Processing Method, Device and Surgical System for Image Registration

Abstract

The present invention provides a processing method, apparatus and surgical system for image registration. The processing method for image registration includes: obtaining a first relative pose, where the first relative pose is the pose of a first positioning tool disposed on the patient relative to a second positioning tool disposed on the bedplate when obtaining a preoperative detection image of a target object; obtaining a second relative pose, where the second relative pose is the pose of a third positioning tool disposed on the patient relative to a fourth positioning tool disposed on the bedplate during surgery; and registering the preoperative detection image of the target object and an intraoperative detection image acquired during surgery when the first relative pose matches the second relative pose.

Description

Technical Field

[0001] The present invention relates to the medical field, and in particular, to a processing method, a device, and a surgical system for image registration. Background Art

[0002] In some surgeries (such as pulmonary navigation puncture surgery), a preoperative detection image is generated based on the preoperative CT data of the patient before the surgery. During the surgery, a scanning device can be used to scan the patient to obtain an intraoperative detection image. Furthermore, the registration of the preoperative detection image and the intraoperative detection image can be achieved.

[0003] To ensure the registration accuracy of the preoperative detection image and the intraoperative detection image, it is usually necessary to ensure that the pose of the patient when scanning the CT data is the same as or similar to the pose of the patient during the surgery. In the existing related technologies, this is usually achieved by physical means. For example, a headrest for fixing the patient is provided on the bed board. Furthermore, since the patient's head is on the headrest both before the surgery (i.e., when taking the CT data) and during the surgery, the pose of the patient before the surgery (i.e., when taking the CT data) can be ensured to be the same as or similar to the intraoperative pose to a certain extent.

[0004] However, in the above method, only the naked eye can be used to judge whether the poses of the patient before and during the surgery are the same as or similar, lacking a reliable and accurate judgment basis. Summary of the Invention

[0005] The present invention provides a processing method, a device, and a surgical system for image registration to solve the problem of lacking a reliable and accurate judgment basis.

[0006] According to a first aspect of the present invention, there is provided a processing method for image registration, including:

[0007] Obtaining a first relative pose, where the first relative pose is the pose information of a first positioning tool disposed on a target object relative to a second positioning tool disposed on a bed board when obtaining a preoperative detection image of the target object;

[0008] Obtaining a second relative pose, where the second relative pose is the pose information of a third positioning tool disposed on the target object relative to a fourth positioning tool disposed on the bed board during the surgery; the first positioning tool and the third positioning tool are disposed at the same position on the target object, and the second positioning tool and the fourth positioning tool are disposed at the same position on the bed board;

[0009] When the first relative pose and the second relative pose match, registering the preoperative detection image of the target object and the intraoperative detection image collected during the surgery.

[0010] Optionally, obtaining the first relative pose includes:

[0011] Obtain a first detection pose and a second detection pose, where the first detection pose is the pose of the first positioning tool relative to the tracking coordinate system; the second detection pose is the pose of the second positioning tool relative to the tracking coordinate system;

[0012] Determine the first relative pose based on the first detection pose and the second detection pose.

[0013] Optionally, the first detection pose is represented by a translation matrix and a rotation matrix of a first coordinate system with the first positioning tool as a reference relative to the tracking coordinate system;

[0014] The second detection pose is represented by a translation matrix and a rotation matrix of a second coordinate system with the second positioning tool as a reference relative to the tracking coordinate system;

[0015] The first relative pose is represented by a translation matrix and a rotation matrix of the first coordinate system relative to the second coordinate system.

[0016] Optionally, obtaining the second relative pose includes:

[0017] Obtain a third detection pose and a fourth detection pose, where the third detection pose is the pose of the third positioning tool relative to the tracking coordinate system, and the third detection position is the position of the third positioning tool relative to the tracking coordinate system; the fourth detection pose is the pose of the fourth positioning tool relative to the tracking coordinate system

[0018] Determine the second relative pose based on the third detection pose and the fourth detection pose.

[0019] Optionally, the third detection pose is represented by a translation matrix and a rotation matrix of a third coordinate system with the third positioning tool as a reference relative to the tracking coordinate system;

[0020] The fourth detection pose is represented by a translation matrix and a rotation matrix of a fourth coordinate system with the fourth positioning tool as a reference relative to the tracking coordinate system;

[0021] The second relative pose is represented by a translation matrix and a rotation matrix of the third coordinate system relative to the fourth coordinate system.

[0022] Optionally, the first positioning tool and the third positioning tool are the same positioning tool, and the second positioning tool and the fourth positioning tool are the same positioning tool.

[0023] Optionally, when obtaining the preoperative detection image, the first positioning tool is fixed to a specified part of the target object through a fixture;

[0024] During the operation, the third positioning tool is arranged at the specified part through the fixture.

[0025] The fixture is provided with a fitting part for fitting the specified part and a connecting part for installing and fixing the positioning tool.

[0026] Optionally, when acquiring the preoperative detection image, the first positioning tool is fixedly attached to the specified part of the target object; during the operation, the third positioning tool is fixedly attached to the specified part.

