Dynamic tracking method, medium and electronic device for laminectomy surgery

Abstract

The present invention provides a dynamic tracking method, medium and electronic device for lamina grinding surgery. The method comprises: using a binocular camera to track a tracking mark fixed on a target vertebral body, obtaining a transformation relationship between a camera coordinate system and a tracking mark coordinate system as a first transformation relationship; obtaining the position of the grinding tool feature point in a CT image coordinate system according to the position of the grinding tool feature point in a tracking reference frame coordinate system, a first transformation relationship, a second transformation relationship and a third transformation relationship, wherein the second transformation relationship refers to the transformation relationship between the CT image coordinate system and the tracking mark coordinate system, the third transformation relationship refers to the transformation relationship between the tracking reference frame coordinate system and the camera coordinate system, and the tracking reference frame, the lamina grinding tool, the binocular camera and the surgical robot are rigidly connected. Based on the dynamic tracking method, the position of the lamina grinding tool can be accurately mapped to the CT image.

Description

Technical Field

[0001] The invention relates to the field of surgical navigation and tracking, and in particular to a dynamic tracking method, medium and electronic equipment for robot-assisted lamina grinding surgery. Background Art

[0002] Surgical Navigation is a technology that combines preoperative and intraoperative data of patients, accurately matches the intraoperative anatomical structure of patients with preoperative information, and tracks surgical instruments during surgery and displays the position of surgical instruments in real time in a virtual form on the patient's image. This technology allows doctors to clearly see the position of surgical instruments relative to the patient's anatomical structure, making surgical operations faster, more accurate, and safer.

[0003] Laminectomy is a decompression procedure for spinal stenosis. Spinal stenosis is caused by extensive degeneration and hyperplasia of the vertebral body, ligament ossification, cervical spondylotic myelopathy, fracture dislocation, intraspinal tumors, etc., which can cause compression of the patient's spinal cord, resulting in symptoms such as pain, motor sensory disorders, and neurological dysfunction. Laminectomy is performed by grinding the lamina of the patient's abnormal vertebra, removing the lamina, spinous process, articular process and other structures of the patient's diseased vertebra, opening the local closed structure, thereby relieving spinal cord compression and decompressing the lesion. Since the operating area of ​​lamina grinding is very close to the patient's spinal cord, the doctor needs to be extra careful during the manual grinding process. Once important nerves are damaged, the consequences will be disastrous. Therefore, traditional lamina grinding requires the operating doctor to have solid anatomical knowledge, rich clinical experience, and superb operating skills, and the requirements for the surgeon are extremely high.

[0004] With the development of surgical robots, robot-assisted lamina grinding surgery has gradually entered the clinic, and combined with surgical navigation technology, it provides technical support for doctors' precise operations. When performing surgical navigation during lamina grinding surgery, the position of the lamina grinding tool needs to be displayed in real time in the CT image. Therefore, how to accurately map the position of the lamina grinding tool to the CT image has become one of the problems that relevant technicians need to solve urgently. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a dynamic tracking method, medium and electronic equipment for lamina grinding surgery, which are used to accurately map the position of the lamina grinding tool into the CT image.

[0006] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present invention provides a dynamic tracking method for robot-assisted vertebral plate grinding surgery, the dynamic tracking method comprising: using a binocular camera to track the tracking mark fixed on the target vertebra, and obtaining the transformation relationship between the camera coordinate system and the tracking mark coordinate system as the first transformation relationship; according to the position of the grinding tool feature point in the tracking reference frame coordinate system, the first transformation relationship, the second transformation relationship and the third transformation relationship, obtaining the position of the grinding tool feature point in the CT image coordinate system, wherein the second transformation relationship refers to the transformation relationship between the CT image coordinate system and the tracking mark coordinate system, and the third transformation relationship refers to the transformation relationship between the tracking reference frame coordinate system and the camera coordinate system, and the tracking reference frame, the vertebral plate grinding tool, the binocular camera and the surgical robot are rigidly connected.

