CN117379179B - External physical point navigation registration method, system and storage medium - Google Patents
External physical point navigation registration method, system and storage medium Download PDFInfo
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- 238000002513 implantation Methods 0.000 description 8
- 239000007943 implant Substances 0.000 description 7
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The invention provides an external physical point navigation registration method, a system and a storage medium. The navigation registration is completed by acquiring coordinate data of pits of each bone nail in a CT three-dimensional coordinate system and coordinate data of pits of each bone nail in an optical positioning instrument coordinate system, analyzing to obtain a matrix conversion relation between the CT three-dimensional coordinate system and the optical positioning instrument coordinate system, and completing the matrix conversion relation among any two of the optical positioning instrument coordinate system, the CT three-dimensional coordinate system, the oral cavity three-dimensional coordinate system and the planting mobile phone coordinate system. Bone nails are used as external physical points, two functions of fixed connection and CT scanning reference are realized, and subsequent CBCT data acquisition, optical positioning data acquisition, matrix conversion relation construction and the like can be performed based on the structure, so that navigation registration operation is performed on the toothless jaw oral cavity.
Description
Technical Field
The present invention relates to the field of medical technology, and to a method, system and storage medium for navigational registration of the mouth of a toothless jaw prior to performing an implant procedure.
Background
The oral cavity implantation robot is a mature work for implementing the dental implant operation, and after surgical tools such as an implantation mobile phone are fixedly arranged at the tail end of the robot, the dental implant operation can be implemented by means of a digital technology by collecting the real-time pose of a patient and the real-time pose of the implantation mobile phone and combining an implantation scheme designed in advance according to the oral condition of the patient.
Before the dental implant operation is performed by the oral implant robot, the tip of the end surgical tool needs to be registered so as to realize matrix conversion relation among any two of an optical positioning instrument coordinate system, a CT three-dimensional coordinate system, an oral cavity three-dimensional coordinate system and an implant mobile phone coordinate system, so that the real-time pose of a patient and the implant mobile phone are displayed in a CT image in real time, and the real-time navigation positioning is facilitated.
In the prior art, the registration devices such as the registration device, the reference plate and the like are fixed in the oral cavity of a patient through the dental jaw, the dental jaw is wrapped by a concave fixing component, and then the concave fixing component and the dental jaw are connected and fixed in a glue filling mode, so that the registration device is indirectly fixed on the dental jaw. When the toothless mouth is faced with the situation of full-mouth missing teeth, the registration device cannot be firmly installed on the teeth jaw, so that the preoperative registration is difficult to implement, and therefore, how to perform navigation registration on the toothless mouth is always a problem to be solved in the industry.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an external physical point navigation registration method, an external physical point navigation registration system and a storage medium aiming at the defects in the prior art, wherein a CT scanning reference object is provided while the fixed connection is realized through externally connecting physical points on an alveolar bone, so that a registration device is conveniently and firmly installed on a dental jaw so as to perform navigation registration operation on a toothless oral cavity.
The technical scheme adopted for solving the technical problems is as follows:
an external physical point navigation registration method, the method is based on a registration device, a reference plate and a plurality of bone nails, the bone nails pass through the registration device and then fix the registration device on alveolar bone of a patient, the reference plate is fixedly arranged on the registration device, and the bone nails form external physical points through pits arranged at the end parts, the method comprises the following steps:
s1, acquiring CBCT data of each bone nail, and identifying the central point of each bone nail and coordinate data of the axial direction in a CT three-dimensional coordinate system;
s2, analyzing and obtaining coordinate data of pits of each bone nail in a CT three-dimensional coordinate system based on the coordinate data of a central point and the axial coordinate data of each bone nail in the CT three-dimensional coordinate system;
S3, acquiring optical positioning data of each bone nail, and identifying coordinate data of pits of each bone nail in an optical positioning instrument coordinate system;
s4, analyzing and obtaining a matrix conversion relation between the CT three-dimensional coordinate system and the optical positioning instrument coordinate system based on the coordinate data of the pits of the plurality of bone nails in the CT three-dimensional coordinate system and the coordinate data of the pits of the plurality of bone nails in the optical positioning instrument coordinate system;
s5, acquiring real-time coordinate data of the reference plate in the coordinate system of the optical positioning instrument, establishing a matrix conversion relation between the three-dimensional coordinate system of the reference plate and the coordinate system of the optical positioning instrument, and further analyzing the matrix conversion relation between the three-dimensional coordinate system of the CT and the three-dimensional coordinate system of the reference plate according to the matrix conversion relation between the three-dimensional coordinate system of the CT and the coordinate system of the optical positioning instrument;
s6, analyzing to obtain a matrix conversion relation between the three-dimensional coordinate system of the oral cavity and the three-dimensional coordinate system of the CT according to the matrix conversion relation between the three-dimensional coordinate system of the CT and the three-dimensional coordinate system of the reference plate;
s7, calibrating a positioning plate on the planting mobile phone, and establishing a matrix conversion relation between a coordinate system of the planting mobile phone and a coordinate system of the optical positioning instrument;
s8, analyzing to obtain a matrix conversion relation among any two of the optical positioning instrument coordinate system, the CT three-dimensional coordinate system, the oral cavity three-dimensional coordinate system and the planting mobile phone coordinate system, and completing navigation registration.
Compared with the prior art, the beneficial effects of the technical scheme are as follows: bone nails are used as external physical points, two functions of fixed connection and CT scanning reference are realized, and subsequent CBCT data acquisition, optical positioning data acquisition, matrix conversion relation construction and the like can be performed based on the structure, so that navigation registration operation is performed on the toothless jaw oral cavity.
