Non-calibration object registering method for pre-operation three-dimensional images and intra-operative perspective images

Abstract

The invention relates to a non-calibration object registering method for pre-operation three-dimensional images and intra-operative perspective images. The method includes a first step of obtaining a series of three-dimensional images before an operation, generating N DRR images according to operation needs and obtaining the posture coordinate W of each image, a second step of obtaining an X-ray perspective images of different angles during operation through an X-ray machine on a C-shaped arm, a third step of conducting normalization processing for a DRR image i and the X-ray perspective images, a fourth step of employing a non-linear histogram matching algorithm, a fifth step of comparing rank correlation similarity of the DRR images i and the X-ray perspective images, and obtaining posture parameters of the X-ray perspective images and going to the next step if the two sets of images match with each other, otherwise, extracting the information of a DRR image i+1, and returning back to the third step, and a sixth step of conducting accurate registering for the pre-operation three-dimensional images and the X-ray perspective images based on the multi-resolution mechanism and gradient difference correlation, and outputting the image after accurate registering. Harm to a patient during an operation can be reduced.

Description

technical field [0001] The invention relates to a registration method without a calibration object, in particular to a registration method without a calibration object of a preoperative three-dimensional image and an intraoperative perspective image used in the medical field. Background technique [0002] At present, in the surgical navigation and positioning process of common medical robots, especially in spinal surgery, the traditional method is to implant calibration objects on the spinous process of the spine to establish the mapping relationship between the robot coordinate system and the surgical space coordinate system. On this basis, surgical path planning and positioning are carried out. This method can reduce the number of X-ray fluoroscopy, thereby reducing the harm to patients and doctors; but preoperative preparation is cumbersome, and calibration objects need to be implanted, and the patient suffers greater damage. [0003] One method is a radiosurgery method ...

AI Technical Summary

Problems solved by technology

The disadvantage of this registration algorithm is that it is less accurate and slower

Another method is the algorithm and system for MRI and X-Ray image registration using DRR technology, which is characterized in that the MRI image is extracted and segmented first, and the DRR is generated from the segmented image for registration. The disadvantage is that the algorithm needs to be processed in advance. Training, so as to obtain features for segmentation, is limited by the size and scope of the training set, and the cost is relatively high

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