WO2023024932A1 - 体表定位装置的配准方法、穿刺引导方法及设备 - Google Patents

体表定位装置的配准方法、穿刺引导方法及设备 Download PDF

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Publication number
WO2023024932A1
WO2023024932A1 PCT/CN2022/112009 CN2022112009W WO2023024932A1 WO 2023024932 A1 WO2023024932 A1 WO 2023024932A1 CN 2022112009 W CN2022112009 W CN 2022112009W WO 2023024932 A1 WO2023024932 A1 WO 2023024932A1
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matrix
tracking
space coordinates
body surface
image space
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PCT/CN2022/112009
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English (en)
French (fr)
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陈向前
史纪鹏
张昊任
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真健康（北京）医疗科技有限公司
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition

Definitions

  • the invention relates to the field of medical image data processing, in particular to a registration method of a body surface positioning device, a puncture guidance method and equipment.
  • the surgical navigation and positioning system can achieve positioning through optical tracking.
  • the system is equipped with a matching optical tracking device.
  • the device is equipped with reflective balls.
  • the optical system can track the reflective balls to achieve real-time tracking and positioning of the target.
  • the tracking device will be fixed on the bone or skull frame to keep fit with the surgical site, and the navigation and positioning system will track the corresponding tracking device to achieve Localization of the surgical site.
  • the breathing movement of a person will cause the body surface to fluctuate, and this movement will cause positioning deviation.
  • puncture it is necessary to determine the puncture path according to the CT image before the operation, and then implement the puncture according to the predetermined puncture path during the operation.
  • the actual puncture path may differ from the scheduled The path is different, which is called registration error in this application. If the registration error is too large, the puncture needle cannot reach the target accurately, so it is more difficult for the doctor to perform the puncture.
  • the present invention provides a registration method of a body surface positioning device, the body surface positioning device includes a plurality of tracking points, and the distance between any pair of tracking points is different, the method includes:
  • the image space coordinates and the operation space coordinates determine the corresponding relationship between the tracking points in the image space and the operation space, and calculate a rotation matrix and/or translation matrix;
  • the registration error data of the optical tracking device is calculated according to the image space coordinates of the respective tracking points, the rotation matrix and the translation matrix.
  • the image space coordinates are three-dimensional coordinates of each tracking point in the computed tomography image data.
  • the surgical space coordinates are three-dimensional coordinates provided by binocular cameras shooting the respective tracking points.
  • determining the corresponding relationship between the tracking points in the image space and the operation space specifically includes:
  • the corresponding relationship between the tracking points in the image space and the operation space is determined according to the smallest element in each column in the error matrix M.
  • the distance matrix D Q and the distance matrix DP respectively include the distance between any pair of tracking points.
  • calculate the distance of each column according to the distance matrix D Q and the distance matrix D P to obtain the error matrix M specifically including:
  • the registration error data is specifically calculated in the following manner FRE:
  • n represents the number of the tracking points
  • q i represents the image space coordinates of the i-th tracking point
  • R represents the translation matrix
  • T represents the rotation matrix
  • the plurality of tracking points are connected in series through flexible connectors, so that the operation space coordinates of each tracking point can be changed independently.
  • the present invention also provides a puncture guidance method, including: calculating the registration error data in at least one respiratory cycle of the puncture object according to the above method, wherein the image space coordinates are fixed values, and the operation space coordinates are adjusted with the breathing of the puncture object.
  • the fluctuation of the body surface changes, so that the registration error data is a dynamic value; determine the moment corresponding to the minimum value of the registration error data, and use this to guide the puncture action.
  • the present invention also provides an electronic device, including: at least one processor; and a memory communicated with the at least one processor; wherein, the memory stores instructions executable by the one processor, and the instructions Executed by the at least one processor, so that the at least one processor executes the registration method of the above-mentioned body surface positioning device.
  • the present invention also provides an electronic device, including: at least one processor; and a memory communicated with the at least one processor; wherein, the memory stores instructions executable by the one processor, and the instructions Executed by the at least one processor, so that the at least one processor executes the above-mentioned puncture guiding method.
