Full-automatic patient registration method applied to marking-point-free optical operation navigation system

Abstract

The invention discloses a full-automatic patient registration method applied to a marking-point-free optical operation navigation system. The full-automatic patient registration method comprises the steps that firstly, preoperative three-dimensional medical image data is acquired, a one-sided patient surface profile point cloud is obtained, the point cloud is scanned in real time during an operation in a three-dimensional mode, and downsampling is carried out on voxel of the point cloud; secondly, the point cloud is moved to enable a gravity center to be located on an original point of a coordinate system; thirdly, point cloud normals are estimated, the sum of the normals is calculated, and the point cloud is rotated to enable the rotated normals to coincide with the Z axis; fourthly, one point cloud body is rotated around the Z axis by a circle, and a rotation matrix with the minimal registration error is obtained; fifthly, a precise registering method is used for regulating, rotating and translating the matrix; sixthly, by means of the conversion calculation, the coordinate transformation relation between an image space coordinate system and a marking-point-free operation navigation system coordinate system is obtained. By means of the method, it is not required to paste a marking point on a patient, the problems that marking points are shielded, drop out and are not convenient to paste are solved, it is not required to extract the dissection marking points manually, full-automatic patient registration is achieved, and the method can be used for real-time registration in the operation.

Description

technical field [0001] The invention relates to the field of surgical navigation, in particular to a fully automatic patient registration method applied to a marker-free optical surgical navigation system. Background technique [0002] Surgical navigation system is an important development direction for precise and minimally invasive surgical treatment. Compared with traditional surgical treatment, it has made great improvements in terms of surgical accuracy, surgical time consumption, surgical trauma, and postoperative efficacy. In intraoperative navigation, the surgical instruments tracked by the locator must be displayed on the preoperatively reconstructed 3D anatomical structure in real time. First, the patient needs to be registered with the 3D anatomical structure reconstructed in the image space. During this process, the patient is registered. The result of this process is to obtain the transformation relationship between the positioning system coordinate system and ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and to provide a fully automatic patient registration method applied to an optical surgical navigation system without markers. Cloud registration can obtain the conversion relationship between the image space and the actual space. In the surgical navigation, there is no need for the patient to paste the markers. It solves the problems of markers being blocked, dropped, and manually extracted. It is inconvenient to paste markers. It can be used for real-time registration during surgery

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