CN220290239U - Image registration calibration device and navigation system - Google Patents

Abstract

The utility model discloses an image registration calibration device and a navigation system, wherein the calibration device comprises: a mounting table; the first calibrator is arranged on the mounting table and is provided with at least one first calibration surface for registering the volume images; the second calibration device is arranged on the mounting table and is provided with at least two second calibration surfaces for registering perspective images. According to the method, the first calibrator and the second calibrator are respectively arranged on the mounting table, under the condition that the volume image and the perspective image are required to be registered, the registration of the volume image can be realized through the first calibrator, and the registration of the perspective image is realized through the second calibrator, so that the volume image and the perspective image are registered at one time, the interference of multiple registration on the registration precision is reduced, and the image registration precision is improved.

Description

Image registration calibration device and navigation system

Technical Field

The utility model relates to the related field of surgical robots, in particular to an image registration calibration device and a navigation system.

Background

Surgical navigation systems are increasingly used in orthopedic surgery, which can accurately correlate patient image data with patient physiological anatomy, assist the operator in performing surgical planning, and guide the operator to operate surgical instruments. The operation navigation system enables the orthopedic operation to be more accurate, rapid and safe. Wherein the image data of the patient is correlated with the physiological anatomy of the patient, commonly referred to as image registration. Image registration is the basis of surgical navigation systems/robotic-assisted surgical systems.

In spinal surgery, 3D volume images are generally used as image data input for a patient, and a uniplanar calibrator is generally adopted to correlate the 3D volume images with physiological anatomy of the patient; in trauma surgery, a 2D fluoroscopic image is generally used as an image data input of a patient, and a biplane calibrator is used to correlate the 2D fluoroscopic image with a physiological anatomy of the patient.

However, for the case that the 2D perspective image and the 3D volume image are required to be registered, two different calibrators are required to be adopted in the prior art, and the acquired image is usually an image corresponding to the registration of a device, so that the volume image and the perspective image cannot be registered at one time, and the accuracy of image registration is interfered when the registration of the images is performed twice.

Accordingly, the prior art is still in need of improvement and development.

Disclosure of Invention

In view of the above problems, an embodiment of the present application provides an image registration calibration device and a navigation system, which aim to solve the problem that in the prior art, one-time registration of a volumetric image and a perspective image cannot be performed, and thus image registration accuracy is to be improved.

The utility model provides the following technical scheme for solving the technical problems:

an embodiment of the present application provides an image registration calibration device, including:

a mounting table;

the first calibrator is arranged on the mounting table and is provided with at least one first calibration surface for registering the volume images;

the second calibration device is arranged on the mounting table and is provided with at least two second calibration surfaces for registering perspective images.

The image registration calibration device further comprises:

and the tracker is connected with the first calibrator and the second calibrator respectively and is used for determining the positions of the first calibrator and the second calibrator.

The image registration calibration device comprises a first calibration surface and first calibration pieces, wherein a plurality of first calibration pieces are arranged on the first calibration surface;

the distance between any two first calibration pieces is greater than or equal to 10mm.

The image registration calibration device comprises a second calibration surface and second calibration pieces, wherein at least two second calibration surfaces are arranged, and a plurality of second calibration pieces are arranged on each second calibration surface;

the distance between any two second calibration pieces on each second calibration surface is more than or equal to 10mm;

the distance between the centers of the two second calibration surfaces is greater than or equal to 30mm.

The image registration calibration device is characterized in that a plurality of second calibration pieces are arranged in a first mode on one second calibration surface;

and on the other second calibration surface, a plurality of second calibration pieces are distributed in a second mode.

The image registration calibration device comprises a plurality of first calibration pieces, a plurality of second calibration pieces and a plurality of image registration calibration units, wherein the positions of the plurality of second calibration pieces are different along a straight line where a preset direction is located; the positions of the plurality of first calibration pieces are different along the straight line where the preset direction is located; the preset direction is parallel to the first calibration surface and the second calibration surface respectively.

