Registration method, device, computer equipment and storage medium for surgical navigation

Abstract

The application relates to a surgical navigation registration method and device, a computer device and a storage medium. The method comprises the following steps: acquiring CT images of a patient and at least two X-Ray images taken by a C-arm in different postures; determining the coordinates of an anatomical point in a surgical coordinate system according to imaging parameters of the C-arm in different postures and pixel coordinates of the anatomical point in the X-Ray images corresponding to different postures; and finally determining target registration parameters according to the spatial coordinates of the anatomical point in the CT images and the coordinates of the anatomical point in the surgical coordinate system. The above method realizes the registration of the spatial coordinates of the CT images and the surgical space coordinates by using the C-arm, and solves the problem of large registration error caused by registration depending on the experience of doctors in the existing surgical registration process. In addition, when the above surgical navigation registration method needs to be re-registered, the re-registration can be realized by only using the C-arm to take X-Ray images, and the method has stronger applicability.

Description

[0001] This application is a divisional application of parent application 2021101418908, the application date of which is February 2, 2021. Technical Field

[0002] This application relates to the field of medical device technology, and in particular to a registration method, apparatus, computer equipment, and storage medium for surgical navigation. Background Technology

[0003] In hip replacement surgery, a preoperative computed tomography (CT) scan of the acetabulum is typically performed, and preoperative planning is conducted based on the scan data. During the surgery, in order to execute the surgery according to the preoperative plan, the patient's posture during the operation needs to be matched with the posture in the preoperative CT scan data.

[0004] The existing method involves marking a series of anatomical points in the acetabulum in the preoperative CT scan data, and having the doctor find these anatomical points in the patient's acetabulum, thereby establishing a registration relationship between the anatomical points in the CT scan data and the anatomical points found by the doctor.

[0005] However, during surgery, if the patient moves after the surgeon has processed the bone tissue, re-registration is required. But at this point, the patient's bone tissue differs from the bone tissue in the CT scan data, so the above registration method cannot be used. Therefore, the applicability of the above registration method is limited. Summary of the Invention

[0006] Therefore, it is necessary to provide a registration method, device, computer equipment, and storage medium for surgical navigation that can effectively improve its applicability in response to the above-mentioned technical problems.

[0007] In a first aspect, a registration method for surgical navigation, the method comprising:

[0008] Acquire the patient's CT images and at least two X-ray images; the different X-ray images are obtained by taking C-arm images in different poses;

[0009] Based on the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical point in the X-Ray image corresponding to different postures, the coordinates of the anatomical point in the surgical coordinate system are determined.

[0010] The target registration parameters are determined based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system.

[0011] In one embodiment, determining the target registration parameters based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system includes:

[0012] The first registration parameter is obtained based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system;

[0013] Based on the first registration parameters and the imaging parameters of the C-arm in different poses, the different poses of the C-arm in the CT coordinate system are determined.

[0014] Based on the different poses of the C-arm in the CT coordinate system and the CT images, virtual X-ray images corresponding to different poses are generated;

[0015] The virtual X-Ray images of each pose are registered with the X-Ray images of their respective poses to obtain the target registration parameters.

[0016] In one embodiment, determining the different poses of the C-arm in the CT coordinate system based on the first registration parameters and the imaging parameters of the C-arm in different poses includes:

[0017] Based on the imaging parameters of the C-arm in different poses, the different poses of the C-arm in the surgical coordinate system are determined;

[0018] Based on the different postures of the C-arm in the surgical coordinate system and the first registration parameters, the different postures of the C-arm in the CT coordinate system are determined.

[0019] In one embodiment, registering the virtual X-Ray images of each pose with the corresponding X-Ray images of their respective poses to obtain the target registration parameters includes:

[0020] The virtual X-Ray images of each pose are registered with the X-Ray images of their respective poses to obtain the second registration parameters.

[0021] The target registration parameters are determined based on the second registration parameters and the first registration parameters.

[0022] In one embodiment, before determining the coordinates of the anatomical point in the surgical coordinate system based on the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical point in the X-ray images corresponding to the different postures, the method further includes:

[0023] Obtain the imaging parameters of the C-arm under different postures;

[0024] The acquisition of imaging parameters of the C-arm in different poses includes:

[0025] Obtain the pixel coordinates of the marker points in the X-Ray images under different poses; the X-Ray images include the tissue structure of the patient's surgical area and the calibration target; the calibration target carries the marker points;

[0026] The coordinates of the marker points in the surgical coordinate system are obtained from the X-Ray images under different postures using a tracking system.

[0027] Based on the pixel coordinates of the marker points in the X-Ray images under different postures, and the coordinates of the marker points in the surgical coordinate system, the imaging parameters of the C-arm under different postures are determined.

[0028] In one embodiment, after acquiring the patient's CT images and at least two X-ray images, the method further includes:

[0029] The anatomical point is determined in the X-Ray images under different poses, and the pixel coordinates of the anatomical point in the X-Ray images under different poses are obtained;

[0030] The spatial coordinates of the anatomical point in the CT image are determined to correspond to the location of the anatomical point in the X-ray image, thus obtaining the spatial coordinates of the anatomical point in the CT image.

