal to a second threshold value in the Gaussian difference processed image to obtain N fifth coordinates, wherein the N fifth coordinates are obtained based on the coordinates of a clustering center obtained by the clustering processing.

It should be understood that, in the step 101, the pixel values corresponding to the pixels in the region where the marker is located are greater than the pixel values corresponding to the pixels in the other regions. In this step, the error detection device of the surgical navigation system performs a clustering process based on the pixel distance on the pixel points whose pixel values are greater than or equal to the second threshold value, where the clustering process may be understood as a clustering process based on the distance between the pixel points, that is, in the clustering process, the error detection device of the surgical navigation system may group the pixel points greater than or equal to the second threshold value in the image after the gaussian difference process, so that a plurality of pixel points whose distance between each other is smaller than the distance threshold value are used as a group, that is, one cluster, thereby obtaining a plurality of clusters. Each cluster includes a cluster center, and it should be understood that the cluster center is a pixel point in the image after the gaussian difference processing, so in this step, the coordinates of the cluster center may be understood as the coordinates of the pixel point where the cluster center is located.

In this step, the second threshold may be set according to the actual situation, for example, the first threshold may be determined according to the maximum pixel value in the image after the gaussian difference processing. The maximum pixel value in the image after gaussian difference processing is illustratively denoted as maxPixel, and the first threshold may be any value between [80% ] maxPixel, maxPixel ], for example, 90% > -maxPixel, 95% > -maxPixel, or the like, which is not limited in the present application. In this step, the clustering process may be a maximum-minimum distance algorithm, or a neighbor clustering method, which is not limited in the present application. It should be understood that, in the case where the number of times of the gaussian difference processing in the above-described step 101 is two or more, the error detection device of the surgical navigation system performs clustering processing on each obtained gaussian difference processed image.

It should also be understood that the number of cluster centers obtained after the clustering process may be greater than or equal to the above N, and in the case where the number of cluster centers obtained is equal to the above N, the coordinates of the obtained cluster centers are taken as the above N fifth coordinates; when the number of the obtained cluster centers is greater than N, the error detection device of the operation navigation system screens out N cluster centers from the N cluster centers, and takes the coordinates of the N cluster centers as the N first coordinates. For example, the error detection device of the surgical navigation system may merge a plurality of cluster centers whose mutual distance is smaller than a certain threshold value into one cluster center, or may reserve one cluster center therefrom. In some embodiments, the error detection device of the surgical navigation system may further adjust parameters in the clustering algorithm, so that the clustering process obtains N cluster centers.

In this embodiment, at least one gaussian difference processing is performed on the first image, the region of the marker in the first image is highlighted, then clustering processing is performed on the image after the gaussian difference processing based on the distance between candidate pixel points, and N fifth coordinates are determined from the obtained clustering center, so that the marker coordinates can be automatically and accurately segmented.

2. Acquiring N sixth coordinates of the N first markers using the optical measurement device;

in this step, the optical measurement device may collect coordinates of the marker by using the reflective coating of the marker, and specifically, reference may be made to the foregoing description related to fig. 1, which is not repeated herein.

3. And registering the N fifth coordinates and the N sixth coordinates based on a registration algorithm to obtain the first transformation matrix.

In this step, registration between different coordinates in different coordinate systems may be achieved by point cloud registration, for example. Illustratively, the most recent iteration (iterative closest point, ICP) is an important algorithm in point cloud registration, and the N fifth coordinates and the N sixth coordinates may be registered based on the ICP algorithm to obtain the first transformation matrix.

502: and determining a first coordinate of a target point from the first image, wherein the target point is a conical groove at the top end of the upright post.

It will be appreciated that the first image includes the detection means described above, the detection means comprising M posts with tapered recesses. In this step, the target is a conical groove at the top end of one of the M columns, and the first coordinate of the target can be understood as the position of the vertex of the conical groove. For example, the detection device may be three-dimensionally reconstructed according to the first image, and a target point may be selected from the obtained three-dimensional model, so as to determine the first coordinate. Alternatively, the first coordinate may be determined by performing multi-planar reconstruction (multi planar reformation, MPR) on the first image by the detection device, and selecting a target point from any cross section.

