Navigation tool calibration method, apparatus and storage medium for surgical navigation

Abstract

The application relates to a navigation tool calibration method, device and storage medium for surgical navigation, and relates to the technical field of medical treatment. The method comprises the following steps: acquiring a first image, the first image being obtained by image acquisition equipment when the vertex of a navigation rod is in contact with a target positioning point on a second tracking tool; acquiring a first transformation matrix and a second transformation matrix based on the first image, the coordinates of at least three first positioning points in a first coordinate system and the coordinates of at least three second positioning points in a second coordinate system; and acquiring target coordinates of the vertex of the navigation rod in the first coordinate system based on the first transformation matrix, the second transformation matrix and the coordinates of the target positioning point in the second coordinate system. In the calibration process, an axis rotation process in the related art is avoided by introducing a tracking tool, the calibration effect of the navigation tool is improved, and the calibration efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a method, device and storage medium for calibrating navigation tools for surgical navigation. Background Technology

[0002] In the field of medical technology, surgical navigation systems are increasingly being used in clinical medicine to assist in clinical practice. These systems include navigation tools for tracking, and the accuracy of these tools determines the accuracy of the surgical navigation process.

[0003] Before using a navigation tool, it needs to be calibrated. In related technologies, when calibrating a navigation tool, reference points are sampled based on the rotation of the navigation tool itself, and the position of the top of the navigation stick in a specified coordinate system is calculated based on these sampled points.

[0004] However, in the aforementioned related technologies, the number of effective points obtained during the rotation process is small, or the obtained points contain a large number of noise points, which affects the calibration accuracy of the navigation tool used for surgical navigation, resulting in poor calibration effect of the navigation tool used for surgical navigation. Summary of the Invention

[0005] This application provides a method, device, and storage medium for calibrating navigation tools used in surgical navigation, which can improve the calibration effect of navigation tools used in surgical navigation. The technical solution is as follows:

[0006] On one hand, a method for calibrating a navigation tool for surgical navigation is provided, the navigation tool including a navigation stick and a first tracking tool fixed to the navigation stick; the first tracking tool includes at least three first positioning points; the method includes:

[0007] A first image is acquired when the apex of the navigation stick contacts the target positioning point on the second tracking tool, by image acquisition device capturing images of the navigation tool and the second tracking tool; the second tracking tool contains at least three second positioning points, and the target positioning point is any one of the at least three second positioning points;

[0008] Based on the first image and the coordinates of at least three first positioning points in the first coordinate system, a first transformation matrix from the third coordinate system to the first coordinate system is obtained; the first coordinate system is a spatial coordinate system established based on the first tracking tool; the third coordinate system is a spatial coordinate system established based on the image acquisition device.

[0009] Based on the first image and the coordinates of at least three second positioning points in the second coordinate system, a second transformation matrix from the second coordinate system to the third coordinate system is obtained; the second coordinate system is a spatial coordinate system established based on the second tracking tool.

[0010] Based on the first transformation matrix, the second transformation matrix, and the coordinates of the target positioning point in the second coordinate system, the target coordinates of the vertex of the navigation stick in the first coordinate system are obtained to calibrate the navigation tool.

[0011] On the other hand, a calibration method for a navigation tool used for surgical navigation is provided, the method comprising:

[0012] The image preview interface includes a preview image display area and calibration controls.

[0013] The preview image display area displays preview images captured in real time by the image acquisition device;

[0014] In response to the apex of the navigation stick contacting the target positioning point on the second tracking tool and receiving a trigger operation on the calibration control, the calibration of the navigation tool is completed; the second tracking tool includes at least three second positioning points, and the target positioning point is any one of the at least three second positioning points;

[0015] Wherein, the coordinates of at least three of the first positioning points in the first coordinate system and the coordinates of at least three of the second positioning points in the second coordinate system are known; the first coordinate system is a spatial coordinate system established based on the first tracking tool; the second coordinate system is a spatial coordinate system established based on the second tracking tool.

[0016] On the other hand, a navigation tool calibration device for surgical navigation is provided, the navigation tool including a navigation stick and a first tracking tool fixed to the navigation stick; the first tracking tool includes at least three first positioning points; the device includes:

[0017] The first image acquisition module is used to acquire a first image, which is obtained by image acquisition device of the navigation tool and the second tracking tool when the vertex of the navigation stick comes into contact with the target positioning point on the second tracking tool; the second tracking tool includes at least three second positioning points, and the target positioning point is any one of the at least three second positioning points;

[0018] The first transformation matrix acquisition module is used to acquire a first transformation matrix from the third coordinate system to the first coordinate system based on the first image and the coordinates of at least three first positioning points in the first coordinate system; the first coordinate system is a spatial coordinate system established based on the first tracking tool; the third coordinate system is a spatial coordinate system established based on the image acquisition device.

[0019] The second transformation matrix acquisition module is used to acquire a second transformation matrix from the second coordinate system to the third coordinate system based on the first image and the coordinates of at least three second positioning points in the second coordinate system; the second coordinate system is a spatial coordinate system established based on the second tracking tool.

[0020] The target coordinate acquisition module is used to acquire the target coordinates of the apex of the navigation stick in the first coordinate system based on the first transformation matrix, the second transformation matrix, and the coordinates of the target positioning point in the second coordinate system, so as to calibrate the navigation tool.

[0021] In one possible implementation, the first transformation matrix acquisition module includes:

[0022] The first coordinate set acquisition submodule is used to acquire at least three first coordinate sets corresponding to the first positioning points in the first coordinate system.