[0031] In one embodiment, prior to acquiring the patient's CT images and at least two X-ray images, the method further includes:

[0032] Mark the patient;

[0033] The pixel coordinates corresponding to the markers in the X-Ray images under different postures are determined as the pixel coordinates of the anatomical points in the X-Ray images under different postures;

[0034] The spatial coordinates corresponding to the markers in the CT image are determined as the spatial coordinates of the anatomical points in the CT image.

[0035] Secondly, a registration device for surgical navigation, the device comprising:

[0036] The acquisition module is used to acquire the patient's CT images and at least two X-ray images;

[0037] The determination module is used to determine the coordinates of the anatomical point in the surgical coordinate system based on the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical point in the X-Ray image corresponding to the different postures.

[0038] The registration module is used to determine the target registration parameters based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system.

[0039] Thirdly, a computer device includes a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the method described in the first aspect.

[0040] Fourthly, a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0041] The aforementioned surgical navigation registration method, device, computer equipment, and storage medium acquire the patient's CT images and at least two X-ray images taken with a C-arm in different postures. Based on the imaging parameters of the C-arm in different postures and the pixel coordinates of the anatomical points in the corresponding X-ray images, the coordinates of the anatomical points in the surgical coordinate system are determined. Finally, the target registration parameters are determined based on the spatial coordinates of the anatomical points in the CT images and their coordinates in the surgical coordinate system. This method utilizes the C-arm for registration of the spatial coordinates of CT images and surgical spatial coordinates, and solves the problem of large registration errors caused by reliance on physician experience in existing surgical registration processes. Furthermore, since registration is based on X-ray images taken with a C-arm, even if the patient moves during surgery and re-registration is required, re-registration can be achieved by taking X-ray images of the moved patient with the C-arm. Compared to existing methods that cannot re-register when the patient moves, the surgical navigation registration method proposed in this application has stronger applicability and is more efficient and accurate in completing registration. Attached Figure Description

[0042] Figure 1 This is an internal structural diagram of a computer device in one embodiment;

[0043] Figure 2 This is a flowchart illustrating the registration method for surgical navigation in one embodiment;

[0044] Figure 3 for Figure 2 A flowchart illustrating step S103 in the embodiment;

[0045] Figure 4 for Figure 3 A flowchart illustrating step S202 in the embodiment;

[0046] Figure 5 for Figure 3 A flowchart illustrating step S204 in the embodiment;

[0047] Figure 6 This is a flowchart illustrating the registration method for surgical navigation in one embodiment;

[0048] Figure 7 for Figure 6 A flowchart illustrating step S104 in the embodiment;

[0049] Figure 8 This is a flowchart illustrating the registration method for surgical navigation in one embodiment;

[0050] Figure 9 This is a flowchart illustrating the registration method for surgical navigation in one embodiment;

[0051] Figure 10 This is a flowchart illustrating the registration method for surgical navigation in one embodiment;

[0052] Figure 11 This is a schematic diagram of the registration system for surgical navigation in one embodiment;

[0053] Figure 12 This is a structural block diagram of a registration device for surgical navigation in one embodiment;

[0054] Figure 13 This is a structural block diagram of a registration device for surgical navigation in one embodiment;

[0055] Figure 14 This is a structural block diagram of a registration device for surgical navigation in one embodiment;

[0056] Figure 15 This is a structural block diagram of a registration device for surgical navigation in one embodiment;

[0057] Figure 16 This is a structural block diagram of a registration device for surgical navigation in one embodiment;

[0058] Figure 17 This is a structural block diagram of a registration device for surgical navigation in one embodiment;

[0059] Figure 18 This is a structural block diagram of a registration device for surgical navigation in one embodiment. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] The surgical navigation registration method provided in this application can be applied to, for example... Figure 1The computer device shown can be a server or a terminal, and its internal structure diagram can be as follows. Figure 1 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a registration method for surgical navigation. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0062] Those skilled in the art will understand that Figure 1 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0063] In one embodiment, such as Figure 2 As shown, a registration method for surgical navigation is provided, which is applied to... Figure 1 Taking a computer device as an example, the explanation includes the following steps:

[0064] S101, acquire the patient's CT images and at least two X-ray images; the different X-ray images are obtained by taking C-arm images in different poses.

[0065] The C-arm, also known as a C-type X-ray machine, is, as the name suggests, a C-shaped gantry, an X-ray tube that generates X-rays, an image intensifier and CCD camera for image acquisition, and an image processing workstation. It is mainly used for angiography and radiography during various surgeries. It also distinguishes itself from other X-ray equipment such as U-arms and G-arms. CT images and X-ray images both include the tissue structures of the patient's lesion site; both contain tissue structures of the same lesion site from the same patient. Optionally, CT images may include the tissue structures of the acetabulum or other structures requiring surgical intervention; this is not limited here.