503: and obtaining a second coordinate of the needle tip of the surgical needle when the needle tip of the surgical needle is positioned at the target point on the detection device under the optical coordinate system by using a second conversion matrix between the needle tip of the surgical needle and the optical coordinate system.

It should be understood that in detecting errors in the surgical navigation system, the detection range of the surgical navigation system includes the detection device and the surgical needle, wherein the detection device may refer to the description of fig. 6, and the surgical needle may refer to the description of fig. 2. In this embodiment, the surgical needle is placed in the tracking range of the optical measurement device, and in order to detect the error of the surgical navigation system, the needle tip of the surgical needle needs to be located at the target point on the detection device, which can be understood as that the needle tip of the surgical needle is pierced through the target point and stays at the target point. It will be appreciated that, since the target is a conical groove, in this embodiment, the first coordinate of the target may be the coordinate of the vertex of the conical groove, and that the tip of the surgical needle is located at the target on the detection device may be understood as the tip of the surgical needle being located at the vertex of the conical groove.

It is understood that in the optical coordinate system, there is a rotational relationship and a translational relationship between the tip of the surgical needle and the origin of the optical coordinate system, and thus, the above-described second transformation matrix may be understood as a transformation matrix including a rotational component and a translational component.

It will be appreciated that in some embodiments the second transition matrix described above may be defined by a guide attached to the surgical needle, in this embodiment the guide is secured to the surgical needle by a connecting structure, which may be part of the guide structure or a separate connecting member. Thus, in some embodiments, prior to step 503 described above, the method shown in fig. 5 further comprises:

5031: the second transformation matrix is obtained according to a third transformation matrix and a fourth transformation matrix obtained by calibrating the surgical needle, wherein the fourth transformation matrix is a real-time transformation matrix between the first coordinate system and the optical coordinate system when the needle tip of the surgical needle is positioned at the target point on the detection device, the first coordinate system is determined according to the guide, and the third transformation matrix is a transformation matrix from the guide to the needle tip of the surgical needle.

In this embodiment, the explanation of the guide may be referred to in the description related to fig. 2, and it may be understood that, after the surgical needle and the guide are fixedly connected together, the relative position between the guide and the needle tip of the surgical needle does not change during the whole error detection process, so that the third transformation matrix does not change during the whole error detection process of the surgical navigation system, and may be understood as a fixed transformation matrix.

It will be appreciated that the overall error detection process is dynamic, and that even though the target site on the detection device may be stationary with the tip of the surgical needle, the coordinates of the tip of the surgical needle in this step will be understood as a real-time coordinate, and the fourth transformation matrix between the first coordinate system and the optical coordinate system corresponding to the guide will be understood as a real-time transformation matrix. Illustratively, the guide includes at least three markers, and the coordinates of the at least three markers under the first coordinate and the coordinates under the optical coordinate system are obtained respectively, and the fourth transformation matrix is obtained by registering the two sets of coordinates.

Because the director and the needle tip of the surgical needle are connected together, the pose changes of the director and the needle tip are synchronous, the third transformation matrix represents the pose relation between the director and the needle tip, the fourth transformation matrix represents the pose relation between the optical coordinate system and the director, and the pose relation between the optical coordinate system and the needle tip, namely the second transformation matrix, can be obtained through the third transformation matrix and the fourth transformation matrix.

In this embodiment, the third transformation matrix represents the pose relationship between the guide and the needle tip, and the third transformation matrix may be obtained by the calibrator, and the description of the calibrator may be referred to in fig. 3, so in some embodiments, the third transformation matrix obtained by calibrating the surgical needle may be obtained by the following steps, which may be understood as a calibration procedure of the surgical needle:

4. when the needle body of the surgical needle is positioned in the groove and the calibrator, the surgical needle and the guide are in a static state, a first coordinate system is determined according to the guide, and a second coordinate system is determined according to the calibrator.

