WO2024016248A1 - 一种用于股骨手术的图像配准系统及方法 - Google Patents

一种用于股骨手术的图像配准系统及方法 Download PDF

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WO2024016248A1
WO2024016248A1 PCT/CN2022/106960 CN2022106960W WO2024016248A1 WO 2024016248 A1 WO2024016248 A1 WO 2024016248A1 CN 2022106960 W CN2022106960 W CN 2022106960W WO 2024016248 A1 WO2024016248 A1 WO 2024016248A1
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femoral
line
characteristic
dimensional
circle
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PCT/CN2022/106960
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English (en)
French (fr)
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张立海
罗杨
宋德政
刘勇
李亮
郑年
张攻孜
张书威
彭烨
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中国人民解放军总医院第一医学中心
北京埃克索医疗科技发展有限公司
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Application filed by 中国人民解放军总医院第一医学中心, 北京埃克索医疗科技发展有限公司 filed Critical 中国人民解放军总医院第一医学中心
Priority to CN202280003127.1A priority Critical patent/CN115485722A/zh
Priority to PCT/CN2022/106960 priority patent/WO2024016248A1/zh
Publication of WO2024016248A1 publication Critical patent/WO2024016248A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
    • 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
    • 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
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • 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
    • A61B2034/101—Computer-aided simulation of surgical operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10072—Tomographic images
    • G06T2207/10081—Computed x-ray tomography [CT]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10116—X-ray image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30008—Bone

Definitions

  • the present invention relates to the field of surgical image registration, and in particular to an image registration system and method for femoral surgery.
  • femoral neck needs to bear the movement and support functions during most human activities, and the treatment effect of its fracture will directly affect the patient's postoperative quality of life.
  • femoral neck fractures account for 3.6% of total body fractures and half of hip fractures. They mostly occur in middle-aged and elderly people with osteoporosis. As society ages, its incidence rate increases year by year. Surgical navigation systems assist femoral neck fractures. Surgery has important implications.
  • the preoperative navigation system based on CT data cannot perform intraoperative spatial positioning because it does not have the support of intraoperative information.
  • the intraoperative imaging navigation system based on C-arm X-ray machine is not intuitive enough.
  • the intraoperative three-dimensional reconstruction system is expensive and popular. rate is low.
  • the navigation system based on 3D-2D image registration can effectively avoid the above shortcomings.
  • the difficulty lies in the accurate registration of 3D images and 2D images.
  • the purpose of the present invention is to provide an image registration system and method for femoral surgery, which improves the accuracy of image registration, ensures the accuracy of surgical auxiliary navigation, and thereby improves the quality of surgery.
  • the present invention provides the following solutions:
  • An image registration system for femoral surgery including: a projection module, a preprocessing module and a registration module;
  • the projection module is used to perform DRR projection at different angles on the three-dimensional femoral CT image to obtain several two-dimensional DRR projection images;
  • the preprocessing module is used to preprocess the femur image in each two-dimensional DRR projection map and each two-dimensional X-ray image, and generate a femoral coordinate system and femoral feature points; the two-dimensional X-ray image includes images from different angles. Multiple X-ray plane images taken of the femur;
  • the registration module is used to determine the relationship between the two-dimensional DRR projection images and the two-dimensional X-ray images from the several two-dimensional DRR projection images according to the femoral coordinate system and femoral feature points of the two-dimensional
  • the two-dimensional DRR projection images with the same femur posture in the image are used to obtain multiple target DRR projection images.
  • the femur includes a femoral head, a femoral neck and a femoral shaft
  • the preprocessing module includes a femoral outline generation unit, a femoral head fitting unit, a femoral neck feature line selection unit, a femoral coordinate system establishment unit, and a femoral feature Circle generation unit, femur feature line selection unit and femur feature point selection unit;
  • the femoral contour generation unit is used to automatically extract the outer contour of the femur to obtain the femoral contour
  • the femoral head fitting unit is used to fit the femoral head into a circle to obtain the femoral head fitting circle;
  • the femoral neck characteristic line selection unit is used to select the two-point connection line with the shortest distance between the two femoral contour lines at the femoral neck as the femoral neck characteristic line;
  • the femoral coordinate system establishment unit is used to establish a femoral coordinate system with a line connecting the center of the femoral head fitting circle and the midpoint of the femoral neck characteristic line as a coordinate axis of the femoral coordinate system;
  • the femoral characteristic circle generating unit is used to select two points on the extension line connecting the center of the femoral head fitting circle and the midpoint of the femoral neck characteristic line, using the radius of the femoral head fitting circle as the radius.
  • a first characteristic circle and a second characteristic circle are generated respectively; the first characteristic circle is tangent to the femoral head fitting circle, and the center of the first characteristic circle is on the edge line of the second characteristic circle. superior;
  • the femoral characteristic line selection unit is used to select multiple femoral characteristic lines perpendicular to the line connecting the center of the femoral head fitting circle and the midpoint of the femoral neck characteristic line;
  • the femoral feature point selection unit is used to select the intersection point of each femoral feature line and the femoral contour line as a femoral feature point.
  • the femoral characteristic line selection unit includes: a first femoral characteristic line selection subunit, a second femoral characteristic line selection subunit, a third femoral characteristic line selection subunit, a fourth femoral characteristic line selection subunit, and a third femoral characteristic line selection subunit.
  • the first femoral characteristic line selection subunit is used to select the first femoral characteristic line;
  • the first femoral characteristic line is a line segment passing through the tangent point of the femoral head fitting circle and the first characteristic circle;
  • the second femoral characteristic line selection subunit is used to select a second femoral characteristic line;
  • the second femoral characteristic line is a line segment passing through the center of the first characteristic circle;
  • the third femoral characteristic line selection subunit is used to select the third femoral characteristic line;
  • the third femoral characteristic line is a line segment passing through the center of the second characteristic circle;
  • the fourth femoral characteristic line selection subunit is used to select a fourth femoral characteristic line;
  • the fourth femoral characteristic line is a line segment parallel to the second femoral characteristic line and a tangent line of the second characteristic circle;
  • the fifth femoral characteristic line selection subunit is used to select the fifth femoral characteristic line;
  • the fifth femoral characteristic line is an extension of a line connecting the center of the femoral head fitting circle and the midpoint of the femoral neck characteristic line
  • the line segment is the midpoint of the line connecting the intersection point of the third femoral characteristic line and the fourth femoral characteristic line.