  • the calculated registration error data can quantitatively express the matching degree of the human breathing posture and the human breathing posture during the CT scan before operation, thus allowing doctors Perform puncture at the right time to ensure that the actual puncture path is consistent with the scheduled puncture path, reduce the difficulty of puncture, and improve surgical efficiency.
  • FIG. 1 is a schematic structural diagram of an optical tracking device in an embodiment of the present invention
  • Fig. 2 is a flow chart of the registration method of the body surface positioning device in the embodiment of the present invention.
  • the optical tracking device is arranged on the surface of the human body, so it can also be called a body surface positioning device.
  • the binocular camera in the surgical navigation system can collect the position of the optical tracking device, so as to accurately determine the position of the human body and the position where the puncture is to be performed.
  • this embodiment provides an optical tracking device for use with an optical navigation and positioning system.
  • the optical navigation and positioning system can be an infrared optical navigation and positioning system or a visible light navigation and positioning system.
  • the optical tracking and positioning system of this embodiment Tracking devices can be used universally.
  • the optical tracking device of this embodiment includes more than two light-reflecting ball assemblies and several body surface positioning belts 3 .
  • the reflective ball assembly is used for positioning in cooperation with the surgical navigation and positioning system.
  • the working principle of the use of the reflective ball assembly for the cooperative positioning of the surgical navigation and positioning system belongs to the known technology in the art, and will not be repeated here.
  • Several individual surface positioning belts 3 are soft structures, the number of body surface positioning belts 3 is the same as the number of reflective ball components, and more than two reflective small ball components are connected through the body surface positioning belts 3 to form a closed loop.
  • the optical tracking device of the present application in this embodiment, five groups of light-reflecting ball assemblies are provided, and correspondingly, five body surface positioning belts 3 are provided. It should be understood that, according to different actual needs, those skilled in the art can also use 3 groups, 4 groups, 6 groups, 7 groups of reflective small ball assemblies, and correspondingly, the number of body surface positioning belts 3 is 3 or 4 , 6, 7.
  • the reflective ball assemblies in this embodiment are arranged in 5 groups. Through experiments, it is found that the five groups of balls can meet the requirements of precision and efficiency, and simplify the structure and algorithm.
  • each 2 sets of reflective ball assemblies are connected through a body surface positioning strip, and 5 sets of reflective small ball assemblies are sequentially connected through body surface positioning belts to form a closed loop.
  • This application does not specifically limit the mutual positions of the 5 sets of reflective ball assemblies and the length of the body surface positioning belt 3 connected between each 2 sets of reflective ball assemblies, which need to be set according to actual needs.
  • each positioning structure can move independently.
  • the advantage of this is that when the body surface positioning belt is attached to the skin surface, each positioning structure can dynamically move with the body surface, so that the movement range of the body surface skin can be dynamically tracked, thereby realizing dynamic navigation and positioning. Solved the problem that the current rigid body positioning device can only track statically.
  • the body surface positioning belt 3 is a soft structure with elasticity.
  • the body surface positioning belt 3 is a silicone belt.
  • any body surface positioning belt 3 made of elastic soft material should fall within the protection scope of the present application.
  • the body surface positioning belt 3 is a soft structure, made of silica gel, has good biocompatibility, has good adsorption force, and can be flexibly adjusted on the human body, so the positioning structure connected at both ends of the body surface positioning belt 3 can adapt to On the body surface, can fit the skin.
  • the bottom surface of the body surface positioning belt 3 and The bottom surface of the positioning structure is even, so that the body surface positioning belt 3 and the bottom surface of the positioning structure fit the body surface without leaving a gap.
  • aligning the bottom surface of the body surface positioning belt 3 with the bottom surface of the positioning structure facilitates the subsequent use of medical tape to fix the body surface positioning belt 3 , and then facilitates real-time tracking and positioning.
  • connection mode of the reflective ball assembly and the body surface positioning belt 3 can be clamping, threaded connection or hot-melt bonding or other fixed connection methods.
  • the reflective ball assembly include:
  • the body surface base 5 is used to connect the body surface positioning belt 3, the bottom surface of the body surface base 5 is flush with the bottom surface of the body surface positioning belt 3 connected thereto, and the body surface base 5 is formed with a limiting groove 6;
  • the body surface base 5 is a cylindrical structure, which is used to connect the body surface positioning belt 3.