In an embodiment of the present application, the first coordinate system, the second coordinate system, the CT coordinate system, and the optical coordinate system are all three-dimensional coordinate systems. The first coordinate system may be a predefined coordinate system, satisfying the right hand rule. The origin of the first coordinate system may be selected at any position of the guide, and the origin of the first coordinate system and the directions of the x, y, and z axes of the first coordinate system may be selected and defined in advance. It should be appreciated that once the first coordinate system is defined, the origin of the first coordinate system and the directions of the x, y, and z axes of the first coordinate system do not change in the position of the first coordinate system. It should also be appreciated that the second coordinate system is the same.

During the calibration process, the guide, calibrator and surgical needle are in a stationary state, which means: the position of the guide, calibrator and surgical needle relative to the optical measurement device is unchanged.

5. Determining a first initial transformation matrix under the first coordinate system and the optical coordinate system, and determining a second initial transformation matrix under the second coordinate system and the optical coordinate system.

It will be appreciated that the first coordinate system, the second coordinate system and the optical coordinate system are independent coordinate systems, and that the first initial transformation matrix and the second initial transformation matrix may be determined by markers on the director and the calibrator. For ease of understanding, the markers on the guide are referred to as second markers, and the markers on the calibrator are referred to as third markers, in embodiments of the present application, the guide includes K second markers, the calibrator includes S third markers, and K and S are integers greater than or equal to 3. Since the arrangement of the K second markers (the relative positional relationship of the K markers) on the guide is different from the arrangement of the S markers (the relative positional relationship of the S markers) on the calibrator. The optical measurement device can track which markers are on the guide and which markers are on the calibrator.

Knowing the coordinates of at least 3 points in the two coordinate systems, the transformation relationship of the two coordinate systems, i.e. the transformation matrix between the two coordinate systems, can be found. Specifically, the method can be calculated by a singular value decomposition (singular value decomposition, SVD) algorithm. Illustratively, after obtaining the coordinates of the K second markers in the first coordinate system and the coordinates of the K second markers in the optical coordinate system, a first initial transformation matrix of the guide from the first coordinate system to the optical coordinate system may be calculated according to the SVD algorithm based on the coordinates of the K second markers in the first coordinate system and the coordinates of the K second markers in the optical coordinate system. It should be understood that the second initial conversion matrix may be obtained by performing similar operations on the S third markers, which will not be described herein.

6. The third transformation matrix from the introducer to the needle tip of the surgical needle is obtained based on the position of the needle tip of the surgical needle in the second coordinate system, the first initial transformation matrix, and the second initial transformation matrix.

It can be understood that, in the case that the second coordinate system is established by taking the end of the groove, that is, the tip of the surgical needle, as the origin, the third transformation matrix can be directly obtained through the first initial transformation matrix and the second initial transformation matrix; the third transformation matrix may be obtained by an offset between the tip and the origin, the first initial transformation matrix, and the second initial transformation matrix, without establishing a coordinate system with the second coordinate system using the tip of the surgical needle as the origin.

In some embodiments, the calibrator further includes a calibration hole, through which the third conversion matrix may be checked for accuracy, to further improve accuracy of error detection. Therefore, the step 6 further includes:

7. a third coordinate of the alignment hole in the optical coordinate system is obtained.

8. Obtaining a fourth coordinate of the needle tip of the surgical needle when the needle tip of the surgical needle is positioned in the calibration hole under the optical coordinate system by using the third transformation matrix and the fifth transformation matrix; the fifth transformation matrix is a real-time transformation matrix between the first coordinate system and the optical coordinate system when the needle tip of the surgical needle is positioned in the calibration hole.

9. And determining that the third transformation matrix is accurate when the distance between the third coordinate and the fourth coordinate is less than or equal to a first threshold value.

In this embodiment, a diagram of the calibrator including the calibration holes can be seen in fig. 3. The use of the calibration holes for calibrating the third transformation matrix is also understood as a dynamic process, i.e. the relative position between the guide and the needle tip does not change during the calibration process, but the position of the guide in the optical coordinate system changes. Since the guide corresponds to the first coordinate system, when the needle tip of the surgical needle is positioned in the calibration hole, a fifth transformation matrix between the first coordinate system and the optical coordinate system is a real-time transformation matrix.