[0027] Optionally, the first detection pose and the second detection pose for determining the first relative pose, and the third detection pose and the fourth detection pose for determining the second relative pose are acquired by a magnetic tracking positioning component, and the magnetic tracking positioning component includes a magnetic tracking positioning device, the first positioning tool, the second positioning tool, the third positioning tool and the fourth positioning tool;

[0028] Or:

[0029] The first detection pose and the second detection pose for determining the first relative pose, and the third detection pose and the fourth detection pose for determining the second relative pose are acquired by the optical tracking positioning component, and the optical tracking positioning component includes an optical tracking positioning device, the first positioning tool, the second positioning tool, the third positioning tool and the fourth positioning tool.

[0030] According to a second aspect of the present invention, there is provided a processing device for image registration, including:

[0031] A first acquisition module for acquiring a first relative pose, where the first relative pose is the pose information of a first positioning tool arranged on the target object relative to a second positioning tool arranged on the bed board when acquiring a preoperative detection image of the target object;

[0032] A second acquisition module for acquiring a second relative pose, where the second relative pose is the pose information of a third positioning tool arranged on the target object relative to a fourth positioning tool arranged on the bed board during the operation; the first positioning tool and the third positioning tool are arranged at the same position of the patient, and the second positioning tool and the fourth positioning tool are arranged at the same position of the bed board;

[0033] A registration module for registering the preoperative detection image of the target object and the intraoperative detection image acquired during the operation when the first relative pose and the second relative pose match.

[0034] According to a third aspect of the present invention, there is provided an electronic device including a processor and a memory,

[0035] The memory is used for storing code;

[0036] The processor is used for executing the code in the memory to implement the method involved in the first aspect and its alternative solutions.

[0037] According to a fourth aspect of the present invention, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method involved in the first aspect and its alternative solutions is implemented.

[0038] According to a fifth aspect of the present invention, a surgical system is provided, including: a data processing unit and a plurality of positioning tools; the data processing unit is used for executing the processing method for image registration involved in the first aspect and its alternative solutions; the first positioning tool, the second positioning tool, the third positioning tool and the fourth positioning tool are derived from the plurality of positioning tools.

[0039] In the processing method, device and surgical system for image registration provided by the present invention, by obtaining the first relative pose when acquiring the preoperative detection image, the pose of the target object relative to the bed board during the preoperative detection image can be learned, and by obtaining the second relative pose during the operation, the pose of the target object relative to the bed board during the operation can be learned. Furthermore, it can provide a sufficient, reliable and quantifiable accurate basis for whether the poses match, and ensure the accurate registration of the preoperative detection image and the intraoperative detection image. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1a It is a schematic structural diagram of a surgical system in an exemplary embodiment of the present invention;

[0042] Figure 1b It is a schematic structural diagram of a surgical system in another exemplary embodiment of the present invention;

[0043] Figure 2 It is a schematic structural diagram of a magnetic positioning tracking chip and a magnetic tracking positioning device in an exemplary embodiment of the present invention;

[0044] Figure 3a It is a schematic structural diagram of a fixture with two fitting parts in an exemplary embodiment of the present invention;

[0045] Figure 3bIt is a schematic structural diagram of a fixture with three fitting parts in an exemplary embodiment of the present invention;

[0046] Figure 3c It is a schematic structural diagram of a fixture with four fitting parts in an exemplary embodiment of the present invention;

[0047] Figure 4 It is a schematic flowchart of a processing method for patient image registration in an exemplary embodiment of the present invention;

[0048] Figure 5 It is a schematic flowchart of determining the first relative pose and the second relative pose in an exemplary embodiment of the present invention;

[0049] Figure 6 It is a schematic principle diagram of using an optical positioning tracking tool and an optical positioning tracking device in an exemplary embodiment of the present invention;

[0050] Figure 7 It is a schematic principle diagram of pose error in an exemplary embodiment of the present invention;

[0051] Figure 8 It is a schematic principle diagram of using a magnetic positioning tracking chip and a magnetic positioning tracking device in an exemplary embodiment of the present invention;

[0052] Figure 9 It is a schematic principle diagram of pose adjustment in an exemplary embodiment of the present invention;

[0053] Figure 10 It is a schematic diagram of program modules of a processing device for patient image registration in an exemplary embodiment of the present invention;

[0054] Figure 11 It is a schematic structural diagram of an electronic device in an exemplary embodiment of the present invention. Detailed implementation manners

[0055] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0056] The terms "first", "second", "third", "fourth", etc. (if any) in the description, claims and the above-mentioned drawings of the present invention are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0057] The technical solution of the present invention will be described in detail below with specific embodiments. These specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0058] Please refer to Figure 1a With Figure 1b , an embodiment of the present invention provides a positioning and tracking system, including a data processing unit 103, a positioning and tracking device 102 and a positioning tool 101.

[0059] The data processing unit 103 therein can be any device or combination of devices with data processing capabilities. The data processing unit 103 can communicate with the positioning tool 101, either in a wired manner or in a wireless manner. In addition, the data processing unit 103 can be used to implement the method provided by the embodiment of the present invention.

