No-mark surgery registration method used for optical surgery navigation system

A surgical navigation and markerless technology, applied in the field of optical surgical navigation, can solve the problems of labor and time-consuming, affecting the accuracy of surgical registration, and surgical trauma, and achieve the effect of simple configuration steps.

Pending Publication Date: 2021-08-20
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, surgical registration based on anatomical markers needs to use prominent feature points on the human body as markers, such as the tip of the nose, the corner of the eyes, etc., to be used in head neurosurgery; sticky markers need to be pasted during the operation, and medical image scanning is performed again, which is laborious. Time-consuming, and once any marker is displaced during the operation, it will greatly affect the accuracy of surgical registration; implantable markers have high registration accuracy, but need to use instruments to identify markers, which will cause additional surgical trauma

Method used

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  • No-mark surgery registration method used for optical surgery navigation system
  • No-mark surgery registration method used for optical surgery navigation system
  • No-mark surgery registration method used for optical surgery navigation system

Examples

Experimental program
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Effect test

Embodiment 1

[0030] refer to figure 1 , a markerless surgical registration method for an optical surgical navigation system, comprising the steps of:

[0031] S1: Import the CT sequence of the lesion, process the CT image and extract the upper surface skin contour;

[0032] S2: Reconstruct the two-dimensional skin contour into a three-dimensional point set H, and perform preliminary coordinate transformation on the CT coordinate system of the point set H;

[0033] S3: Calibrate the structured light camera to the surgical space coordinate system, and obtain the conversion relationship between the structured light camera coordinate system and the surgical space coordinate system;

[0034] S4: The structured light camera collects the depth data from the lesion to the camera, so as to obtain the three-dimensional coordinate point set of the lesion, segment the skin point set V from the three-dimensional point set, and divide the point set V according to the coordinate transformation relations...

Embodiment 2

[0039] In this embodiment, in the step S1, the CT image is sequentially subjected to windowing processing, binarization processing and contour extraction to obtain a two-dimensional skin contour, and then the upper quarter of the contour is intercepted as the upper surface skin contour.

[0040] In this embodiment, in the step S2, the preliminary coordinate transformation is: carry out coordinate transformation on the original point set H, and redesignate the origin and direction of the CT image space coordinate system, so that the CT image space coordinate system and the operation space coordinate system in roughly the same direction.

[0041] In this embodiment, in the step S3, the calibration process uses a special calibration board, which can simultaneously calibrate the structured light camera and the binocular navigation system, so as to realize the calibration of the structured light camera to the surgical space coordinate system.

[0042] In this embodiment, in the ste...

Embodiment 3

[0045] In this example, see Figure 1 to Figure 6 , a markerless surgical registration method for an optical surgical navigation system, specifically comprising the following steps:

[0046] S1: Import CT and extract skin contour. like figure 2 As shown, the CT sequence of the lesion was imported, and the CT image was processed by windowing, binarization and contour extraction to obtain a two-dimensional skin contour, and then the upper quarter of the contour was intercepted as the upper surface skin contour.

[0047] S2: CT skin point cloud reconstruction and preliminary transformation of coordinates. like figure 2 As shown, the two-dimensional skin contour extracted in step S1 is attached with the z-direction coordinate value to reconstruct the three-dimensional point set H, the coordinate transformation is performed on the original point set H, and the origin and direction of the CT image space coordinate system are re-specified, so that the CT image The spatial coord...

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Abstract

The invention discloses a no-mark surgery registration method used for an optical surgery navigation system. The no-mark surgery registration method used for the optical surgery navigation system comprises the following steps of: S1: importing the CT sequence of a focus position, processing a CT image, and extracting an upper surface skin outline; S2: reconstructing a two-dimensional skin outline into a three-dimensional point set, and carrying out preliminary coordinate transformation on the CT coordinate system of the point set; S3: calibrating a structured light camera to the coordinate system of a surgical space; S4: utilizing the structured light camera to collect the point cloud of the surgical space, and finishing segmentation and transformation of the point cloud; S5: removing outliers in the surgical space, and adopting resolution ratio consistency to carry out downsampling to obtain a simplified image and the simplified point cloud of the surgical space; and S6: carrying out registration on the point cloud of a CT image space to the surgical space to finish surgery registration. A surgery registration process disclosed by the invention does not need human intervention, and enough surgery navigation accuracy can be guaranteed while surgery registration operation complexity is lowered and operation time is shortened.

Description

technical field [0001] The invention relates to the technical field of optical surgical navigation, in particular to a markerless surgical registration method for an optical surgical navigation system. Background technique [0002] Surgical registration is a key technology in surgical navigation. Only by realizing the mapping between image space and surgical space through surgical registration can the real surgical situation be reflected in the virtual environment, surgical instruments can be accurately positioned, and doctors can be assisted to complete puncture and ablation surgery quickly and accurately. . [0003] At present, most surgical registration techniques used in clinical practice use marker-based surgical registration methods. The surgical registration method based on markers needs to identify markers in the 3D model of the preoperative image space and register with the corresponding markers on the patient's intraoperative anatomical structure. The types of mar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20
CPCA61B34/20A61B2034/2074A61B2034/2065
Inventor 李静何舟沈南燕邓宗乾
Owner SHANGHAI UNIV
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