In this embodiment, the position of the calibration hole on the calibrator is fixed, so the relative position between the calibration hole and each marker on the calibrator is also fixed, and after the coordinates of the markers on the calibrator are acquired, the coordinates of the calibration hole can be determined according to the relative relationship between the markers and the calibration hole.

After the fifth transformation matrix is obtained, the fourth coordinate of the needle tip is calculated based on the third transformation matrix that has been obtained. Since the third coordinate is determined by the relative relationship between the marker and the calibration hole, which are acquired by the optical measurement device, it can be considered as an accurate coordinate, and in the case where the distance between the third coordinate and the fourth coordinate is less than or equal to the first threshold value, it can be considered as an accurate third transformation matrix. It should be understood that the first threshold may be set according to practical situations, and for example, the first threshold may be any value between 0 and 1 millimeter, which is not limited in the present application.

504: and converting the first coordinate or the second coordinate into the same coordinate system by using the first conversion matrix, wherein the same coordinate system is the optical coordinate system or the CT coordinate system, so as to obtain a first reference coordinate or a second reference coordinate.

It will be appreciated that the first coordinate is obtained based on a CT coordinate system and the second coordinate is obtained based on an optical coordinate system, and that this step converts either the first coordinate or the second coordinate into the same coordinate system. In one possible implementation, the first coordinate and the second coordinate may be unified under the CT coordinate system, where the first coordinate is a coordinate of the CT coordinate system, and therefore, only the first transformation matrix is used to transform the second coordinate from the optical coordinate system to the CT coordinate system, so as to obtain a second reference coordinate, and finally, the first coordinate and the second reference coordinate are both coordinates under the CT coordinate system.

In another possible implementation, the first coordinate and the second coordinate may be unified under the optical coordinate system, where in this implementation, since the second coordinate is a coordinate of the optical coordinate system, the first coordinate is only required to be converted from the CT coordinate system to the optical coordinate system by the first conversion matrix, so as to obtain a first reference coordinate, and finally, the first reference coordinate and the second coordinate are both coordinates under the optical coordinate system.

505: and taking the first coordinate and the second reference coordinate or the distance between the first reference coordinate and the second coordinate as an error of the operation navigation system.

Corresponding to step 504, in the case of unifying the first coordinate and the second coordinate to a CT coordinate system, taking the distance between the first coordinate and the second reference coordinate as an error of the surgical navigation system; in the case of unifying the first coordinate and the second coordinate to an optical coordinate system, a distance between the first reference coordinate and the second coordinate is taken as an error of the surgical navigation system. Illustratively, the errors include CT device imaging errors, CT image marker segmentation errors, optical system positioning marker errors, errors in registration between the CT coordinate system and the optical coordinate system, surgical needle calibration errors, optical system positioning guide errors.

It can be understood that the step shown in fig. 5 is a step of error detection, and other conical targets on the detection device can be used as target targets to detect errors; the same target point can be detected for multiple times to obtain multiple groups of error data, and then distribution statistics is carried out on the error data. For example, 20 conical targets on the detection device may be used as target points, and error detection may be performed 10 times on each conical target point to obtain 200 error values, and the maximum value, the minimum value, the average value, the median, the standard deviation, the 95% confidence interval, and the like of the error may be calculated.