[0060] The positioning and tracking device 102 can be understood as a device or combination of devices for generating a tracking medium, and the tracking medium can be, for example, a magnetic field, light (such as laser, infrared), or other waves (such as ultrasonic wave, microwave), etc.

[0061] It can be seen that the positioning and tracking device is any one or more of the following:

[0062] A device capable of emitting laser to the positioning tool (such as an optical positioning and tracking device using laser);

[0063] A device capable of emitting infrared to the positioning tool (such as an optical positioning and tracking device using infrared);

[0064] A device capable of emitting magnetic field to the positioning tool (such as a magnetic tracking and positioning device).

[0065] The positioning tool 101 can be understood as being able to interact with the tracking medium, so that the pose information of the positioning tool 101 can be determined. The number of positioning tools 101 can be one or multiple.

[0066] Figure 1a In the illustrated example, the positioning tool 101 can communicate with the data processing unit 103, so as to feedback the detected pose of the positioning tool 101 to the data processing unit. Figure 1b In the illustrated example, the positioning and tracking device 102 communicates with the data processing unit 103, so as to feedback the detected pose of the positioning tool 101 to the data processing unit 103.

[0067] Figure 2 In one illustrated embodiment, the positioning tool can be a magnetic positioning and tracking chip 201. Correspondingly, the positioning and tracking device can be a magnetic tracking and positioning device 202. The magnetic positioning and tracking chip 201 is disposed in the magnetic field generated by the magnetic tracking and positioning device 202, and can sense the magnetic field to determine the detected pose of the magnetic positioning and tracking chip, and obtain the corresponding pose information. When actually using the magnetic positioning and tracking chip 201 and the magnetic tracking and positioning device 202, the magnetic positioning and tracking chip 201 can be attached to the corresponding part of the patient. Furthermore, the magnetic tracking and positioning chip and the magnetic tracking and positioning device can form a magnetic tracking and positioning assembly.

[0068] In another embodiment, the positioning tool can be an optical positioning and tracking tool, and the positioning and tracking device can be an optical positioning and tracking device. The optical positioning and tracking device can emit light. After the light reaches the optical positioning and tracking tool, the optical positioning and tracking device can track the detected pose of the optical positioning and tracking tool to obtain the corresponding pose information. Furthermore, the optical positioning and tracking tool and the optical positioning and tracking device can form an optical tracking and positioning assembly.

[0069] When actually using the optical positioning and tracking device and the optical positioning and tracking tool, the optical positioning and tracking tool can be disposed on the fixture 301. Then, the fixture 301 can be installed at the corresponding position of the patient. Specifically, the fixture 301 can be provided with a fitting part (such as a fitting post 304) and a connecting part (such as a pin hole 303 and a threaded hole 302). Furthermore, the fixture 301 can be connected to the corresponding part of the patient through the fitting part and connected to the optical positioning and tracking tool through the connecting part. The position of the fitting part relative to the fixture 301 can be designed according to the part to be connected.

[0070] The detected pose of the positioning tool mentioned above can be any information capable of describing the pose of the positioning tool. The algorithm for calculating the pose information can be implemented by any known or improved solution in the art, and all are within the scope of the embodiments of the present invention.

[0071] Furthermore, the detected posture can be specifically represented as the rotation and translation matrix (i.e., the set of rotation matrix and translation matrix) of the tool coordinate system of the positioning tool (i.e., the coordinate system based on the positioning tool) relative to the tracking coordinate system of the positioning tracking device (i.e., the coordinate system based on the positioning tracking device).

[0072] For the rotation and translation matrix, it can be understood that after the tool coordinate system is rotated and translated by the rotation and translation matrix, the origin and the positions of each axis can coincide with the tracking coordinate system. The rotation matrix in the rotation and translation matrix can reflect the relative orientation of the tool coordinate system relative to the tracking coordinate system, and the translation matrix in the rotation and translation matrix can reflect the translation vector of the tool coordinate system relative to the tracking coordinate system.

[0073] In one embodiment, when obtaining a preoperative detection image of the target object (for example, when taking CT data of the target object), the first positioning tool is set at a designated part of the patient through a fixture; during surgery, the third positioning tool is set at the designated part through the fixture. The positioning tool in this embodiment can be, for example, an optical positioning tracking tool.

[0074] In another embodiment, when obtaining a preoperative detection image of the target object (for example, when taking CT data of the target object), the first positioning tool is fixedly attached to a designated part of the patient; during surgery, the third positioning tool is fixedly attached to the designated part. The positioning tool in this embodiment can be, for example, a magnetic positioning tracking chip.

[0075] In addition, compared with the solution using optical positioning and tracking components, when using magnetic positioning and tracking components to obtain posture information, there is no need to set up additional fixed objects, the cost is lower, and the posture information can be obtained more conveniently and quickly.

[0076] The designated part may be any pre-designated part, such as a specific bone feature point in the upper part of the chest cavity found by an expert doctor. The bone feature point can minimize the impact of breathing on posture detection. The bone feature point may be a location point on the clavicle or spine.