[0007] In an embodiment of the first aspect, the method for acquiring the second transformation relationship includes: using an optical navigation tracker to track the tracking reference frame and the dynamic reference frame, acquiring the transformation relationship between the tracking reference frame coordinate system and the optical navigation tracker coordinate system as a fourth transformation relationship, and acquiring the transformation relationship between the dynamic reference frame coordinate system and the optical navigation tracker coordinate system as a fifth transformation relationship, wherein the dynamic reference frame is fixed on a reference vertebral body before the vertebral plate grinding operation; acquiring the second transformation relationship according to the first transformation relationship, the third transformation relationship, the fourth transformation relationship, the fifth transformation relationship and the sixth transformation relationship, wherein the sixth transformation relationship refers to the transformation relationship between the CT image coordinate system and the dynamic reference frame coordinate system.

[0008] In an embodiment of the first aspect, the method for acquiring the sixth transformation relationship includes: acquiring the sixth transformation relationship based on point registration and surface registration methods; or acquiring the sixth transformation relationship based on a two-dimensional-three-dimensional registration method or a three-dimensional-three-dimensional registration method of intraoperative images.

[0009] In an embodiment of the first aspect, obtaining the sixth transformation relationship based on point registration and surface registration methods includes: obtaining the on-image coordinates of multiple anatomical marker points in the preoperative CT image; obtaining the coordinates of the anatomical marker points in the dynamic reference frame coordinate system; and obtaining the sixth transformation relationship based on the on-image coordinates of the anatomical marker points and their coordinates in the dynamic reference frame coordinate system.

[0010] In an embodiment of the first aspect, obtaining the sixth transformation relationship based on the on-image coordinates of the anatomical marker points and their coordinates in the dynamic reference frame coordinate system includes: performing point pair registration based on the on-image coordinates of the anatomical marker points and their coordinates in the dynamic reference frame coordinate system to obtain a coarse registration transformation relationship between the CT image coordinate system and the dynamic reference frame coordinate system; and optimizing the coarse registration transformation relationship using a surface registration method to obtain the sixth transformation relationship.

[0011] In an embodiment of the first aspect, obtaining the coordinates of the anatomical marker point in the dynamic reference frame coordinate system includes: when the probe tip contacts the anatomical marker point, obtaining the coordinates of the anatomical marker point in the optical navigation tracker coordinate system according to the transformation relationship between the probe coordinate system and the optical navigation tracker coordinate system; and obtaining the coordinates of the anatomical marker point in the dynamic reference frame coordinate system according to the coordinates of the anatomical marker point in the optical navigation tracker coordinate system and the fifth transformation relationship.

[0012] In an embodiment of the first aspect, obtaining the sixth transformation relationship based on a two-dimensional to three-dimensional registration method or a three-dimensional to three-dimensional registration method of intraoperative images includes: obtaining an intraoperative image of the target vertebra; according to the dimensional characteristics of the intraoperative image, using a two-dimensional to three-dimensional registration method or a three-dimensional to three-dimensional registration method to achieve registration and fusion of the preoperative CT image and the intraoperative image, and obtaining a seventh transformation relationship, wherein the seventh transformation relationship is the transformation relationship between the CT image coordinate system and the intraoperative image coordinate system; obtaining the sixth transformation relationship based on the fifth transformation relationship, the seventh transformation relationship and the eighth transformation relationship, wherein the eighth transformation relationship refers to the transformation relationship between the optical navigation tracker coordinate system and the intraoperative image coordinate system.

[0013] In an embodiment of the first aspect, the position of the grinding tool feature point in the CT image coordinate system is It can be calculated by the following formula: in, is the first transformation relationship, is the second transformation relationship, is the third transformation relationship, is the position of the grinding tool feature point in the tracking reference frame coordinate system.

[0014] A second aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the dynamic tracking method described in any one of the first aspects of the present invention.

[0015] The third aspect of the present invention provides an electronic device, comprising: a memory storing a computer program; a processor communicatively connected to the memory, and executing any dynamic tracking method described in any one of the first aspects of the present invention when calling the computer program.