It will be appreciated that a typical surgical procedure primarily includes CT scanning of a patient, registration of the CT and optical coordinate systems, needle tip position calibration of a surgical needle, and puncture guidance. The application detects errors of a surgical navigation system based on a detection device, and in the error detection process, a first image comprising the detection device and a first conversion matrix between a CT coordinate system and an optical coordinate system are obtained, wherein the first conversion matrix represents registration between the CT coordinate system and the optical coordinate system. And then determining a first coordinate of the target point from the first image, and utilizing a second conversion matrix between the needle tip of the surgical needle and the optical coordinate system, wherein the second conversion matrix reflects the needle tip position calibration of the surgical needle. Obtaining a second coordinate of the needle tip when the needle tip of the surgical needle is positioned at a target point on the detection device under an optical coordinate system, wherein the target point of the surgical needle positioned on the detection device represents puncture guiding in an actual surgical process. The first coordinate is from a CT coordinate system, the second coordinate is from an optical coordinate system, and the distance between the first coordinate and the second coordinate is unified to the same coordinate system to serve as an error, so that the error of the whole surgical procedure can be obtained completely through full simulation of the whole surgical procedure, and the error of the surgical navigation system obtained through the method is more accurate.

It should be further understood that, because most of the processes of the puncture operations based on the optical measurement device are similar, the error detection method of the operation navigation system provided by the application has a wide application range, and can detect the accuracy of the puncture operation navigation system including neurosurgery, orthopaedics, pulmonary department and the like.

For a better understanding of the present solution, the specific procedure of error detection is described next in steps 10-19.

10. After the detection device is placed on a CT bed, CT scanning is carried out on the detection device, and CT scanning data are obtained; the detection device comprises 20 stand columns, wherein each stand column comprises a conical groove, and the heights of the stand columns are different.

In this step the CT scan data comprises a CT image comprising the detection means, alternatively the CT image may be understood as the first image described above.

11. And inputting CT scanning data into an error detection device of the operation navigation system to reconstruct two-dimensional and three-dimensional.

12. And selecting the lowest point of a certain conical groove as a target point on the two-dimensional image, and recording the coordinates of the target point.

In this step, the coordinates of the target point can be understood as the first coordinates described above.

13. And starting the optical measurement equipment to automatically register the optical coordinate system and the CT coordinate system in real time.

The registration of this step may be achieved by detecting the marker on the device, and specifically reference may be made to the foregoing step 501, step and steps 1-3, which are not described herein.

14. And calibrating the needle point of the surgical needle to obtain the real-time coordinates of the needle point of the surgical needle.

In this step, the surgical needle is connected to the guide, the needle body of the surgical needle is abutted against the groove of the calibrator, the needle tip is abutted against the end of the groove of the calibrator, and the positions of the surgical needle, the guide and the calibrator are adjusted, so that the optical measurement device can track the markers on the guide and the calibrator. Clicking the calibration button to finish calibration after counting down, and obtaining a conversion matrix between the guide and the needle tip, namely the third conversion matrix, wherein the specific process can also refer to the steps 503, 5031 and 4-6.

15. The calibration in step 14 is verified.

This step can be understood as verification of the transition matrix between the introducer and the needle tip as described above. Specifically, the calibration holes at the edge of the calibrator in the needle tip are punched, whether the image display is correct or not is observed, and if the image display is correct, the calibration is completed, and the conversion matrix between the guide and the needle tip is considered to be correct.

16. And (3) recording the distance between the needle tip and the target point displayed by software according to the target point selected before the needle tip is pricked, and taking the distance as an error of a surgical navigation system.

17. The needle tip of the surgical needle is kept different, the needle body is randomly rotated along the front-back left-right direction, the marker on the guide is kept in the tracking range of the optical measuring device, and 100 groups of data are recorded.

18. And selecting the next conical groove as a target spot, and repeating the steps 13-17 until all 20 target spots are detected.

19. And carrying out distribution statistics on all error data, and calculating the average value, standard deviation and confidence interval of the errors.

In the embodiment of the present application, the numbers before the steps, for example, the numbers 1 to 19, are made for easy understanding, and are not used to limit the execution sequence of the steps.

The method provided by the embodiment of the application is described in detail above, and the device provided by the embodiment of the application is described below.

