WO2023168682A1 - Procédé et dispositif pour déterminer la pose d'un instrument chirurgical dans l'espace - Google Patents

Procédé et dispositif pour déterminer la pose d'un instrument chirurgical dans l'espace Download PDF

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Publication number
WO2023168682A1
WO2023168682A1 PCT/CN2022/080286 CN2022080286W WO2023168682A1 WO 2023168682 A1 WO2023168682 A1 WO 2023168682A1 CN 2022080286 W CN2022080286 W CN 2022080286W WO 2023168682 A1 WO2023168682 A1 WO 2023168682A1
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Prior art keywords
image
instrument
surgical instrument
hole
orientation
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PCT/CN2022/080286
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English (en)
Chinese (zh)
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蒋俊锋
陈亮
赵晓萌
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常州锦瑟医疗信息科技有限公司
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Priority to PCT/CN2022/080286 priority Critical patent/WO2023168682A1/fr
Publication of WO2023168682A1 publication Critical patent/WO2023168682A1/fr

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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

Definitions

  • the present invention relates to the technical field of medical instruments, and in particular to a method and device for determining the posture of surgical instruments in space.
  • Orthopedic surgical instruments are widely used in fracture treatment. However, for surgical instruments such as interlocking intramedullary nails, since they will be accommodated in the bone cavity during the operation, it is difficult to accurately position them, so they need to be continuously X-rayed and imaged. This excessive X-ray exposure can significantly affect the health of doctors and patients.
  • An object of the present application is to provide a method and device for determining the posture of a surgical instrument in space to avoid continuous X-ray imaging of the surgical instrument during surgery.
  • a method for determining the posture of a surgical instrument in space characterized in that the surgical instrument is formed of an X-ray imageable material, the surgical instrument has a predetermined instrument outer contour, and One or more characteristic through holes, wherein each characteristic through hole has a predetermined through hole profile, the method includes: providing a target instrument image of the surgical instrument, wherein the target instrument image includes an instrument outer contour of the surgical instrument At least part of the outer contour image and the through-hole image of at least one characteristic through-hole; extracting the relative position image of the at least one characteristic through-hole and the through-hole image of the at least one characteristic through-hole from the target device image, wherein the relative position image reflects the position of the through hole image of the at least one characteristic through hole relative to the at least part of the outer contour image; and the orientation of the digital model of the surgical instrument relative to the imaging plane is adjusted multiple times, and perform simulated imaging on the digital model of the surgical instrument after each adjustment to generate multiple simulated instrument images of the surgical instrument corresponding to
  • Figure 1a shows a schematic diagram of an instrument image of a surgical instrument 10 according to an embodiment of the present application
  • Figure 1b shows a perspective view of the surgical instrument 10 shown in Figure 1a;
  • Figure 2 illustrates a method 200 for determining the posture of a surgical instrument in space according to one embodiment of the present application
  • Figures 3a and 3b show the front and back of an exemplary physical calibration plate
  • Figures 3c and 3d show the front and back images of the calibration plate that is exposed and imaged together with the surgical instrument;
  • Figures 4a to 4d show schematic diagrams of relative position images and through-hole images extracted from target device images
  • Figure 4e shows an example of device images
  • Figures 5a and 5b illustrate a method for filtering image data according to an embodiment of the present application
  • Figures 6a and 6b show schematic diagrams of changes in the instrument image of the surgical instrument with the posture of the surgical instrument in space
  • Figures 7a to 7d illustrate the process of further modifying the posture of the surgical instrument according to an embodiment of the present application.
  • orthopedic surgical instruments such as intramedullary nails, compression locking bone plates or other surgical instruments (such as stents, endoscopes, etc.) need to be placed inside the patient's body to perform surgical operations.
  • surgical instruments may not be completely visible to doctors and other surgical operators, which affects the precise positioning of surgical instruments. Therefore, X-ray imaging devices such as C-arm X-ray machines are used to perform intraoperative imaging of surgical instruments to allow the operator to understand the orientation and position of the surgical instruments in the patient's body by observing two-dimensional images of the instruments.
  • Some existing image positioning solutions require taking two or more instrument images of surgical instruments (hereinafter referred to as target instrument images) during the operation, and positioning the surgical instruments based on these target instrument images.
  • This method is also known as It is a bi-plane method or a multi-plane method.
  • the biplane method increases the number of irradiations for the patient during one operation, and the operation is also more complicated.