  • the body surface base 5 and the body surface positioning belt 3 have the same number and are connected to each other in turn to form a closed loop; the body surface positioning belt 3 is connected to the body surface base.
  • the bottom surface of the body surface base 5 is flush with the bottom surface of the body surface positioning belt 3 connected thereto;
  • a limiting groove 6 is formed on the top surface of the body surface base 5 for installing the small ball fixing seat 2;
  • the small ball fixing seat 2 is used to install the reflective small ball 1, and the small ball fixing seat 2 is installed in the limiting groove 6, and its structure matches the limiting groove 6;
  • the small ball fixing column 4 is inserted into the small ball fixing seat 2 to fix the small ball fixing seat 2 and the body surface base 5 .
  • the small ball fixing column 4 can be components such as bolts, the bottom of the limiting groove 6 is opened, and the small ball fixing column 4 is inserted from below and connected with the small ball fixing seat 2 in the limiting groove 6.
  • the connection method can be that a threaded hole is set on the bottom surface of the small ball fixing seat 2 at the same time, and the small ball fixing column 4 enters from the through hole and is screwed into the threaded hole provided on the bottom surface of the small ball fixing seat 2 .
  • An embodiment of the present invention provides a registration method of a body surface positioning device, which can be executed by electronic equipment such as a computer or a server. As shown in FIG. 2, the method includes the following steps:
  • the tracking point in this embodiment may be, but not limited to, the reflective ball in the above embodiment.
  • the body parts wearing the optical tracking device can be scanned by computerized tomography to obtain CT image data (three-dimensional), and then identify the position of each tracking point in it to obtain its CT image data.
  • the space coordinates in are called image space coordinates, and this data is a static value.
  • the positioning device Acquiring surgical space coordinates generated by the positioning device according to the current positions of each tracking point in the optical tracking device. Specifically, during the operation, the current position of each tracking point can be tracked by the positioning device (navigation binocular camera), and its coordinates in the operation space can be obtained, which are called operation space coordinates. Because the breathing fluctuation of the human body will cause the optical tracking device to Movement, so the surgical space coordinates are dynamic values that change with the person's breathing.
  • S3 according to the image space coordinates and the operation space coordinates, determine the corresponding relationship of each tracking point in the image space and the operation space, and calculate the rotation matrix and/or the translation matrix.
  • the arrangement of image coordinates and surgical space coordinates of each tracking point of the optical tracking device is disordered. In order to perform real-time tracking and registration, it is necessary to identify the corresponding relationship between each tracking point in the two spaces. The distances between any two points of any two tracking points of the optical tracking device are different, so that the matching point can be determined by matching the inconsistency of the distances between the points. Since the scanning and shooting orientations of the same target are different between the CT device and the binocular camera, after determining the above corresponding relationship, it is also necessary to calculate the rotation matrix and/or the translation matrix. Algorithms for calculating the rotation matrix and the translation matrix for the two coordinate systems belong to common knowledge, and will not be repeated in this application.
  • This registration error data is used to represent the matching degree of the current (intraoperative) human breathing posture and the human breathing posture during the CT scan before the operation. For example, the smaller the error data is, the better the match is.
  • the registration error data can be calculated separately for each tracking point, and then the maximum value, minimum value, average value, etc. among them can be taken.
  • the calculated registration error data can quantitatively express the matching degree of the human breathing posture and the human breathing posture during the CT scan before operation, thus enabling doctors to Perform puncture at the right time to ensure that the actual puncture path is consistent with the scheduled puncture path, reduce the difficulty of puncture, and improve surgical efficiency.
  • the registration error data FRE is calculated in the following manner in the above step S4:
  • q i represents the image space coordinates of the i-th tracking point
  • R represents a translation matrix
  • T represents a rotation matrix
  • the present application provides an optimal matching method:
  • D Q [d p1 d p2 d p3 d p4 d p5 ]
  • D Q [d q1 d q2 d q3 d q4 d q5 ].
  • the distance matrix D Q and the distance matrix D P can be arranged in ascending order respectively to obtain a new matrix and Then calculate the distance m ij of each column in the two matrices arranged in ascending order, the calculation formula is as follows:
  • d pj represents the j-th column in the distance matrix D Q
  • d qi represents the i-th column in the distance matrix D P.