  • the registration module includes: a femoral coordinate system coincidence unit and a femoral feature point registration unit;
  • the femoral coordinate system coincidence unit is used to coincide the femoral coordinate system of the two-dimensional DRR projection map and the two-dimensional X-ray image;
  • the femoral feature point registration unit is used to match the femoral feature point positions of the two-dimensional DRR projection map and the two-dimensional X-ray image one by one.
  • the preprocessing module also includes: a region of interest selection unit;
  • the region of interest selection unit is used to select a region of interest composed of a line segment and an arc at each of the femoral head contour line and the two femoral neck contour lines of the femoral contour line.
  • the present invention also provides an image registration method for femoral surgery, which includes the following steps:
  • the femur images in each two-dimensional DRR projection map and each two-dimensional X-ray image are preprocessed to generate a femoral coordinate system and femoral feature points; the two-dimensional X-ray images include multiple X-rays taken of the femur at different angles. light plane image;
  • two two-dimensional DRR projection maps that are the same as the femoral posture in the two-dimensional dimensional DRR projection map, and obtain multiple target DRR projection maps.
  • the femur includes a femoral head, a femoral neck and a femoral shaft, and the femoral image in each two-dimensional DRR projection map and each two-dimensional X-ray image is preprocessed to generate a femoral coordinate system and femoral feature points, Specifically include:
  • a femoral coordinate system is established;
  • the radius of the femoral head fitting circle select two points as the center points on the extension line connecting the center point of the femoral head fitting circle and the midpoint of the femoral neck characteristic line to generate the first characteristic circle and the center point of the femoral neck characteristic line respectively.
  • a second characteristic circle the first characteristic circle is tangent to the femoral head fitting circle, and the center of the first characteristic circle is on the edge line of the second characteristic circle;
  • intersection point of each femoral characteristic line and the femoral contour line is taken as the femoral characteristic point.
  • generating a plurality of femoral characteristic lines perpendicular to a line connecting the center point of the femoral head fitting circle and the midpoint of the femoral neck characteristic line specifically includes:
  • the line segment passing through the center of the first characteristic circle is selected as the second femoral characteristic line
  • the line segment passing through the center of the second characteristic circle is selected as the third femoral characteristic line
  • a line segment passing through the midpoint of the extension line connecting the center of the femoral head fitting circle and the midpoint of the femoral neck characteristic line and the intersection of the third femoral characteristic line and the fourth femoral characteristic line is selected as the third Five femoral characteristic lines.
  • the two-dimensional DRR projection images with the same femur posture are used to obtain multiple target DRR projection images, including:
  • the method also includes:
  • the femoral head fitting circle is automatically generated based on the fitting curve of the femoral outline at the femoral head;
  • an image registration system and method for femoral surgery provided by the present invention, including: a projection module, a preprocessing module and a registration module; a projection module , used to perform DRR projection on three-dimensional femoral CT images at different angles to obtain several two-dimensional DRR projection images; the preprocessing module is used to preprocess each two-dimensional DRR projection image and the femur image in each two-dimensional X-ray image.
  • the two-dimensional X-ray image includes multiple X-ray plane images taken at different angles; the registration module is used to calculate the femur based on the two-dimensional DRR projection map and the two-dimensional X-ray image
  • the coordinate system and femur feature points are used to determine the two-dimensional DRR projection map that is the same as the femur pose in the two-dimensional X-ray image from several two-dimensional DRR projection maps, and multiple target DRR projection maps are obtained.
  • the present invention performs DRR projection of the three-dimensional femoral CT image at various angles, and generates and selects the femoral coordinate system and femoral feature points on the two-dimensional DRR projection map and the two-dimensional X-ray image respectively.
  • the femoral coordinate system and femoral feature points registering the two-dimensional DRR projection map and the two-dimensional X-ray image, which improves the accuracy of image registration, and can accurately obtain the same two-dimensional DRR as the femur posture when scanning the two-dimensional X-ray image.
  • the projection map can then obtain the real surgical path for surgical navigation, ensuring the accuracy of surgical auxiliary navigation, thereby improving the quality of surgery.
  • Figure 1 is a structural block diagram of an image registration system for femoral surgery provided by the present invention
  • Figure 2 is a structural block diagram of the femur characteristic line selection unit in the image registration system provided by the present invention
  • Figure 3 is a flow chart of an image registration method for femoral surgery provided by the present invention.
  • Figure 4 is a specific flow chart of step S2 in the image registration method provided by the present invention.
  • Figure 5 is a specific flow chart of step S26 in the image registration method provided by the present invention.
  • Figure 6 is a three-dimensional femoral CT image reconstructed in the image registration method provided by the present invention.
  • Figure 7 is a schematic diagram of the femur contour generated from the two-dimensional DRR projection image in the image registration method provided by the present invention.
  • Figure 8 is a schematic diagram of the femoral feature points generated from the two-dimensional DRR projection map in the image registration method provided by the present invention.
  • Figure 9 is a two-dimensional X-ray image scanned in the image registration method provided by the present invention.
  • Figure 10 is a schematic diagram of the femur outline generated from a two-dimensional X-ray image in the image registration method provided by the present invention.
  • Figure 11 is a schematic diagram of femoral feature points generated from two-dimensional X-ray images in the image registration method provided by the present invention.
  • 1 Projection module; 2: Preprocessing module; 3: Registration module; 21: Femoral contour line generation unit; 22: Femoral head fitting unit; 23: Femoral neck characteristic line selection unit; 24: Femoral coordinate system establishment Unit; 25: Femoral feature circle generation unit; 26: Femoral feature line selection unit; 27: Femoral feature point selection unit; 28: Region of interest selection unit; 261: First femur feature line selection subunit; 262: Second femur Characteristic line selection sub-unit; 263: Third femur characteristic line selection sub-unit; 264: Fourth femur characteristic line selection sub-unit; 265: Fifth femur characteristic line selection sub-unit; 31: Femur coordinate system coincidence unit; 32: Femur Feature point registration unit.
  • the purpose of the present invention is to provide an image registration system and method for femoral surgery, which improves the accuracy of image registration, ensures the accuracy of surgical auxiliary navigation, and thereby improves the quality of surgery.
  • the present invention provides an image registration system for femoral surgery.