  • the inventor of the present application has designed a method of spatially orienting surgical instruments using a single target instrument image, which effectively reduces the number of irradiations of the patient during the operation, and the implementation method is relatively simple. .
  • Figure 1a shows a schematic diagram of an instrument image of a surgical instrument 10 according to an embodiment of the present application.
  • the surgical instrument 10 is an interlocking intramedullary nail having an elongated configuration and having a predetermined outer instrument profile.
  • one end 14 of the interlocking intramedullary nail in Figure 1a has a generally trapezoidal cross-section (see the perspective view of the surgical instrument shown in Figure 1b, the trapezoidal cross-section is that of the conical tip), and in The side of the intramedullary nail near this end has a concave incision.
  • the surgical instrument shown in FIGS. 1 a and 1 b also includes two characteristic through holes of the interlocking intramedullary nail, namely, the circular through hole 16 and the oblong through hole 18 .
  • These through holes 16 and 18 have relatively regular shapes.
  • Figures 6a and 6b are schematic diagrams showing changes in the instrument image of the surgical instrument as a function of the posture of the surgical instrument in space.
  • Figure 6a the surgical instrument is located in front and right of the X-ray source, so the instrument image of the surgical instrument is biased to the right front at this time; in Figure 6b, the surgical instrument is located in front and left of the The instrument image is biased to the left front.
  • Figures 6a and 6b only schematically illustrate the image changes caused by changes in the spatial posture of the surgical instrument. In actual applications, such changes can take on more or more complex forms.
  • the image changes of regular-shaped through holes with changes in orientation are relatively regular and are more suitable as characteristic through holes, so they can be used to identify the posture of surgical instruments in space in subsequent processing processes.
  • the via-based pose or orientation recognition will be explained in detail below.
  • the characteristic through hole may have other suitable shapes, such as a through hole with a regular polygonal cross-section, an elliptical through hole, a pressure locking hole (having two circular holes that partially overlap or a circular hole and a oval hole), etc.
  • these characteristic through holes penetrate at least a certain area of the surgical instrument, so that when the surgical instrument is imaged by the X-ray imaging device, it appears different from the non-through hole area of the surgical instrument (that is, the X-ray opaque area). image.
  • through-holes 16 and 18 are shown as exposed areas (light gray) because they allow transmission of X-rays, while non-through-hole areas of surgical instrument 10 (formed from X-ray imageable material, Materials such as stainless steel) are shown as unexposed areas (black).
  • Figure 2 illustrates a method 200 for determining the posture of a surgical instrument in space according to one embodiment of the present application.
  • This method can be used to process target instrument images such as the surgical instrument shown in Figure 1a to determine the posture of the surgical instrument in space.
  • the method 200 shown in FIG. 2 will be further described in conjunction with the surgical instruments shown in FIGS. 1 a and 1 b.
  • the method 200 begins with step 202 of providing a target instrument image of the surgical instrument.
  • the target instrument image includes at least a part of the outer contour image of the instrument outer contour of the surgical instrument, and a through-hole image of at least one characteristic through-hole.
  • the target instrument image may include the outer contour of the instrument as shown in FIG. 1 a and the through hole image of at least one of the circular through hole 16 or the oblong through hole 18 .
  • the target instrument image to be processed may include images of all characteristic through holes of the surgical instrument.
  • the target instrument image of the surgical instrument provided in step 202 is the actual image of the surgical instrument and part of the patient's body area at a certain moment during the operation.
  • the X-ray imaging device may record or determine the position/orientation of the imaging plane or other similar datum plane or reference plane of the X-ray imaging device during imaging, such as recording the orientation parameters of the imaging plane or the X-ray source. In this way, with the help of the datum plane, the posture of the surgical instrument relative to a certain reference coordinate system (eg, the operating table) can be determined.
  • the imaging plane is, for example, a focal plane with the X-ray irradiation direction as the normal line.
  • the orientation and position of the imaging plane can be adjusted and determined by the X-ray imaging device, which can be an equipment parameter of the X-ray imaging device.
  • the X-ray imaging device may be a C-arm X-ray machine.
  • the target instrument image of the surgical instrument provided in step 202 may have image distortion caused by exposure of the X-ray imaging device or other reasons.
  • the image distortion of the instrument image can be corrected after step 202.
  • a calibration plate can be used to collect distortion parameters during image imaging of the target device.
  • Figures 3a and 3b show the front and back of an exemplary physical calibration plate, while Figures 3c and 3d show the front and back images of the calibration plate being exposed and imaged together with the surgical instrument.
