CN216021362U - Two-dimensional image registration device and system - Google Patents
Two-dimensional image registration device and system Download PDFInfo
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- CN216021362U CN216021362U CN202122240502.XU CN202122240502U CN216021362U CN 216021362 U CN216021362 U CN 216021362U CN 202122240502 U CN202122240502 U CN 202122240502U CN 216021362 U CN216021362 U CN 216021362U
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Abstract
The present disclosure relates to a two-dimensional image registration apparatus and system, the two-dimensional image registration apparatus includes: a first tracker; the first tracker is positioned on one side of the registration phantom; a second tracker coupled to the registration phantom. The two-dimensional image registration device can be used for registering two-dimensional images before an operation, so that a scale plate is prevented from being operated in the operation, the imaging effect is prevented from being influenced by the scale plate, and the usability of two-dimensional image registration is improved.
Description
Technical Field
The present disclosure relates to the field of medical equipment technologies, and in particular, to a two-dimensional image registration apparatus and system.
Background
In the orthopedic navigation surgery, two-dimensional images are often used for positioning the surgical area and planning the surgical area in the surgery.
At present, the registration of two-dimensional images is mainly realized in a mode of adopting a multi-layer scale plate in the operation. However, this method is often inconvenient to operate, and the scale plate can form images in two-dimensional images, thereby affecting the imaging effect of the operation area.
SUMMERY OF THE UTILITY MODEL
The purpose of the present disclosure is to provide a two-dimensional image registration device and system, which can perform registration of two-dimensional images before an operation, avoid operating a scale plate in the operation, avoid the scale plate from affecting an imaging effect, and improve usability of two-dimensional image registration.
In order to achieve the above object, an aspect of the present disclosure provides a two-dimensional image registration apparatus, including:
a first tracker;
the first tracker is positioned on one side of the registration phantom;
a second tracker coupled to the registration phantom.
Optionally, the number of the metal beads is at least 8, and a plurality of the metal beads are distributed annularly around the axis of the registration phantom.
Optionally, the distance between two adjacent metal beads is greater than 80 mm.
Optionally, each of the metal beads has a diameter of 2mm to 5 mm.
Optionally, a plurality of fixing holes for mounting the metal beads are formed in the registration phantom, the plurality of fixing holes correspond to the plurality of metal beads one to one, and each metal bead is mounted in the corresponding fixing hole.
Optionally, the registration phantom is cylindrical or rectangular, and the second tracker is located on an end face of one end of the registration phantom and connected to an axis of the registration phantom.
Optionally, the two-dimensional image registration device further includes a fixing seat, the registration phantom is located on one side of the fixing seat, and the registration phantom is detachably connected to the fixing seat.
Optionally, a connector is formed at one end of the registration die body close to the fixing seat, a connecting rod is formed on one side wall of the fixing seat, and the connector is connected with the connecting rod through a screw.
Optionally, the two-dimensional image registration apparatus further includes a C-shaped arm and a base, the C-shaped arm is connected to the base, the registration phantom is located in a middle portion between two ends of the C-shaped arm, the C-shaped arm has a receiving end, and the first tracker is detachably connected to the receiving end.
Another aspect of the present disclosure provides a two-dimensional image registration system including a navigation system for identifying the first tracker and the second tracker, and a two-dimensional image registration device.
Through the technical scheme, the registration die body is provided with the plurality of metal beads, the plurality of metal beads are distributed at intervals, the plurality of point coordinates can be obtained, pre-positioning before an operation can be realized through the plurality of point coordinates, and the registration of the two-dimensional image is realized. The positions of the metal beads can be converted through the distance between the first tracker and the second tracker, and after the positions of bones are shot in an operation, data conversion can be directly carried out to realize registration. The mode of prepositioning before adopting that this two-dimensional image registration device overturns need not adopt the scale board to measure again in the art, only needs direct data conversion can register, and is very convenient, avoids appearing the problem that the scale board influences two-dimensional image formation of image.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a perspective view of a two-dimensional image registration apparatus according to an embodiment of the present disclosure;
fig. 2 is a perspective view of a connection relationship between a registration phantom and a fixing base according to an embodiment of the disclosure;
fig. 3 is a perspective view of a registration phantom according to an embodiment of the present disclosure.