  • the image registration system for femoral surgery of the present invention includes: a projection module 1, a preprocessing module 2 and a registration module. 3;
  • Projection module 1 is used to perform DRR projection on three-dimensional femoral CT images at different angles to obtain several two-dimensional DRR projection images;
  • Preprocessing module 2 is used to preprocess the femoral images in each two-dimensional DRR projection map and each two-dimensional X-ray image to generate the femoral coordinate system and femoral feature points; the two-dimensional X-ray images include femoral parts at different angles Multiple X-ray plane images taken;
  • Registration module 3 is used to determine from several two-dimensional DRR projection images the same two-dimensional femoral position and posture as in the two-dimensional X-ray image based on the femoral coordinate system and femoral feature points of the two-dimensional DRR projection image and the two-dimensional X-ray image. DRR projection map, obtain multiple target DRR projection maps.
  • the femur includes a femoral head, a femoral neck and a femoral shaft.
  • the preprocessing module 2 includes a femoral outline generation unit 21, a femoral head fitting unit 22, a femoral neck feature line selection unit 23, a femoral coordinate system establishment unit 24, Femoral characteristic circle generating unit 25, femoral characteristic line selecting unit 26 and femoral characteristic point selecting unit 27;
  • the femoral contour line generation unit 21 is used to automatically extract the outer contour of the femur and obtain the femoral contour line;
  • the femoral head fitting unit 22 is used to fit the femoral head into a circle to obtain the femoral head fitting circle;
  • the femoral neck characteristic line selection unit 23 is used to select the two-point connection line with the shortest distance between the two femoral contour lines at the femoral neck as the femoral neck characteristic line;
  • the femoral coordinate system establishment unit 24 is used to establish the femoral coordinate system by taking the line connecting the center of the femoral head fitting circle and the midpoint of the femoral neck characteristic line as a coordinate axis of the femoral coordinate system;
  • the femoral characteristic circle generating unit 25 is used to use the radius of the fitting circle of the femoral head as the radius, select two points as the center points on the extension line connecting the center point of the fitting circle of the femoral head and the midpoint of the femoral neck characteristic line, and generate the first first circle center respectively.
  • the femoral characteristic line selection unit 26 is used to select multiple femoral characteristic lines perpendicular to the line connecting the center point of the femoral head fitting circle and the midpoint of the femoral neck characteristic line;
  • the femoral feature point selection unit 27 is used to select the intersection point of each femoral feature line and the femoral contour line as the femoral feature point.
  • the femoral characteristic line selection unit 26 includes: a first femoral characteristic line selection subunit 261, a second femoral characteristic line selection subunit 262, a third femoral characteristic line selection subunit 263, and a fourth femoral characteristic line selection subunit.
  • the first femoral characteristic line selection subunit 261 is used to select the first femoral characteristic line;
  • the first femoral characteristic line is a line segment passing through the tangent point of the femoral head fitting circle and the first characteristic circle;
  • the second femoral characteristic line selection subunit 262 is used to select the second femoral characteristic line; the second femoral characteristic line is a line segment passing through the center of the first characteristic circle;
  • the third femoral characteristic line selection subunit 263 is used to select the third femoral characteristic line; the third femoral characteristic line is a line segment passing through the center of the second characteristic circle;
  • the fourth femoral characteristic line selection subunit 264 is used to select the fourth femoral characteristic line;
  • the fourth femoral characteristic line is a line segment parallel to the second femoral characteristic line and a tangent line of the second characteristic circle;
  • the fifth femoral characteristic line selection subunit 265 is used to select the fifth femoral characteristic line; the fifth femoral characteristic line is the extension line connecting the center point of the femoral head fitting circle and the midpoint of the femoral neck characteristic line and the third femoral characteristic line
  • the line segment is the midpoint of the line connecting the intersection point with the characteristic line of the fourth femur.
  • the registration module 3 includes: a femoral coordinate system coincidence unit 31 and a femoral feature point registration unit 32;
  • the femoral coordinate system coincidence unit 31 is used to coincide the femoral coordinate system of the two-dimensional DRR projection map and the two-dimensional X-ray image;
  • the femoral feature point registration unit 32 is used to match the femoral feature point positions of the two-dimensional DRR projection map and the two-dimensional X-ray image one by one.
  • the preprocessing module 2 also includes: a region of interest selection unit 28;
  • the region of interest selection unit 28 is used to select a region of interest composed of a line segment and an arc at each of the femoral head contour line and the two femoral neck contour lines.
  • the selection template composed of line segments and arcs selects the area of interest at the femoral head and femoral neck. This eliminates the need to perform contour recognition on the entire X-ray, thereby reducing the amount of calculations.
  • the present invention also provides an image registration method for femoral surgery.
  • the image registration method includes the following steps:
  • the two-dimensional X-ray image includes multiple X-rays taken of the femoral part at different angles. light plane image;
  • Step S3 Based on the femoral coordinate system and femoral feature points of the two-dimensional DRR projection map and the two-dimensional X-ray image, determine the two-dimensional DRR projection map that is the same as the femur pose in the two-dimensional X-ray image from several two-dimensional DRR projection maps, and obtain Multiple target DRR projection images.
  • Step S3 specifically includes:
  • the femur includes the femoral head, femoral neck and femoral shaft.
  • CT or X-ray can only show part of the femoral shaft.
  • step S2 specifically includes:
  • step S26 specifically includes:
  • the image registration method in this embodiment also includes:
  • A1 Select a region of interest composed of line segments and arcs at the femoral head contour and the two femoral neck contours of the femoral contour; the selection template composed of line segments and arcs is located at the femoral head and femoral neck. Select the area of interest so that there is no need to perform contour recognition on the entire X-ray, thus achieving the effect of reducing the amount of calculation.
  • the femoral head fitting circle is automatically generated.
  • the patient's femoral image data is acquired through CT imaging equipment, and processed and reconstructed to generate a three-dimensional femoral CT image, as shown in Figure 6, on which the surgical path is planned.
  • O is the center of the femoral head fitting circle, and OY passes through the femoral neck characteristic line and intersects the femoral shaft.
  • the central axis is O1
  • OZ is perpendicular to OY and in the OO1Y1 plane, and the OX axis conforms to the right-hand rule.