  • the image distortion in the target instrument image of the surgical instrument can be corrected Make corrections.
  • the exposure parameters of the X-ray imaging device such as focal length, pixel spacing of the imaging plane, etc.
  • step 204 the relative position image of the characteristic through-hole and the through-hole image of the characteristic through-hole are extracted from the target instrument image of the surgical instrument.
  • the relative position image of the characteristic through hole reflects the position of the through hole image of the characteristic through hole relative to at least a part of the outer contour image.
  • Figure 4a is a schematic diagram of the target instrument image of an unprocessed surgical instrument
  • Figure 4b is a part of the area of Figure 4a. This area includes a part of the instrument outer contour image and the through-hole image of two characteristic through-holes, that is, Relative position image.
  • Figure 4c is a through-hole image of an oblong feature through-hole
  • Figure 4d is a through-hole image of a circular feature through-hole.
  • FIG. 4a may include the process of intercepting the area of interest, and the process of extracting contour information through image edge recognition processing; in other embodiments, extracting Fig. 4b from Fig. 4a
  • the operation may only include the process of intercepting the region of interest, but not the process of extracting contour information through edge recognition (for example, an example of an actual instrument image as shown in Figure 4e).
  • the through hole images shown in Figure 4c and Figure 4d can be obtained by directly processing the instrument image of Figure 4a, or can also be obtained by processing the relative position image of Figure 4b.
  • characteristic through holes usually have a relatively regular shape, such as a circular or oval shape, and the shape of the through hole image formed after changing with the actual spatial orientation of the surgical instrument is also relatively regular, so it is easy to identify. Therefore, in subsequent processing, images of characteristic through holes are often mainly used to determine the orientation of surgical instruments. However, it can be understood that this application does not limit the shape of the characteristic through holes to be regular. Irregular characteristic through holes can also be used for subsequent orientation and spatial posture recognition.
  • the relative position image of the characteristic through hole is also extracted.
  • the relative position image can be used to represent the location of the characteristic through hole in the surgical instrument.
  • these characteristic through-holes change with the orientation of the surgical instrument depending on the deflection angle relative to the X-ray source.
  • step 206 the orientation of the digital model of the surgical instrument relative to the imaging plane is adjusted multiple times, and simulated imaging is performed on the digital model of the surgical instrument after each adjustment to generate an image of the surgical instrument corresponding to the orientation. Multiple simulated device images.
  • the target instrument image of the surgical instrument is an image generated by the surgical instrument being oriented in a certain orientation relative to the imaging plane during the actual imaging process.
  • the inventor creatively performed simulated imaging on the three-dimensional digital model of the surgical instrument to generate multiple simulated instrument images, and then used these simulated instrument images to identify the orientation of the actual target instrument image.
  • the three-dimensional digital model of the surgical instrument is the same digital virtual model as the physical model of the surgical instrument.
  • the size of the digital model orientation of each adjustment of the surgical instrument can be adaptively set/determined.
  • the digital model of the surgical instrument and the virtual light source point can be set in the same virtual digital space, and based on the maximum distance from the digital model of the surgical instrument to the virtual light source point (the maximum distance can be determined based on the maximum distance in the physical imaging space)
  • the virtual digital space is divided into multiple virtual imaging areas, in which the distance between the center point of each imaging area and the virtual light source point increases in sequence. In some embodiments, the virtual digital space may be divided into 3, 4, 5, 6 or more virtual imaging areas.
  • the digital model of the surgical instrument can be set at a certain reference point in it, such as the center point; then the deflection angle of the digital model in different directions can be gradually changed, and the orientation can be changed at the same time.
  • the final digital model is subjected to simulated imaging to generate a simulated instrument image of the digital model at the deflection angle (orientation). It can be understood that in each simulated instrument image, the relative position image of the characteristic through-hole in the digital model of the surgical instrument and the through-hole image are different.
  • each adjustment may change the deflection angle by 1, 2, 3, 5 or more degrees.
  • the simulated instrument image of the surgical instrument after each adjustment may or may not be stored.
  • step 208 based on the multiple simulated instrument images generated in step 206, the through-hole image and the relative position image of the characteristic through-hole extracted from the target instrument image in step 204 may be processed to determine whether The orientation of the surgical instrument relative to the imaging plane during instrument imaging.
  • each of the multiple simulated instrument images of the surgical instrument can be extracted from step 204.
  • the through-hole images and relative position images are compared for similarity. Since the through-hole images are mainly compared during the similarity comparison process, the amount of calculation is relatively controllable.