[0016] As described above, the dynamic tracking method, medium and electronic device for laminectomy provided in one or more embodiments of the present invention have the following beneficial effects:

[0017] The dynamic tracking method uses a binocular camera to track the tracking mark fixed on the target vertebra to obtain a first transformation relationship, and obtains the position of the grinding tool feature point in the CT image coordinate system according to the position of the grinding tool feature point in the tracking reference frame coordinate system, the first transformation relationship, the second transformation relationship and the third transformation relationship. Therefore, the dynamic tracking method can accurately map the position of the lamina grinding tool to the CT image.

[0018] In addition, before the lamina grinding operation begins, the dynamic tracking method can use an optical navigation tracker to achieve tracking of multiple objects in a large scene and preoperative information registration; after the lamina grinding operation begins, the dynamic tracking method can use a binocular camera to achieve high-precision tracking of a local small field of view. Therefore, the dynamic tracking method can achieve far-field-near-field collaborative high-precision dynamic tracking in robot-assisted lamina grinding surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1A Shown is a schematic diagram of a scene of dynamic tracking in an embodiment of the present invention.

[0020] Figure 1B It is a schematic diagram of a lamina grinding tool according to an embodiment of the present invention.

[0021] Figure 1C Shown is a flow chart of a dynamic tracking method according to an embodiment of the present invention.

[0022] Figure 2 Shown is a flow chart for obtaining the second transformation relationship in an embodiment of the present invention.

[0023] Figure 3 It is shown as a flow chart of acquiring the sixth transformation relationship based on the point registration and surface registration methods in an embodiment of the present invention.

[0024] Figure 4 Shown is a flow chart of obtaining the coordinates of anatomical landmarks in the dynamic reference frame coordinate system in an embodiment of the present invention.

[0025] Figure 5 It is shown as a flow chart of acquiring the sixth transformation relationship based on the point registration and surface registration methods in an embodiment of the present invention.

[0026] Figure 6 Shown is a flow chart of obtaining the sixth transformation relationship based on a 2D-3D registration method or a 3D-3D registration method of intraoperative images in an embodiment of the present invention.

[0027] Figure 7 Shown is a schematic structural diagram of an electronic device in an embodiment of the present invention.

[0028] Component number description

[0029] 700 Electronic equipment

[0030] 710 Memory

[0031] 720 processor

[0032] 730 Display

[0033] Steps S11 to S12

[0034] Steps S21 to S22

[0035] Steps S31 to S33

[0036] Steps S41 to S42

[0037] Steps S51 to S52

[0038] Steps S61 to S63 DETAILED DESCRIPTION

[0039] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0040] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The illustrations only show the components related to the present invention rather than the number, shape and size of the components in actual implementation. The type, quantity and proportion of each component in actual implementation may be changed at will, and the component layout type may also be more complicated. In addition, in this article, relational terms such as "first", "second", etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0041] When performing surgical navigation in lamina grinding surgery, it is necessary to display the position of the lamina grinding tool in real time in the CT image. Therefore, how to accurately map the position of the lamina grinding tool to the CT image has become one of the problems that the relevant technical personnel need to solve urgently. At least in view of this problem, the present invention provides a dynamic tracking method for robot-assisted lamina grinding surgery. Next, the dynamic tracking method will be described in detail by way of specific embodiments combined with the accompanying drawings.

[0042] Figure 1A It is a schematic diagram showing a scene of robot-assisted lamina grinding surgery in one embodiment of the present invention. Figure 1B The figure shows a partial enlarged view of the lamina grinding tool. As shown in the figure, the lamina grinding tool, the binocular camera and the tracking reference frame are arranged on the lamina grinding surgical robot and are rigidly connected to the lamina grinding surgical robot. The target vertebra refers to the vertebra that needs to undergo lamina grinding surgery, and a tracking mark is arranged on it. The number of target vertebras can be one or more, and the present invention does not limit this.