[0066] In this embodiment, before surgery, a CT imaging device is used to scan the lesion site of the patient to obtain a CT image of the patient. During the operation, while the patient is lying on the operating table, an X-ray image of the patient can be taken in at least two different postures by moving the C-arm, resulting in at least two X-ray images, and each X-ray image contains the same tissue structure as the lesion site in the preoperative CT image.

[0067] S102, based on the imaging parameters of the C-arm in different postures and the pixel coordinates of the anatomical point in the X-Ray image corresponding to different postures, determine the coordinates of the anatomical point in the surgical coordinate system.

[0068] The imaging parameters of the C-arm in different postures include the correspondence between the coordinate systems of the X-ray images in different postures and the surgical coordinate system. The surgical coordinate system can be the three-dimensional coordinate system of the Optical Tracking System (OTS). Anatomical points are physiological feature points on the patient's bones, which can be predetermined by the physician before or during the operation.

[0069] In this embodiment, when the computer device acquires at least two X-ray images, it can further locate the patient's anatomical points on each X-ray image and determine the pixel coordinates of the anatomical points on each X-ray image. Correspondingly, the computer device can also determine the imaging parameters of the C-arm in different postures based on the X-ray images in different poses. Optionally, the computer device can also pre-calibrate the C-arm to obtain the imaging parameters of the C-arm in different postures. It should be noted that the computer device can determine the position of the anatomical points on each X-ray image based on the doctor's experience. Specifically, at least three anatomical points can be determined, and the positions of the anatomical points in the X-ray images in different postures correspond. When the computer device obtains the imaging parameters of the C-arm in different postures and the pixel coordinates of the anatomical points in the corresponding X-ray images in different postures, it can convert the pixel coordinates of the anatomical points in the X-ray images in different postures into the coordinates of the anatomical points in the surgical coordinate system based on the imaging parameters of the C-arm in different postures. For example, when the computer device obtains the imaging parameters of the C-arm in posture 1 and the imaging parameters of the C-arm in posture 2, it can jointly solve for the coordinates of the anatomical point in the surgical coordinate system by combining the pixel coordinates of the anatomical point in the X-Ray image in posture 1 and the pixel coordinates of the anatomical point in the X-Ray image in posture 2.

[0070] S103, determine the target registration parameters based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system.

[0071] The target registration parameters include the correspondence between the CT image coordinate system and the surgical coordinate system. During the operation, once the computer equipment obtains the target registration parameters, it can automatically register the CT image coordinate system and the surgical coordinate system according to the target registration parameters, so as to plan the path before the operation and determine the path for the doctor to perform the operation on the patient.

[0072] In this embodiment, when the computer device determines the patient's anatomical points on each X-ray image, it can also determine the corresponding anatomical points on the patient's CT image and obtain the spatial coordinates of the anatomical points in the CT image. Therefore, when the computer device obtains the coordinates of the anatomical points in the surgical coordinate system and the spatial coordinates of the anatomical points in the CT image based on the aforementioned steps, it can obtain the transformation matrix between the spatial coordinates of the anatomical points in the CT image and the coordinates of the anatomical points in the surgical coordinate system. The computer device can directly determine this transformation matrix as the target registration parameter. Optionally, the computer device can also simulate C-arm imaging to obtain a virtual X-ray image, and then use the difference between the virtual X-ray image and the real X-ray image to correct the relative pose of the C-arm and the patient's CT data in the CT image coordinate system, obtain the transformation matrix between the spatial coordinates of the anatomical points in the CT image and the coordinates of the anatomical points in the surgical coordinate system, and thus obtain the target registration parameter.

[0073] This document exemplifies a method for determining the spatial coordinates of anatomical points in CT images based on the pixel coordinates of anatomical points in X-ray images under different postures. Taking the acetabulum as an example, the method specifically includes: First, scanning the patient before surgery to obtain CT images; during surgery, using a C-arm to capture images of the patient's acetabulum at two different angles (e.g., anteroposterior and lateral views) (i.e., the aforementioned X-ray images under different postures); selecting three anatomical points on the anteroposterior X-ray image; based on the positional relationship between the anteroposterior and lateral views, selecting the corresponding anatomical points on the anteroposterior image with constraints on the lateral view (i.e., determining the polar line on the lateral view and then selecting anatomical points with constraints based on the polar line), obtaining three anatomical points on the lateral view; then calculating the three-dimensional coordinates of the anatomical points based on the two-dimensional coordinates of the anatomical points on the anteroposterior and lateral views; finally, finding the corresponding three-dimensional coordinates (CT coordinate system) of the anatomical points on the CT image. These anatomical points may include, but are not limited to: the apex of the pubic margin, the lower end of the obturator foramen, the distal end of the ischium, the anterior superior iliac spine, and the center of the acetabular fossa. It is understood that the above embodiment, which uses an image of the acetabulum for illustration, is only an example. The method for determining anatomical points described above can also be applied to other types of images, and the corresponding anatomical points will change accordingly.