  • the amount of translation similarly, multiple projections are performed in the X direction of a single viewing angle, as shown on the right side of Figure 7, to obtain multiple two-dimensional DRR projection images.
  • each two-dimensional DRR projection image as shown in Figure 8, automatically extract the femoral outline, and automatically generate a fitting circle for the femoral head.
  • the center of the circle is O2, O3 is the midpoint of the femoral neck characteristic line, and the third line is drawn on the extension line of O2O3.
  • the first characteristic circle O4 and the second characteristic circle O5 are selected to intersect the femoral contour lines at the femoral characteristic points A1, A2, A3, A4, A5, A6, A7, A8, A9 and A10.
  • the biplane method is used to output the accurately registered surgical path.

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Abstract

一种用于股骨手术的图像配准系统及方法，涉及手术图像配准领域，在进行手术之前将三维股骨CT图像进行各种角度的DRR投影，分别在二维DRR投影图与二维X光图像上进行股骨坐标系和股骨特征点的生成和选取，根据股骨坐标系和股骨特征点，对二维DRR投影图和二维X光图像进行配准，提高了图像配准的精度，能够准确得到与进行二维X光图像扫描时的股骨位姿相同的二维DRR投影图，进而可以获得真实的手术路径以进行手术导航，保证手术辅助导航的精度，进而改善了手术质量。

Description

一种用于股骨手术的图像配准系统及方法 技术领域
本发明涉及手术图像配准领域，特别是涉及一种用于股骨手术的图像配准系统及方法。
背景技术
股骨颈需要承担人体大部分活动时的运动和支撑功能，其骨折的治疗效果将直接影响患者术后的生活质量。目前，股骨颈骨折已占全身骨折的3.6％，占髋部骨折的一半，多发于骨质疏松的中老年人，随着社会老龄化严重，其发病率逐年递增，手术导航系统辅助股骨颈骨折手术具有重要的意义。
目前市面上根据医学影像数据的不同股骨手术中常用的导航方式主要分为以下四种：1)基于CT数据的术前导航系统；2)基于C型臂X光机的术中成像导航系统；3)基于术中三维重建的导航系统；4)基于三维-二维图像配准的导航系统。
基于CT数据的术前导航系统由于没有术中信息的支持，无法进行术中的空间定位，基于C型臂X光机的术中成像导航系统又不够直观，术中三维重建系统价格高且普及率低。而基于三维-二维图像配准的导航系统可以有效避免以上缺点，难点在于对三维图像和二维图像的精确配准。
发明内容
本发明的目的是提供一种用于股骨手术的图像配准系统及方法，提高了图像配准的精度，能够保证手术辅助导航的精度，进而改善了手术质量。
为实现上述目的，本发明提供了如下方案：
一种用于股骨手术的图像配准系统，包括：投影模块、预处理模块以及配准模块；
所述投影模块，用于对三维股骨CT图像进行不同角度的DRR投影，得到若干张二维DRR投影图；
所述预处理模块，用于对各二维DRR投影图和各二维X光图像中的股骨图像进行预处理，生成股骨坐标系和股骨特征点；所述二维X光图像包括不同角度下对股骨部位拍摄的多张X光平面图像；
所述配准模块，用于根据所述二维DRR投影图和所述二维X光图像的 股骨坐标系和股骨特征点，从所述若干张二维DRR投影图中确定与所述二维X光图像中股骨位姿相同的二维DRR投影图，得到多张目标DRR投影图。
可选地，所述股骨包括股骨头、股骨颈和股骨干，所述预处理模块包括股骨轮廓线生成单元、股骨头拟合单元、股骨颈特征线选取单元、股骨坐标系建立单元、股骨特征圆生成单元、股骨特征线选取单元和股骨特征点选取单元；
所述股骨轮廓线生成单元，用于自动提取股骨外轮廓，得到股骨轮廓线；
所述股骨头拟合单元，用于将股骨头拟合为一个圆，得到股骨头拟合圆；
所述股骨颈特征线选取单元，用于在股骨颈处的两条股骨轮廓线之间选取距离最短的两点连线作为股骨颈特征线；
所述股骨坐标系建立单元，用于以所述股骨头拟合圆圆心和所述股骨颈特征线中点的连线为股骨坐标系的一个坐标轴，建立股骨坐标系；
所述股骨特征圆生成单元，用于以所述股骨头拟合圆半径为半径，在所述股骨头拟合圆圆心和所述股骨颈特征线中点的连线的延长线上选取两点作为圆心，分别生成第一特征圆和第二特征圆；所述第一特征圆与所述股骨头拟合圆相切，所述第一特征圆的圆心在所述第二特征圆的边缘线上；
所述股骨特征线选取单元，用于选取多条垂直于所述股骨头拟合圆圆心和所述股骨颈特征线中点连线的股骨特征线；
所述股骨特征点选取单元，用于取各股骨特征线与所述股骨轮廓线的交点为股骨特征点。
可选地，所述股骨特征线选取单元包括：第一股骨特征线选取子单元、第二股骨特征线选取子单元、第三股骨特征线选取子单元、第四股骨特征线选取子单元和第五股骨特征线选取子单元；