Referring to fig. 7, fig. 7 is a schematic structural diagram of an error detection device of a surgical navigation system according to an embodiment of the application. The error detection device 70 of the surgical navigation system is used for executing the error detection method of the surgical navigation system, and it should be understood that any device capable of implementing the error detection method of the surgical navigation system provided by the application is within the scope of the application. The error detecting device 70 of the surgical navigation system may be a mobile phone, a desktop computer, a portable notebook, etc., which is not limited by the embodiment of the present application. As shown in fig. 7, the error detection device 70 of the surgical navigation system includes an obtaining unit 701, a determining unit 702, and a first processing unit 703, and optionally, the error detection device 70 of the surgical navigation system may further include a dividing unit 704, a second processing unit 705, and a third processing unit 706. Wherein, each unit is described as follows:

The surgical navigation system includes an optical measurement device and a surgical needle, the apparatus includes:

an obtaining unit 701, configured to obtain a first image, where the first image is obtained according to a CT image of a detection device acquired by a computed tomography CT apparatus, the detection device includes M columns, and M is an integer greater than or equal to 1;

the obtaining unit 701 is further configured to obtain a first conversion matrix, where the first conversion matrix is a registration matrix between a CT coordinate system and an optical coordinate system, the CT coordinate system is a coordinate system corresponding to the CT apparatus, and the optical coordinate system is a coordinate system corresponding to the optical measurement apparatus;

a determining unit 702, configured to determine a first coordinate of a target from the first image, where the target is a tapered groove at a top end of the pillar;

the obtaining unit 701 is further configured to obtain, using a second transformation matrix between the needle tip of the surgical needle and the optical coordinate system, a second coordinate of the needle tip of the surgical needle when the needle tip of the surgical needle is located at the target point on the detecting device in the optical coordinate system;

a first processing unit 703, configured to convert the first coordinate or the second coordinate into a same coordinate system by using the first conversion matrix, where the same coordinate system is the optical coordinate system or the CT coordinate system, so as to obtain a first reference coordinate or a second reference coordinate;

The determining unit 702 is further configured to use the first coordinate and the second reference coordinate, or a distance between the first reference coordinate and the second reference coordinate as an error of the surgical navigation system.

In one possible embodiment, the surgical navigation system further includes a guide, the guide is connected to the surgical needle through a connection structure, the obtaining unit 701 is further configured to obtain the second transformation matrix according to a third transformation matrix obtained by calibrating the surgical needle and a fourth transformation matrix, the fourth transformation matrix is a real-time transformation matrix between a first coordinate system and the optical coordinate system when the needle tip of the surgical needle is located at the target point on the detection device, the first coordinate system is determined according to the guide, and the third transformation matrix is a transformation matrix from the guide to the needle tip of the surgical needle.

In a possible embodiment, the surgical navigation system further comprises a calibrator, the calibrator comprising a groove, the determining unit 702 further configured to determine a second coordinate system according to the calibrator when the needle body of the surgical needle is located in the groove and the calibrator, the surgical needle, and the guide are in a stationary state;

The determining unit 702 is further configured to determine a first initial transformation matrix of the first coordinate system and the optical coordinate system, and a second initial transformation matrix of the second coordinate system and the optical coordinate system;

the determining unit 702 is further configured to obtain the third transformation matrix from the introducer to the needle tip of the surgical needle based on the position of the needle tip of the surgical needle in the second coordinate system, the first initial transformation matrix, and the second initial transformation matrix.

In a possible embodiment, the calibrator further includes a calibration hole, and the obtaining unit 701 is further configured to obtain a third coordinate of the calibration hole in the optical coordinate system;

the obtaining unit 701 is further configured to obtain a fourth coordinate of the needle tip of the surgical needle when the needle tip of the surgical needle is positioned in the calibration hole in the optical coordinate system by using the third transformation matrix and the fifth transformation matrix; the fifth transformation matrix is a real-time transformation matrix between the first coordinate system and the optical coordinate system when the needle tip of the surgical needle is positioned in the calibration hole;

the determining unit 702 is further configured to determine that the third transformation matrix is accurate if a distance between the third coordinate and the fourth coordinate is less than or equal to a first threshold.