[0077] In view of this, when the positioning tool is connected to the designated part (such as the bone feature point) through a fixed object, the bone feature point is taken as the designated part as an example. Figures 3a to 3c For example, the distances l1, l2, l3, l4, I5, I6, I7, I8, etc. between the bone feature points can be recorded for the defined bones, and then based on these distances, corresponding fixtures can be designed to determine the position of the fitting part (such as the fitting column 304) in the fixture 301.

[0078] Figure 3a The scheme shown uses two bone feature points.Figure 3b In the shown solution, 3 skeletal feature points are adopted. Figure 3c In the shown solution, 4 skeletal feature points are adopted. If there are multiple feature points, it can be deduced by analogy. The more feature points, the more accurate, but the operation is also more time-consuming. Figures 3a to 3c The fitting posts 304 in correspond to the skeletal feature points of the chest. The distances between the fitting posts 304 are the distances l1, l2, l3, l4, I5, I6, I7, I8, etc. of the recorded skeletal feature points. The threaded holes 302 and pin holes 303 on the fixture 301 are used to install the following Figure 2 shown optical positioning and tracking tool.

[0079] Please refer to Figure 4 , the embodiment of the present invention provides a processing method for image registration, including:

[0080] S401: Obtain the first relative pose;

[0081] The first relative pose is the pose information of the first positioning tool set on the target object relative to the second positioning tool set on the bed board when obtaining the preoperative detection image of the target object (for example, when acquiring the CT data of the patient); it can be represented by any data capable of characterizing the relative pose. For example, the first relative pose can be represented as: the rotation matrix and translation matrix of the first coordinate system based on the first positioning tool relative to the second coordinate system based on the second positioning tool;

[0082] The target object therein can refer to the target human body or a part of the target human body;

[0083] The process of obtaining the preoperative detection image can, for example, include: acquiring CT data and determining the preoperative detection image based on the CT data. Furthermore, the first relative pose can be the pose information of the first positioning tool relative to the second positioning tool when acquiring the CT data;

[0084] S402: Obtain the second relative pose;

[0085] The second relative pose is the pose of the third positioning tool set on the target object relative to the fourth positioning tool set on the bed board during the operation; for example, the second relative pose can be represented as: the rotation matrix and translation matrix of the third coordinate system based on the third positioning tool relative to the fourth coordinate system based on the fourth positioning tool;

[0086] The first positioning tool and the third positioning tool are arranged at the same position of the target object, and the second positioning tool and the fourth positioning tool are arranged at the same position of the bed board, that is: the pose of the third positioning tool relative to the target object matches the pose of the first positioning tool relative to the target object, and the pose of the fourth positioning tool relative to the bed board matches the pose of the second positioning tool relative to the patient; furthermore, by comparing the first relative pose and the second relative pose, the relative pose between the target object and the bed board can be reflected.

[0087] The first positioning tool and the third positioning tool can be the same positioning tool or different positioning tools, and the second positioning tool and the fourth positioning tool can be the same positioning tool or different positioning tools; when the second positioning tool and the fourth positioning tool are the same positioning tool, this positioning tool (i.e., the second positioning tool and the fourth positioning tool) on the bed board can be fixed to the bed board.

[0088] S403: When the first relative pose and the second relative pose match, register the preoperative detection image of the target object and the intraoperative detection image collected during the operation.

[0089] The method for realizing registration in step S403 can be realized by any existing or improved scheme in the art.

[0090] The matching of the first relative pose and the second relative pose can be understood as that the first relative pose and the second relative pose are the same or similar.

[0091] The preoperative detection image can be understood as any image that can depict part or all of the patient's body structure determined based on CT data. For example, it can be a DRR image, where DRR refers to: Digitally Reconstructed Radiograph, which can be understood as a digital reconstructed radiograph.

[0092] The intraoperative detection image can be understood as any image obtained by detecting part or all of the patient's body structure during the operation. For example, it can be an image obtained by a C-arm machine scanning the patient's body.

[0093] The body structures detected by the preoperative detection image and the intraoperative detection image can be the same or different but partially overlapping.

[0094] In the above solution, by obtaining the first relative pose during the acquisition of CT data, the pose of the target object relative to the bed board during the acquisition of the preoperative detection image can be obtained. By obtaining the second relative pose during the operation, the pose of the target object relative to the bed board during the operation can be obtained. Furthermore, it can provide a sufficient, reliable, and quantifiable accurate basis for whether the poses match, ensuring the accurate registration of the preoperative detection image and the intraoperative detection image.

[0095] In one implementation, the process of obtaining the first relative pose may include:

[0096] S501: Obtain the first detection pose and the second detection pose;

[0097] The first detection pose is the pose of the first positioning tool relative to the tracking coordinate system, and the second detection pose is the pose of the first positioning tool relative to the tracking coordinate system when acquiring the CT data;

[0098] In a specific example, the first detection pose is represented by the translation matrix and rotation matrix of the first coordinate system with the first positioning tool as the reference relative to the tracking coordinate system; the second detection pose is represented by the translation matrix and rotation matrix of the second coordinate system with the second positioning tool as the reference relative to the tracking coordinate system;

[0099] S502: Based on the first detection pose and the second detection pose, determine the first relative pose.