  • a puncture guidance system including a positioning device (binocular camera and processor, etc.), a puncture device (a mechanical arm, a puncture needle holding structure, etc.) and an optical tracking device , the penetration guidance system is configured to perform operations comprising:
  • the registration error data in at least one respiratory cycle of the puncture object is calculated in real time, wherein the image space coordinates are fixed values, and the operation space coordinates change with the body surface fluctuation of the puncture object when breathing, so that the registration
  • the quasi-error data is a dynamic value
  • an error curve of the registration error data FRE changing periodically with time can be obtained, and the time period of the change of the error curve corresponds to the breathing cycle of a person.
  • a breathing cycle when the error value is the smallest, it means that the current breathing state of the person matches the breathing state of the preoperative scan image most closely.
  • the moment corresponding to the minimum value of the registration error data is determined, and the puncture action is guided accordingly.
  • the system can guide the doctor to perform puncture according to the registration error data, thereby effectively reducing the positioning error caused by respiratory deformation.
  • the specific guidance action can be a sound reminder, such as using a sound to prompt the size of the registration error value at the current moment, or a sound reminder when the registration error data is less than a preset threshold to remind the doctor to puncture at the right time
  • the needle is inserted into the human body.
  • the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

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Abstract

一种体表定位装置的配准方法、穿刺引导方法及设备，配准方法包括：获取布置于体表的光学跟踪装置中各个跟踪点的图像空间坐标（S1）；采集定位装置根据光学跟踪装置中各个跟踪点的当前位置所生成的手术空间坐标（S2）；根据图像空间坐标和手术空间坐标，确定各个跟踪点在图像空间和手术空间中的对应关系，并计算旋转矩阵和/或平移矩阵（S3）；根据各个跟踪点的图像空间坐标、旋转矩阵和平移矩阵计算光学跟踪装置的配准误差数据（S4）。

Description

体表定位装置的配准方法、穿刺引导方法及设备 技术领域
本发明涉及医学图像数据处理领域，具体涉及一种体表定位装置的配准方法、穿刺引导方法及设备。
背景技术
手术导航定位系统可通过光学跟踪的方式来实现定位，系统中设有配套的光学跟踪装置，该装置中设有反光小球，光学系统通过追踪反光小球来实现对目标的实时跟踪定位。
在目前临床使用的手术导航定位系统中，比如在骨科和神经外科领域，会把跟踪装置固定在骨骼或者头颅框架上，与手术部位保持贴合，导航定位系统通过追踪对应的跟踪装置来实现对手术部位的定位。
对于胸腹部位置，人的呼吸运动会导致体表有起伏运动，这种运动会导致定位产生偏差。对于穿刺术来说，需要先在术前根据CT图像确定穿刺路径，然后在术中按照预定的穿刺路径实施穿刺，但是受到人体呼吸导致体表起伏的影响，实际的穿刺路径可能会与预定穿刺路径不同，本申请将其称之为配准误差。配准误差过大将导致穿刺针无法准确抵达靶点，因此医生实施穿刺术的难度较大。
发明内容
有鉴于此，本发明提供一种体表定位装置的配准方法，所述体表定位装置包括多个跟踪点，且任意对跟踪点的间距不同，所述方法包括：
获取布置于体表的光学跟踪装置中各个跟踪点的图像空间坐标；
采集定位装置根据所述光学跟踪装置中各个跟踪点的当前位置所生成的手术空间坐标；
根据所述图像空间坐标和所述手术空间坐标，确定所述各个跟踪点在图像空间和手术空间中的对应关系，并计算旋转矩阵和/或平移矩阵；
根据所述各个跟踪点的图像空间坐标、所述旋转矩阵和所述平移矩阵计算光学跟踪装置的配准误差数据。
可选地，所述图像空间坐标是所述各个跟踪点在计算机断层扫描图像数据中 的三维坐标。
可选地，所述手术空间坐标是由双目摄像机对所述各个跟踪点进行拍摄所提供的三维坐标。
可选地，确定所述各个跟踪点在图像空间和手术空间中的对应关系，具体包括：
根据所述图像空间坐标计算图像空间中各个跟踪点的距离矩阵D Q，根据所述手术空间坐标计算手术空间中各个跟踪点的距离矩阵D P；
根据距离矩阵D Q和距离矩阵D P计算其中每一列的距离得到误差矩阵M；
根据误差矩阵M中各列中最小元素确定所述各个跟踪点在图像空间和手术空间中的对应关系。
可选地，距离矩阵D Q和距离矩阵D P中分别包括任意两两跟踪点之间的距离。
可选地，根据间距矩阵D Q和间距矩阵D P计算其中每一列的距离得到误差矩阵M，具体包括：
分别对间距矩阵D Q和间距矩阵D P进行升序排列；
分别计算升序排列后的两个矩阵中每一列的距离，得到误差矩阵M。
可选地，所述根据所述各个跟踪点的图像空间坐标、所述旋转矩阵和所述平移矩阵计算光学跟踪装置的配准误差数据的步骤中，具体利用如下方式计算所述配准误差数据FRE：
Figure PCTCN2022112009-appb-000001
其中n表示所述跟踪点的数量，q i表示第i个跟踪点的图像空间坐标，R表示所述平移矩阵，T表示所述旋转矩阵。
可选地，所述多个跟踪点之间通过为柔性连接件串联，使得各个跟踪点的手术空间坐标能够独立地发生变化。
本发明还提供一种穿刺引导方法，包括：根据上述方法计算穿刺对象的至少一个呼吸周期内的配准误差数据，其中所述图像空间坐标为固定值，所述手术空间坐标随穿刺对象呼吸时的体表起伏发生变化，使得所述配准误差数据为动态值；确定配准误差数据的最小值对应的时刻，并以此引导穿刺动作。
本发明还提供一种电子设备，包括：至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述一个处理器执行的 指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器执行上述体表定位装置的配准方法。
本发明还提供一种电子设备，包括：至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器执行上述穿刺引导方法。
根据体表定位装置的配准方法、穿刺引导方法及设备，所计算出的配准误差数据可以量化表达人体呼吸体态与术前进行CT扫描时的人体呼吸体态的匹配度，由此可以让医生在合适的时机实施穿刺术，确保实际的穿刺路径与预定的穿刺路径一致，降低穿刺术的难度，提高手术效率。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例中的光学跟踪装置的结构示意图；