Description of the reference numerals
1. Registering a die body; 2. a fixed seat; 3. a C-shaped arm; 4. a first tracker; 5. a connector; 6. a connecting rod; 8. a fixing hole; 9. a metal bead; 10. a second tracker; 11. a base.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, unless otherwise specified, the use of directional terms such as "upper, lower, left, and right" are generally defined in the direction of the drawing plane of the drawings, and "inner and outer" refer to the inner and outer of the relevant component parts. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present disclosure, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.
As shown in fig. 1-3, one aspect of the present disclosure provides a two-dimensional image registration apparatus including a first tracker 4, a registration phantom 1, and a second tracker 10.
The registration phantom 1 is connected with a plurality of metal beads 9 for positioning, the plurality of metal beads 9 are distributed on the outer surface of the registration phantom 1 at intervals, and the first tracker 4 is positioned on one side of the registration phantom 1. A second tracker 10 is attached to the registration phantom 1.
In the present embodiment, the first tracker 4 and the second tracker 10 are used for being tracked and positioned, and the position relationship between the first tracker 4 and the second tracker 10 is used for converting the coordinates of the plurality of metal beads 9, so as to realize the registration. It should be noted that the first tracker 4 and the second tracker 10 are prior art and known to those skilled in the art, and the structure and principle thereof will not be described in detail herein.
In the technical scheme, the registration phantom 1 is provided with the plurality of metal beads 9, and the plurality of metal beads 9 are distributed at intervals, so that a plurality of point coordinates can be obtained, preoperative pre-positioning can be realized through the plurality of point coordinates, and registration of a two-dimensional image is realized. The position of the metal bead 9 can be converted through the distance between the first tracker 4 and the second tracker 10, and after the position of the bone is shot in the operation, the data conversion can be directly carried out to realize the registration. The mode of prepositioning before adopting that this two-dimensional image registration device overturns need not adopt the scale board to measure again in the art, only needs direct data conversion can register, and is very convenient, avoids appearing the problem that the scale board influences two-dimensional image formation of image.
Optionally, in an embodiment of the present disclosure, the number of the metal beads 9 is at least 8, and the plurality of metal beads 9 are distributed annularly around the axis of the registration phantom 1.
In the present embodiment, the metal beads 9 are distributed around the axis of the registration phantom 1, and the metal beads 9 are uniformly spaced. It should be noted that, when a two-dimensional image is shot, the registration phantom 1 is shot from different angles around the axis of the registration phantom 1, so that the positions of the plurality of metal beads 9 on the shot two-dimensional image are not overlapped, pre-positioning can be realized from a plurality of points, the pre-positioning can correspond to each position of the shot bone, and the accuracy of registration can be improved. Specifically, in the present embodiment, the number of the metal beads 9 is 8, and certainly, for a position where the bone shape is complicated, more metal beads 9 may be provided to perform pre-positioning, so as to improve the accuracy of the registration.
Specifically, in the present embodiment, 8 metal beads 9 are wound around the registration module in two turns, and 4 metal beads 9 are wound around one turn.
Optionally, in other embodiments of the present disclosure, the number of the metal beads 9 is 12, and the 12 metal beads 9 may also be directly and uniformly distributed on the outer sidewall of the registration phantom 1 at intervals, and only need not to overlap when a two-dimensional image is captured, and multi-point pre-positioning may be implemented.
Optionally, in an embodiment of the present disclosure, the distance between two adjacent metal beads 9 is greater than 80 mm. The metal beads 9 can be better distributed on the side wall of the registration phantom 1. Specifically, in the present embodiment, the pitch between two adjacent metal beads 9 is 100 mm.
Optionally, in one embodiment of the present disclosure, each metal bead 9 has a diameter of 2mm to 5 mm. Thereby do benefit to the distribution of metallic bead 9, can accurate to the point simultaneously, can reduce prepositioning error. Specifically, in the present embodiment, each of the metal beads 9 has a diameter of 2 mm. Preferably, in the present embodiment, the metal beads 9 are steel beads. Of course, in other embodiments, the metal beads 9 may also be iron beads.
Optionally, in an embodiment of the present disclosure, the registration phantom 1 is provided with a plurality of fixing holes 8 for mounting the metal beads 9, the plurality of fixing holes 8 correspond to the plurality of metal beads 9 one to one, and each metal bead 9 is mounted in the corresponding fixing hole 8.