[0100] Similarly, the process of obtaining the second relative pose may include:

[0101] S503: Obtain the third detection pose and the fourth detection pose;

[0102] The third detection pose is the pose of the third positioning tool relative to the tracking coordinate system, and the fourth detection pose is the pose of the fourth positioning tool relative to the tracking coordinate system during the operation;

[0103] In a specific example, the third detection pose is represented by the translation matrix and rotation matrix of the third coordinate system with the third positioning tool as the reference relative to the tracking coordinate system; the fourth detection pose is represented by the translation matrix and rotation matrix of the fourth coordinate system with the fourth positioning tool as the reference relative to the tracking coordinate system;

[0104] S504: Based on the third detection pose and the fourth detection pose, determine the second relative pose.

[0105] On this basis, in one implementation, after step S504, it may further include: calculating the pose error between the first relative pose and the second relative pose to obtain error information, and externally feedbacking the error information; the feedback can be implemented in ways such as vision and audition.

[0106] In one example, for the above-specified part (such as a bone feature point), if an optical positioning and tracking tool is used as the positioning tool, the specific working process may be, for example:

[0107] Please refer to Figure 6 , before (or during or after) scanning the CT, when the target object lies on the bed board, the fitting column of the fixture can be fitted to the bone feature point, and two optical positioning and tracking tools can be installed (which can be understood as the first positioning tool 603 provided on the target object and the second positioning tool 604 provided on the bed board 602). At this time, the optical positioning and tracking devices corresponding to the two optical positioning and tracking tools are turned on (i.e., the positioning and tracking device 601), and then the first detection pose and the second detection pose corresponding to the two optical positioning and tracking tools can be obtained and fed back to the data processing unit to implement the process of step S501.

[0108] Wherein:

[0109] Through the positioning and tracking device 601, the first detection pose T1 of the first positioning tool 603 can be read, which may include a 3*3 rotation matrix R and a 3*1 translation matrix P. Among them, R can be converted into a 3*3 rotation matrix through a mathematical formula from the quaternion (Euler angle, etc.) returned by the positioning and tracking device, and the three components in P are the relative positions x, y, and z.

[0110] Through the positioning and tracking device 601, the position and orientation of the second positioning tool 604 on the bed board 602 relative to the positioning and tracking device 601 can be read, and the second detection pose T2 can be calculated. The second detection pose T2 includes a 3*3 rotation matrix R and a 3*1 translation matrix P;

[0111] On this basis, in one example of step S502, the first relative pose T can be calculated as:

[0112]

[0113] After obtaining T, the translation matrix and rotation matrix of the tool coordinate system (i.e., the first coordinate system) of the first positioning tool on the fixture relative to the tool coordinate system (i.e., the second coordinate system) of the second positioning tool on the bed board can be directly obtained according to T (which can reflect the first relative pose), and specifically can be denoted as: P x , P y , P z , R x , Ry , R z ; wherein:

[0114] P x can be understood as the component in the x - axis direction of the translation matrix of the first coordinate system relative to the second coordinate system;

[0115] P y can be understood as the component in the y - axis direction of the translation matrix of the first coordinate system relative to the second coordinate system;

[0116] P z can be understood as the component in the z - axis direction of the translation matrix of the first coordinate system relative to the second coordinate system;

[0117] R x can be understood as the component in the rotation direction about the x - axis of the rotation matrix of the first coordinate system relative to the second coordinate system;

[0118] R y can be understood as the component in the rotation direction about the y - axis of the rotation matrix of the first coordinate system relative to the second coordinate system;

[0119] R z can be understood as the component in the rotation direction about the z - axis of the rotation matrix of the first coordinate system relative to the second coordinate system.

[0120] The first coordinate system therein can be, for example, Figure 6 the O1 coordinate system shown, and the second coordinate system therein can be, for example, Figure 6 the O2 coordinate system shown. Meanwhile, the tracking coordinate system can be characterized as the O coordinate system.

[0121] Record the data P x , P y , P z , R x , R y , R z at this time. Then, the fixture can be removed, the positioning and tracking device (such as the first positioning tool 603) can be moved away, the positioning tool (such as the second positioning tool 604) on the bed board can be kept stationary, and the target object can be scanned by CT normally.