  • various commonly used comparison algorithms can be used for similarity comparison, such as algorithms that extract multiple feature points for comparison. This application does not limit this.
  • a predetermined similarity threshold can be set, such as 0.95 (assuming the same value is 1), for similarity comparison.
  • a simulated instrument image including a through-hole image whose similarity to the through-hole image extracted from the target instrument image is higher than the predetermined similarity threshold can be selected, and the orientation corresponding to the simulated instrument image can be used as the surgical instrument when imaging the target instrument image.
  • simulated device images below a predetermined similarity threshold can also be excluded. It can be understood that since the similarity threshold is set, adjusting the orientation of the digital model of the surgical instrument relative to the imaging plane in step 206 does not require traversing all orientations, but the simulation can be stopped as long as there is a simulated instrument image with a similarity that meets the requirements. Imaging.
  • multiple rounds of adjustment can be performed on the digital model of the surgical instrument, wherein each round of adjustment adopts different orientation adjustment accuracy.
  • the first round of orientation adjustment can set the adjustment accuracy to 10 degrees, and after traversing all orientations, select only a part of the orientations (for example, under these orientations, the similarity of the characteristic through-hole images in the simulated device image is high Perform a second round of orientation adjustment at a certain threshold); the second round of orientation adjustment can set the adjustment accuracy to 2 degrees or less, and then if the simulation device image corresponding to a certain orientation during the orientation adjustment process has a similarity higher than the predetermined If the similarity threshold is the characteristic through-hole image, then the corresponding orientation of the simulated instrument image is determined as the orientation of the surgical instrument relative to the imaging plane when the target instrument image is imaged. It can be understood that the relative position image corresponding to the characteristic through hole can be processed similarly, which will not be described again here.
  • neural network model technology may also be used to implement the processing of step 208.
  • the simulated instrument images generated in step 206 may be stored as a predetermined image database, where each simulated instrument image is associated with the orientation (in virtual space) of the digital model of the surgical instrument relative to the imaging plane when it was simulated to be imaged.
  • the predetermined image database can be used to train the neural network model, thereby enabling it to have the ability to recognize and process similar image data.
  • the trained neural network model can be used to process the through hole image and the relative position image of at least one characteristic through hole to determine the orientation of the surgical instrument relative to the imaging plane when the instrument image is imaged.
  • the neural network model can be any suitable neural network model, such as a convolutional neural network model.
  • the correspondence between the instrument image and the orientation data can also be obtained and stored in various ways as part of the data in the predetermined image database.
  • the images of these surgical instruments may be historical images of surgical instruments taken during previous surgeries, and doctors or surgical operators have determined the orientation data of the surgical instruments relative to the imaging plane through various methods; these historical images are The corresponding orientation data can be stored together as image training data. It can be understood that compared to only using historical imaging data as training data, actively adjusting surgical instruments and performing simulated imaging can obtain more comprehensive and accurate training data, so the processing power of the neural network model obtained through its training is more excellent.
  • the neural network model used in step 208 can be pre-trained. For example, a large number of historical instrument images and simulated images of surgical instruments can be used to train a neural network model; however, since it relies on a large amount of existing image data, this training method takes a long time and is suitable for training before the surgical procedure. .
  • real-time imaging of the target instrument image can also be used to filter the image data in the predetermined image database during the operation, and the filtered image data can be used to train the neural network model.
  • the through-hole image of the characteristic through-hole in the target device image may have specific dimensions, so these dimensions of the through-hole image can be used as parameters and criteria for filtering image data.
  • Figures 5a and 5b illustrate a method for filtering image data according to an embodiment of the present application.
  • the length of the through-hole image along the direction of the imaging boundary of the actual target device image (horizontal and vertical directions, which generally depend on the imaging plane of the X-ray imaging device) is expressed as m 1 and n 1 respectively.
  • the lengths of the through-hole images in the same direction in the simulated images or historical images are expressed as m 2 and n 2 respectively.
  • the imaging conditions/orientations of simulated images or historical images are relatively close to the actual target device images, so simulated images or historical images that meet this image filtering condition can be selected as training data for the neural network model. It can be understood that since some image data with poor correlation are pre-screened, the size of the image training data set is relatively small without losing training accuracy, so the training time of the neural network model is relatively short.
  • the length of the through hole image is represented as a 1 and b 1 respectively; while the simulated image and/or history The lengths of the through-hole images in the same direction in the image are represented as a 2 and b 2 respectively.