The image registration calibration device is characterized in that the first calibration surface is a plane or a curved surface, and the two second calibration surfaces are planes and/or curved surfaces.

The image registration calibration device, wherein a preset included angle is arranged between the two second calibration surfaces, the preset value range is more than or equal to 0 degree, the cross section of the first calibrator and the cross section of the second calibrator are arranged on the mounting table in a triangular structure, and the angle is smaller than 180 degrees;

the first calibration surface of the first calibrator is coincident with or not coincident with one second calibration surface of the second calibrator.

The image registration calibration device, wherein the device further comprises:

and the supporting mechanism is fixedly connected with the mounting table.

A second aspect of the embodiments of the present application provides a navigation system, where the navigation system is applied to any one of the above-mentioned image registration calibration apparatuses; the system comprises:

the imaging device is arranged opposite to the calibration device and is used for acquiring volume images and perspective images, registering the volume images through the first calibrator and registering the perspective images through the second calibrator.

The beneficial effects are that: the utility model provides an image registration calibration device and a navigation system, wherein the calibration device comprises: a mounting table; the first calibrator is arranged on the mounting table and is provided with at least one first calibration surface for registering the volume images; the second calibration device is arranged on the mounting table and is provided with at least two second calibration surfaces for registering perspective images. According to the method, the first calibrator and the second calibrator are respectively arranged on the mounting table, under the condition that the volume image and the perspective image are required to be registered, the registration of the volume image can be realized through the first calibrator, and the registration of the perspective image is realized through the second calibrator, so that the volume image and the perspective image are registered at one time, the interference of multiple registration on the registration precision is reduced, and the image registration precision is improved.

In addition to the technical problems, technical features constituting the technical solutions, and beneficial effects brought by the technical features of the technical solutions described above, other technical problems that can be solved by the image registration calibration device and the navigation system provided by the present application, other technical features included in the technical solutions, and beneficial effects brought by the technical features, further detailed description will be made in the detailed description of the embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is apparent that the drawings in the following description are some embodiments of the present application, these drawings and the written description are not intended to limit the scope of the inventive concepts of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by referring to the specific embodiments, and that other drawings may be obtained from these drawings without inventive effort to those skilled in the art.

Fig. 1 is a schematic structural diagram of an image registration calibration device provided in an embodiment of the present application;

fig. 2 is a perspective view of a first view angle of a mounting table according to an embodiment of the present application;

fig. 3 is a perspective view of a second view of the mounting table according to an embodiment of the present application;

fig. 4 is a perspective view of a third view of a mounting table according to an embodiment of the present disclosure;

FIG. 5 is a schematic illustration of the relative positions of a patient and a marker provided in an embodiment of the present application;

fig. 6 is an image registration flowchart of a navigation system provided in an embodiment of the present application.

Reference numerals illustrate:

10-a first calibrator; 20-a second calibrator; 30-tracker; 50-patient;

40-mounting table; 41-tracking table; 42-calibrating a table; 42 a-a first mounting surface; 42 b-a second mounting surface; 421-first mounting hole; 422-second fitting hole.

Detailed Description

In order to make the objects, technical solutions and effects of the present utility model clearer and clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In the related art, in the above design scheme, two different calibrators are needed for the situation that a 2D perspective image and a 3D volume image are needed, in the prior art, the acquired image is usually an image corresponding to the registration of one device, the volume image and the perspective image cannot be registered once, on one hand, the total class of instruments is increased, and on the other hand, the operation and operation of a doctor are interfered, so that the accuracy of image registration is interfered when two times of image registration are carried out.

Based on the above problems, the embodiment of the application provides an image registration calibration device and a navigation system, and designs a calibrator scheme based on improvement of clinical usability and maintainability, so that image registration for a 2D perspective image and a 3D volume image can be realized simultaneously, the variety of calibrators is reduced, and the operation complexity of doctors is reduced; according to the method, the first calibrator and the second calibrator are respectively installed on the installation table and are matched with the imaging equipment, under the condition that volume images and perspective images are required to be registered, the registration of the volume images can be achieved through the first calibrator, and the registration of the perspective images is achieved through the second calibrator, so that the image registration of the 3D volume images and the 2D perspective images can be achieved simultaneously without using different calibrators according to the types of the images.