[0122] During the actual surgery, when the target object lies on the operating table, locate the skeletal feature points on the target object's body before, install the fixation device and the third positioning tool (which can be the same positioning tool as the first positioning tool 603). At the same time, the second positioning tool 604 held on the operating table can be used as the fourth positioning tool. Then, turn on the positioning and tracking device 601. Through steps S503 and S504, the translation matrix and rotation matrix of the third coordinate system of the third positioning tool relative to the fourth coordinate system of the fourth positioning tool on the operating table can be calculated (which can reflect the second relative pose). The translation matrix and rotation matrix of the second relative pose T' can be specifically denoted as: P' x , P' y , P' z , R' x , R' y , R' z ; where:

[0123] P' x can be understood as the component in the x-axis direction of the translation matrix of the third coordinate system relative to the fourth coordinate system;

[0124] P' y can be understood as the component in the y-axis direction of the translation matrix of the third coordinate system relative to the fourth coordinate system;

[0125] P' z can be understood as the component in the z-axis direction of the translation matrix of the third coordinate system relative to the fourth coordinate system;

[0126] R' x can be understood as the component in the rotation direction around the x-axis of the rotation matrix of the third coordinate system relative to the fourth coordinate system;

[0127] R' y can be understood as the component in the rotation direction around the y-axis of the rotation matrix of the third coordinate system relative to the fourth coordinate system;

[0128] R' z can be understood as the component in the rotation direction around the z-axis of the rotation matrix of the third coordinate system relative to the fourth coordinate system.

[0129] In addition, taking Figure 7 as an example, when the third positioning tool is the first positioning tool and the fourth positioning tool is the second positioning tool, the third coordinate system is the first coordinate system (i.e., the O1 coordinate system), and the fourth coordinate system is the second coordinate system (i.e., the O2 coordinate system).

[0130] Using P' x , P' y , P' z , R' x , R' y , R' z, can be compared with the previously recorded P x , P y , P z , R x , R y , R z By making a comparison, the pose error of the second relative pose with respect to the first relative pose can be obtained, and the error information can be characterized as:

[0131] Δx = P′ x - P x

[0132] Δy = P′ y - P y

[0133] Δz = P′ z - P z

[0134] ΔR x = R′ x - R x

[0135] ΔR y = R′ y - R y

[0136] ΔR z = R′ z - R z

[0137] At this time, the position and orientation of the target object can be roughly adjusted first until P’ x , P’ y , P’ z is close to P x , P y , P z , and then finely adjusted to P’ x , P’ y , P’ z , R’ x , R’ y , R’ z , all close to P x , P y , P z , R x , R y , R z , then the pose error between the target object's pose at this time and the pose during CT scanning is the smallest.

[0138] In an example, for the above-specified part (such as a bone feature point), if a magnetic positioning tracking chip is used as the positioning tool, the specific process can be, for example:

[0139] Such as Figure 8As shown, before the scanning CT, when the target object lies on the bed board 803, the magnetic positioning tracking chip (i.e., the first positioning tool 801) is attached to the bone feature points, and another magnetic positioning tracking chip (i.e., the second positioning tool 802) is also attached to the bed board 803.

[0140] At this time, when the positioning and tracking device (not shown, i.e., the magnetic tracking and positioning device) is turned on, the positions and postures of each magnetic positioning tracking chip relative to the magnetic tracking and positioning device can be obtained. Considering that the chip is very small and it is not easy to control the direction when attached to the body, only the position information P in the magnetic positioning tracking chip (i.e., the first positioning tool 801) attached to the target object is read. i Suppose it is P1, P2, P3,.... By reading the position and posture of the magnetic positioning tracking chip (i.e., the second positioning tool 802) on the bed board relative to the magnetic tracking and positioning device, the relative pose relationship T can be calculated, where T includes a 3*3 rotation matrix R and a 3*1 translation matrix P. Among them, R can be converted into a 3*3 rotation matrix through a mathematical formula from the quaternion (Euler angle, etc.) returned by the tracking device, and the three components in P are the relative positions x, y, z. Further, the first relative pose FixP of the magnetic positioning tracking chip attached to the body relative to the magnetic positioning tracking chip on the bed board can be calculated. i Specific calculation formula can be, for example:

[0141] FixP i = T -1 P i

[0142] Where i represents each magnetic positioning tracking chip 1, 2, 3,…. Record the data at this time, then the magnetic positioning tracking chip (i.e., the first positioning tool 801) on the body can be removed, the magnetic tracking and positioning device can be moved away, and the magnetic positioning tracking chip (i.e., the second positioning tool 802) on the bed board 803 remains stationary, and the target object scans the CT normally.

[0143] The first coordinate system can be, for example Figure 8 the O1 coordinate system shown, and the second coordinate system can be, for example Figure 8 the O2 coordinate system shown.

[0144] During the actual operation, when the target object lies on the bed board, find the bone feature points on the target object's body before, and attach each magnetic positioning tracking chip (for example, the first positioning tool 801 can be used as the third positioning tool, and the second positioning tool 802 can be used as the fourth positioning tool). When the magnetic tracking and positioning device is turned on, the position FixP' of each magnetic positioning tracking chip on the body relative to the magnetic positioning tracking chip on the bed board can be calculated and fed back in real time. i compared with the previously recorded FixP iBy making a comparison, the position error of the current pose relative to the position before CT scanning can be known, and the error information ΔP can be obtained. i , which can be characterized as:

[0145] ΔP i = FixP′ i - FixP i

[0146] In addition, taking Figure 9 as an example, when the third positioning tool is the first positioning tool and the fourth positioning tool is the second positioning tool, the third coordinate system is the first coordinate system (i.e., the O1 coordinate system), and the fourth coordinate system is the second coordinate system (i.e., the O2 coordinate system).