  • the imaging conditions/deflection angles of simulated images or historical images are relatively close to actual images, so simulated images and/or historical images that meet this image filtering condition can be selected as training data for the neural network model.
  • various existing major axis and minor axis identification methods can be used in the processing method described in this application. For example, the line connecting the two longest points in the image can be identified as the long axis, and the direction orthogonal to it is the short axis.
  • the length of the through-hole image of the characteristic through-hole in the simulated image and/or historical image (for example, the length m 2 and n 2 , and the lengths a 2 and b 2 in Figure 5 b )
  • the image data including simulated images and/or historical images are divided into multiple sub-training data sets, and the neural network model is trained based on these sub-training data sets respectively.
  • the neural network model trained on the sub-training data set similar to the target device image can be directly selected without additional intraoperative training steps.
  • this image filtering process can also compare simulated device images with through-hole images and/or relative positions in real time Performed during imaging.
  • the characteristic sizes in certain directions of the through-hole image extracted in step 204 can be compared with the characteristic sizes in the corresponding directions in the simulated device image; and only when the characteristic sizes are close, the Continue to compare the similarity between the simulated device image and the through-hole image and relative position image extracted in step 204.
  • the surgical instrument only has one characteristic through hole; accordingly, the above filtering of the image data set only needs to consider one or more lengths of the through hole image of the characteristic through hole.
  • a surgical instrument may have multiple characteristic through-holes; accordingly, the filtering of the image data set may only consider the length of the through-hole image of one of these characteristic through-holes, or may also consider all features The length of the through-hole image, that is, only if the lengths of all through-hole images in a certain historical image and/or simulated image meet the predetermined image filtering conditions, the historical image or simulated image will be selected as the image training data.
  • the neural network model can identify the position of the hole center of the characteristic through hole and the direction of the central axis passing through the hole center, and then determine the orientation of the plane where the through hole is located based on the hole center position and the direction of the central axis. Since the position of the characteristic through hole in the surgical instrument is determined, the orientation of the surgical instrument relative to the imaging plane (as a reference plane) can be determined based on the position and orientation of the plane where the through hole is located.
  • the neural network model can identify the location of the characteristic through hole and the direction of a central axis passing through the center of the hole, as well as a perpendicular line from the center of the hole to the outer contour of the device.
  • the surgical instrument may have multiple characteristic through holes, such as the circular through hole and the oblong through hole shown in Figure 4a.
  • the neural network model can identify two characteristics. The location of the vias and the direction of the central axis passing through the center of the two featured vias. In this manner, the position of one point and the associated orientation of one or more vectors in the target device image can be determined, or the positions of two or more points and the associated orientation of one or more vectors can be determined. , so that the orientation of the surgical instrument relative to the imaging plane can be determined based on the orientation of these points and axes/lines.
  • the posture of the surgical instrument in space may be determined based on the orientation of the surgical instrument relative to the imaging plane.
  • the imaging plane depends on the orientation of the X-ray source of the X-ray imaging device during imaging, which is generally the focal plane of the X-ray source during imaging. Furthermore, by means of the equipment parameters of the X-ray imaging device, the orientation of the imaging plane as the focal plane in a certain reference coordinate system (for example, a reference coordinate system related to the operating room or the X-ray imaging device) can be determined. In this way, with the help of the imaging plane, the posture of the surgical instrument in space can be determined. Among them, the posture of the surgical instrument includes orientation and position.
  • a three-dimensional model of the surgical instrument can be displayed in a graphical user interface to present the position of the surgical instrument within the patient's body to a doctor or other operator.
  • the patient's body shape can be pre-imaged using a CT machine and a three-dimensional model can be generated.
  • the 3D model of the surgical instrument and the 3D model of the patient's body can be displayed together.
  • motion trackers or similar sensors may also be mounted on the surgical instrument and/or the patient's body. In this way, after the posture of the surgical instrument in space is determined through method 200, if the posture of the surgical instrument changes during subsequent operations, this change can be tracked by the motion tracker and applied to the determined posture of the surgical instrument. posture, thereby tracking and presenting the three-dimensional model of surgical instruments in real time.
  • step 212 can be continued to correct the posture of the surgical instrument in space determined in step 210.
  • the correction amount can be determined using the target instrument image of the surgical instrument provided in step 202 and the virtual image (simulated image or historical image) of the surgical instrument determined in step 206 .