Correspondingly, an external physical point navigation registration system, the system based on a registration device, a reference plate and a plurality of bone nails, wherein the bone nails pass through the registration device and then fix the registration device on the alveolar bone of a patient, the reference plate is fixedly arranged on the registration device, and the bone nails form external physical points through pits arranged at the end parts, the system comprises:
the CT scanning module is used for acquiring CBCT data of each bone nail and identifying the central point of each bone nail and coordinate data of the axial direction in a CT three-dimensional coordinate system;
the CT coordinate analysis module is used for analyzing and obtaining coordinate data of pits of each bone nail in the CT three-dimensional coordinate system based on the central point coordinate data and the axial coordinate data of each bone nail in the CT three-dimensional coordinate system;
the optical scanning module is used for acquiring optical positioning data of each bone nail and identifying coordinate data of pits of each bone nail in an optical positioning instrument coordinate system;
The coordinate pairing analysis module is used for analyzing and obtaining a matrix conversion relation between the CT three-dimensional coordinate system and the optical positioning instrument coordinate system based on the coordinate data of the pits of the bone nails in the CT three-dimensional coordinate system and the coordinate data of the pits of the bone nails in the optical positioning instrument coordinate system;
the first matrix conversion analysis module is used for acquiring real-time coordinate data of the reference plate in the coordinate system of the optical positioning instrument, establishing a matrix conversion relation between the three-dimensional coordinate system of the reference plate and the coordinate system of the optical positioning instrument, and further analyzing the matrix conversion relation between the three-dimensional coordinate system of the CT and the three-dimensional coordinate system of the reference plate according to the matrix conversion relation between the three-dimensional coordinate system of the CT and the coordinate system of the optical positioning instrument;
the second matrix conversion analysis module is used for analyzing and obtaining the matrix conversion relation between the oral cavity three-dimensional coordinate system and the CT three-dimensional coordinate system according to the matrix conversion relation between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system;
the third matrix conversion analysis module is used for establishing a matrix conversion relation between a coordinate system of the planting mobile phone and a coordinate system of the optical positioning instrument by calibrating the positioning plate on the planting mobile phone;
and the registration module is used for analyzing and obtaining a matrix conversion relation among any two of the optical positioning instrument coordinate system, the CT three-dimensional coordinate system, the oral cavity three-dimensional coordinate system and the planting mobile phone coordinate system, so as to finish navigation registration.
Correspondingly, a storage medium stores a computer program comprising program instructions which, when executed by a processor, perform the external physical point navigation registration method as described above.
Drawings
Fig. 1 is a flow chart of the external physical point navigation registration method of the invention.
Fig. 2 is a schematic structural diagram of an external physical point navigation registration system of the present invention.
Fig. 3 is a schematic diagram of an external physical point registration device in the external physical point navigation registration system of the present invention.
In the drawings, the list of components represented by the respective reference numerals is as follows:
the system comprises a CT scanning module 1, a CT coordinate analysis module 2, an optical scanning module 3, a coordinate pairing analysis module 4, a first matrix conversion analysis module 5, a second matrix conversion analysis module 6, a third matrix conversion analysis module 7 and a registration module 8;
register 10, reference plate 20, bone screw 30, pocket 300.
Description of the embodiments
In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or component to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of the two components. When an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. It will be understood by those of ordinary skill in the art that the terms described above are in the specific sense of the present invention.
The oral cavity implantation robot is a mature work for implementing the dental implant operation, and after surgical tools such as an implantation mobile phone are fixedly arranged at the tail end of the robot, the dental implant operation can be implemented by means of a digital technology by collecting the real-time pose of a patient and the real-time pose of the implantation mobile phone and combining an implantation scheme designed in advance according to the oral condition of the patient.
Before the dental implant operation is performed by the oral implant robot, the tip of the end surgical tool needs to be registered so as to realize matrix conversion relation among any two of an optical positioning instrument coordinate system, a CT three-dimensional coordinate system, an oral cavity three-dimensional coordinate system and an implant mobile phone coordinate system, so that the real-time pose of a patient and the implant mobile phone are displayed in a CT image in real time, and the real-time navigation positioning is facilitated.
In the prior art, the registration devices such as the registration device, the reference plate and the like are fixed in the oral cavity of a patient through the dental jaw, the dental jaw is wrapped by a concave fixing component, and then the concave fixing component and the dental jaw are connected and fixed in a glue filling mode, so that the registration device is indirectly fixed on the dental jaw. When the toothless mouth is faced with the situation of full-mouth missing teeth, the registration device cannot be firmly installed on the teeth jaw, so that the preoperative registration is difficult to implement, and therefore, how to perform navigation registration on the toothless mouth is always a problem to be solved in the industry.
In this technical solution, in order to solve the problem of the aforementioned dental hard-to-register, the external physical point navigation registration method and system are based on an external physical point registration device, as shown in fig. 3, the external physical point registration device includes a register 10, a reference plate 20 and a plurality of bone nails 30, the bone nails pass through the register and fix the register on the alveolar bone of the patient, the reference plate is fixedly arranged on the register, and the bone nails form external physical points through pits 300 arranged at the end portions. Specifically, the bone nails are provided with 4 bone nails, and the bone nails are of stainless steel structures.
Prior to performing the registration procedure, an external physical point registration device is required to be fixed to the patient's alveolar bone: the method comprises the steps of selecting a region suitable for fixation on the gum of a patient, placing the integral structure of the register and the reference plate on the side face of the gum of the patient, and fixing the integral structure of the register and the reference plate on an alveolar bone after the bone nails penetrate through the register, so that the integral structure of the register and the reference plate is mutually fixed with a human body.
The bone nail passes through the registration device and then is fixedly connected with the alveolar bone in a threaded fit mode, so that the most basic connection and fixation functions are realized, meanwhile, a pit is formed at the end part of the bone nail, a stainless steel structure is further adopted as the bone nail, and on the premise that the mutual connection position relation of the bone nail and the registration device is known, when CBCT scanning is carried out, a physical reference point can be formed through the pit at the end part of the bone nail, and an oral cavity CT model is constructed.
As shown in fig. 1, an external physical point navigation registration method includes the following steps:
s1, CBCT data of each bone nail are obtained, and the center point of each bone nail and coordinate data of the axial direction in a CT three-dimensional coordinate system are identified. In step S1, pose data of each bone nail is obtained through CBCT scanning, and then according to the pose data of each bone nail, coordinate data of a center point and an axial direction of each bone nail in a CT three-dimensional coordinate system can be obtained by combining a model structure of the bone nail itself. The center point of the bone nail is a point where the bone nail is used as a regular structure and is positioned at the most central position of the structure; the axial direction of the bone nail is the real-time direction of the central axis of the axial bone nail.
S2, analyzing and obtaining coordinate data of pits of each bone nail in the CT three-dimensional coordinate system based on the coordinate data of the central point and the axial coordinate data of each bone nail in the CT three-dimensional coordinate system. In step S2, since the model structure of the bone screw is known, on the same bone screw, when the coordinate data of the center point and the axial direction thereof are known, the coordinate data of the pit on the bone screw in the CT three-dimensional coordinate system can be obtained by simple conversion based on the model structure thereof.