In the present embodiment, the fixing holes 8 are distributed around the axis of the registration phantom 1, and one metal bead 9 is placed in one fixing hole 8. Specifically, a metal bead 9 is bonded in one of the fixing holes 8. The metal beads 9 are conveniently connected to the registration phantom 1 through the fixing holes 8.
Of course, in other embodiments, the opening of the fixing hole 8 is installed with a fixing cap, and when the metal beads 9 are put into the corresponding fixing hole 8, the fixing cap is put over the metal beads 9, and the fixing cap is connected with the opening of the fixing hole 8, thereby fixing the metal beads 9 by the fixing cap.
Optionally, in an embodiment of the present disclosure, the registration phantom 1 is cylindrical or rectangular, and the second tracker 10 is located at an end surface of one end of the registration phantom 1 and is connected to the axis of the registration phantom 1.
In this embodiment, the second tracker 10 is located at the axis of the registration phantom 1, so that the center position of the registration phantom 1 can be well tracked, and the accuracy is improved. Specifically, in the present embodiment, the registration phantom 1 is cylindrical, and the plurality of metal beads 9 are located on the outer cylindrical wall, so that the metal beads 9 can be conveniently photographed around the axis of the registration phantom 1. Preferably, the first trackers 4 are also distributed annularly about the axis of the registration phantom 1, thereby facilitating determination of the positional relationship of the first and second trackers 4, 10, and facilitating the positional relationship of the transfer beads 9.
Optionally, in an embodiment of the present disclosure, the registration phantom 1 is hollow, which can reduce the manufacturing cost of the registration phantom 1.
Optionally, in other embodiments of the present disclosure, the shape of the registration phantom 1 may also be other irregular shapes, a two-dimensional image may also be captured to determine the pre-positioning of the plurality of metal beads 9, and the registration may also be achieved by directly performing data conversion after capturing the position of the bone in the operation according to the position relationship between the first tracker 4 and the second tracker 10.
Optionally, in an embodiment of the present disclosure, the two-dimensional image registration apparatus further includes a fixing base 2, the registration phantom 1 is located on one side of the fixing base 2, and the registration phantom 1 is detachably connected to the fixing base 2.
In the embodiment, the fixing base 2 can fix the registration phantom 1, which is beneficial to stabilizing the position of the registration phantom 1, so that the registration phantom 1 is kept still when the registration phantom 1 is shot and tracked, and the accuracy is improved. The fixing seat 2 is used for being placed on the ground or an operating table and can support and fix the registration phantom 1.
Optionally, in an embodiment of the present disclosure, a connector 5 is formed at one end of the registration die body 1 close to the fixing base 2, a connecting rod 6 is formed on one side wall of the fixing base 2, and the connector 5 is connected to the connecting rod 6 through a screw.
In this embodiment, the registration phantom 1 is horizontally disposed, and the second tracker 10 is located at an end of the registration phantom 1 away from the fixing base 2, so as to facilitate the tracking of the second tracker 10 and facilitate the connection between the registration phantom 1 and the fixing base 2. Specifically, in this embodiment, connector 5 is equipped with the draw-in groove towards the one end of fixing base 2, and the one end that registration die body 1 was kept away from to connecting rod 6 is arranged in the draw-in groove, is equipped with the unthreaded hole with the draw-in groove intercommunication on the connector 5, and the one end of connecting rod 6 card people draw-in groove is equipped with the screw hole, passes the unthreaded hole through the screw and is connected with the screw hole for connecting rod 6 is connected with connector 5, and it is very convenient to operate.
Optionally, in other embodiments of the present disclosure, the registration phantom 1 and the fixing base 2 are connected by a cam handle, so that a rapid installation can be achieved. The cam handle is positioned between the registration die body 1 and the fixed seat 2.
Optionally, in an embodiment of the present disclosure, the two-dimensional image registration apparatus further includes a C-arm 3 and a base 11, the C-arm 3 is connected to the base 11, the registration phantom 1 is located in a middle portion between two ends of the C-arm 3, the C-arm 3 has a receiving end, and the first tracker 4 is detachably connected to the receiving end.
Wherein, in this embodiment, C type arm 3 sets up vertically, and the middle part of C type arm 3 is connected with the top of base 11, and the bottom of base 11 is used for installing subaerial. The registration phantom 1 is positioned within the C-arm 3 and is horizontally disposed. The connection of the first tracker 4 to the receiving end of the C-arm 3 enables the position of the first tracker 4 to be fixed, and then facilitates the determination of the positions of the first tracker 4 and the second tracker 10, thereby facilitating the position change and achieving the intraoperative registration.