The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The image registration calibration device provided in the embodiment of the present application is described in detail below with reference to fig. 1 to 4. Fig. 1 is a schematic structural diagram of an image registration calibration device provided in an embodiment of the present application; fig. 2 is a perspective view of a first view angle of a mounting table according to an embodiment of the present application.

As shown in fig. 1 and 2, an embodiment of the present application provides an image registration calibration device, including:

a mounting table 40;

a first calibration device 10, which is arranged on the mounting table 40 and has at least one first calibration surface (not shown in the figure) for registering the volumetric image;

the second calibrator 20 is disposed on the mounting table 40, and has at least two second calibration surfaces (not shown in the figure) for registering the perspective images.

It should be noted that, in the spine surgery, the mounting table 40 is disposed above the patient, the first calibrator 10 has at least one first calibration surface, the second calibrator 20 has at least two second calibration surfaces, after the external imaging device acquires the initial image of the patient, the first calibrator 10 registers the volumetric image through at least one first calibration surface, and the second calibrator 20 registers the perspective image through at least two second calibration surfaces, so as to obtain a registered image, realize the registration of the 3D volumetric image and the 2D perspective image at the same time, reduce the interference possibly caused in operation steps and operations, and avoid the influence on the position accuracy of the calibrator caused by reinstallation when switching different image input modes, thereby improving the accuracy of image registration.

Specifically, the single plane calibrator is a device for calibrating imaging equipment by using a single plane, and is composed of a plane plate with calibration objects (such as a checkerboard, a dot array and a special model), wherein the imaging equipment (the embodiment is matched with the imaging equipment to be a CT (computed tomography), an X-ray machine and a C-shaped arm) shoots images of different positions and angles of the plane plate with the calibration objects, and internal parameters and external parameters of the imaging equipment are obtained through calculation; the biplane calibrator calibrates the imaging device by using two planes, each plane has a specific calibration object, generally adopts different layers of layouts (such as a horizontal plane and a vertical plane), the imaging device (the embodiment comprises a CT, an X-ray machine and a C-shaped arm) shoots images of the two planes, and then the relationship between the two planes is considered in calculation so as to improve the calibration precision.

In some embodiments, as shown in fig. 1 or fig. 2, further comprising:

and a tracker 30 connected to the first and second markers 10 and 20, respectively, for determining positions of the first and second markers 10 and 20.

Specifically, the tracker 30 is disposed on the mounting table 40, the tracker 30 is rigidly connected to the first calibrator 10 and the second calibrator 20, and the tracker 30 is used for determining the positions of the first calibrator 10 and the second calibrator 20 in the image registration process.

In another embodiment, the tracker 30 is electrically connected to the first and second markers 10, 20, respectively, i.e. one tracker is externally provided to determine the positions of the two markers.

As shown in fig. 1 to 4, the mounting table 40 includes a tracking table 41 and a calibration table 42 which are fixedly connected to each other, the cross sections of the tracking table 41 and the calibration table 42 are triangular, the tracker 30 is mounted on the tracking table 41, at least two surfaces of the calibration table 42 are used for mounting the first calibrator 10 and the second calibrator 20 (in this embodiment, the two calibrators are mounted on three outer surfaces of the calibration table 42), so that the tracker 30 is fixedly (rigidly) connected to the first calibrator 10 and the second calibrator 20, respectively, and further, the positions of the two calibrators are quickly and accurately determined by the tracker 30, so as to improve the registration accuracy of images.

In this embodiment, as shown in fig. 2 to 4, the first marker 10 (i.e., the uniplanar 3D marker) and the second marker 20 (the biplane 2D marker) are distributed in a triangle shape, i.e., the biplane 2D marker is on two sides (two oblique sides in fig. 2) of the triangular mounting table 40, and the 3D marker 10 is on the other side (lower surface) of the triangular mounting table 40, and the cross section of the three sides of the triangular mounting table 40 is corresponding. Therefore, when the 2D perspective images are aligned, the registration of the right position and the side position can be realized without changing the position of the calibrator, and the registration under different angles can be realized.