所述第一股骨特征线选取子单元，用于选取第一股骨特征线；所述第一股骨特征线为过所述股骨头拟合圆和所述第一特征圆切点的线段；
所述第二股骨特征线选取子单元，用于选取第二股骨特征线；所述第二股骨特征线为过所述第一特征圆圆心的线段；
所述第三股骨特征线选取子单元，用于选取第三股骨特征线；所述第三 股骨特征线为过所述第二特征圆圆心的线段；
所述第四股骨特征线选取子单元，用于选取第四股骨特征线；所述第四股骨特征线为平行于所述第二股骨特征线，且为所述第二特征圆切线的线段；
所述第五股骨特征线选取子单元，用于选取第五股骨特征线；所述第五股骨特征线为过所述股骨头拟合圆圆心和所述股骨颈特征线中点连线的延长线与所述第三股骨特征线和所述第四股骨特征线交点连线的中点的线段。
可选地，所述配准模块包括：股骨坐标系重合单元和股骨特征点配准单元；
所述股骨坐标系重合单元，用于将所述二维DRR投影图和所述二维X光图像的股骨坐标系重合；
所述股骨特征点配准单元，用于将所述二维DRR投影图和所述二维X光图像的股骨特征点位置一一匹配。
可选地，所述预处理模块还包括：感兴趣区域选取单元；
所述感兴趣区域选取单元，用于在所述股骨轮廓线的股骨头轮廓线和两段股骨颈轮廓线的位置各选取一块由线段和圆弧组成的感兴趣区域。
另一方面，针对前述的图像配准系统，本发明还提供了一种用于股骨手术的图像配准方法，包括以下步骤：
对三维股骨CT图像进行不同角度的DRR投影，得到若干张二维DRR投影图；
对各二维DRR投影图和各二维X光图像中的股骨图像进行预处理，生成股骨坐标系和股骨特征点；所述二维X光图像包括不同角度下对股骨部位拍摄的多张X光平面图像；
根据所述二维DRR投影图和所述二维X光图像的股骨坐标系和股骨特征点，从所述若干张二维DRR投影图中确定与所述二维X光图像中股骨位姿相同的二维DRR投影图，得到多张目标DRR投影图。
可选地，所述股骨包括股骨头、股骨颈和股骨干，所述对各二维DRR投影图和各二维X光图像中的股骨图像进行预处理，生成股骨坐标系和股骨特征点，具体包括：
自动提取股骨外轮廓，得到股骨轮廓线；
将股骨头拟合为一个圆，得到股骨头拟合圆；
在股骨颈处的两条股骨轮廓线之间选取距离最短的两点连线作为股骨颈特征线；
以所述股骨头拟合圆圆心和所述股骨颈特征线中点的连线为股骨坐标系的一个坐标轴，建立股骨坐标系；
以所述股骨头拟合圆半径为半径，在所述股骨头拟合圆圆心和所述股骨颈特征线中点的连线的延长线上选取两点作为圆心，分别生成第一特征圆和第二特征圆；所述第一特征圆与所述股骨头拟合圆相切，所述第一特征圆的圆心在所述第二特征圆的边缘线上；
生成多条垂直于所述股骨头拟合圆圆心和所述股骨颈特征线中点连线的股骨特征线；
取各股骨特征线与所述股骨轮廓线的交点为股骨特征点。
可选地，所述生成多条垂直于所述股骨头拟合圆圆心和所述股骨颈特征线中点连线的股骨特征线，具体包括：
选取过所述股骨头拟合圆和所述第一特征圆切点的线段为第一股骨特征线；
选取过所述第一特征圆圆心的线段为第二股骨特征线；
选取过所述第二特征圆圆心的线段为第三股骨特征线；
选取平行于所述第二股骨特征线，且为所述第二特征圆切线的线段为第四股骨特征线；
选取过所述股骨头拟合圆圆心和所述股骨颈特征线中点连线的延长线与所述第三股骨特征线和所述第四股骨特征线交点连线的中点的线段为第五股骨特征线。
可选地，所述根据所述二维DRR投影图和所述二维X光图像的股骨坐标系和股骨特征点，从所述若干张二维DRR投影图中确定与所述二维X光图像中股骨位姿相同的二维DRR投影图，得到多张目标DRR投影图，具体包括：
将所述二维DRR投影图和所述二维X光图像的股骨坐标系重合；
将所述二维DRR投影图和所述二维X光图像的股骨特征点位置一一匹配。
可选地，所述方法还包括：
在所述股骨轮廓线的股骨头轮廓线和两段股骨颈轮廓线的位置各选取一块由线段和圆弧组成的感兴趣区域；
对各所述感兴趣区域中的轮廓线进行识别，生成所述股骨头轮廓线和两段所述股骨颈轮廓线的拟合曲线；
根据股骨头处的股骨轮廓线的拟合曲线，自动生成股骨头拟合圆；
在股骨颈处的两段股骨轮廓线的拟合曲线之间，选取距离最短的两点连线作为股骨颈特征线。
根据本发明提供的具体实施例，本发明公开了以下技术效果：本发明提供的一种用于股骨手术的图像配准系统及方法，包括：投影模块、预处理模块以及配准模块；投影模块，用于对三维股骨CT图像进行不同角度的DRR投影，得到若干张二维DRR投影图；预处理模块，用于对各二维DRR投影图和各二维X光图像中的股骨图像进行预处理，生成股骨坐标系和股骨特征点；二维X光图像包括不同角度下对股骨部位拍摄的多张X光平面图像；配准模块，用于根据二维DRR投影图和二维X光图像的股骨坐标系和股骨特征点，从若干张二维DRR投影图中确定与二维X光图像中股骨位姿相同的二维DRR投影图，得到多张目标DRR投影图。本发明在进行手术之前将三维股骨CT图像进行各种角度的DRR投影，分别在二维DRR投影图与二维X光图像上进行股骨坐标系和股骨特征点的生成和选取，根据股骨坐标系和股骨特征点，对二维DRR投影图和二维X光图像进行配准，提高了图像配准的精度，能够准确得到与进行二维X光图像扫描时的股骨位姿相同的二维DRR投影图，进而可以获得真实的手术路径以进行手术导航，保证手术辅助导航的精度，进而改善了手术质量。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，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为本发明提供的一种用于股骨手术的图像配准系统的结构框图；
图2为本发明提供的图像配准系统中股骨特征线选取单元的结构框图；
图3为本发明提供的一种用于股骨手术的图像配准方法的流程图；
图4为本发明提供的图像配准方法中步骤S2的具体流程图；
图5为本发明提供的图像配准方法中步骤S26的具体流程图；
图6为本发明提供的图像配准方法中重建的三维股骨CT图像；