S3, acquiring optical positioning data of each bone nail, and identifying coordinate data of pits of each bone nail in an optical positioning instrument coordinate system. In step S3, the optical positioner emits infrared light to the reference plate through the calibrated reference plate and the optical positioner, and after the reference plate reflects the infrared light back to the optical positioner, the optical positioning can capture pose data of the reference plate in real time, so as to obtain coordinate data of pits of each bone nail in a coordinate system of the optical positioner based on calibration.
S4, analyzing and obtaining a matrix conversion relation between the CT three-dimensional coordinate system and the optical positioning instrument coordinate system based on the coordinate data of the pits of the bone nails in the CT three-dimensional coordinate system and the coordinate data of the pits of the bone nails in the optical positioning instrument coordinate system. In step S4, since the coordinate data of the pit of each bone nail in the CT three-dimensional coordinate system and the coordinate data of the pit of each bone nail in the optical positioner coordinate system are known, only the data sets need to be paired one by one, that is, the coordinate data of the same pit in the CT three-dimensional coordinate system and the coordinate data of the same pit in the optical positioner coordinate system are clear, and then the matrix conversion relationship between the CT three-dimensional coordinate system and the optical positioner coordinate system can be obtained through calculation.
S5, acquiring real-time coordinate data of the reference plate in the coordinate system of the optical positioning instrument, establishing a matrix conversion relation between the three-dimensional coordinate system of the reference plate and the coordinate system of the optical positioning instrument, and further analyzing the matrix conversion relation between the three-dimensional coordinate system of the CT and the three-dimensional coordinate system of the reference plate according to the matrix conversion relation between the three-dimensional coordinate system of the CT and the coordinate system of the optical positioning instrument. In step S5, based on the optical positioner emitting infrared light to the reference plate and receiving the infrared light returned by the reference plate, a matrix conversion relationship can be established between the three-dimensional coordinate system of the reference plate and the coordinate system of the optical positioner, and since the matrix conversion relationship between the three-dimensional coordinate system of the CT and the coordinate system of the optical positioner is known in step S4, the matrix conversion relationship between the three-dimensional coordinate system of the CT and the three-dimensional coordinate system of the reference plate can be further analyzed.
S6, analyzing and obtaining the matrix conversion relation between the oral cavity three-dimensional coordinate system and the CT three-dimensional coordinate system according to the matrix conversion relation between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system. In step S6, since the bone screw has fixed the register, the reference plate, etc. on the alveolar bone of the patient, the relative positions of the register, the reference plate, and the patient remain unchanged, so that the matrix conversion relationship between the CT three-dimensional coordinate system and the oral cavity three-dimensional coordinate system can be obtained, and the matrix conversion relationship between the oral cavity three-dimensional coordinate system and the CT three-dimensional coordinate system can be further analyzed.
S7, calibrating a positioning plate on the planting mobile phone, and establishing a matrix conversion relation between a coordinate system of the planting mobile phone and a coordinate system of the optical positioning instrument. The positioning plate is fixedly arranged on the planting mobile phone in the step S7 and used as a mobile phone reference plate, after calibration, the pose of the planting mobile phone can be determined based on the positioning plate, infrared light is emitted to the positioning plate through the optical positioning instrument, and the infrared light reflected by the mobile phone reference plate is received, so that a matrix conversion relation can be established between the coordinate system of the planting mobile phone and the coordinate system of the optical positioning instrument.
S8, analyzing to obtain a matrix conversion relation among any two of the optical positioning instrument coordinate system, the CT three-dimensional coordinate system, the oral cavity three-dimensional coordinate system and the planting mobile phone coordinate system, and completing navigation registration. Based on the steps S1 to S7, the matrix conversion relation between any two of the optical locator coordinate system, the CT three-dimensional coordinate system, the oral cavity three-dimensional coordinate system and the planting mobile phone coordinate system can be realized, at the moment, the real-time position relation of the planting mobile phone and the oral cavity of the patient can be displayed in the CT image, and the real-time navigation is carried out by the assistance of a preset planting scheme. So far, the navigation registration operation suitable for the toothless jaw is completed.
According to the technical scheme, the bone nails are used as external physical points, two functions of fixed connection and CT scanning reference are achieved at the same time, and subsequent CBCT data acquisition, optical positioning data acquisition, matrix conversion relation construction and the like can be performed based on the structure so as to perform navigation registration operation on the toothless jaw oral cavity.
The technical purpose of step S1 is to obtain coordinate data of the central point and the axial direction of the bone nail in the CT three-dimensional coordinate system, preferably, in step S1, identifying the central point and the coordinate data of the axial direction of each bone nail in the CT three-dimensional coordinate system specifically includes:
s101, acquiring point cloud data of the surface of the bone nail in a CT three-dimensional coordinate system through CBCT data of the bone nail. In step S101, CBCT data of the bone screw is obtained through CBCT scanning, and then, point cloud data of the bone screw surface is further obtained from the whole CBCT data.
S102, screening data of point cloud data on the surface of the bone screw, and selecting coordinate data of each point on the surface of the bone screw in a CT three-dimensional coordinate system. Because the CBCT scan can obtain the overall data of the bone screw, including both surface and internal, in step S102, the coordinate data of each point on the surface of the bone screw in the CT three-dimensional coordinate system can be obtained by screening the point cloud data.
S103, constructing a bone screw CT three-dimensional model according to coordinate data of each point on the surface of the bone screw in a CT three-dimensional coordinate system. In step S103, model construction is performed based on the coordinate data of each point on the surface of the bone screw in the CT three-dimensional coordinate system, which is known in step S102, to obtain a CT three-dimensional model of the bone screw.
S104, performing inclusion fitting on the bone screw CT three-dimensional model, and fitting on the bone screw CT three-dimensional model to obtain a cuboid-shaped inclusion. In step S104, a volume fitting is performed on the basis of the three-dimensional model of the bone screw CT, so as to obtain a cuboid wrapped outside the three-dimensional model of the bone screw CT.
S105, calculating to obtain coordinate data of the central point and the axial direction of the bone nail in a CT three-dimensional coordinate system according to the cuboid inclusion on the CT three-dimensional model of the bone nail. In step S105, due to the regular shape of the cuboid-shaped inclusions, coordinate data of the center point and the axial direction of the bone screw in the CT three-dimensional coordinate system may be calculated according to the cuboid-shaped inclusions.