图2为本发明实施例中的体表定位装置的配准方法的流程图。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
光学跟踪装置布置在人体体表，因此也可称之为体表定位装置。手术导航系统中的双目摄像机可以采集光学跟踪装置的位置，从而精准确定人体位置以及要实施穿刺的位置。
如图1所示，本实施例提供一种光学跟踪装置，用于配合光导航定位系统使用，光导航定位系统可以是红外光学导航定位系统，也可以是可见光导航定位系统，本实施例的光学跟踪装置可以通用。具体的，本实施例的光学跟踪装置包括两个以上反光小球组件和若干个体表定位带3。
反光小球组件用于与手术导航定位系统配合定位。反光小球组件用于手术导航定位系统配合定位的工作原理属于本领域的公知技术，在此不做赘述。
若干个体表定位带3为软性结构，体表定位带3数量与反光小球组件数量相同，两个以上反光小球组件依次通过体表定位带3连接形成闭环。
作为本申请的光学跟踪装置的优选实施例，在本实施例中，反光小球组件设置为5组，相应地，体表定位带3设置为5条。应当理解的是，根据实际需求的不同，本领域技术人员还可以采用3组、4组、6组、7组反光小球组件，相应地，体表定位带3的数量为3条、4条、6条、7条。
本实施例中的反光小球组件设置为5组。经过实验发现，5组球能兼顾精度和效率的要求，简化结构和算法。
如图1所示，5组反光小球组件，每2组反光小球组件通过1条体表定位连接，5组反光小球组件依次通过体表定位带连接形成闭环。本申请对于5组反光小球组件的相互位置以及每2组反光小球组件之间连接的体表定位带3的长度不作具体限定，需要根据实际需要进行设定。
本实施例通过采用软性体表定位带，一方面在保证由若干个定位结构构成的整体定位结构的基本形状固定，另一方面由于是软性材质，各个定位结构之间又可以独立运动。这样的好处在于，当体表定位带贴合与皮肤体表时，各个定位结构之间可以动态的随体表运动，这样便可以动态追踪体表皮肤的运动幅度，从而实现动态的导航定位，解决了当前刚体定位装置只能静态追踪的问题。
为了进一步提高动态定位效果，在本实施例中，体表定位带3为具有弹性的软性结构。优选地，在本实施例中，体表定位带3采用硅胶带。但应当理解的是，凡是具有弹性的软性材质制成的体表定位带3均应属于本申请的保护范围之内。体表定位带3为软性结构，采用硅胶制作，具有良好的生物相容性，具有较好的吸附力，在人体上可以灵活调整，所以体表定位带3两端连接的定位结构可以适应于体表，可以贴合肌肤。
为了保证本实施例的体表动态定位装置放置到相应的人体表面时能够更好地贴合人体表面，提高体表动态定位的精度，在本实施例中，将体表定位带3的底面与定位结构的底面平齐，使得体表定位带3和定位结构的底面和体表贴合而不留间隙。此外，将体表定位带3的底面与定位结构的底面平齐还便于后续采用医用胶带对体表定位带3进行固定，然后便于开展实时的追踪定位。
反光小球组件与体表定位带3的连接方式可以是卡接、螺纹连接或者热熔粘接或者是其他固定连接方式，作为本申请的优选实施例，在本实施例中，反光小球组件包括：
体表基座5，用于连接体表定位带3，体表基座5的底面与其连接的体表定位带3的底面平齐，体表基座5成型有限位槽6；
体表基座5为圆柱结构，用于连接体表定位带3，体表基座5和体表定位带3数量一致，依次相互连接，构成一个闭环；体表定位带3连接在体表基座5的外侧面上，同时，为了贴合皮肤，体表基座5的底面与其连接的体表定位带3的底面平齐；
同时，在体表基座5的顶面成型有限位槽6，用来安装小球固定座2；
小球固定座2，用于安装反光小球1，小球固定座2安装到限位槽6中，其结构和限位槽6相匹配；
小球固定柱4，插入到小球固定座2中以固定小球固定座2和体表基座5。小球固定柱4可以为螺栓等组件，将限位槽6槽底打通，小球固定柱4从下方插入和配合在限位槽6内的小球固定座2连接即可。连接方式可以是同时在小球固定座2的底面设置螺纹孔，小球固定柱4从通孔进入而旋入小球固定座2底面设置的螺纹孔中。
利用手术导航系统和上述光学跟踪装置可以追踪人体呼吸动作。本发明实施例提供一种体表定位装置的配准方法，该方法可以由计算机或服务器等电子设备执行，如图2所示该方法包括如下步骤：