图7为本发明提供的图像配准方法中对二维DRR投影图生成的股骨轮廓线示意图；
图8为本发明提供的图像配准方法中对二维DRR投影图生成的股骨特征点示意图；
图9为本发明提供的图像配准方法中扫描的二维X光图像；
图10为本发明提供的图像配准方法中对二维X光图像生成的股骨轮廓线示意图；
图11为本发明提供的图像配准方法中对二维X光图像生成的股骨特征点示意图。
图中1：投影模块；2：预处理模块；3：配准模块；21：股骨轮廓线生成单元；22：股骨头拟合单元；23：股骨颈特征线选取单元；24：股骨坐标系建立单元；25：股骨特征圆生成单元；26：股骨特征线选取单元；27：股骨特征点选取单元；28：感兴趣区域选取单元；261：第一股骨特征线选取子单元；262：第二股骨特征线选取子单元；263：第三股骨特征线选取子单元；264：第四股骨特征线选取子单元；265：第五股骨特征线选取子单元；31：股骨坐标系重合单元；32：股骨特征点配准单元。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅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。
本发明的目的是提供一种用于股骨手术的图像配准系统及方法，提高了 图像配准的精度，能够保证手术辅助导航的精度，进而改善了手术质量。
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。
实施例1：
本发明提供了一种用于股骨手术的图像配准系统，如图1～图2所示，本发明用于股骨手术的图像配准系统包括：投影模块1、预处理模块2以及配准模块3；
投影模块1，用于对三维股骨CT图像进行不同角度的DRR投影，得到若干张二维DRR投影图；
预处理模块2，用于对各二维DRR投影图和各二维X光图像中的股骨图像进行预处理，生成股骨坐标系和股骨特征点；二维X光图像包括不同角度下对股骨部位拍摄的多张X光平面图像；
配准模块3，用于根据二维DRR投影图和二维X光图像的股骨坐标系和股骨特征点，从若干张二维DRR投影图中确定与二维X光图像中股骨位姿相同的二维DRR投影图，得到多张目标DRR投影图。
股骨包括股骨头、股骨颈和股骨干，本实施例中，预处理模块2包括股骨轮廓线生成单元21、股骨头拟合单元22、股骨颈特征线选取单元23、股骨坐标系建立单元24、股骨特征圆生成单元25、股骨特征线选取单元26和股骨特征点选取单元27；
股骨轮廓线生成单元21，用于自动提取股骨外轮廓，得到股骨轮廓线；
股骨头拟合单元22，用于将股骨头拟合为一个圆，得到股骨头拟合圆；
股骨颈特征线选取单元23，用于在股骨颈处的两条股骨轮廓线之间选取距离最短的两点连线作为股骨颈特征线；
股骨坐标系建立单元24，用于以股骨头拟合圆圆心和股骨颈特征线中点的连线为股骨坐标系的一个坐标轴，建立股骨坐标系；
股骨特征圆生成单元25，用于以股骨头拟合圆半径为半径，在股骨头拟合圆圆心和股骨颈特征线中点的连线的延长线上选取两点作为圆心，分别生成第一特征圆和第二特征圆；第一特征圆与股骨头拟合圆相切，第一特征圆的圆心在第二特征圆的边缘线上；
股骨特征线选取单元26，用于选取多条垂直于股骨头拟合圆圆心和股骨颈特征线中点连线的股骨特征线；
股骨特征点选取单元27，用于取各股骨特征线与股骨轮廓线的交点为股骨特征点。
本实施例中，股骨特征线选取单元26包括：第一股骨特征线选取子单元261、第二股骨特征线选取子单元262、第三股骨特征线选取子单元263、第四股骨特征线选取子单元264和第五股骨特征线选取子单元265；
第一股骨特征线选取子单元261，用于选取第一股骨特征线；第一股骨特征线为过股骨头拟合圆和第一特征圆切点的线段；
第二股骨特征线选取子单元262，用于选取第二股骨特征线；第二股骨特征线为过第一特征圆圆心的线段；
第三股骨特征线选取子单元263，用于选取第三股骨特征线；第三股骨特征线为过第二特征圆圆心的线段；
第四股骨特征线选取子单元264，用于选取第四股骨特征线；第四股骨特征线为平行于第二股骨特征线，且为第二特征圆切线的线段；
第五股骨特征线选取子单元265，用于选取第五股骨特征线；第五股骨特征线为过股骨头拟合圆圆心和股骨颈特征线中点连线的延长线与第三股骨特征线和第四股骨特征线交点连线的中点的线段。
具体到本实施例中，配准模块3包括：股骨坐标系重合单元31和股骨特征点配准单元32；
股骨坐标系重合单元31，用于将二维DRR投影图和二维X光图像的股骨坐标系重合；
股骨特征点配准单元32，用于将二维DRR投影图和二维X光图像的股骨特征点位置一一匹配。
为了减少计算量，在本实施例中，预处理模块2还包括：感兴趣区域选取单元28；
感兴趣区域选取单元28，用于在股骨轮廓线的股骨头轮廓线和两段股骨颈轮廓线的位置各选取一块由线段和圆弧组成的感兴趣区域。由线段和圆弧组成的选择模板在股骨头和股骨颈处进行感兴趣区域选择，这样不需要对整 个X片进行轮廓识别，从而达到了减少计算量的效果。
实施例2：
对应于实施例1的用于股骨手术的图像配准系统，本发明还提供了一种用于股骨手术的图像配准方法，如图3所示，图像配准方法包括以下步骤：
S1、对三维股骨CT图像进行不同角度的DRR投影，得到若干张二维DRR投影图；
S2、对各二维DRR投影图和各二维X光图像中的股骨图像进行预处理，生成股骨坐标系和股骨特征点；二维X光图像包括不同角度下对股骨部位拍摄的多张X光平面图像；
S3、根据二维DRR投影图和二维X光图像的股骨坐标系和股骨特征点，从若干张二维DRR投影图中确定与二维X光图像中股骨位姿相同的二维DRR投影图，得到多张目标DRR投影图。步骤S3具体包括：
S31、将二维DRR投影图和二维X光图像的股骨坐标系重合；
S32、将二维DRR投影图和二维X光图像的股骨特征点位置一一匹配。
股骨包括股骨头、股骨颈和股骨干，CT或者X片只能显示股骨干一部分。为了进行CT图像和X光图像之间的精确配准，在本实施例中，如图4所示，步骤S2具体包括：