Based on the technical scheme, after the bone screw surface point cloud data are obtained, a bone screw CT three-dimensional model is built, a cuboid-shaped inclusion is obtained outside the bone screw CT three-dimensional model in an inclusion fitting mode, and coordinate data of the central point and the axial direction of the bone screw in a CT three-dimensional coordinate system can be analyzed through simple and convenient operation by means of the characteristic of regular shape of the cuboid-shaped inclusion.
The technical purpose of step S3 is to obtain coordinate data of the pits of each bone nail in the coordinate system of the optical positioner, preferably, step S3 specifically includes:
s301, calibrating the probe, and establishing a matrix conversion relation between a three-dimensional coordinate system of the probe and a coordinate system of the optical positioning instrument. In step S301, before infrared light is emitted to the probe by the optical positioner to perform positioning, calibration operation is performed on the probe, and after calibration, a matrix conversion relationship can be established between the three-dimensional coordinate system of the probe and the coordinate system of the optical positioner. It should be noted that the calibration operation is the prior art in the navigation technical field.
S302, acquiring real-time pose data of a probe abutting on a pit of the bone screw under an optical positioning instrument coordinate system. In step S302, the optical positioner emits infrared light to the probe, the probe reflects infrared light to the optical positioner, and the optical positioner can analyze real-time pose data of the probe, which is abutted to the pit of the bone screw, under the coordinate system of the optical positioner according to the received infrared light.
S303, acquiring probe model data. In step S303, the probe is used as a general tool, the model data of which is known, and the probe model data can be directly obtained in this step.
S304, combining the probe model data and real-time pose data of the probe under the coordinate system of the optical positioner to obtain coordinate data of the pit of the bone screw in the coordinate system of the optical positioner. In step S304, on the basis of the real-time pose data of the probe under the coordinate system of the optical positioner, the real-time pose data of the probe tip under the coordinate system of the optical positioner can be obtained by combining the probe model data, and the real-time pose data of the probe tip under the coordinate system of the optical positioner is the coordinate data of the pit of the bone screw in the coordinate system of the optical positioner because the probe tip is abutted against the pit of the bone screw.
Based on the technical scheme, the coordinate data of the pit of the bone nail in the coordinate system of the optical positioning instrument can be simply, rapidly and accurately obtained by means of a mature tool in the prior art.
The technical purpose of step S4 is to obtain a matrix transformation relationship between the CT three-dimensional coordinate system and the coordinate system of the optical positioner, preferably, step S4 specifically includes:
s401, acquiring coordinate data [ Xa1, ya1, za1], [ Xa2, ya2, za2] and [ Xa3, ya3, za3] of pits of at least three bone nails in a CT three-dimensional coordinate system, and acquiring coordinate data [ Xb1, yb1, zb1], [ Xb2, yb2, zb2] and [ Xb3, yb3, zb3] of pits of at least three bone nails in an optical locator coordinate system. In step S401, based on steps S1 to S3, it is possible to obtain: the coordinate data of the pits of the three bone nails in the CT three-dimensional coordinate system are respectively [ Xa1, ya1, za1], [ Xa2, ya2, za2] and [ Xa3, ya3, za3], and the coordinate data of the pits of the three bone nails in the optical locator coordinate system are respectively [ Xb1, yb1, zb1], [ Xb2, yb2, zb2] and [ Xb3, yb3, zb3].
S402, matching coordinate data of pits of the bone nails in a CT three-dimensional coordinate system with coordinate data of pits of the bone nails in an optical positioning instrument coordinate system one by one, correspondingly forming paired groups of [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], correspondingly forming paired groups of [ Xa2, ya2, za2] and [ Xb2, yb2, zb2], and correspondingly forming paired groups of [ Xa3, ya3, za3] and [ Xb3, yb3, zb3], thereby obtaining multiple groups of coordinate conversion data. In step S402, the pairing means binding coordinate data of the same pit in the CT three-dimensional coordinate system with coordinate data in the coordinate system of the optical locator.
S403, performing conversion matrix calculation according to the coordinate conversion data obtained by pairing, and analyzing to obtain a matrix conversion relation between the CT three-dimensional coordinate system and the coordinate system of the optical positioning instrument. In step S403, based on the pairing data, a matrix transformation relationship between the CT three-dimensional coordinate system and the optical locator coordinate system can be directly calculated.
Specifically, step S403 specifically includes:
s4031. from the three paired sets of [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], [ Xa2, ya2, za2] and [ Xb2, yb2, zb2], [ Xa3, ya3, za3] and [ Xb3, yb3, zb3], the translation vectors [ t_x, t_y, t_z ] are analyzed, and a translation transformation matrix T is calculated, where t_x is the vector value in the X direction, t_y is the vector value in the Y direction, t_z is the vector value in the Z direction,
T = | 1 0 0 t_x |
| 0 1 0 t_y |
| 0 0 1 t_z |
| 0 0 0 1 |；
S4032 according to [ Xa1, ya1, za1]And [ Xb1, yb1, zb1]]、[Xa2,Ya2,Za2]And [ Xb2, yb2, zb2]]、[Xa3,Ya3,Za3]And [ Xb3, yb3, zb3]]Three pairing groups, analyzing a rotation matrix R, and calculating the corresponding pits in CT three-dimensionUnit vector u= (Xa, ya, za)/sqrt (xa≡2+ya≡2+za≡2) in the coordinate system, unit vector u' = (Xb, yb, zb)/sqrt (xb≡2+yb ζ 2+zb≡2) of the corresponding pit in the optical positioning instrument coordinate system is calculated, and the rotation matrix r=i+sin (θ) is analyzed according to the rodrich formula[v]+(1-cos(θ))[v]2, wherein I is an identity matrix, [ v ]]Is a diagonal symmetry matrix of v, [ v ]]2 is [ v ]]V=u×u ', i.e., θ=arccos (u·u');
s4033. calculating the euclidean distance d=sqrt (Xa 2+ya 2+za 2) of the corresponding pit in the CT three-dimensional coordinate system, calculating the euclidean distance d '=sqrt (Xb 2+yb2+zb 2) of the corresponding pit in the optical locator coordinate system, and analyzing to obtain the scaling factor s=d'/d, based on any one of the three paired groups [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], [ Xa2, za2] and [ Xb2, yb2, zb2], [ Xa3, ya3, za3] and [ Xb3, yb3, zb3 ];
s4034, acquiring a matrix conversion relation between a CT three-dimensional coordinate system and an optical positioning instrument coordinate system according to the translation transformation matrix T, the rotation matrix R and the scaling factor S;
wherein Xa includes Xa1, xa2 and Xa3, ya includes Ya1, ya2 and Ya3, za includes Za1, za2 and Za3, xb includes Xb1, xb2 and Xb3, yb includes Yb1, yb2 and Yb3, and Zb includes Zb1, zb2 and Zb3. When Xa is Xa1, ya is Ya1, za is Za1, xa, ya and Za are in one-to-one correspondence; similarly, xb, yb and Zb are in one-to-one correspondence.