[0043] Figure 1C The flowchart of the dynamic tracking method in this embodiment is shown. Figure 1C As shown, the dynamic tracking method in this embodiment includes the following steps S11 and S12.

[0044] S11, using a binocular camera to track the tracking marker fixed on the target vertebra, and obtaining a transformation relationship between a camera coordinate system and a tracking marker coordinate system as a first transformation relationship. The camera coordinate system refers to a coordinate system established with a point on the binocular camera as the origin, for example, it can be a left camera coordinate system or a right camera coordinate system. The tracking marker coordinate system refers to a coordinate system established with a point on the tracking marker of the target vertebra as the origin.

[0045] Optionally, the relative position of the target vertebra and the binocular camera may change during the lamina grinding operation. Therefore, in step S11, the binocular camera is preferably used to track the tracking mark on the target vertebra in real time, and the first transformation relationship is updated in real time according to the positional relationship between the two.

[0046] S12, according to the position of the grinding tool feature point in the tracking reference frame coordinate system, the first transformation relationship, the second transformation relationship and the third transformation relationship, obtain the position of the grinding tool feature point in the CT image coordinate system. Among them, the second transformation relationship refers to the transformation relationship between the CT image coordinate system and the tracking mark coordinate system, and the third transformation relationship refers to the transformation relationship between the tracking reference frame coordinate system and the camera coordinate system. The CT image coordinate system refers to a coordinate system established with a point in the preoperative CT image as the origin. The grinding tool feature point can be, for example, the end point of the grinding tool, but the present invention is not limited to this.

[0047] Specifically, the position of the grinding tool feature point in the camera coordinate system can be obtained according to the position of the grinding tool feature point in the tracking reference frame coordinate system and the third transformation relationship. The position of the grinding tool feature point in the tracking marker coordinate system can be obtained according to the position of the grinding tool feature point in the camera coordinate system and the first transformation relationship, and then the position of the grinding tool feature point in the CT image coordinate system can be obtained according to the second transformation relationship. Based on this, the position of the lamina grinding tool can be accurately mapped to the CT image.

[0048] In one embodiment of the present invention, the position of the characteristic point of the grinding tool in the tracking reference frame coordinate system can be obtained by calibrating the end point of the grinding tool. Specifically, the robot is controlled to perform a spherical rotation (pivoting) around the vertex around the end point of the lamina grinding tool. In this process, data is collected and solved to obtain the position of the characteristic point of the grinding tool in the tracking reference frame coordinate system.

[0049] In one embodiment of the present invention, the camera parameters and distortion parameters of the left camera and the right camera can be solved with the help of a calibration plate based on the Zhang Zhengyou calibration method, and then the coordinate system space transformation relationship between the binocular cameras can be obtained for tracking navigation of the binocular cameras.

[0050] In one embodiment of the present invention, the transformation relationship between the tracking reference frame coordinate system and the camera coordinate system, ie, the third transformation relationship, can be obtained by hand-eye calibration.

[0051] Figure 2 The following is a method for obtaining the second transformation relationship in one embodiment of the present invention. Figure 2 As shown, the method for obtaining the second transformation relationship in this embodiment includes the following steps S21 and S22.

[0052] S21, track the tracking reference frame and the dynamic reference frame using the optical navigation tracker, obtain the transformation relationship between the tracking reference frame coordinate system and the optical navigation tracker coordinate system as the fourth transformation relationship, and obtain the transformation relationship between the dynamic reference frame coordinate system and the optical navigation tracker coordinate system as the fifth transformation relationship. The dynamic reference frame is fixedly set on a reference vertebra before the lamina grinding operation, and the reference vertebra can be the same as or different from the target vertebra. The optical navigation tracker coordinate system refers to a coordinate system established with a point on the optical navigation tracker as the origin. The dynamic reference frame coordinate system refers to a coordinate system established with a point on the dynamic reference frame as the origin.