[0074] The surgical navigation registration method provided in the above embodiments acquires the patient's CT images and at least two X-ray images taken by a C-arm in different postures. Based on the imaging parameters of the C-arm in different postures and the pixel coordinates of the anatomical points in the corresponding X-ray images, the coordinates of the anatomical points in the surgical coordinate system are determined. Finally, the target registration parameters are determined based on the spatial coordinates of the anatomical points in the CT images and their coordinates in the surgical coordinate system. This method utilizes the C-arm for registration of the spatial coordinates of CT images and surgical spatial coordinates, and solves the problem of large registration errors caused by reliance on physician experience in existing surgical registration processes. Furthermore, since registration is based on X-ray images taken by the C-arm, even if the patient moves during surgery and re-registration is required, re-registration can be achieved by taking X-ray images of the moved patient using the C-arm. Compared to existing methods that cannot re-register when the patient moves, the surgical navigation registration method proposed in this application has stronger applicability and is more efficient and accurate in completing registration.

[0075] In one embodiment, one implementation of S103 above is provided, such as... Figure 3 As shown, the above-mentioned S103 "determine the target registration parameters based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system" includes:

[0076] S201. Based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system, the first registration parameters are obtained.

[0077] The first registration parameter includes the correspondence between the CT image coordinate system and the surgical coordinate system. In this embodiment, when the computer device determines the patient's anatomical points on each X-ray image, it can also determine the corresponding anatomical points on the patient's CT image and obtain the spatial coordinates of the anatomical points in the CT image. Therefore, when the computer device obtains the coordinates of the anatomical points in the surgical coordinate system and the spatial coordinates of the anatomical points in the CT image based on the aforementioned steps, it can obtain the transformation matrix between the spatial coordinates of the anatomical points in the CT image and the coordinates of the anatomical points in the surgical coordinate system. The computer device can directly determine this transformation matrix as the first registration parameter.

[0078] S202, based on the first registration parameters and the imaging parameters of the C-arm in different poses, determine the different poses of the C-arm in the CT coordinate system.

[0079] In this embodiment, since the imaging parameters of the C-arm represent the correspondence between the X-ray image coordinate system and the surgical coordinate system, and the first registration parameter represents the correspondence between the CT image coordinate system (hereinafter referred to as the CT coordinate system) and the surgical coordinate system, the computer device can determine the orientation of the C-arm in the CT coordinate system based on the first registration parameter and the imaging parameters of the C-arm, according to the orientation of the C-arm in the surgical coordinate system. For example, when the computer device obtains the imaging parameters of the C-arm in orientation 1 and orientation 2, it can further convert the orientation 1 and orientation 2 of the C-arm in the surgical coordinate system to the CT coordinate system according to the first registration parameter, thus obtaining the orientation 1 and orientation 2 of the C-arm in the CT coordinate system.

[0080] S203 generates virtual X-ray images corresponding to different poses based on the different poses of the C-arm in the CT coordinate system and CT images.

[0081] In this embodiment, when the computer device acquires the different postures of the C-arm in the CT coordinate system, it can simulate the X-Ray images taken by the C-arm in different postures based on the CT image data and perform virtual projection to obtain virtual X-Ray images in different postures.

[0082] S204, register the virtual X-Ray images of each pose with the X-Ray images of their respective poses to obtain the target registration parameters.

[0083] In this embodiment, the computer device can register virtual X-ray images in various poses with their corresponding X-ray images. Based on the registration results, the pose of the CT image data is continuously adjusted until the virtual X-ray images in each pose coincide with their corresponding X-ray images. The registration matrix generated during this process is calculated. Then, based on this registration matrix, the aforementioned first registration parameter can be corrected, and the corrected first registration parameter is determined as the target registration parameter. In the above embodiment, the difference between the virtual X-ray image and the real X-ray image is used to correct the relative pose of the C-arm and the patient in the CT coordinate system, so that the final target registration parameter can overcome the problem of inaccurate first registration parameter.

[0084] In one embodiment, an implementation of the above S202 is also provided, such as... Figure 4 As shown, the above-mentioned S202 "determines the different poses of the C-arm in the CT coordinate system based on the first registration parameters and the imaging parameters of the C-arm in different poses" includes:

[0085] S301, based on the imaging parameters of the C-arm in different poses, determine the different poses of the C-arm in the surgical coordinate system.

[0086] When the computer device obtains the imaging parameters of the C-arm in different postures, it can obtain the correspondence between the coordinate system of the X-ray image and the surgical coordinate system. Therefore, during the operation, when the C-arm is used to take X-ray images of the patient in different postures, the imaging parameters in the corresponding postures can be referenced to determine the different postures of the C-arm in the surgical coordinate system.

[0087] S302, based on the different postures of the C-arm in the surgical coordinate system and the first registration parameters, determine the different postures of the C-arm in the CT coordinate system.

[0088] When the computer device obtains the first registration parameters, it can obtain the correspondence between the CT coordinate system and the surgical coordinate system. Therefore, during the operation, when the computer device obtains the different postures of the C-arm in the surgical coordinate system, it can refer to the correspondence between the CT coordinate system and the surgical coordinate system and determine the different postures of the C-arm in the CT coordinate system based on the different postures of the C-arm in the surgical coordinate system.