Specifically, in the present embodiment, the first tracker 4 is located above the registration phantom 1, and the first tracker 4 is detachably connected to the receiving end through a latch, so that the first tracker 4 can be removed when the use is stopped. Wherein, C type arm 3 is prior art, and is known to the field, and C type arm 3 can also rotate in addition, can adjust the turned angle of C type arm 3, does not describe its structure again here too much.
In another aspect, the present disclosure further provides a two-dimensional image registration system, which includes a navigation system and the two-dimensional image registration apparatus as described above, wherein the navigation system is used for identifying the first tracker 4 and the second tracker 10. The first tracker 4 and the second tracker 10 can be identified by the navigation system, so that the positions of the first tracker 4 and the second tracker 10 can be determined.
In the embodiment, the registration phantom 1 is placed in the C-shaped arm 3 before operation, and a two-dimensional image is taken around the registration phantom 1 to obtain position coordinate points of a plurality of metal beads 9. Then, the position relation between the first tracker 4 and the second tracker 10 is determined through a navigation system, the position coordinate points of the plurality of metal beads 9 can be converted into coordinate points taking the C-shaped arm 3 as a reference through the first tracker 4 and the second tracker 10, the conversion relation is determined, then, the bone of the patient is shot and tracked in the operation, and then, according to the obtained conversion relation, the registration of the shot two-dimensional image of the bone in the operation can be realized, and the operation can be carried out.
Specifically, the method of determining the conversion relation includes the following steps.
And acquiring first space position coordinates of a plurality of metal beads 9 on the registration phantom, and acquiring a two-dimensional image of the registration phantom through a C-shaped arm.
Specifically, since the plurality of metal beads 9 are already fixedly connected to the second tracker 10 and the registration phantom, a first spatial position coordinate of the metal bead 9 in the coordinate system of the second tracker 10 can be obtained by measuring with a three-coordinate measuring machine, and each metal bead 9 is denoted as M, so that a coordinate of M in the coordinate system of the second tracker 10 is (X, Y, Z, 1).
The positions of the second tracker 10 and the first tracker 4 are acquired by the navigation system and a third transformation relation between the coordinate system of the second tracker 10 and the coordinate system of the first tracker 4 is determined.
Specifically, the navigation system can track the positions of the second tracker 10 and the first tracker 4, and determine a third transformation relationship between the coordinate system of the second tracker 10 and the coordinate system of the first tracker 4 according to the positions of the second tracker 10 and the first tracker 4 tracked by the navigation system, for example, denoted as HmM。
And obtaining a first conversion relation according to the image coordinate of each metal bead 9 on the two-dimensional image, the third conversion relation and the first spatial position coordinate of each metal bead 9.
Specifically, the first conversion relationship may be determined by:
obtaining a transformation matrix H between the second tracker 10 coordinate system and the first tracker 4 coordinate systemmMThen, the position of each metal bead M can be determined according to the coordinates (X, Y, Z, 1) of each metal bead M in the coordinate system of the second tracker 10,determining to obtain the position of each metal bead M converted to the coordinate system of the first tracker 4, for example, marking the position of the metal bead M converted to the coordinate system of the first tracker 4 as M, and marking the second spatial position coordinate of M as (x, y, z, 1).
For each metal bead M, according to the position w of the metal bead M on the two-dimensional image, for example, the coordinate of w is (u, v, 1), and the position M of the metal bead M in the coordinate system of the first tracker 4 is (x, y, z, 1), according to the C-arm imaging principle, a first conversion relation for converting the coordinate system of the first tracker 4 into the coordinate system of the two-dimensional image can be calculated.
The position m of the metal bead under the coordinate system of the first tracker 4 is converted into the two-dimensional image coordinate system through a first conversion relation (including an external reference matrix and an internal reference function), and the position (u, v, 1) of w is obtained. Can be expressed as:
w＝f(Hpm) wherein HpIs an external reference matrix and f is an internal reference function.
The registration method of the two-dimensional image map comprises the following steps.
And acquiring a focus area of the patient through the C-shaped arm to obtain a two-dimensional image of the focus area including a focus positioning point.