The matrix conversion relation between the CT three-dimensional coordinate system and the optical positioner coordinate system can be further obtained based on the translation transformation matrix T, the rotation matrix R and the scaling factor S by calculating the translation transformation matrix T, the rotation matrix R and the scaling factor S through three pairing groups of [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], [ Xa2, ya2, za2] and [ Xb2, yb2, zb2], [ Xa3, ya3, za3] and [ Xb3, yb3, zb3 ].
As shown in fig. 2, an external physical point navigation registration system includes a CT scanning module 1, a CT coordinate analysis module 2, an optical scanning module 3, a coordinate pairing analysis module 4, a first matrix conversion analysis module 5, a second matrix conversion analysis module 6, a third matrix conversion analysis module 7, and a registration module 8. Specifically:
the CT scanning module is used for acquiring CBCT data of each bone nail and identifying the central point of each bone nail and coordinate data of the axial direction in a CT three-dimensional coordinate system;
the CT coordinate analysis module is used for analyzing and obtaining coordinate data of pits of each bone nail in the CT three-dimensional coordinate system based on the central point coordinate data and the axial coordinate data of each bone nail in the CT three-dimensional coordinate system;
the optical scanning module is used for acquiring optical positioning data of each bone nail and identifying coordinate data of pits of each bone nail in an optical positioning instrument coordinate system;
The coordinate pairing analysis module is used for analyzing and obtaining a matrix conversion relation between the CT three-dimensional coordinate system and the optical positioning instrument coordinate system based on the coordinate data of the pits of the bone nails in the CT three-dimensional coordinate system and the coordinate data of the pits of the bone nails in the optical positioning instrument coordinate system;
the first matrix conversion analysis module is used for acquiring real-time coordinate data of the reference plate in the coordinate system of the optical positioning instrument, establishing a matrix conversion relation between the three-dimensional coordinate system of the reference plate and the coordinate system of the optical positioning instrument, and further analyzing the matrix conversion relation between the three-dimensional coordinate system of the CT and the three-dimensional coordinate system of the reference plate according to the matrix conversion relation between the three-dimensional coordinate system of the CT and the coordinate system of the optical positioning instrument;
the second matrix conversion analysis module is used for analyzing and obtaining the matrix conversion relation between the oral cavity three-dimensional coordinate system and the CT three-dimensional coordinate system according to the matrix conversion relation between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system;
the third matrix conversion analysis module is used for establishing a matrix conversion relation between a coordinate system of the planting mobile phone and a coordinate system of the optical positioning instrument by calibrating the positioning plate on the planting mobile phone;
the registration module is used for analyzing and obtaining a matrix conversion relation among any two of the optical positioning instrument coordinate system, the CT three-dimensional coordinate system, the oral cavity three-dimensional coordinate system and the planting mobile phone coordinate system, and completing navigation registration.
Preferably, the CT scanning module specifically includes a point cloud data acquisition unit, a data screening unit, a model building unit, an inclusion fitting unit, and a CT coordinate analysis unit. Wherein:
the point cloud data acquisition unit is used for acquiring point cloud data of the bone nail surface in a CT three-dimensional coordinate system through CBCT data of the bone nail;
the data screening unit is used for carrying out data screening on the point cloud data on the surface of the bone nail, and selecting coordinate data of each point on the surface of the bone nail in a CT three-dimensional coordinate system;
the model construction unit is used for constructing a CT three-dimensional model of the bone nail according to the coordinate data of each point on the surface of the bone nail in the CT three-dimensional coordinate system;
the inclusion fitting unit is used for performing inclusion fitting on the bone screw CT three-dimensional model, and fitting on the bone screw CT three-dimensional model to obtain cuboid-shaped inclusion;
the CT coordinate analysis unit is used for calculating and obtaining coordinate data of the central point and the axial direction of the bone nail in a CT three-dimensional coordinate system according to the cuboid inclusion on the CT three-dimensional model of the bone nail.
Preferably, the optical scanning module specifically comprises a probe calibration unit, a coordinate acquisition unit, a model acquisition unit and an optical coordinate calculation unit. Specifically:
The probe calibration unit is used for calibrating the probe and establishing a matrix conversion relation between a three-dimensional coordinate system of the probe and a coordinate system of the optical positioning instrument;
the coordinate acquisition unit is used for acquiring real-time pose data of the probe abutting on the pit of the bone nail under the coordinate system of the optical positioning instrument;
the model acquisition unit is used for acquiring probe model data;
the optical coordinate calculation unit is used for combining the probe model data and the real-time pose data of the probe under the coordinate system of the optical positioner to obtain the coordinate data of the pit of the bone screw in the coordinate system of the optical positioner.
Preferably, the coordinate pairing analysis module specifically comprises a pit CT coordinate acquisition unit, a pit optical coordinate acquisition unit and a pit coordinate conversion analysis unit. Wherein:
the pit CT coordinate acquisition unit is used for acquiring coordinate data [ Xa1, ya1, za1], [ Xa2, ya2, za2] and [ Xa3, ya3, za3] of pits of at least three bone nails in a CT three-dimensional coordinate system, and acquiring coordinate data [ Xb1, yb1, zb1], [ Xb2, yb2, zb2] and [ Xb3, yb3, zb3] of pits of at least three bone nails in an optical locator coordinate system;
the pit optical coordinate acquisition unit is used for carrying out one-to-one pairing on coordinate data of pits of the bone nails in a CT three-dimensional coordinate system and coordinate data of pits of the bone nails in an optical positioning instrument coordinate system, correspondingly forming paired groups of [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], correspondingly forming paired groups of [ Xa2, ya2, za2] and [ Xb2, yb2, zb2], and correspondingly forming paired groups of [ Xa3, ya3, za3] and [ Xb3, yb3, zb3], so as to obtain multiple groups of coordinate conversion data;
The pit coordinate conversion analysis unit is used for carrying out conversion matrix calculation according to the coordinate conversion data obtained by pairing, and analyzing to obtain a matrix conversion relation between the CT three-dimensional coordinate system and the coordinate system of the optical positioning instrument.