[0089] In one embodiment, an implementation of the above S204 is also provided, such as... Figure 5 As shown, the above-mentioned S204 "registering the virtual X-Ray images of each pose with the corresponding X-Ray images of their respective poses to obtain target registration parameters" includes:

[0090] S401, register the virtual X-Ray images of each pose with the X-Ray images of their respective poses to obtain the second registration parameters.

[0091] In this embodiment, the computer device can register virtual X-ray images of each pose with their corresponding X-ray images, and continuously adjust the pose of the CT image data according to the registration results until the virtual X-ray images of each pose and their corresponding X-ray images overlap, calculate the registration matrix in this process, and then directly use the registration matrix as the second registration parameter.

[0092] S402, determine the target registration parameters based on the second registration parameters and the first registration parameters.

[0093] When the computer device obtains the second registration parameter and the first registration parameter, it can use the second registration parameter to correct the first registration parameter and determine the corrected first registration parameter as the target registration parameter; alternatively, the computer device can also calculate a new registration parameter based on the second registration parameter and the first registration parameter and determine the new registration parameter as the target registration parameter.

[0094] In practical applications, before the computer device performs the steps described in S102, such as Figure 6 As shown, the following steps still need to be performed:

[0095] S104: Obtain the imaging parameters of the C-arm under different postures.

[0096] Based on this, this application also provides a method for obtaining imaging parameters of the C-arm under different postures, such as... Figure 7 As shown, the method includes:

[0097] S501, acquire the pixel coordinates of marker points in X-Ray images under different poses; the X-Ray images include the tissue structure of the patient's surgical area and the calibration target; the calibration target carries marker points.

[0098] In this embodiment, a calibration target can be used to calibrate the C-arm. Specifically, when the patient is lying on the operating table, the C-arm is used to capture images of the tissue structure in the area to be operated on from different angles. Simultaneously, a calibration target is placed near the tissue structure, allowing the C-arm to simultaneously capture both the tissue structure and the calibration target, resulting in X-ray images of the tissue structure and the calibration target in different angles. Then, a computer locates the marker points on the calibration target within the X-ray images from different angles, thus obtaining the pixel coordinates of the marker points in the X-ray images from different angles.

[0099] S502 obtains the coordinates of marker points in the surgical coordinate system in X-Ray images under different postures through a tracking system.

[0100] In this embodiment, when the marker target is placed in the vicinity of the patient's tissue structure, the tracking system (OTS) can be used to track the position of the marker point on the marker target, obtaining the coordinates of the marker point in the surgical coordinate system (OTS coordinate system). Therefore, when using a C-arm to capture X-ray images of the patient in different postures, the tracking system (OTS) can be used simultaneously to track the position of the marker point on the marker target, obtaining the coordinates of the marker point in the surgical coordinate system (OTS coordinate system) in the X-ray images under different postures.

[0101] S503 determines the imaging parameters of the C-arm in different postures based on the pixel coordinates of the marker points in the X-Ray images under different postures and the coordinates of the marker points in the surgical coordinate system.

[0102] When the computer device acquires the pixel coordinates of the marker points in X-ray images under different postures and the coordinates of the marker points in the surgical coordinate system under different postures, a correspondence between the pixel coordinates of the marker points in the X-ray images under different postures and the coordinates of the marker points in the surgical coordinate system can be established. That is, the correspondence between the pixel coordinate system of the X-ray images under different postures and the surgical coordinate system, thus obtaining the imaging parameters of the C-arm under different postures. In the above embodiment, a calibration target and tracking system are used to determine the imaging parameters of the C-arm under different postures, making full use of the equipment available at the surgical site to assist in calibrating the C-arm and determining the imaging parameters of the C-arm under different postures, providing a reliable reference for the subsequent registration process.

[0103] In practical applications, after performing the above-mentioned step S101, the computer device also needs to obtain the anatomical points on the X-ray images and the anatomical points on the CT images, and as follows: Figure 8 As shown, the acquisition method includes:

[0104] S601, determine the anatomical points in X-Ray images under different postures, and obtain the pixel coordinates of the anatomical points in X-Ray images under different postures.

[0105] In this embodiment, the physician can select anatomical points on the X-ray image to obtain the pixel coordinates of the anatomical points in X-ray images under different poses. Optionally, the computer device can first determine the two-dimensional pixel coordinates of the anatomical points on the X-ray images under different poses (first determine the position of the anatomical point on the X-ray image under one pose, and then determine the corresponding position of the anatomical point on the X-ray image under another pose), and then calculate the three-dimensional pixel coordinates based on the two-dimensional coordinates of the anatomical points under different poses, so that the spatial coordinates of the anatomical points in the CT image can be solved later based on the three-dimensional pixel coordinates. For details on this process, please refer to the foregoing. Figure 2 The implementation details are omitted here.

[0106] S602, determine the spatial coordinates of the anatomical point in the CT image that correspond to the location of the anatomical point in the X-ray image, and obtain the spatial coordinates of the anatomical point in the CT image.