In one possible embodiment, the detection device further includes N first markers, where N is an integer greater than or equal to 3, and the device further includes a segmentation unit 704 configured to segment N fifth coordinates of the N first markers from the first image;

the obtaining unit 701 is further configured to obtain N sixth coordinates of the N first markers by using the optical measurement device;

the obtaining unit 701 is further configured to register the N fifth coordinates and the N sixth coordinates based on a registration algorithm, to obtain the first transformation matrix.

In a possible implementation manner, the apparatus further includes a second processing unit 705, configured to perform at least one gaussian difference processing on the first image, to obtain a gaussian difference processed image, where a pixel value corresponding to a pixel point in a region where the marker is located in the gaussian difference processed image is greater than a pixel value corresponding to a pixel point in another region;

the apparatus further includes a third processing unit 706, configured to perform a clustering process based on a pixel distance on a pixel point in the image after the gaussian difference process, where the pixel value is greater than or equal to a second threshold, to obtain the N fifth coordinates, where the N fifth coordinates are obtained based on coordinates of a clustering center obtained by the clustering process.

Referring to fig. 8, fig. 8 is a schematic structural diagram of an error detection device of another surgical navigation system according to an embodiment of the application. The error detection device 80 of the surgical navigation system can be used to implement the error detection method of the surgical navigation system described above. The error detection device 80 of the surgical navigation system may be a mobile phone, a desktop computer, a portable notebook, or the like, for example.

As shown in fig. 8. The error detection device 80 of the surgical navigation system includes at least one processor 802 and a transceiver 801 for communicating with other apparatus/devices over a transmission medium. The processor 802 may utilize the transceiver 801 to transmit and receive data and/or signaling.

Optionally, the error detection device 80 of the surgical navigation system may further comprise at least one memory 803 for storing program instructions and/or data. The memory 803 is coupled to the processor 802. The coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units, or modules, which may be in electrical, mechanical, or other forms for information interaction between the devices, units, or modules. The processor 802 may operate in conjunction with the memory 803. The processor 802 may execute program instructions stored in the memory 803. At least one of the at least one memory may be included in the processor.

The specific connection medium between the transceiver 801, the processor 802, and the memory 803 is not limited in the embodiment of the present application. In the embodiment of the present application, the memory 803, the processor 802 and the transceiver 801 are connected through the bus 804 in fig. 8, where the bus is indicated by a thick line in fig. 8, and the connection manner between other components is only schematically illustrated, but not limited thereto. The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 8, but not only one bus or one type of bus.

In the embodiment of the present application, the processor may be a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps and logic blocks disclosed in the embodiments of the present application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in the processor for execution.

It will be appreciated that when the error detection device 80 of the surgical navigation system is the error detection device 70 of the surgical navigation system described above, the actions performed by the obtaining unit 701 may be performed by the transceiver 801 or may be performed by the processor 802; actions performed by the determining unit 702, the first processing unit 703, the dividing unit 704, the second processing unit 705, and the third processing unit 706 may be performed by the processor 802.

The present application also provides a computer readable storage medium having computer code stored therein, which when run on a computer causes the computer to perform the method of the above embodiments.

The application also provides a computer program product comprising computer code or a computer program which, when run on a computer, causes the method in the above embodiments to be performed.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within 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

1. A method of error detection for a surgical navigation system, the surgical navigation system including an optical measurement device and a surgical needle, the method comprising:

obtaining a first image and a first conversion matrix, wherein the first image is obtained according to a CT image of a detection device acquired by a CT (computed tomography) device, the first conversion matrix is a registration matrix between a CT coordinate system and an optical coordinate system, the CT coordinate system is a coordinate system corresponding to the CT device, the optical coordinate system is a coordinate system corresponding to the optical measurement device, the detection device comprises M upright posts, and M is an integer greater than or equal to 1;

And taking the first coordinate and the second reference coordinate or the distance between the first reference coordinate and the second coordinate as an error of the surgical navigation system.