Preferably, the pit coordinate transformation analysis unit specifically comprises a translation transformation matrix analysis component, a rotation matrix analysis component, a scaling factor analysis component and a pit coordinate transformation calculation component. Specifically:
the translation transformation matrix analysis component is used for analyzing translation vectors [ t_x, t_y, t_z ] according to three paired groups of [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], [ Xa2, ya2, za2] and [ Xb2, yb2, zb2], [ Xa3, ya3, za3] and [ Xb3, yb3, zb3] and calculating a translation transformation matrix T, wherein t_x is a vector value in the X direction, t_y is a vector value in the Y direction, t_z is a vector value in the Z direction,
T = | 1 0 0 t_x |
| 0 1 0 t_y |
| 0 0 1 t_z |
| 0 0 0 1 |；
the rotation matrix analysis component is used for analyzing the rotation matrix according to [ Xa1, ya1, za1]]And [ Xb1, yb1, zb1]]、[Xa2,Ya2,Za2]And [ Xb2, yb2, zb2]]、[Xa3,Ya3,Za3]And [ Xb3, yb3, zb3]]Three pairing groups, analyzing the rotation matrix R, calculating the unit vector u= (Xa, ya, za)/sqrt (Xa 2+Ya2+Za 2) of the corresponding pit in the CT three-dimensional coordinate system, and calculating the corresponding pitUnit vector u' = (Xb, yb, zb)/sqrt (Xb 2+yb2+zb 2), in the optical positioner coordinate system, the rotation matrix r=i+sin (θ) is analyzed according to the rodrich formula [v]+(1-cos(θ))[v]2, wherein I is an identity matrix, [ v ]]Is a diagonal symmetry matrix of v, [ v ]]2 is [ v ]]V=u×u ', i.e., θ=arccos (u·u');
the scaling factor analysis component is used for calculating the Euclidean distance d=sqrt (Xa 2+Ya2+Za 2) of the corresponding pit in the CT three-dimensional coordinate system according to any one of the three pairing groups of [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], [ Xa2, ya2, za2] and [ Xb2, yb2, zb2], [ Xa3, ya3, za3] and [ Xb3, yb3, zb3] and calculating the Euclidean distance d '=sqrt (Xb 2+Yb 2+Zb 2) of the corresponding pit in the optical positioner coordinate system to obtain the scaling factor S=d'/d;
the pit coordinate conversion calculation component is used for obtaining a matrix conversion relation between the CT three-dimensional coordinate system and the optical positioning instrument coordinate system according to the translation transformation matrix T, the rotation matrix R and the scaling factor S.
In the above scheme, xa includes Xa1, xa2 and Xa3, ya includes Ya1, ya2 and Ya3, za includes Za1, za2 and Za3, xb includes Xb1, xb2 and Xb3, yb includes Yb1, yb2 and Yb3, and Zb includes Zb1, zb2 and Zb3.
Correspondingly, a storage medium stores a computer program comprising program instructions which, when executed by a processor, perform the external physical point navigation registration method as described above.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.
Claims (10)
1. An external physical point navigation registration method, characterized in that the method is based on a registration device, a reference plate and a plurality of bone nails, wherein the bone nails pass through the registration device and then fix the registration device on alveolar bone of a patient, the reference plate is fixedly arranged on the registration device, and the bone nails form external physical points through pits arranged at the end parts, and the method comprises the following steps:
s1, acquiring CBCT data of each bone nail, and identifying the central point of each bone nail and coordinate data of the axial direction in a CT three-dimensional coordinate system;
s2, analyzing and obtaining coordinate data of pits of each bone nail in a CT three-dimensional coordinate system based on the coordinate data of a central point and the axial coordinate data of each bone nail in the CT three-dimensional coordinate system;
s3, acquiring optical positioning data of each bone nail, and identifying coordinate data of pits of each bone nail in an optical positioning instrument coordinate system;
s4, analyzing and obtaining a matrix conversion relation between the CT three-dimensional coordinate system and the optical positioning instrument coordinate system based on the coordinate data of the pits of the plurality of bone nails in the CT three-dimensional coordinate system and the coordinate data of the pits of the plurality of bone nails in the optical positioning instrument coordinate system;
S5, acquiring real-time coordinate data of the reference plate in the coordinate system of the optical positioning instrument, establishing a matrix conversion relation between the three-dimensional coordinate system of the reference plate and the coordinate system of the optical positioning instrument, and further analyzing the matrix conversion relation between the three-dimensional coordinate system of the CT and the three-dimensional coordinate system of the reference plate according to the matrix conversion relation between the three-dimensional coordinate system of the CT and the coordinate system of the optical positioning instrument;
s6, analyzing to obtain a matrix conversion relation between the three-dimensional coordinate system of the oral cavity and the three-dimensional coordinate system of the CT according to the matrix conversion relation between the three-dimensional coordinate system of the CT and the three-dimensional coordinate system of the reference plate;
s7, calibrating a positioning plate on the planting mobile phone, and establishing a matrix conversion relation between a coordinate system of the planting mobile phone and a coordinate system of the optical positioning instrument;
s8, analyzing to obtain a matrix conversion relation among any two of the optical positioning instrument coordinate system, the CT three-dimensional coordinate system, the oral cavity three-dimensional coordinate system and the planting mobile phone coordinate system, and completing navigation registration.
2. The method of claim 1, wherein in S1, identifying the center point of each bone pin and the coordinate data of the axial direction in the CT three-dimensional coordinate system specifically includes:
s101, acquiring point cloud data of the surface of a bone screw in a CT three-dimensional coordinate system through CBCT data of the bone screw;
S102, screening data of point cloud data on the surface of the bone screw, and selecting coordinate data of each point on the surface of the bone screw in a CT three-dimensional coordinate system;
s103, constructing a bone screw CT three-dimensional model according to coordinate data of each point on the surface of the bone screw in a CT three-dimensional coordinate system;
s104, performing inclusion fitting on the bone screw CT three-dimensional model, and fitting on the bone screw CT three-dimensional model to obtain a cuboid inclusion;
s105, calculating to obtain coordinate data of the central point and the axial direction of the bone nail in a CT three-dimensional coordinate system according to the cuboid inclusion on the CT three-dimensional model of the bone nail.