It will be appreciated that the mounting table 40 shown in fig. 2 is shown in a triangular cross section, and in actual manufacturing, the mounting table 40 may be configured in various shapes, such as cuboid, cylinder, etc., and those skilled in the art will appreciate that the illustration is merely for embodying the structural principle, and that the specific configuration may be adapted according to actual use requirements.

In another embodiment, the first calibration surface of the single-plane 3D calibrator 10 has an overlap with one of the second calibration surfaces of the dual-plane 2D calibrator 20, such as the first calibration surface overlapping with one of the second calibration surfaces. That is, it may be configured that in a state in which the mounting table is triangular, the two second calibration areas correspond to the two inclined side surfaces of the calibration table 42, and the first calibration area corresponds to one of the inclined side surfaces of the calibration table 42.

In another embodiment, the two second calibration surfaces may be disposed in parallel, that is, the two second calibration surfaces are parallel to each other, and the same inclined side surface mounted on the mounting table 40 is disposed in parallel at a distance from each other.

In some embodiments, the apparatus further comprises:

a support mechanism (i.e., a mechanical arm, not shown) fixedly connected to the mounting table 40;

specifically, the tracking table 41 located on the mounting table 40 is fixedly connected to the supporting mechanism.

Specifically, the tracking table 41 where the tracker 30 is located, the first mounting surface 42a where the first calibrator 10 is located, and the second mounting surface 42b where the second calibrator 20 is located are detachable structures, and when the structures are installed, the structures are required to be installed at the tail ends of supporting structures (i.e., mechanical arms), at this time, the mechanical arms can be used to place the first calibrator 10 and the second calibrator 20 above an operation area (i.e., above the patient 50), so that the problem of instability caused by directly placing the 2D calibrator/3D calibrator on the operation area is avoided, and thus, the registration accuracy of images is improved.

In some embodiments, the first calibrator 10 includes a first calibration surface and a first calibration member (not shown) on which a plurality of first calibration members are mounted;

the distance between any two first calibration pieces is more than or equal to 10mm.

Specifically, the first calibrator 10 is a single-sided calibrator, as shown in fig. 2 and 4, the first calibrator 10 is mounted on a surface (i.e., the first mounting surface 42 a) of the calibration stand 42, the first calibration surface may be a plane or a curved surface, the plurality of first calibration members are disposed on the first calibration surface, and the plurality of first assembly holes 421 are disposed on the first calibration surface, so that the plurality of first assembly holes 421 are in one-to-one correspondence with the plurality of first calibration members.

In this embodiment, as shown in fig. 2 or fig. 4, the number of the first calibration pieces (i.e. the metal balls) is 8 (8 corresponding to the first assembly holes 421); the first calibrator is a single plane calibrator (i.e., a 3D calibrator), the single plane 3D calibrator is provided with a first calibration surface, at least 3 metal balls are fixed on the first calibration surface, and the distance between the metal balls on any first calibration surface is more than or equal to 10mm.

As shown in fig. 2 or fig. 4, on the first calibration surface, a plurality of first calibration pieces are irregularly arranged. Specifically, the distribution of the first calibration pieces (i.e., the metal balls) on the first calibration surface has singularities, that is, the serial numbers of the metals can be identified through geometric relationships such as positions/angles among the metal balls.

In some embodiments, the second calibrator 20 includes a second calibration surface and a second calibration member (not shown), where two of the second calibration surfaces are each provided with a plurality of the second calibration members; the distance between any second calibration piece on each second calibration surface is more than or equal to 10mm.

The distance between the centers of the two second calibration surfaces is greater than or equal to 30mm.