[0107] In this embodiment, after the doctor selects an anatomical point on the X-ray image, the computer device can further locate the corresponding anatomical point in the CT image based on the determined location of the anatomical point, and then obtain the spatial coordinates of the found anatomical point in the CT image. It should be noted that when the doctor selects an anatomical point on the X-ray image, the location of the anatomical point can be determined by triggering a selection command on the computer device, allowing the computer device to determine the spatial coordinates of the anatomical point in the CT image based on the doctor's selection. For example, the doctor can mark the location of the anatomical point on a touch interface displaying the CT image, and the computer device can determine the spatial coordinates of the anatomical point in the CT image in response to the marking command triggered by the doctor. This embodiment does not limit the triggering method.

[0108] In practical applications, another method for obtaining anatomical points on X-ray images and CT images is also provided, and such as Figure 9 As shown, the acquisition method includes:

[0109] S701, marking the patient.

[0110] Before surgery, when a CT imaging device scans a patient, a mark can be attached to the patient's body to mark the location of special points so that the mark can be visualized under X-rays and can be displayed in CT images.

[0111] S702, the pixel coordinates of the markers in the X-Ray images under different postures are determined as the pixel coordinates of the anatomical points in the X-Ray images under different postures.

[0112] When X-ray images are captured using a C-arm in different poses, the markings on the patient's body can be displayed in the X-ray images. The computer equipment can then determine the pixel coordinates of the anatomical points in the X-ray images in different poses based on the position of the markings.

[0113] S703 determines the spatial coordinates of the anatomical points in the CT images as the spatial coordinates of the marked spatial coordinates in the CT images.

[0114] Before surgery, when the CT imaging equipment scans the patient, marks can be placed on the patient's body to mark the location of anatomical points. When the CT image is obtained, the marks on the patient's body will be displayed in the CT image, and the computer equipment can determine the spatial coordinates of the anatomical points in the CT image based on the location of the marks.

[0115] Based on the above embodiments, the following embodiments exemplarily illustrate the registration method for surgical navigation, such as... Figure 10As shown (Note: The following embodiments use two different postures to capture X-ray images as examples for illustration only, and do not limit the number of postures), the method includes:

[0116] S801, using a C-arm to photograph the patient with the calibration target in posture 1, obtains an X-ray image 1 of the patient with the calibration target.

[0117] S802, using a C-arm to photograph the patient with the calibration target in posture 2, to obtain an X-ray image 2 of the patient with the calibration target.

[0118] S803, obtain the pixel coordinates 1 of the marked point on the calibration target in X-Ray image 1.

[0119] S804, obtain the pixel coordinates 2 of the marked point on the calibration target in X-Ray image 2.

[0120] S805, obtain the coordinates of the marker point on the calibration target in attitude 1 in the OTS coordinate system through OTS.

[0121] S806, obtain the coordinates of the marker point on the calibration target in attitude 2 in the OTS coordinate system through OTS.

[0122] S807, based on the pixel coordinates 1 of the marker point on the calibration target in X-Ray image 1 and the coordinates 1 of the marker point on the calibration target in the OTS coordinate system, determine the imaging parameters 1 of the C-arm.

[0123] S808, based on the pixel coordinates 2 of the marker points on the calibration target in X-Ray image 2 and the coordinates 2 of the marker points on the calibration target in the OTS coordinate system, determine the imaging parameters 2 of the C-arm.

[0124] S809, based on the imaging parameters 1 of the C-arm, obtain the orientation 1 of the C-arm in the OTS coordinate system.

[0125] S810, based on the imaging parameters 2 of the C-arm, obtain the orientation 2 of the C-arm in the OTS coordinate system.

[0126] S811, three anatomical points were found on X-Ray image 1.

[0127] S812, three anatomical points were found on X-Ray image 2.

[0128] S813, based on the imaging parameters 1 and 2 of the C-arm, the three anatomical points found on X-Ray image 1, and the three anatomical points found on X-Ray image 2, determine the coordinates of the anatomical points in the OTS coordinate system.

[0129] S814 acquires data from CT images.

[0130] S815, based on the data from the CT images, determine the coordinates of the corresponding anatomical points on the CT images in the CT coordinate system.

[0131] S816, determine the coarse registration parameters based on the coordinates of the anatomical points in the CT coordinate system and the coordinates of the anatomical points in the OTS coordinate system.

[0132] S817. Based on the coarse registration matrix and the pose 1 of the C-arm in the OTS coordinate system, the pose 1 of the C-arm in the CT coordinate system is obtained.

[0133] S818. Based on the coarse registration matrix and the pose 2 of the C-arm in the OTS coordinate system, the pose 2 of the C-arm in the CT coordinate system is obtained.

[0134] S819, based on the CT image data and the C-arm's posture 1 in the CT coordinate system, simulate the imaging of the C-arm in posture 1 to obtain a virtual X-ray image 1.

[0135] S820 simulates the imaging of the C-arm in posture 2 based on the CT image data and the posture 2 of the C-arm in the CT coordinate system, and obtains a virtual X-ray image 2.