3. The method for external physical point navigation registration according to claim 1, wherein at S3 specifically comprises:
s301, calibrating the probe, and establishing a matrix conversion relation between a three-dimensional coordinate system of the probe and a coordinate system of an optical positioning instrument;
s302, acquiring real-time pose data of a probe abutting on a pit of a bone screw under an optical positioning instrument coordinate system;
s303, acquiring probe model data;
s304, combining the probe model data and real-time pose data of the probe under the coordinate system of the optical positioner to obtain coordinate data of the pit of the bone screw in the coordinate system of the optical positioner.
4. The method for external physical point navigation registration according to claim 1, wherein S4 specifically comprises:
S401, acquiring coordinate data [ Xa1, ya1, za1], [ Xa2, ya2, za2] and [ Xa3, ya3, za3] of pits of at least three bone nails in a CT three-dimensional coordinate system, and acquiring coordinate data [ Xb1, yb1, zb1], [ Xb2, yb2, zb2] and [ Xb3, yb3, zb3] of pits of at least three bone nails in an optical locator coordinate system;
s402, matching coordinate data of pits of the bone nails in a CT three-dimensional coordinate system with coordinate data of pits of the bone nails in an optical positioning instrument coordinate system one by one, correspondingly forming paired groups of [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], correspondingly forming paired groups of [ Xa2, ya2, za2] and [ Xb2, yb2, zb2], and correspondingly forming paired groups of [ Xa3, ya3, za3] and [ Xb3, yb3, zb3], so as to obtain multiple groups of coordinate conversion data;
s403, performing conversion matrix calculation according to the coordinate conversion data obtained by pairing, and analyzing to obtain a matrix conversion relation between the CT three-dimensional coordinate system and the coordinate system of the optical positioning instrument.
5. The method for external physical point navigation registration according to claim 4, wherein in S403, specifically comprising:
s4031. from the three paired sets of [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], [ Xa2, ya2, za2] and [ Xb2, yb2, zb2], [ Xa3, ya3, za3] and [ Xb3, yb3, zb3], the translation vectors [ t_x, t_y, t_z ] are analyzed, and a translation transformation matrix T is calculated, where t_x is the vector value in the X direction, t_y is the vector value in the Y direction, t_z is the vector value in the Z direction,
T = | 1 0 0 t_x |
| 0 1 0 t_y |
| 0 0 1 t_z |
| 0 0 0 1 |；
S4032 according to [ Xa1, ya1, za1]And [ Xb1, yb1, zb1]]、[Xa2,Ya2,Za2]And [ Xb2, yb2, zb2]]、[Xa3,Ya3,Za3]And [ Xb3, yb3, zb3]]Three paired groups, analyzing the rotation matrix R, calculating the unit vector u= (Xa, ya, za)/sqrt (Xa ζ2+Yaζ2+Za2) of the corresponding pit in the CT three-dimensional coordinate system, calculating the unit vector u' = (Xb, yb, zb)/sqrt (Xb ζ2+Yb2+Zb2) of the corresponding pit in the optical positioner coordinate system, and analyzing the rotation matrix R=I+sin (θ) according to the Rodrigues formula[v]+(1-cos(θ))[v]2, wherein I is an identity matrix, [ v ]]Is a diagonal symmetry matrix of v, [ v ]]2 is [ v ]]V=u×u ', i.e., θ=arccos (u·u');
s4033. calculating the euclidean distance d=sqrt (Xa 2+ya 2+za 2) of the corresponding pit in the CT three-dimensional coordinate system, calculating the euclidean distance d '=sqrt (Xb 2+yb2+zb 2) of the corresponding pit in the optical locator coordinate system, and analyzing to obtain the scaling factor s=d'/d, based on any one of the three paired groups [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], [ Xa2, za2] and [ Xb2, yb2, zb2], [ Xa3, ya3, za3] and [ Xb3, yb3, zb3 ];
s4034, acquiring a matrix conversion relation between a CT three-dimensional coordinate system and an optical positioning instrument coordinate system according to the translation transformation matrix T, the rotation matrix R and the scaling factor S;
wherein Xa includes Xa1, xa2 and Xa3, ya includes Ya1, ya2 and Ya3, za includes Za1, za2 and Za3, xb includes Xb1, xb2 and Xb3, yb includes Yb1, yb2 and Yb3, and Zb includes Zb1, zb2 and Zb3.
6. An external physical point navigation registration system, the system being based on a register, a reference plate and a plurality of bone nails, the bone nails passing through the register to fix the register to an alveolar bone of a patient, the reference plate being fixedly disposed on the register, the bone nails forming external physical points through pits disposed at ends, the system comprising:
the CT scanning module is used for acquiring CBCT data of each bone nail and identifying the central point of each bone nail and coordinate data of the axial direction in a CT three-dimensional coordinate system;
the CT coordinate analysis module is used for analyzing and obtaining coordinate data of pits of each bone nail in the CT three-dimensional coordinate system based on the central point coordinate data and the axial coordinate data of each bone nail in the CT three-dimensional coordinate system;
the optical scanning module is used for acquiring optical positioning data of each bone nail and identifying coordinate data of pits of each bone nail in an optical positioning instrument coordinate system;
the coordinate pairing analysis module is used for analyzing and obtaining a matrix conversion relation between the CT three-dimensional coordinate system and the optical positioning instrument coordinate system based on the coordinate data of the pits of the bone nails in the CT three-dimensional coordinate system and the coordinate data of the pits of the bone nails in the optical positioning instrument coordinate system;
The first matrix conversion analysis module is used for acquiring real-time coordinate data of the reference plate in the coordinate system of the optical positioning instrument, establishing a matrix conversion relation between the three-dimensional coordinate system of the reference plate and the coordinate system of the optical positioning instrument, and further analyzing the matrix conversion relation between the three-dimensional coordinate system of the CT and the three-dimensional coordinate system of the reference plate according to the matrix conversion relation between the three-dimensional coordinate system of the CT and the coordinate system of the optical positioning instrument;
the second matrix conversion analysis module is used for analyzing and obtaining the matrix conversion relation between the oral cavity three-dimensional coordinate system and the CT three-dimensional coordinate system according to the matrix conversion relation between the CT three-dimensional coordinate system and the reference plate three-dimensional coordinate system;
the third matrix conversion analysis module is used for establishing a matrix conversion relation between a coordinate system of the planting mobile phone and a coordinate system of the optical positioning instrument by calibrating the positioning plate on the planting mobile phone;
and the registration module is used for analyzing and obtaining a matrix conversion relation among any two of the optical positioning instrument coordinate system, the CT three-dimensional coordinate system, the oral cavity three-dimensional coordinate system and the planting mobile phone coordinate system, so as to finish navigation registration.