  • the orientation of the surgical instrument relative to the imaging plane may be determined. It can be understood that in the training data set, this orientation corresponds to a simulated image or historical image of the surgical instrument, and the simulated image or historical image reflects the virtual projection of the surgical instrument under the corresponding orientation data; and the target instrument provided in step 202 The image is the actual projection of the surgical instrument. Therefore, it is advantageous to hope that the virtual projection of the surgical instrument can be as close to the actual projection as possible.
  • the correction in step 212 is to adjust/correct the virtual projection to be close to the actual projection.
  • Figures 7a to 7d illustrate the process of further modifying the posture of the surgical instrument according to an embodiment of the present application.
  • the target device image and the virtual image can be overlapped with each other, and one or more images can be selected on the outer contour image of the target device image.
  • Multiple contour sampling points Since the target device image and the virtual image are placed substantially overlapping, each selected contour sampling point has a corresponding contour matching point on the device outer contour in the virtual image, which is from the device outer contour in the virtual image to the corresponding contour. The closest point to the sampling point. In this way, one or more pairs of contour sampling points and contour matching points can be determined.
  • a total of 4 pairs of contour sampling points and contour matching points are selected, which are located at the upper end of the instrument outer contour image. It can be understood that in practical applications, the number of contour sampling points and contour matching points can be adjusted, for example, more (for a straighter contour) or fewer (for a more tortuous contour) points are selected according to the curve change of the contour.
  • both the target instrument image and the virtual instrument image are projection images obtained after actual imaging or simulated imaging of the surgical instrument (or its virtual three-dimensional model) from the X-ray source (light source point), but are limited by the orientation of the surgical instrument. Due to the algorithmic accuracy of the determination process, the virtual image and the corresponding three-dimensional model of the surgical instrument are not ideally close to the actual spatial position of the surgical instrument. Correspondingly, as shown in Figure 7c, the X-ray source and each contour matching point can be connected to each other as a matching point connection line, and then the closest point between the three-dimensional model of the surgical instrument and each matching point connection line (called edge point).
  • the orientation correction matrix may be calculated through separate sets of edge points and vertical feet.
  • the correction matrix can be further applied to the orientation of the surgical instrument relative to the imaging plane to obtain a corrected orientation; or the correction matrix can be applied to the posture of the surgical instrument in space to obtain a corrected spatial posture.
  • the present application also provides some computer program products including non-transitory computer-readable storage media.
  • the non-transitory computer-readable storage medium includes computer-executable code for performing the steps in the method embodiment shown in FIG. 2 .
  • the computer program product may be stored in a hardware device.
  • Embodiments of the present invention may be implemented by hardware, software, or a combination of software and hardware.
  • the hardware part can be implemented using dedicated logic; the software part can be stored in memory and executed by an appropriate instruction execution system, such as a microprocessor or specially designed hardware.
  • an appropriate instruction execution system such as a microprocessor or specially designed hardware.
  • Those of ordinary skill in the art will understand that the above-described apparatus and methods may be implemented using computer-executable instructions and/or included in processor control code, for example on a carrier medium such as a disk, CD or DVD-ROM, such as a read-only memory.
  • Such code is provided on a programmable memory (firmware) or on a data carrier such as an optical or electronic signal carrier.
  • the device and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., It can also be implemented by software executed by various types of processors, or by a combination of the above-mentioned hardware circuits and software, such as firmware.

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Abstract

La présente demande concerne un procédé de détermination d'une pose d'un instrument chirurgical dans un espace, consistant à : fournir une image d'instrument cible d'un instrument chirurgical ; extraire une image de position relative d'au moins un trou traversant de caractéristique et d'une image de trou traversant du ou des trous traversants de caractéristique à partir de l'image d'instrument cible ; ajuster une orientation d'un modèle numérique de l'instrument chirurgical par rapport à un plan d'imagerie de multiples fois et réaliser une imagerie de simulation sur le modèle numérique de l'instrument chirurgical après chaque ajustement, de façon à générer une pluralité d'images d'instrument simulées de l'instrument chirurgical correspondant à l'orientation ; traiter l'image de trou traversant et l'image de position relative du ou des trous traversants de caractéristique sur la base de la pluralité d'images d'instrument simulées, de façon à déterminer une orientation de l'instrument chirurgical par rapport au plan d'imagerie pendant l'imagerie de l'image d'instrument cible ; et déterminer une pose de l'instrument chirurgical dans un espace sur la base de l'orientation de l'instrument chirurgical par rapport au plan d'imagerie.
PCT/CN2022/080286 2022-03-11 2022-03-11 Procédé et dispositif pour déterminer la pose d'un instrument chirurgical dans l'espace WO2023168682A1 (fr)

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