S21、自动提取股骨外轮廓，得到股骨轮廓线；
S22、将股骨头拟合为一个圆，得到股骨头拟合圆；
S23、在股骨颈处的两条股骨轮廓线之间选取距离最短的两点连线作为股骨颈特征线；
S24、以股骨头拟合圆圆心和股骨颈特征线中点的连线为股骨坐标系的一个坐标轴，建立股骨坐标系；
S25、以股骨头拟合圆半径为半径，在股骨头拟合圆圆心和股骨颈特征线中点的连线的延长线上选取两点作为圆心，分别生成第一特征圆和第二特征圆；第一特征圆与股骨头拟合圆相切，第一特征圆的圆心在第二特征圆的边缘线上；
S26、生成多条垂直于股骨头拟合圆圆心和股骨颈特征线中点连线的股骨特征线；
S27、取各股骨特征线与股骨轮廓线的交点为股骨特征点。
关于各股骨特征线的选取规则，在本实施例中，如图5所示，步骤S26具体包括：
S261、选取过股骨头拟合圆和第一特征圆切点的线段为第一股骨特征线；
S262、选取过第一特征圆圆心的线段为第二股骨特征线；
S263、选取过第二特征圆圆心的线段为第三股骨特征线；
S264、选取平行于第二股骨特征线，且为第二特征圆切线的线段为第四股骨特征线；
S265、选取过股骨头拟合圆圆心和股骨颈特征线中点连线的延长线与第三股骨特征线和第四股骨特征线交点连线的中点的线段为第五股骨特征线。
为了减少计算量，本实施例的图像配准方法还包括：
A1、在股骨轮廓线的股骨头轮廓线和两段股骨颈轮廓线的位置各选取一块由线段和圆弧组成的感兴趣区域；由线段和圆弧组成的选择模板在股骨头和股骨颈处进行感兴趣区域选择，这样不需要对整个X片进行轮廓识别，从而达到了减少计算量的效果。
A2、对各感兴趣区域中的轮廓线进行识别，生成股骨头轮廓线和两段股骨颈轮廓线的拟合曲线。
A3、根据股骨头处的股骨轮廓线的拟合曲线，自动生成股骨头拟合圆。
A4、在股骨颈处的两段股骨轮廓线的拟合曲线之间，选取距离最短的两点连线作为股骨颈特征线。
下面结合一个具体的例子，来对本发明提供的用于股骨手术的图像配准方法作进一步详细的说明，包括以下步骤：
1)在手术开始前，通过CT影像设备获取患者股骨图像数据，并处理重建生成三维股骨CT图像，如图6，在其上规划手术路径。
2)根据手术需求在侧位单一视角Z方向上对三维股骨CT图像进行多次投影，如图7左侧所示，O为股骨头拟合圆的圆心，OY过股骨颈特征线交股骨干中心轴于O1，OZ垂直于OY且在OO1Y1平面内，OX轴符合右手法则。
3)绕X、Y轴每间隔预设旋转度数，α、β均在1°-2°范围内，从Z轴投影生成多张DRR图像，获取对应的位姿参数P＝(θ x,θ y,θ z,P x,P y,P z)，θ x、θ y、θ z分别表示参考坐标系下旋转角度，P x、P y、P z分别表示参考坐标系下沿三个主轴的平移量；类似的也在正位单一视角X方向上进行多次投影，如图7右侧所示，得到多张二维DRR投影图。
4)将每张二维DRR投影图进行处理，如图8，自动提取股骨轮廓线，自动生成股骨头拟合圆，圆心为O2，O3为股骨颈特征线的中点，在O2O3延长线上作第一特征圆O4和第二特征圆O5，选取五条股骨特征线交股骨轮廓线于股骨特征点A1、A2、A3、A4、A5、A6、A7、A8、A9和A10。
5)在患者躺倒手术床要进行手术时，获取C型臂X线机不同角度拍摄的二维X光图像，如图9，两张二维图像拍摄夹角为90°，图9左侧所示为正位X光图像，即患者平躺，垂直拍摄的X片，图9右侧所示为侧位X光图像，即患者平躺，水平拍摄的X片。
6)如图10所示，以正位X光图像为例，在股骨头处划定感兴趣区域C1自动生成股骨头拟合圆C2，或在区域C1内手动选取三点，生成股骨头拟合圆C2，圆心为O6。手动选取股骨颈感兴趣区域C3和C5，自动生成股骨颈外轮廓拟合曲线C4和C6，手动选取股骨颈最窄处两条拟合曲线，计算两条拟合曲线的最小距离，或手动选取目测股骨颈最窄处的两点，以最小距离作为股骨颈特征线，以股骨颈特征线为直径生成股骨颈最小圆C7，圆心为O7。参考操作步骤4)，自动对二维X光图像生成股骨坐标系、股骨特征圆、股骨特征线和股骨特征点，如图11。
7)对股骨每张正侧位二维DRR投影与正侧位二维X光图像进行自动配准，将二维DRR投影图与二维X光图像的股骨坐标系重合，计算所有对应股骨特征点的距离，进行特征点相似度比较，在误差范围内如果有二维DRR投影图和二维X光图像匹配，则获取该二维DRR投影图的投影位姿参数，若配准结果不止一组，选取误差最小一组，完成股骨三维股骨CT图像与二维X光图像的配准。
8)根据二维DRR投影图的投影位姿参数和手术规划路径信息，利用双平面法输出精确配准后的手术路径。
本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。

Claims (10)

  1. 一种用于股骨手术的图像配准系统，其特征在于，所述图像配准系统包括：投影模块、预处理模块以及配准模块；
    所述投影模块，用于对三维股骨CT图像进行不同角度的DRR投影，得到若干张二维DRR投影图；
    所述预处理模块，用于对各二维DRR投影图和各二维X光图像中的股骨图像进行预处理，生成股骨坐标系和股骨特征点；所述二维X光图像包括不同角度下对股骨部位拍摄的多张X光平面图像；
    所述配准模块，用于根据所述二维DRR投影图和所述二维X光图像的股骨坐标系和股骨特征点，从所述若干张二维DRR投影图中确定与所述二维X光图像中股骨位姿相同的二维DRR投影图，得到多张目标DRR投影图。
  2. 根据权利要求1所述的图像配准系统，所述股骨包括股骨头、股骨颈和股骨干，其特征在于，所述预处理模块包括股骨轮廓线生成单元、股骨头拟合单元、股骨颈特征线选取单元、股骨坐标系建立单元、股骨特征圆生成单元、股骨特征线选取单元和股骨特征点选取单元；
    所述股骨轮廓线生成单元，用于自动提取股骨外轮廓，得到股骨轮廓线；
    所述股骨头拟合单元，用于将股骨头拟合为一个圆，得到股骨头拟合圆；