[0053] S22, obtaining a second transformation relationship according to the first transformation relationship, the third transformation relationship, the fourth transformation relationship, the fifth transformation relationship and the sixth transformation relationship. The sixth transformation relationship refers to the transformation relationship between the CT image coordinate system and the dynamic reference frame coordinate system. Specifically, in this embodiment, the second transformation relationship is: represents the first transformation relationship, represents the third transformation relationship, represents the fourth transformation relationship, represents the fifth transformation relationship, Represents the sixth transformation relationship.

[0054] Optionally, see Figure 3 In this embodiment, obtaining the sixth transformation relationship based on the point registration and surface registration method includes the following steps S31 to S33.

[0055] S31, obtaining coordinates of multiple anatomical markers in the preoperative CT image. The anatomical markers are points with obvious features in the target spine. The coordinates on the image refer to the coordinates of the points in the CT image corresponding to the anatomical markers in the CT image coordinate system.

[0056] S32, obtaining the coordinates of the anatomical marking point in the dynamic reference frame coordinate system, where the coordinates are the coordinates of the actual anatomical marking point in the dynamic reference frame coordinate system.

[0057] S33, acquiring a sixth transformation relationship according to the coordinates of the anatomical marker point on the image and its coordinates in the dynamic reference frame coordinate system.

[0058] Optionally, Figure 4 The flowchart of obtaining the coordinates of the anatomical landmarks in the dynamic reference frame coordinate system in this embodiment is shown as follows: Figure 4 As shown, the process includes the following steps S41 and S42.

[0059] S41, when the probe tip contacts the anatomical marker, the coordinates of the anatomical marker in the optical navigation tracker coordinate system are obtained according to the transformation relationship between the probe coordinate system and the optical navigation tracker coordinate system. The transformation relationship between the probe coordinate system and the optical navigation tracker coordinate system can be obtained by calibration.

[0060] S42, according to the coordinates of the anatomical marker points in the optical navigation tracker coordinate system and the fifth transformation relationship, obtain the coordinates of the anatomical marker points in the dynamic reference frame coordinate system. Specifically, the coordinates of the anatomical marker points in the dynamic reference frame coordinate system are The calculation formula is in, represents the transformation relationship between the probe coordinate system and the optical navigation tracker coordinate system, Represents the coordinates of the probe tip when it touches the anatomical landmark.

[0061] Figure 5 The flowchart of the sixth transformation relationship is shown in this embodiment according to the coordinates of the anatomical landmarks on the map and their coordinates in the dynamic reference frame coordinate system. Figure 5 As shown, the method for obtaining the sixth transformation relationship in this embodiment includes the following steps S51 and S52.

[0062] S51, point pair registration is performed based on the coordinates of the anatomical markers on the image and their coordinates in the dynamic reference frame coordinate system to obtain a rough registration transformation relationship between the CT image coordinate system and the dynamic reference frame coordinate system. Based on the rough registration transformation relationship, the vertebral model data (dense point cloud) extracted before surgery can be roughly transformed into the dynamic reference frame coordinate system.

[0063] Specifically, for the i-th anatomical landmark point in the CT image coordinate system and the jth anatomical landmark in the dynamic reference frame coordinate system The point pair registration can be calculated by the following equations (1) to (3), thereby obtaining the rough registration transformation relationship between the CT image coordinate system and the dynamic reference frame coordinate system:

[0064]

[0065]

[0066]

[0067] Among them, USV represents the result of singular value decomposition, det(.) represents the determinant of the matrix, (.) T represents the transposition of the matrix, 0 represents a 1×3 zero vector, and M represents the number of anatomical landmarks.

[0068] S52, using a surface registration method to optimize the coarse registration transformation relationship to obtain a sixth transformation relationship. Specifically, a probe is used to collect N digitized points on the digitized surface of the target vertebra, preferably, N>>M. A surface registration method is used, such as an iterative closest point registration algorithm (ICP), to find the model surface point closest to the digitized point in each iteration, and refer to the above equations (1) to (3) to obtain the coordinate system space transformation relationship of the i-th iteration: Until the algorithm iteration converges. Assuming that the surface registration algorithm stops at the Kth iteration, the sixth transformation relationship after registration can be obtained by the following formula (4):

[0069]

[0070] Optionally, the fourth transformation relationship And the fifth transformation relationship The positions of the reference frame and the dynamic reference frame can be obtained by real-time tracking using an optical navigation tracker.