S1，获取布置于体表的光学跟踪装置中各个跟踪点的图像空间坐标。本实施例所述跟踪点可以但不限于是上述实施例中的反光小球。具体地，在术前可以通过如计算机断层扫描方式对佩戴着光学跟踪装置的人体部位进行扫描，从而得到CT图像数据(三维)，然后在其中识别各个跟踪点的位置，得到其在CT图像数 据中的空间坐标，称之为图像空间坐标，此数据为静态值。在具体实施例中，光学跟踪装置有5个跟踪点，图像空间坐标记为Q＝[q1,q2,q3,q4,q5]，其中q1…q5表示5个跟踪点的三维坐标。
S2，采集定位装置根据光学跟踪装置中各个跟踪点的当前位置所生成的手术空间坐标。具体地，在术中可通过定位装置(导航双目摄像机)追踪各个跟踪点的当前位置，得到其在手术空间中的坐标，称之为手术空间坐标，由于人体的呼吸起伏会导致光学跟踪装置运动，因此手术空间坐标是随人的呼吸发生变化的动态值。在具体实施例中，光学跟踪装置有5个跟踪点，手术空间坐标记为P＝[p1,p2,p3,p4,p5]，其中p1…p5表示5个跟踪点的三维坐标。
S3，根据图像空间坐标和手术空间坐标，确定各个跟踪点在图像空间和手术空间中的对应关系，并计算旋转矩阵和/或平移矩阵。光学跟踪装置的各个跟踪点的图像坐标和手术空间坐标的排列是无序的，为了进行实时跟踪配准，则需要识别两个空间中各个跟踪点的对应关系。光学跟踪装置的各个跟踪点中任意2个点的两两距离都不同，这样通过点间距离的不一致进行匹配，即可确定对应匹配的点。由于CT设备和双目摄像机对同一目标的扫描和拍摄方位不同，在确定上述对应关系后，还需要计算旋转矩阵和/或平移矩阵。针对两个坐标系计算旋转矩阵和平移矩阵的算法属于公知常识，本申请不再赘述。
S4，根据各个跟踪点的图像空间坐标、旋转矩阵和/或平移矩阵计算光学跟踪装置的配准误差数据。这一配准误差数据，用于表征当前(术中)人体呼吸体态与术前进行CT扫描时的人体呼吸体态的匹配度，例如误差数据约小则越匹配，具体计算方法有多种，比如可以分别针对每个跟踪点计算配准误差数据，然后取其中最大值、最小值、平均值等等。
根据本发明实施例提供的体表定位装置的配准方法，所计算出的配准误差数据可以量化表达人体呼吸体态与术前进行CT扫描时的人体呼吸体态的匹配度，由此可以让医生在合适的时机实施穿刺术，确保实际的穿刺路径与预定的穿刺路径一致，降低穿刺术的难度，提高手术效率。
在优选的实施例中，针对柔性材料制成的体表定位带，上述步骤S4中具体利用如下方式计算配准误差数据FRE：
Figure PCTCN2022112009-appb-000002
其中n表示跟踪点的数量(比如n＝5)，q i表示第i个跟踪点的图像空间坐标，R表示平移矩阵，T表示旋转矩阵。利用本方案计算出的配准误差数据准确性较高，能够更准确地反映出术中体表的呼吸起伏状态与术前扫描图像时的呼吸起伏状态差异。
关于上述步骤S3中手术空间中的跟踪点与图像空间中的跟踪点的匹配方式，本申请提供一种优选匹配方法：
S31，分别计算手术空间中两两跟踪点的距离和图像空间中两两跟踪点的距离。以5个跟踪点为例，手术空间中的第i个跟踪点与其它跟踪点的距离(欧式距离)记为d pi＝[||p i-p 1||…||p i-p 5||]，其中i＝1…5；图像空间中的第i个跟踪点与其它跟踪点的距离记为d qi＝[||q i-q 1||…||q i-q 5||]，其中i＝1…5。
由此可以得到图像空间中各个跟踪点的距离矩阵D Q和手术空间中各个跟踪点的距离矩阵D P，D P＝[d p1d p2d p3d p4d p5]、D Q＝[d q1d q2d q3d q4d q5]。
S32，根据距离矩阵D Q和距离矩阵D P计算其中每一列的距离得到误差矩阵M。作为优选的实施例，可以先分别对间距矩阵D Q和间距矩阵D P进行升序排列,得到新的矩阵
Figure PCTCN2022112009-appb-000003
和
Figure PCTCN2022112009-appb-000004
然后再分别计算升序排列后的两个矩阵中每一列的距离m ij，计算公式如下：
m ij＝||d pj-d qi||
其中d pj表示距离矩阵D Q中的第j列，d qi示距离矩阵D P中的第i列。计算出两个矩阵中各列的距离组成误差矩阵M。
S33，根据误差矩阵M中各列中最小元素确定各个跟踪点在图像空间和手术空间中的对应关系。对于5个跟踪点，得到的误差矩阵M为5*5维矩阵，寻找矩阵M中每一列中的最小元素，比如第j列中第i个元素是最小的，则代表点集P中第j个跟踪点p j与点集Q中第i个跟踪点q i是匹配的，这样即可得到两个点集中全部跟踪点的匹配对应关系。