    所述股骨颈特征线选取单元，用于在股骨颈处的两条股骨轮廓线之间选取距离最短的两点连线作为股骨颈特征线；
    所述股骨坐标系建立单元，用于以所述股骨头拟合圆圆心和所述股骨颈特征线中点的连线为股骨坐标系的一个坐标轴，建立股骨坐标系；
    所述股骨特征圆生成单元，用于以所述股骨头拟合圆半径为半径，在所述股骨头拟合圆圆心和所述股骨颈特征线中点的连线的延长线上选取两点作为圆心，分别生成第一特征圆和第二特征圆；所述第一特征圆与所述股骨头拟合圆相切，所述第一特征圆的圆心在所述第二特征圆的边缘线上；
    所述股骨特征线选取单元，用于选取多条垂直于所述股骨头拟合圆圆心和所述股骨颈特征线中点连线的股骨特征线；
    所述股骨特征点选取单元，用于取各股骨特征线与所述股骨轮廓线的交点为股骨特征点。
  3. 根据权利要求2所述的图像配准系统，其特征在于，所述股骨特征线选取单元包括：第一股骨特征线选取子单元、第二股骨特征线选取子单元、第三股骨特征线选取子单元、第四股骨特征线选取子单元和第五股骨特征线选取子单元；
    所述第一股骨特征线选取子单元，用于选取第一股骨特征线；所述第一股骨特征线为过所述股骨头拟合圆和所述第一特征圆切点的线段；
    所述第二股骨特征线选取子单元，用于选取第二股骨特征线；所述第二股骨特征线为过所述第一特征圆圆心的线段；
    所述第三股骨特征线选取子单元，用于选取第三股骨特征线；所述第三股骨特征线为过所述第二特征圆圆心的线段；
    所述第四股骨特征线选取子单元，用于选取第四股骨特征线；所述第四股骨特征线为平行于所述第二股骨特征线，且为所述第二特征圆切线的线段；
    所述第五股骨特征线选取子单元，用于选取第五股骨特征线；所述第五股骨特征线为过所述股骨头拟合圆圆心和所述股骨颈特征线中点连线的延长线与所述第三股骨特征线和所述第四股骨特征线交点连线的中点的线段。
  4. 根据权利要求3所述的图像配准系统，其特征在于，所述配准模块包括：股骨坐标系重合单元和股骨特征点配准单元；
    所述股骨坐标系重合单元，用于将所述二维DRR投影图和所述二维X光图像的股骨坐标系重合；
    所述股骨特征点配准单元，用于将所述二维DRR投影图和所述二维X光图像的股骨特征点位置一一匹配。
  5. 根据权利要求2所述的图像配准系统，其特征在于，所述预处理模块还包括：感兴趣区域选取单元；
    所述感兴趣区域选取单元，用于在所述股骨轮廓线的股骨头轮廓线和两段股骨颈轮廓线的位置各选取一块由线段和圆弧组成的感兴趣区域。
  6. 一种用于股骨手术的图像配准方法，其特征在于，所述图像配准方法包括以下步骤：
    对三维股骨CT图像进行不同角度的DRR投影，得到若干张二维DRR 投影图；
    对各二维DRR投影图和各二维X光图像中的股骨图像进行预处理，生成股骨坐标系和股骨特征点；所述二维X光图像包括不同角度下对股骨部位拍摄的多张X光平面图像；
    根据所述二维DRR投影图和所述二维X光图像的股骨坐标系和股骨特征点，从所述若干张二维DRR投影图中确定与所述二维X光图像中股骨位姿相同的二维DRR投影图，得到多张目标DRR投影图。
  7. 根据权利要求6所述的图像配准方法，所述股骨包括股骨头、股骨颈和股骨干，其特征在于，所述对各二维DRR投影图和各二维X光图像中的股骨图像进行预处理，生成股骨坐标系和股骨特征点，具体包括：
    自动提取股骨外轮廓，得到股骨轮廓线；
    将股骨头拟合为一个圆，得到股骨头拟合圆；
    在股骨颈处的两条股骨轮廓线之间选取距离最短的两点连线作为股骨颈特征线；
    以所述股骨头拟合圆圆心和所述股骨颈特征线中点的连线为股骨坐标系的一个坐标轴，建立股骨坐标系；
    以所述股骨头拟合圆半径为半径，在所述股骨头拟合圆圆心和所述股骨颈特征线中点的连线的延长线上选取两点作为圆心，分别生成第一特征圆和第二特征圆；所述第一特征圆与所述股骨头拟合圆相切，所述第一特征圆的圆心在所述第二特征圆的边缘线上；
    生成多条垂直于所述股骨头拟合圆圆心和所述股骨颈特征线中点连线的股骨特征线；
    取各股骨特征线与所述股骨轮廓线的交点为股骨特征点。
  8. 根据权利要求7所述的图像配准方法，其特征在于，所述生成多条垂直于所述股骨头拟合圆圆心和所述股骨颈特征线中点连线的股骨特征线，具体包括：
    选取过所述股骨头拟合圆和所述第一特征圆切点的线段为第一股骨特征线；
    选取过所述第一特征圆圆心的线段为第二股骨特征线；
    选取过所述第二特征圆圆心的线段为第三股骨特征线；
    选取平行于所述第二股骨特征线，且为所述第二特征圆切线的线段为第四股骨特征线；
    选取过所述股骨头拟合圆圆心和所述股骨颈特征线中点连线的延长线与所述第三股骨特征线和所述第四股骨特征线交点连线的中点的线段为第五股骨特征线。
  9. 根据权利要求6所述的图像配准方法，其特征在于，所述根据所述二维DRR投影图和所述二维X光图像的股骨坐标系和股骨特征点，从所述若干张二维DRR投影图中确定与所述二维X光图像中股骨位姿相同的二维DRR投影图，得到多张目标DRR投影图，具体包括：
    将所述二维DRR投影图和所述二维X光图像的股骨坐标系重合；
    将所述二维DRR投影图和所述二维X光图像的股骨特征点位置一一匹配。
  10. 根据权利要求7所述的图像配准方法，其特征在于，所述图像配准方法还包括：
    在所述股骨轮廓线的股骨头轮廓线和两段股骨颈轮廓线的位置各选取一块由线段和圆弧组成的感兴趣区域；
    对各所述感兴趣区域中的轮廓线进行识别，生成所述股骨头轮廓线和两段所述股骨颈轮廓线的拟合曲线；
    根据股骨头处的股骨轮廓线的拟合曲线，自动生成股骨头拟合圆；
    在股骨颈处的两段股骨轮廓线的拟合曲线之间，选取距离最短的两点连线作为股骨颈特征线。
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