Head and facial marker semiautomatic calibration method for neurosurgical stereotactic surgery

Abstract

The invention relates to a head and facial marker semiautomatic calibration method for a neurosurgical stereotactic surgery. The method includes aiming to a feature that automatic calculation of a computer requires quantization rules, after selecting an initial marking point, selecting relative points as facial points on the head of a patient according to a certain rule; and allowing a computer software system to calculate corresponding facial marking points automatically according to a relative rule, and thus, applying the two groups of the marking points to realize registration between space and image space of the patient. The method can be used under the condition of unadaptable or insufficient time to stick facial markers, head and facial features of the patient can be selected by a computer in three-dimensional images semiautomatically, and the neurosurgical stereotactic surgery without sticking marking points outside and a frame can be performed.

Description

technical field [0001] The invention relates to the field of surgical navigation, in particular to a semi-automatic calibration method for head and face marker points used in neurosurgery stereotaxic surgery. Background technique [0002] In the early neurosurgery, the frame positioning method was most commonly used. Before scanning the patient's head, the patient was put on a head frame. Although this method has high precision, it will bring greater pain to the patient, and it is troublesome for the doctor to operate. With the continuous development of technology, the stereotaxic solution based on frameless has gradually become the mainstream. By affixing markers on the patient's head, the markers can be identified and positioned in the scanned image. This method is relatively frameless. It is much more convenient, but there are also some problems: first, the movement of markers leads to registration accuracy errors and even navigation failure; second, this method requires ...

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Problems solved by technology

[0002] In the early neurosurgery, the frame positioning method was most commonly used. Before scanning the patient's head, the patient was put on a head frame. Although this method has high precision, it will bring greater pain to the patient, and it is troublesome for the doctor to operate.

With the continuous development of technology, the stereotaxic solution based on frameless has gradually become the mainstream. By affixing markers on the patient's head, the markers can be identified and positioned in the scanned image. This method is relatively frameless. It is much more convenient, but there are also some problems: first, the movement of markers leads to registration accuracy errors and even navigation failure; second, this method requires specific markers that can be visualized under computed tomography CT (or magnetic resonance imaging MRI) , increases the cost, and is not applicable to the lack of markers; the third is that it is difficult to effectively meet the requirements of rapid and accurate positioning of minimally invasive surgery for cerebrovascular accident emergency surgery under emergency conditions. Real and urgent needs

[0003] Positioning based on the feature points of the human body has also become a direction of stereotaxic surgery at present. Through the characteristic positions of the nose tip, earlobe, and eye corners of the human body, there is no need to paste markers on the patient's head before scanning the image, but there are still some problems. , the main reason is that when there are many feature marker points selected, there is no direct connection between these feature points, and it is troublesome and error-prone for doctors to manually locate these feature points in the 3D image data. The registration result with the image coordinates, re-calibrate the position of some feature points in the image coordinate system, and then recalculate the registration matrix

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