[0136] S821, perform iterative registration between virtual X-Ray image 1 and X-Ray image 2, and perform iterative registration between virtual X-Ray image 2 and X-Ray image 2 to obtain fine registration parameters.

[0137] S822, based on the fine registration parameters and the coarse registration parameters, obtain the target registration parameters.

[0138] For detailed explanations of each of the above steps, please refer to the preceding content; they will not be repeated here.

[0139] Based on the surgical navigation registration method described in any embodiment, this application also provides a surgical navigation registration system, such as... Figure 11 As shown, the system includes a C-arm system, a calibration target, and an OTS device. The C-arm system includes a C-arm, a flat panel detector, and an X-ray tube. The X-ray tube generates X-rays, the flat panel detector acquires detection signals for X-ray image acquisition, the calibration target carries a marker, and the OTS device tracks the marker on the calibration target. The registration system described above can be used to implement the registration method of any of the above embodiments. For specific implementation details, please refer to the foregoing description; they will not be repeated here.

[0140] It should be understood that, although Figure 2-10The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2-10 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0141] In one embodiment, such as Figure 12 As shown, a registration device for surgical navigation is provided, comprising:

[0142] Acquisition module 11 is used to acquire the patient's CT images and at least two X-ray images;

[0143] The determination module 12 is used to determine the coordinates of the anatomical point in the surgical coordinate system based on the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical point in the X-Ray image corresponding to the different postures.

[0144] The registration module 13 is used to determine the target registration parameters based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system.

[0145] In one embodiment, such as Figure 13 As shown, the registration module 13 includes:

[0146] The first determining unit 131 is used to obtain the first registration parameter based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system;

[0147] The second determining unit 132 is used to determine the different postures of the C-arm in the CT coordinate system based on the first registration parameters and the imaging parameters of the C-arm in different postures.

[0148] The generation unit 133 is used to generate virtual X-ray images corresponding to different poses based on the different poses of the C-arm in the CT coordinate system and the CT images.

[0149] The registration unit 134 is used to register the virtual X-Ray images of each pose with the X-Ray images of their respective poses to obtain the target registration parameters.

[0150] In one embodiment, such as Figure 14 As shown, the second determining unit 132 includes:

[0151] The first determining subunit 1321 is used to determine the different postures of the C-arm in the surgical coordinate system based on the imaging parameters of the C-arm in different postures.

[0152] The second determining subunit 1322 is used to determine the different postures of the C-arm in the CT coordinate system based on the different postures of the C-arm in the surgical coordinate system and the first registration parameters.

[0153] In one embodiment, such as Figure 15 As shown, the registration unit 134 includes:

[0154] The first registration subunit 1341 is used to register the virtual X-Ray images of each pose with the X-Ray images of their respective poses to obtain the second registration parameters.

[0155] The second registration subunit 1342 is used to determine the target registration parameters based on the second registration parameters and the first registration parameters.

[0156] In one embodiment, such as Figure 16 As shown, the above-mentioned surgical navigation registration device also includes:

[0157] The imaging parameter acquisition module 14 is used to acquire the imaging parameters of the C-arm under different postures;

[0158] The imaging parameter acquisition module 14 includes:

[0159] The first acquisition unit 141 is used to acquire the pixel coordinates of the marker points in the X-Ray images under different postures; the X-Ray images include the tissue structure of the patient's surgical area and the calibration target; the calibration target carries the marker points;

[0160] The second acquisition unit 142 is used to acquire the coordinates of the marker points in the surgical coordinate system in the X-Ray images under different postures through the tracking system;

[0161] The third determining unit 143 is used to determine the imaging parameters of the C-arm in different postures based on the pixel coordinates of the marker points in the X-Ray images under different postures and the coordinates of the marker points in the surgical coordinate system.

[0162] In one embodiment, such as Figure 17 As shown, the above-mentioned surgical navigation registration device also includes:

[0163] The first coordinate determination module 15 is used to determine the anatomical point in the X-Ray images under different postures, and obtain the pixel coordinates of the anatomical point in the X-Ray images under different postures.

[0164] The second coordinate determination module 16 is used to determine the spatial coordinates in the CT image corresponding to the location of the anatomical point in the X-Ray image, so as to obtain the spatial coordinates of the anatomical point in the CT image.

[0165] In one embodiment, such as Figure 18 As shown, the above-mentioned surgical navigation registration device also includes:

[0166] Marking module 17 is used to mark the patient;

[0167] The third coordinate determination module 18 is used to determine the pixel coordinates corresponding to the markers in the X-Ray images under different postures as the pixel coordinates of the anatomical points in the X-Ray images under different postures;

[0168] The fourth coordinate determination module 19 is used to determine the spatial coordinates corresponding to the marker in the CT image as the spatial coordinates of the anatomical point in the CT image.

[0169] Specific limitations regarding the registration device for surgical navigation can be found in the limitations on the registration method for surgical navigation described above, and will not be repeated here. Each module in the aforementioned registration device for surgical navigation can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0170] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0171] Acquire the patient's CT images and at least two X-ray images; the different X-ray images are obtained by taking C-arm images in different poses;

[0172] Based on the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical point in the X-Ray image corresponding to different postures, the coordinates of the anatomical point in the surgical coordinate system are determined.