Specifically, the second calibrator 20 is a double-sided calibrator, as shown in fig. 2 and 3, the second calibrator is mounted on two surfaces of the calibration stand 42 (i.e., the second mounting surface 42 b), and the second calibration surface may be a plane or a curved surface, respectively; the plurality of second calibration members are plugged on the second calibration surface, and a plurality of second assembly holes 422 are formed in the second mounting surface, so that the plurality of second assembly holes 422 are in one-to-one correspondence with the plurality of second calibration members.

Further, the second calibrator 20 is a biplane calibrator (i.e. a 2D calibrator), the biplane 2D calibrator has two second calibration surfaces, each second calibration surface has at least 3 second calibration pieces (i.e. metal balls) thereon, and the distance between the centers of the second calibration surfaces is not less than 30mm (i.e. a preset distance). As shown in fig. 2, there are 5 second fitting holes corresponding to the second calibration surface on the left side of the second mounting surface 42b, and correspondingly, 5 second calibration pieces are fitted to the second calibration surface on the left side; the second calibration surface corresponding to the right side of the second mounting surface 42b is provided with 5 second assembly holes, correspondingly, the second calibration surface on the right side is provided with 5 second calibration pieces, and the second calibration pieces on the left side and the right side are arranged with singularities and are arranged on different sides.

In some embodiments, as shown in figures 2 and 3,

on one second calibration surface, a plurality of second calibration pieces are distributed in a first mode;

and on the other second calibration surface, a plurality of second calibration pieces are distributed in a second mode.

Specifically, the distribution of the metal balls on the second calibration surface of the biplane 2D calibrator has singularity, namely, the serial numbers of the metals can be identified through geometric relations such as positions/angles among the metal balls, that is, the first mode arrangement is different from the second mode arrangement, so that the X-ray machine and the 2D calibrator are matched for normal imaging, and the registration accuracy is further improved.

In some embodiments, the positions of the plurality of second calibration members along a straight line along the preset direction are different.

It should be noted that, as shown in fig. 2, the preset direction is parallel to the first calibration surface and the second calibration surface, that is, the direction along the line where the rotation axis of the C-arm of the imaging device is located.

Specifically, the imaging device performs rotary shooting around the operation table 40, the projection positions of the second calibration piece (i.e., the metal ball) on the 2D calibrator 20 on the plane through which the rotation axis of the C-arm of the imaging device passes are different, so that the imaging device can shoot the 2D calibrator 20 from different angles, and the metal balls on the 2D calibrator 20 can not be overlapped, so that the metal balls can be correctly identified, and further, the position of the calibrator needs to be adjusted when shooting the X-ray perspective image under the attitude of the C-arm is avoided, thereby reducing operation steps and improving registration accuracy.

In some embodiments, an included angle is formed between the two second calibration surfaces, and the first calibrator 10 and the second calibrator 20 are mounted on the mounting table 40 in a triangular structure.

The first calibration surface of the first calibrator is coincident with or not coincident with a second calibration surface of the second calibrator.

The two second calibration surfaces of the 2D calibrator 20 are not parallel, but form a specific angle, ranging from 0 ° -180 ° (including 0 ° and not including 180 °), so that the 2D calibrator can be directly placed over the patient 50, as shown in fig. 5, and the metal markers on the 2D calibrator can be normally imaged when the 2D X-ray perspective image is taken at the positive side.

In some embodiments, the first calibration surface is a plane or a curved surface, and the two second calibration surfaces are plane and/or curved surfaces.

In this embodiment, the first calibration surface is a plane, and the two second calibration surfaces are planes. But not limited thereto, each of the first calibration surface and each of the second calibration surface may be a plane or a curved surface, respectively.

In some embodiments, the first calibration feature and the second calibration feature are each light spheres (i.e., metal spheres).

In some embodiments, the tracker 30 is a visible light tracker, an infrared tracker, or a magnetic tracker. It should be noted that, the optical (visible light, infrared) tracker may be identified by the optical navigation system, and the magnetic tracker may be identified by the magnetic navigation system, which is not limited herein.

In some embodiments, the tracker 30 is a determinable spatial pose tool that can be recognized by a navigation camera. In this embodiment, the tracker 30 is rigidly connected to the 2D calibrator 20 and the 3D calibrator 10, respectively, and there is a certain pose relationship between the three.