[0071] Optionally, see Figure 6 In this embodiment, the sixth transformation relationship is obtained based on the 2D-3D registration method or 3D-3D registration method of intraoperative images, including the following steps S61 to S63.

[0072] S61, obtaining an intraoperative image of the target vertebra, where the intraoperative image may be a two-dimensional perspective image or a three-dimensional perspective image.

[0073] S62, based on the dimensional characteristics of the intraoperative image, a 2D-3D registration method or a 3D-3D registration method is used to realize the registration and fusion of the preoperative CT image and the intraoperative image, and the seventh transformation relationship is obtained. The seventh transformation relationship is the transformation relationship between the CT image coordinate system and the intraoperative image coordinate system. Among them, the intraoperative image coordinate system refers to a coordinate system established with a point in the intraoperative image as the origin. Specifically, if the target image is a two-dimensional perspective image, a two-dimensional-three-dimensional registration method is used to realize the registration and fusion of the preoperative CT image and the intraoperative image; if the target image is a three-dimensional perspective image, a three-dimensional-three-dimensional registration method is used to realize the registration and fusion of the preoperative CT image and the intraoperative image.

[0074] S63, according to the fifth transformation relationship The seventh transformation relationship And the eighth transformation relationship The sixth transformation relationship is obtained, wherein the eighth transformation relationship refers to the transformation relationship between the optical navigation tracker coordinate system and the intraoperative imaging coordinate system. Since the intraoperative imaging device has been calibrated, the eighth transformation relationship can be obtained according to the calibration result.

[0075] According to the above description, this embodiment provides a method for obtaining the transformation relationship between the CT image coordinate system and the dynamic reference frame coordinate system. Based on this method, a spatial transformation relationship can be constructed between the CT image and the binocular camera used for near-field tracking. This transformation relationship can be used for high-precision tracking and navigation based on the near field in subsequent steps.

[0076] In one embodiment of the present invention, after the lamina grinding operation begins, considering that a spatial transformation relationship has been established between the CT image and the tracking mark of the target vertebra, in order to avoid wasting the operating space, the dynamic reference frame fixed on the spinous process can be removed. Since the surgical operation range at this stage is relatively small, a binocular camera with higher precision can be used to track the tracking mark of the target vertebra in a small field of view in real time, and the transformation relationship between the camera coordinate system and the tracking mark coordinate system can be updated in real time. Since the vertebra and the tracking mark are rigidly fixed, and the tracking accuracy of the near-field binocular camera is higher than that of the far-field optical navigation tracker, the accuracy of the operation will not be affected by the position change of the vertebra during the grinding process.

[0077] In one embodiment of the present invention, the position of the grinding tool feature point in the CT image coordinate system is It can be obtained from the following formula (5):

[0078]

[0079] in, is the first transformation relationship, is the second transformation relationship, is the third transformation relationship, is the position of the grinding tool feature point in the tracking reference frame coordinate system.

[0080] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the dynamic tracking method described in any of the above embodiments.

[0081] In the present invention, any combination of one or more storage media may be used. The storage medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0082] The invention also provides an electronic device. Figure 7 The structure diagram of the electronic device 700 in one embodiment of the present invention is shown. Figure 7 As shown, in this embodiment, the electronic device 700 includes a memory 710 and a processor 720 .

[0083] The memory 710 is used to store computer programs; preferably, the memory 710 includes: ROM, RAM, disk, USB flash drive, memory card or CD-ROM and other media that can store program codes.

[0084] Specifically, the memory 710 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device 700 may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 710 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0085] The processor 720 is connected to the memory 710 and is used to execute the computer program stored in the memory 710 so that the electronic device 700 executes the dynamic tracking method described in the embodiment of the present invention.