[0147] Please refer to Figure 9 . At this time, the body position of the target object can be adjusted first so that the position of the first magnetic positioning tracking chip is close to FixP1, and then the second magnetic positioning tracking chip is adjusted while keeping the first one stationary so that its position is close to FixP2. If there are multiple chips, follow the same method. Wait until all chips are adjusted to the position FixP before CT scanning i . At this time, the pose error of the target object on the bed board is the smallest.

[0148] Please refer to Figure 10 . The processing device 1000 for image registration includes:

[0149] The first acquisition module 1001 is used to acquire the first relative pose, where the first relative pose is the pose of the first positioning tool set on the patient relative to the second positioning tool set on the bed board when acquiring the preoperative detection image of the target object;

[0150] The second acquisition module 1002 is used to acquire the second relative pose, where the second relative pose is the pose of the third positioning tool set on the target object relative to the fourth positioning tool set on the bed board during the operation; the first positioning tool and the third positioning tool are set at the same position of the target object, and the second positioning tool and the fourth positioning tool are set at the same position of the bed board;

[0151] The registration module 1003 is used to register the preoperative detection image of the patient and the intraoperative detection image acquired during the operation when the first relative pose matches the second relative pose.

[0152] Optionally, the first acquisition module 1001 is specifically used for:

[0153] Acquire the first detection pose and the second detection pose, where the first detection pose is the pose of the first positioning tool relative to the tracking coordinate system, and the second detection pose is the pose of the second positioning tool relative to the tracking coordinate system

[0154] Based on the first detected pose and the second detected pose, determine the first relative pose.

[0155] Optionally, the first detected pose is represented by a translation matrix and a rotation matrix of a first coordinate system with respect to the tracking coordinate system, with the first positioning tool as a reference;

[0156] The second detected pose is represented by a translation matrix and a rotation matrix of a second coordinate system with respect to the tracking coordinate system, with the second positioning tool as a reference;

[0157] The first relative pose is represented by a translation matrix and a rotation matrix of the first coordinate system with respect to the second coordinate system.

[0158] Optionally, the second acquisition module 1002 is specifically configured to:

[0159] Obtain a third detected pose and a fourth detected pose, where the third detected pose is the pose of the third positioning tool with respect to the tracking coordinate system; the fourth detected pose is the pose of the fourth positioning tool with respect to the tracking coordinate system

[0160] Based on the third detected pose and the fourth detected pose, determine the second relative pose.

[0161] Optionally, the third detected pose is represented by a translation matrix and a rotation matrix of a third coordinate system with respect to the tracking coordinate system, with the third positioning tool as a reference;

[0162] The fourth detected pose is represented by a translation matrix and a rotation matrix of a fourth coordinate system with respect to the tracking coordinate system, with the fourth positioning tool as a reference;

[0163] The second relative pose is represented by a translation matrix and a rotation matrix of the third coordinate system with respect to the fourth coordinate system.

[0164] Optionally, the first positioning tool and the third positioning tool are the same positioning tool, and the second positioning tool and the fourth positioning tool are the same positioning tool.

[0165] Optionally, when acquiring the preoperative detection image, the first positioning tool is installed on a specified part of the patient through a fixture;

[0166] During the operation, the third positioning tool is installed on the specified part through the fixture;

[0167] The fixture is provided with a fitting part for fitting the specified part and a connecting part for installing and fixing the positioning tool.

[0168] Optionally, when obtaining the preoperative detection image, the first positioning tool is fixedly attached to the designated part of the target object; during the operation, the third positioning tool is fixedly attached to the designated part.

[0169] Optionally, the first detection pose and the second detection pose for determining the first relative pose, and the third detection pose and the fourth detection pose for determining the second relative pose are obtained by a magnetic tracking positioning component, and the magnetic tracking positioning component includes a magnetic tracking positioning device, the first positioning tool, the second positioning tool, the third positioning tool, and the fourth positioning tool;

[0170] Or:

[0171] The first detection pose and the second detection pose for determining the first relative pose, and the third detection pose and the fourth detection pose for determining the second relative pose are obtained by the optical tracking positioning component, and the optical tracking positioning component includes an optical tracking positioning device, the first positioning tool, the second positioning tool, the third positioning tool, and the fourth positioning tool.

[0172] Optionally, the preoperative detection image is a DRR image, and the intraoperative detection image is obtained by scanning the patient with a C-arm machine.

[0173] Please refer to Figure 11 , which provides an electronic device 1100, including:

[0174] A processor 1101; and,

[0175] A memory 1102 for storing executable instructions of the processor;

[0176] Wherein, the processor 1101 is configured to execute the methods involved above by executing the executable instructions.

[0177] The processor 1101 can communicate with the memory 1102 through a bus 1103.

[0178] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the methods involved above are implemented.