[0173] The target registration parameters are determined based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system.

[0174] The computer device provided in the above embodiments has a similar implementation principle and technical effect to the above method embodiments, and will not be described again here.

[0175] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0176] Acquire the patient's CT images and at least two X-ray images; the different X-ray images are obtained by taking C-arm images in different poses;

[0177] Based on the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical point in the X-Ray image corresponding to different postures, the coordinates of the anatomical point in the surgical coordinate system are determined.

[0178] The target registration parameters are determined based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system.

[0179] The computer-readable storage medium provided in the above embodiments has a similar implementation principle and technical effect to the above method embodiments, and will not be described again here.

[0180] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0181] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0182] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A registration method for surgical navigation, characterized in that, The method includes: Acquire the patient's CT images and at least two X-ray images; the different X-ray images are obtained by taking C-arm images in different orientations in the surgical coordinate system; Based on the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical point in the X-Ray image corresponding to different postures, the coordinates of the anatomical point in the surgical coordinate system are determined. The first registration parameter is obtained based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system; Based on the first registration parameters and the imaging parameters of the C-arm in different poses, the different poses of the C-arm in the CT coordinate system are determined. Based on the different poses of the C-arm in the CT coordinate system and the CT images, virtual X-ray images corresponding to different poses are generated; The virtual X-Ray images of each pose are registered with the corresponding X-Ray images to determine the target registration parameters.

2. The method according to claim 1, characterized in that, The imaging parameters of the C-arm in different postures include the correspondence between the coordinate system of the X-Ray image and the surgical coordinate system in different postures.

3. The method according to claim 1, characterized in that, The step of determining the different poses of the C-arm in the CT coordinate system based on the first registration parameters and the imaging parameters of the C-arm in different poses includes: Based on the imaging parameters of the C-arm in different poses, the different poses of the C-arm in the surgical coordinate system are determined; Based on the different postures of the C-arm in the surgical coordinate system and the first registration parameters, the different postures of the C-arm in the CT coordinate system are determined.

4. The method according to claim 1, characterized in that, The process of registering virtual X-Ray images of each pose with their corresponding X-Ray images to determine target registration parameters includes: The virtual X-Ray images of each pose are registered with the X-Ray images of their respective poses to obtain the second registration parameters. The target registration parameters are determined based on the second registration parameters and the first registration parameters.

5. The method according to claim 1, characterized in that, Before determining the coordinates of the anatomical point in the surgical coordinate system based on the imaging parameters of the C-arm under different postures and the pixel coordinates of the anatomical point in the corresponding X-ray images under different postures, the method further includes: Obtain the imaging parameters of the C-arm under different postures; The acquisition of imaging parameters of the C-arm in different poses includes: Obtain the pixel coordinates of the marker points in the X-Ray images under different poses; the X-Ray images include the tissue structure of the patient's surgical area and the calibration target; the calibration target carries the marker points; The coordinates of the marker points in the surgical coordinate system are obtained from the X-Ray images under different postures using a tracking system. Based on the pixel coordinates of the marker points in the X-Ray images under different postures, and the coordinates of the marker points in the surgical coordinate system, the imaging parameters of the C-arm under different postures are determined.

6. The method according to claim 1, characterized in that, After acquiring the patient's CT images and at least two X-ray images, the method further includes: Dissection points are determined in X-Ray images under different poses, and the pixel coordinates of the dissection points in the X-Ray images under different poses are obtained; The spatial coordinates of the anatomical point in the CT image are determined to correspond to the location of the anatomical point in the X-ray image, thus obtaining the spatial coordinates of the anatomical point in the CT image.

7. The method according to claim 1, characterized in that, Prior to acquiring the patient's CT images and at least two X-ray images, the method further includes: Mark the patient; The pixel coordinates corresponding to the markers in the X-Ray images under different postures are determined as the pixel coordinates of the anatomical points in the X-Ray images under different postures; The spatial coordinates corresponding to the markers in the CT image are determined as the spatial coordinates of the anatomical points in the CT image.

8. A registration device for surgical navigation, characterized in that, The device includes: The acquisition module is used to acquire the patient's CT images and at least two X-ray images; the different X-ray images are obtained by the C-arm in different orientations in the surgical coordinate system; The generation module is used to determine the coordinates of the anatomical point in the surgical coordinate system based on the imaging parameters of the C-arm in different poses and the pixel coordinates of the anatomical point in the X-ray images corresponding to the different poses; obtain a first registration parameter based on the spatial coordinates of the anatomical point in the CT image and the coordinates of the anatomical point in the surgical coordinate system; determine different poses of the C-arm in the CT coordinate system based on the first registration parameter and the imaging parameters of the C-arm in different poses; and generate virtual X-ray images corresponding to the different poses based on the different poses of the C-arm in the CT coordinate system and the CT image. The registration module is used to register virtual X-Ray images of each pose with their corresponding X-Ray images to determine the target registration parameters.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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