[0086] Preferably, the processor 720 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0087] Preferably, the electronic device 700 in this embodiment may further include a display 730. The display 730 is communicatively connected with the memory 710 and the processor 720, and is used to display a GUI interaction interface related to the dynamic tracking method.

[0088] The protection scope of the dynamic tracking method described in the present invention is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present invention are included in the protection scope of the present invention.

[0089] In summary, the dynamic tracking method for lamina grinding surgery provided in one or more embodiments of the present invention uses a binocular camera to track the tracking mark fixed on the target vertebra to obtain a first transformation relationship, and obtains the position of the grinding tool feature point in the CT image coordinate system according to the position of the grinding tool feature point in the tracking reference frame coordinate system, the first transformation relationship, the second transformation relationship, and the third transformation relationship. Therefore, the dynamic tracking method can accurately map the position of the lamina grinding tool to the CT image. In addition, before the lamina grinding operation begins, the dynamic tracking method can use an optical navigation tracker to achieve tracking of multiple objects in a large scene and preoperative information alignment; after the lamina grinding operation begins, the dynamic tracking method can use a binocular camera to achieve high-precision tracking of a local small field of view. Therefore, the dynamic tracking method can achieve far-field-near-field collaborative high-precision dynamic tracking in robot-assisted lamina grinding surgery.

[0090] Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0091] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a dynamic tracking method for robot-assisted lamina grinding surgery is implemented, and the dynamic tracking method comprises: Tracking a tracking mark fixed on a target vertebra using a binocular camera, and obtaining a transformation relationship between a camera coordinate system and a tracking mark coordinate system as a first transformation relationship; According to the position of the grinding tool feature point in the tracking reference frame coordinate system, the first transformation relationship, the second transformation relationship and the third transformation relationship, the position of the grinding tool feature point in the CT image coordinate system is obtained, wherein the second transformation relationship refers to the transformation relationship between the CT image coordinate system and the tracking mark coordinate system, and the third transformation relationship refers to the transformation relationship between the tracking reference frame coordinate system and the camera coordinate system, and the tracking reference frame, the lamina grinding tool, the binocular camera and the surgical robot are rigidly connected; Wherein, the method for acquiring the second transformation relationship comprises: using an optical navigation tracker to track the tracking reference frame and the dynamic reference frame, acquiring the transformation relationship between the tracking reference frame coordinate system and the optical navigation tracker coordinate system as a fourth transformation relationship, and acquiring the transformation relationship between the dynamic reference frame coordinate system and the optical navigation tracker coordinate system as a fifth transformation relationship, wherein the dynamic reference frame is fixedly set on a reference vertebral body before the lamina grinding operation; acquiring the second transformation relationship according to the first transformation relationship, the third transformation relationship, the fourth transformation relationship, the fifth transformation relationship and the sixth transformation relationship, wherein the sixth transformation relationship refers to the transformation relationship between the CT image coordinate system and the dynamic reference frame coordinate system; The method for acquiring the sixth transformation relationship includes: acquiring the sixth transformation relationship based on a point registration method and a surface registration method; or acquiring the sixth transformation relationship based on a 2D-3D registration method or a 3D-3D registration method of intraoperative images; The position of the grinding tool feature point in the CT image coordinate system It can be calculated by the following formula: in, is the first transformation relationship, is the second transformation relationship, is the third transformation relationship, is the position of the grinding tool feature point in the tracking reference frame coordinate system.

2. The computer-readable storage medium according to claim 1, wherein: Acquiring the sixth transformation relationship based on the point registration and surface registration method includes: Obtain the coordinates of multiple anatomical landmarks in preoperative CT images; Acquire the coordinates of the anatomical landmarks in the dynamic reference frame coordinate system; The sixth transformation relationship is acquired according to the coordinates of the anatomical landmark points on the map and their coordinates in the dynamic reference frame coordinate system.