7. The system of claim 6, wherein the CT scan module comprises:
The point cloud data acquisition unit is used for acquiring point cloud data of the bone nail surface in a CT three-dimensional coordinate system through CBCT data of the bone nail;
the data screening unit is used for carrying out data screening on the point cloud data on the surface of the bone screw, and selecting coordinate data of each point on the surface of the bone screw in a CT three-dimensional coordinate system;
the model construction unit is used for constructing a CT three-dimensional model of the bone nail according to the coordinate data of each point on the surface of the bone nail in the CT three-dimensional coordinate system;
the inclusion fitting unit is used for performing inclusion fitting on the bone screw CT three-dimensional model, and fitting on the bone screw CT three-dimensional model to obtain cuboid-shaped inclusion;
the CT coordinate analysis unit is used for calculating and obtaining coordinate data of the central point and the axial direction of the bone nail in the CT three-dimensional coordinate system according to the cuboid inclusion on the CT three-dimensional model of the bone nail.
8. The system of claim 6, wherein the optical scanning module comprises:
the probe calibration unit is used for calibrating the probe and establishing a matrix conversion relation between a three-dimensional coordinate system of the probe and a coordinate system of the optical positioning instrument;
the coordinate acquisition unit is used for acquiring real-time pose data of the probe abutting on the pit of the bone nail under the coordinate system of the optical positioning instrument;
The model acquisition unit is used for acquiring probe model data;
and the optical coordinate calculation unit is used for combining the probe model data and the real-time pose data of the probe under the coordinate system of the optical positioner to obtain the coordinate data of the pit of the bone screw in the coordinate system of the optical positioner.
9. The system of claim 6, wherein the coordinate pairing analysis module specifically comprises:
a pit CT coordinate acquisition unit for acquiring coordinate data [ Xa1, ya1, za1], [ Xa2, ya2, za2] and [ Xa3, ya3, za3] of pits of at least three bone nails in a CT three-dimensional coordinate system, and acquiring coordinate data [ Xb1, yb1, zb1], [ Xb2, yb2, zb2] and [ Xb3, yb3, zb3] of pits of at least three bone nails in an optical locator coordinate system;
the device comprises a pit optical coordinate acquisition unit, a coordinate conversion unit and a coordinate conversion unit, wherein the pit optical coordinate acquisition unit is used for carrying out one-to-one pairing on coordinate data of pits of bone nails in a CT three-dimensional coordinate system and coordinate data of pits of bone nails in an optical positioning instrument coordinate system, correspondingly forming paired groups of [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], correspondingly forming paired groups of [ Xa2, ya2, za2] and [ Xb2, yb2, zb2], and correspondingly forming paired groups of [ Xa3, ya3, za3] and [ Xb3, yb3, zb3] to obtain multiple groups of coordinate conversion data;
The pit coordinate conversion analysis unit is used for carrying out conversion matrix calculation according to the coordinate conversion data obtained by pairing, and analyzing to obtain a matrix conversion relation between the CT three-dimensional coordinate system and the coordinate system of the optical positioning instrument;
the pit coordinate conversion analysis unit specifically comprises:
a translation transformation matrix analysis component for analyzing translation vectors [ t_x, t_y, t_z ], and calculating a translation transformation matrix T, wherein t_x is a vector value in an X direction, t_y is a vector value in a Y direction, t_z is a vector value in a Z direction, based on three paired groups of [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], [ Xa2, ya2, za2] and [ Xb2, zb2], [ Xa3, ya3, za3] and [ Xb3, yb3, zb3],
T = | 1 0 0 t_x |
| 0 1 0 t_y |
| 0 0 1 t_z |
| 0 0 0 1 |；
a rotation matrix analysis component for analyzing the rotation matrix according to [ Xa1, ya1, za1]]And [ Xb1, yb1, zb1]]、[Xa2,Ya2,Za2]And [ Xb2, yb2, zb2]]、[Xa3,Ya3,Za3]And [ Xb3, yb3, zb3]]Three paired groups, analyzing the rotation matrix R, calculating the unit vector u= (Xa, ya, za)/sqrt (Xa ζ2+Yaζ2+Za2) of the corresponding pit in the CT three-dimensional coordinate system, calculating the unit vector u' = (Xb, yb, zb)/sqrt (Xb ζ2+Yb2+Zb2) of the corresponding pit in the optical positioner coordinate system, and analyzing the rotation matrix R=I+sin (θ) according to the Rodrigues formula[v]+(1-cos(θ))[v]2, wherein I is an identity matrix, [ v ]]Is a diagonal symmetry matrix of v, [ v ]]2 is [ v ]]V=u×u ', i.e., θ=arccos (u·u');
A scaling factor analysis component for calculating the Euclidean distance d=sqrt (Xa≡2+Ya≡2) of the corresponding pit in the CT three-dimensional coordinate system and calculating the Euclidean distance d' =sqrt (Xb≡2+Yb≡2) of the corresponding pit in the optical positioner coordinate system according to any one of the three paired groups [ Xa1, ya1, za1] and [ Xb1, yb1, zb1], [ Xa2, ya 2] and [ Xb2, yb2, zb2], [ Xa3, ya3, za3] and [ Xb3, yb3, zb3 ];
the pit coordinate conversion calculation component is used for acquiring a matrix conversion relation between the CT three-dimensional coordinate system and the coordinate system of the optical positioning instrument according to the translation transformation matrix T, the rotation matrix R and the scaling factor S;
wherein Xa includes Xa1, xa2 and Xa3, ya includes Ya1, ya2 and Ya3, za includes Za1, za2 and Za3, xb includes Xb1, xb2 and Xb3, yb includes Yb1, yb2 and Yb3, and Zb includes Zb1, zb2 and Zb3.
10. A storage medium storing a computer program comprising program instructions which, when executed by a processor, perform the method of external physical point navigation registration of any one of claims 1-5.
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| CN111407443A (en) * | 2020-02-25 | 2020-07-14 | 浙江工业大学 | Accurate positioning and intelligent navigation method for oral implantation robot |
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