And obtaining the position of the first focus locating point of the focus locating point under the coordinate system of the first tracker 4 according to the image position of the focus locating point in the two-dimensional image and a predetermined first conversion relation between the coordinate system of the first tracker 4 and the coordinate system of the two-dimensional image.
The positions of the patient tracker and the first tracker 4 are acquired by the navigation system and a second transformational relationship between the patient tracker coordinate system and the first tracker 4 coordinate system is determined.
Specifically, the navigation system is capable of tracking the positions of the patient tracker and the first tracker 4, and calculating a second conversion relationship, e.g., denoted as H ', between the patient tracker coordinate system and the first tracker 4 coordinate system according to the positions of the patient tracker and the first tracker 4 tracked by the navigation system'mM。
And obtaining a second focus locating point position of the focus locating point under the coordinate system of the patient tracker according to the first focus locating point position and the second conversion relation.
Since the first conversion relation, namely the external parameter matrix H, is determinedpAnd an internal reference function f, therefore, in the present disclosure, the position M of the focus point of the patient under the coordinate system of the patient tracker can be calculated and obtained only according to the predetermined first conversion relation1(second lesion localization site location).
I.e. according to the existence of the following translation relations:
w1＝f(Hpm1)，m1＝H’mM M1therefore, according to the image position w of the focus positioning point in the two-dimensional image1And a predetermined first conversion relation, a first lesion locating point position (position of the lesion locating point in the coordinate system of the first tracker 4) m can be obtained1According to the position m of the first focus locating point1(location of lesion localization point under first tracker 4 coordinate system), and a second conversion relationship H'mMObtaining the position M of the second focus positioning point of the focus positioning point under the coordinate system of the patient tracker1。
Wherein m is1Is the position of the focal point in the coordinate system of the first tracker 4, w1And converting the focus point to a corresponding position on the two-dimensional image.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A two-dimensional image registration apparatus, comprising:
a first tracker (4);
the device comprises a registration phantom (1), wherein a plurality of metal beads (9) for positioning are connected to the registration phantom (1), the plurality of metal beads (9) are distributed on the outer surface of the registration phantom (1) at intervals, and the first tracker (4) is positioned on one side of the registration phantom (1);
a second tracker (10), the second tracker (10) being connected to the registration phantom (1).
2. The two-dimensional image registration apparatus according to claim 1, wherein the number of the metallic beads (9) is at least 8, and a plurality of the metallic beads (9) are distributed in a ring shape around the axis of the registration phantom (1).
3. The two-dimensional image registration apparatus according to claim 1, wherein the spacing between two adjacent metal beads (9) is greater than 80 mm.
4. The two-dimensional image registration device according to claim 1, wherein each of the metal beads (9) has a diameter of 2mm to 5 mm.
5. The two-dimensional image map registration apparatus according to claim 1, wherein the registration phantom (1) is provided with a plurality of fixing holes (8) for mounting the metal beads (9), the plurality of fixing holes (8) correspond to the plurality of metal beads (9) one by one, and each metal bead (9) is mounted in the corresponding fixing hole (8).
6. The two-dimensional image registration apparatus according to claim 1, wherein the registration phantom (1) is cylindrical or rectangular, and the second tracker (10) is located at an end face of one end of the registration phantom (1) and connected to an axial center of the registration phantom (1).
7. The two-dimensional image registration device according to claim 1, further comprising a fixing base (2), wherein the registration phantom (1) is located on one side of the fixing base (2), and the registration phantom (1) is detachably connected to the fixing base (2).
8. The two-dimensional image registration device according to claim 7, wherein a connector (5) is formed at one end of the registration phantom (1) close to the fixing base (2), a connecting rod (6) is formed at one side wall of the fixing base (2), and the connector (5) is connected with the connecting rod (6) through a screw.
9. The two-dimensional image registration device according to any of claims 1-8, further comprising a C-arm (3) and a base (11), wherein the C-arm (3) is attached to the base (11), wherein the registration phantom (1) is located in the middle between the two ends of the C-arm (3), wherein the C-arm (3) has a receiving end, and wherein the first tracker (4) is detachably attached to the receiving end.
10. A two-dimensional image registration system, characterized by comprising a navigation system for identifying the first tracker (4) and the second tracker (10) and a two-dimensional image registration apparatus according to any one of claims 1 to 9.
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