3. The computer-readable storage medium according to claim 2, wherein: Acquiring the sixth transformation relationship according to the coordinates of the anatomical landmarks on the image and their coordinates in the dynamic reference frame coordinate system comprises: Performing point-pair registration according to the coordinates of the anatomical markers on the image and their coordinates in the dynamic reference frame coordinate system to obtain a coarse registration transformation relationship between the CT image coordinate system and the dynamic reference frame coordinate system; The coarse registration transformation relationship is optimized using a surface registration method to obtain the sixth transformation relationship.

4. The computer-readable storage medium according to claim 2, wherein: Acquiring the coordinates of the anatomical landmarks in the dynamic reference frame coordinate system includes: When the probe tip contacts the anatomical marker point, the coordinates of the anatomical marker point in the optical navigation tracker coordinate system are acquired according to the transformation relationship between the probe coordinate system and the optical navigation tracker coordinate system; According to the coordinates of the anatomical marker point in the optical navigation tracker coordinate system and the fifth transformation relationship, the coordinates of the anatomical marker point in the dynamic reference frame coordinate system are acquired.

5. The computer-readable storage medium according to claim 1, wherein: Acquiring the sixth transformation relationship based on a 2D-3D registration method or a 3D-3D registration method of intraoperative images includes: acquiring an intraoperative image of the target vertebra; According to the dimensional characteristics of the intraoperative image, a 2D-3D registration method or a 3D-3D registration method is used to realize registration and fusion of the preoperative CT image and the intraoperative image, and a seventh transformation relationship is obtained, where the seventh transformation relationship is a transformation relationship between the CT image coordinate system and the intraoperative image coordinate system; The sixth transformation relationship is acquired according to the fifth transformation relationship, the seventh transformation relationship and the eighth transformation relationship, wherein the eighth transformation relationship refers to the transformation relationship between the optical navigation tracker coordinate system and the intraoperative image coordinate system.

6. An electronic device, characterized in that: The electronic device comprises: A memory storing a computer program; A processor is communicatively connected to the memory, and executes a dynamic tracking method for robot-assisted lamina grinding surgery when calling the computer program, the dynamic tracking method comprising: Tracking a tracking mark fixed on a target vertebra using a binocular camera, and obtaining a transformation relationship between a camera coordinate system and a tracking mark coordinate system as a first transformation relationship; According to the position of the grinding tool feature point in the tracking reference frame coordinate system, the first transformation relationship, the second transformation relationship and the third transformation relationship, the position of the grinding tool feature point in the CT image coordinate system is obtained, wherein the second transformation relationship refers to the transformation relationship between the CT image coordinate system and the tracking mark coordinate system, and the third transformation relationship refers to the transformation relationship between the tracking reference frame coordinate system and the camera coordinate system, and the tracking reference frame, the lamina grinding tool, the binocular camera and the surgical robot are rigidly connected; Wherein, the method for acquiring the second transformation relationship comprises: using an optical navigation tracker to track the tracking reference frame and the dynamic reference frame, acquiring the transformation relationship between the tracking reference frame coordinate system and the optical navigation tracker coordinate system as a fourth transformation relationship, and acquiring the transformation relationship between the dynamic reference frame coordinate system and the optical navigation tracker coordinate system as a fifth transformation relationship, wherein the dynamic reference frame is fixedly set on a reference vertebral body before the lamina grinding operation; acquiring the second transformation relationship according to the first transformation relationship, the third transformation relationship, the fourth transformation relationship, the fifth transformation relationship and the sixth transformation relationship, wherein the sixth transformation relationship refers to the transformation relationship between the CT image coordinate system and the dynamic reference frame coordinate system; The method for acquiring the sixth transformation relationship includes: acquiring the sixth transformation relationship based on a point registration method and a surface registration method; or acquiring the sixth transformation relationship based on a 2D-3D registration method or a 3D-3D registration method of intraoperative images; The position of the grinding tool feature point in the CT image coordinate system It can be calculated by the following formula: in, is the first transformation relationship, is the second transformation relationship, is the third transformation relationship, is the position of the grinding tool feature point in the tracking reference frame coordinate system.

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