Specifically, the tracker 30, the 2D calibrator 20 and the 3D calibrator 10 are a non-detachable unit, and the hardware system formed by the tracker 30, the 2D calibrator 20 and the 3D calibrator 10 can be directly placed on the patient operation area

Based on the above embodiments, the present application further provides a navigation system, which is applied to the image registration calibration device described in any one of the above embodiments; the system comprises:

the imaging device (X-ray machine or CT or C-shaped arm) is arranged opposite to the calibration device, and is used for acquiring volume images and perspective images, registering the volume images through the first calibration device and registering the perspective images through the second calibration device.

The utility model provides a navigation system which is applied to the image registration calibration device in any one of the technical schemes, so that the navigation system has all the beneficial effects and is not repeated herein.

Next, an image registration process of the navigation system will be described with reference to fig. 6.

Step S10, placing the first calibrator and the second calibrator above the body of the operation area of the patient;

s30, shooting X-ray images or 3D volume images from different angles;

and step S30, transmitting the image to a navigation system, and directly registering the image.

Based on the calibrators capable of realizing the 2D perspective image and the 3D volume image, the original image registration flow can be optimized, different calibrators are not required to be used according to the types of the images, and meanwhile, the positions of the calibrators are not required to be adjusted in the 2D perspective image.

In the description of the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrated; may be mechanically connected, may be electrically connected or may communicate with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like indicate an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. An image registration calibration device, comprising:

a mounting table;

the first calibrator is arranged on the mounting table and is provided with at least one first calibration surface for registering the volume images;

the second calibration device is arranged on the mounting table and is provided with at least two second calibration surfaces for registering perspective images.

2. The image registration calibration device of claim 1, further comprising:

and the tracker is connected with the first calibrator and the second calibrator respectively and is used for determining the positions of the first calibrator and the second calibrator.

3. The image registration calibration device of claim 2, wherein the first calibrator comprises a first calibration surface and a first calibration member, the first calibration surface having a plurality of first calibration members mounted thereon;

the distance between any two first calibration pieces is greater than or equal to 10mm.

4. An image registration calibration device according to claim 3, wherein the second calibrator comprises a second calibration surface and second calibration members, at least two of the second calibration surfaces, each of the second calibration surfaces having a plurality of the second calibration members mounted thereon;

the distance between any two second calibration pieces on each second calibration surface is more than or equal to 10mm;

the distance between the centers of the two second calibration surfaces is greater than or equal to 30mm.

5. The image registration apparatus according to claim 4, wherein,

on one second calibration surface, a plurality of second calibration pieces are distributed in a first mode;

and on the other second calibration surface, a plurality of second calibration pieces are distributed in a second mode.

6. The image registration apparatus according to claim 5, wherein positions of the plurality of second calibration pieces on a straight line along the preset direction are different from each other; the positions of the plurality of first calibration pieces are different along the straight line where the preset direction is located; the preset direction is parallel to the first calibration surface and the second calibration surface respectively.

7. The image registration calibration device according to claim 4, wherein the first calibration surface is a plane or a curved surface, and the two second calibration surfaces are plane and/or curved surfaces.

8. The image registration apparatus according to claim 4, wherein,

the two second calibration surfaces are provided with a preset included angle, the preset value range is more than or equal to 0 degrees and less than 180 degrees, and the sections of the first calibrator and the second calibrator are arranged on the mounting table in a triangular structure;

the first calibration surface of the first calibrator is coincident with or not coincident with one second calibration surface of the second calibrator.

9. The image registration calibration device of claim 2, wherein the device further comprises: and the supporting mechanism is fixedly connected with the mounting table.

10. A navigation system characterized by being applied to the image registration calibration device of any one of claims 1 to 9; the system comprises:

the imaging device is arranged opposite to the calibration device and is used for acquiring volume images and perspective images, registering the volume images through a first calibrator and registering the perspective images through a second calibrator.