[0179] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: various media such as ROM, RAM, magnetic disk, or optical disk that can store program codes.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A processing method for image registration, characterized in that Including: Obtain a first relative pose, where the first relative pose is the pose information of a first positioning tool disposed on the target object relative to a second positioning tool disposed on the bedplate when obtaining a preoperative detection image of the target object; Obtain a second relative pose, where the second relative pose is the pose information of a third positioning tool disposed on the target object relative to a fourth positioning tool disposed on the bedplate during the operation; the first positioning tool and the third positioning tool are disposed at the same position on the target object, and the second positioning tool and the fourth positioning tool are disposed at the same position on the bedplate; When the first relative pose matches the second relative pose, register the preoperative detection image of the target object and the intraoperative detection image acquired during the operation.

2. The processing method for image registration according to claim 1, wherein: Obtaining the first relative pose includes: Obtain a first detection pose and a second detection pose, where the first detection pose is the pose of the first positioning tool relative to the tracking coordinate system; the second detection pose is the pose of the second positioning tool relative to the tracking coordinate system; Based on the first detection pose and the second detection pose, determine the first relative pose.

3. The processing method for image registration according to claim 2, wherein: The first detection pose is represented by a translation matrix and a rotation matrix of a first coordinate system with the first positioning tool as the reference relative to the tracking coordinate system; The second detection pose is represented by a translation matrix and a rotation matrix of a second coordinate system with the second positioning tool as the reference relative to the tracking coordinate system; The first relative pose is represented by a translation matrix and a rotation matrix of the first coordinate system relative to the second coordinate system.

4. The processing method for image registration according to claim 1, wherein: Obtaining the second relative pose includes: Obtain a third detection pose and a fourth detection pose, where the third detection pose is the pose of the third positioning tool relative to the tracking coordinate system, and the third detection position is the position of the third positioning tool relative to the tracking coordinate system; the fourth detection pose is the pose of the fourth positioning tool relative to the tracking coordinate system; Based on the third detection pose and the fourth detection pose, determine the second relative pose.

5. The processing method for image registration according to claim 4, wherein: The third detection pose is represented by a translation matrix and a rotation matrix of a third coordinate system with the third positioning tool as the reference relative to the tracking coordinate system; The fourth detection pose is represented by a translation matrix and a rotation matrix of a fourth coordinate system with the fourth positioning tool as the reference relative to the tracking coordinate system; The second relative pose is represented by a translation matrix and a rotation matrix of the third coordinate system relative to the fourth coordinate system.

6. The processing method for image registration according to any one of claims 1 to 5, characterized in that The first positioning tool and the third positioning tool are the same positioning tool, and the second positioning tool and the fourth positioning tool are the same positioning tool.

7. The processing method for image registration according to any one of claims 1 to 5, characterized in that when acquiring the preoperative detection image, the first positioning tool is arranged at a specified part of the target object through a fixture; during the operation, the third positioning tool is arranged at the specified part through the fixture; the fixture is provided with a fitting part for fitting the specified part and a connecting part for installing the positioning tool.

8. The processing method for image registration according to any one of claims 1 to 5, characterized in that when acquiring the preoperative detection image, the first positioning tool is fixedly attached to the specified part of the target object; during the operation, the third positioning tool is fixedly attached to the specified part.

9. The processing method for image registration according to any one of claims 1 to 5, characterized in that the first detection pose and the second detection pose for determining the first relative pose, and the third detection pose and the fourth detection pose for determining the second relative pose are obtained by a magnetic tracking positioning component, and the magnetic tracking positioning component includes a magnetic tracking positioning device, the first positioning tool, the second positioning tool, the third positioning tool and the fourth positioning tool; or: the first detection pose and the second detection pose for determining the first relative pose, and the third detection pose and the fourth detection pose for determining the second relative pose are obtained by an optical tracking positioning component, and the optical tracking positioning component includes an optical tracking positioning device, the first positioning tool, the second positioning tool, the third positioning tool and the fourth positioning tool.

10. A processing device for image registration, characterized in that, comprising: a first acquisition module for acquiring a first relative pose, where the first relative pose is the pose information of the first positioning tool arranged on the target object relative to the second positioning tool arranged on the bed board when acquiring the preoperative detection image of the target object; a second acquisition module for acquiring a second relative pose, where the second relative pose is the pose information of the third positioning tool arranged on the target object relative to the fourth positioning tool arranged on the bed board during the operation; the first positioning tool and the third positioning tool are arranged at the same position of the target object, and the second positioning tool and the fourth positioning tool are arranged at the same position of the bed board; a registration module for registering the preoperative detection image of the target object and the intraoperative detection image acquired during the operation by matching the first relative pose with the second relative pose.

11. An electronic device, characterized in that, comprising a processor and a memory, the memory for storing codes; the processor for executing the codes in the memory to implement the method according to any one of claims 1 to 9.

12. A storage medium having a computer program stored thereon, and when the program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

13. A surgical system, characterized in that, comprising: a data processing unit and a plurality of positioning tools; the data processing unit is used to execute the processing method for image registration according to any one of claims 1 to 9; The first positioning tool, the second positioning tool, the third positioning tool, and the fourth positioning tool are derived from the plurality of positioning tools.

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