基于上述实施例，本发明另一实施例提供了一种穿刺引导系统，包括定位装置(双目摄像机和处理器等)、穿刺装置(机械臂和穿刺针握持结构件等)和光 学跟踪装置，该穿刺引导系统被配置为执行包括以下内容的操作：
利用上述实施例的配准方法，实时计算穿刺对象的至少一个呼吸周期内的配准误差数据，其中图像空间坐标为固定值，手术空间坐标随穿刺对象呼吸时的体表起伏发生变化，使得配准误差数据为动态值；
由此可以得到配准误差数据FRE随着时间周期性变化的误差曲线，该误差曲线变化的时间周期即对应人的呼吸周期。在一个呼吸周期中，当误差值最小时，则代表人当前的呼吸状态与术前扫描图像的呼吸状态最匹配。
确定配准误差数据的最小值对应的时刻，并以此引导穿刺动作。在穿刺装置对准穿刺部位时，系统便可以根据配准误差数据引导医生进行穿刺，从而有效地减少由于呼吸变形引起的定位误差。具体的引导动作可以是通过声音提醒，比如用声音来提示当前时刻的配准误差值的大小，或者是当配准误差数据小于预设阈值时发出声音提醒，以提醒医生在合适的时机将穿刺针插入人体。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得 在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (10)

  1. 一种体表定位装置的配准方法，其特征在于，所述体表定位装置包括多个跟踪点，且任意对跟踪点的间距不同，所述方法包括：
    获取布置于体表的光学跟踪装置中各个跟踪点的图像空间坐标；
    采集定位装置根据所述光学跟踪装置中各个跟踪点的当前位置所生成的手术空间坐标；
    根据所述图像空间坐标和所述手术空间坐标，确定所述各个跟踪点在图像空间和手术空间中的对应关系，并计算旋转矩阵和/或平移矩阵；
    根据所述各个跟踪点的图像空间坐标、所述旋转矩阵和所述平移矩阵计算光学跟踪装置的配准误差数据。
  2. 根据权利要求1所述的方法，其特征在于，所述图像空间坐标是所述各个跟踪点在计算机断层扫描图像数据中的三维坐标。
  3. 根据权利要求1所述的方法，其特征在于，所述手术空间坐标是由双目摄像机对所述各个跟踪点进行拍摄所提供的三维坐标。
  4. 根据权利要求1所述的方法，其特征在于，确定所述各个跟踪点在图像空间和手术空间中的对应关系，具体包括：
    根据所述图像空间坐标计算图像空间中各个跟踪点的距离矩阵D Q，根据所述手术空间坐标计算手术空间中各个跟踪点的距离矩阵D P；
    根据距离矩阵D Q和距离矩阵D P计算其中每一列的距离得到误差矩阵M；
    根据误差矩阵M中各列中最小元素确定所述各个跟踪点在图像空间和手术空间中的对应关系。
  5. 根据权利要求4所述的方法，其特征在于，距离矩阵D Q和距离矩阵D P中分别包括任意两两跟踪点之间的距离。
  6. 根据权利要求4所述的方法，其特征在于，根据间距矩阵D Q和间距矩阵 D P计算其中每一列的距离得到误差矩阵M，具体包括：
    分别对间距矩阵D Q和间距矩阵D P进行升序排列；
    分别计算升序排列后的两个矩阵中每一列的距离，得到误差矩阵M。
  7. 根据权利要求1所述的方法，其特征在于，所述根据所述各个跟踪点的图像空间坐标、所述旋转矩阵和所述平移矩阵计算光学跟踪装置的配准误差数据的步骤中，具体利用如下方式计算所述配准误差数据FRE：
    Figure PCTCN2022112009-appb-100001
    其中n表示所述跟踪点的数量，q i表示第i个跟踪点的图像空间坐标，R表示所述平移矩阵，T表示所述旋转矩阵。
  8. 根据权利要求1-7中任一项所述的方法，其特征在于，所述多个跟踪点之间通过为柔性连接件串联，使得各个跟踪点的手术空间坐标能够独立地发生变化。
  9. 一种穿刺引导方法，其特征在于，包括：
    根据权利要求1-8中任一项所述方法计算穿刺对象的至少一个呼吸周期内的配准误差数据，其中所述图像空间坐标为固定值，所述手术空间坐标随穿刺对象呼吸时的体表起伏发生变化，使得所述配准误差数据为动态值；
    确定配准误差数据的最小值对应的时刻，并以此引导穿刺动作。
  10. 一种电子设备，其特征在于，包括：至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器执行如权利要求1-8中任意一项所述的体表定位装置的配准方法和/或权利要求9所述的穿刺引导方法。
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