2. The method of claim 1, wherein the surgical navigation system further comprises a guide coupled to the surgical needle by a coupling structure, the method further comprising, prior to obtaining second coordinates of the needle tip of the surgical needle when the needle tip of the surgical needle is positioned on the target spot on the detection device in the optical coordinate system using a second transformation matrix between the needle tip of the surgical needle and the optical coordinate system:

the second transformation matrix is obtained according to a third transformation matrix and a fourth transformation matrix obtained by calibrating the surgical needle, the fourth transformation matrix is a real-time transformation matrix between a first coordinate system and the optical coordinate system when the needle tip of the surgical needle is positioned at the target point on the detection device, the first coordinate system is determined according to the guide, and the third transformation matrix is a transformation matrix from the guide to the needle tip of the surgical needle.

3. The method of claim 2, wherein the surgical navigation system further comprises a calibrator comprising a notch, the method further comprising, prior to deriving the second transformation matrix from the third transformation matrix and the fourth transformation matrix resulting from calibrating the surgical needle:

determining a second coordinate system according to the calibrator when the needle body of the surgical needle is positioned in the groove and the calibrator, the surgical needle and the guide are in a static state;

determining a first initial transformation matrix of the first coordinate system and the optical coordinate system, and a second initial transformation matrix of the second coordinate system and the optical coordinate system;

and obtaining the third transformation matrix from the guide to the needle tip of the surgical needle according to the position of the needle tip of the surgical needle in the second coordinate system, the first initial transformation matrix and the second initial transformation matrix.

4. The method of claim 3, wherein the calibrator further comprises a calibration hole, and wherein the method further comprises, after deriving a third transformation matrix of the introducer to the tip of the surgical needle based on the position of the tip of the surgical needle in the second coordinate system, the first initial transformation matrix, and the second initial transformation matrix:

obtaining a fourth coordinate of the needle tip of the surgical needle when the needle tip of the surgical needle is positioned in the calibration hole under the optical coordinate system by using the third conversion matrix and the fifth conversion matrix; the fifth transformation matrix is a real-time transformation matrix between the first coordinate system and the optical coordinate system when the needle tip of the surgical needle is positioned in the calibration hole;

and determining that the third transformation matrix is accurate under the condition that the distance between the third coordinate and the fourth coordinate is smaller than or equal to a first threshold value.

5. The method of any one of claims 1-4, wherein the detection device further comprises N first markers, N being an integer greater than or equal to 3, the N first markers being included in the first image, the obtaining a first conversion matrix comprising:

dividing N fifth coordinates of the N first markers from the first image;

acquiring N sixth coordinates of the N first markers using the optical measurement device;

6. The method of claim 5, wherein the segmenting the N fifth coordinates of the N first markers from the first image comprises:

carrying out Gaussian difference processing on the first image at least once to obtain an image after Gaussian difference processing, wherein the pixel value corresponding to the pixel point of the area where the marker is located in the image after Gaussian difference processing is larger than the pixel values corresponding to the pixel points of other areas;

7. The method according to any one of claims 1 to 6, wherein in the case where M is an integer greater than or equal to 2, the heights of at least two of the M posts are different.

8. An error detection apparatus for a surgical navigation system, the surgical navigation system including an optical measurement device and a surgical needle, the apparatus comprising:

The acquisition unit is further configured to acquire a first conversion matrix, where the first conversion matrix is a registration matrix between a CT coordinate system and an optical coordinate system, the CT coordinate system is a coordinate system corresponding to the CT device, and the optical coordinate system is a coordinate system corresponding to the optical measurement device;

the obtaining unit is further configured to obtain a second coordinate of the needle tip of the surgical needle when the needle tip of the surgical needle is located at the target point on the detection device under the optical coordinate system by using a second transformation matrix between the needle tip of the surgical needle and the optical coordinate system;

the determining unit is further configured to take the first coordinate and the second reference coordinate, or a distance between the first reference coordinate and the second reference coordinate as an error of the surgical navigation system.

9. An electronic device, comprising: a processor and a memory, wherein the memory has stored therein a computer program, the processor invoking the computer program stored in the memory for performing the method of any of claims 1-7.

10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when run on one or more processors, causes the method of any of claims 1-7 to be performed.