[0023] The second coordinate set acquisition submodule is used to acquire, based on the first image, at least three second coordinate sets corresponding to the first positioning points in the third coordinate system;

[0024] The first transformation matrix generation submodule is used to generate the first transformation matrix based on the first coordinate set and the second coordinate set.

[0025] In one possible implementation, the second coordinate set acquisition submodule includes:

[0026] A two-dimensional coordinate set acquisition unit is used to acquire the pixel positions of at least three first positioning points in the first image, so as to acquire a two-dimensional coordinate set corresponding to the at least three first positioning points in a planar coordinate system; the planar coordinate system is a two-dimensional coordinate system in the plane where the first image is located.

[0027] The second coordinate set acquisition unit is used to acquire the second coordinate set based on the two-dimensional coordinate set corresponding to at least three of the first positioning points in the planar coordinate system.

[0028] In one possible implementation, the second coordinate set acquisition unit is used to acquire the second coordinate set based on the two-dimensional coordinate set corresponding to at least three of the first positioning points in the planar coordinate system, and the third transformation matrix between the planar coordinate system and the third coordinate system.

[0029] In one possible implementation, the first transformation matrix generation submodule is used to generate an intermediate transformation matrix from the first coordinate system to the third coordinate system based on the first coordinate set and the second coordinate set;

[0030] The intermediate transformation matrix is ​​transposed to obtain the first transformation matrix.

[0031] In one possible implementation, the second transformation matrix acquisition module includes:

[0032] The third coordinate set acquisition submodule is used to acquire at least three third coordinate sets corresponding to the second positioning points in the second coordinate system.

[0033] The fourth coordinate set acquisition submodule is used to acquire, based on the first image, at least three fourth coordinate sets corresponding to the second positioning points in the third coordinate system;

[0034] The second transformation matrix generation submodule is used to generate the second transformation matrix based on the third coordinate set and the fourth coordinate set.

[0035] In one possible implementation, the target coordinate acquisition module is used to acquire the coordinates of the target positioning point in the third coordinate system based on the coordinates of the target positioning point in the second coordinate system and the second transformation matrix;

[0036] Based on the coordinates of the target positioning point in the third coordinate system and the first transformation matrix, the target coordinates of the vertex of the navigation stick in the first coordinate system are obtained to calibrate the navigation tool.

[0037] In one possible implementation, the device further includes:

[0038] The second image acquisition module is used to acquire a second image. The second image is obtained by image acquisition device of the navigation tool and the second tracking tool when the vertex of the navigation stick comes into contact with the target verification point on the second tracking tool. The target verification point is any one of the other positioning points among the at least three second positioning points, excluding the target positioning point.

[0039] The verification coordinate acquisition module is used to acquire the verification coordinates of the target verification point in the first coordinate system based on the first transformation matrix, the second transformation matrix, and the coordinates of the target verification point in the second coordinate system;

[0040] The target coordinate acquisition module is used to acquire the target coordinates of the apex of the navigation stick in the first coordinate system based on the verification coordinates and the candidate coordinates; the candidate coordinates are the coordinates of the target positioning point in the first coordinate system obtained based on the first transformation matrix, the second transformation matrix and the coordinates of the target positioning point in the second coordinate system.

[0041] In one possible implementation, the target coordinate acquisition module is configured to acquire the verification coordinate or the candidate coordinate as the target coordinate in response to the fact that the difference between the verification coordinate and the candidate coordinate is less than a first difference threshold.

[0042] or,

[0043] In response to the fact that the difference between the verification coordinates and the candidate coordinates is less than a second difference threshold, the coordinates corresponding to the average of the verification coordinates and the candidate coordinates are obtained as the target coordinates.

[0044] In one possible implementation, the second tracking tool is a cube tracking tool, and the target positioning point is located on the top surface of the second tracking tool.

[0045] In one possible implementation, the device further includes:

[0046] The preview image display module is used to display the preview image acquired in real time by the image acquisition device in the image preview interface;

[0047] The annotation information display module is used to display the annotation information of the identified positioning points in the preview image. The identified positioning points include at least one of the first positioning point and the second positioning point identified from the preview image.

[0048] The first image acquisition module is configured to, in response to receiving an image acquisition operation performed based on the image preview interface, acquire the preview image displayed in the image preview interface as the first image.

[0049] On the other hand, a calibration device for a navigation tool used in surgical navigation is provided, the device comprising:

[0050] The interface display module is used to display the image preview interface; the image preview interface includes a preview image display area and calibration controls;

[0051] The preview image display module is used to display preview images acquired in real time by the image acquisition device in the preview image display area;

[0052] A calibration module is configured to complete the calibration of the navigation tool in response to the apex of the navigation stick contacting a target positioning point on the second tracking tool and receiving a trigger operation on the calibration control; the second tracking tool includes at least three second positioning points, and the target positioning point is any one of the at least three second positioning points;

[0053] Wherein, the coordinates of at least three of the first positioning points in the first coordinate system and the coordinates of at least three of the second positioning points in the second coordinate system are known; the first coordinate system is a spatial coordinate system established based on the first tracking tool; the second coordinate system is a spatial coordinate system established based on the second tracking tool.

[0054] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement the above-described navigation tool calibration method for surgical navigation.

[0055] On the other hand, a computer-readable storage medium is provided, wherein at least one computer program is stored in the computer-readable storage medium, the computer program being loaded and executed by a processor to implement the above-described navigation tool calibration method for surgical navigation.

[0056] On the other hand, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the navigation tool calibration method for surgical navigation provided in the various alternative implementations described above.

[0057] The technical solution provided in this application may include the following beneficial effects:

[0058] By introducing a second tracking tool, which works in conjunction with a first tracking tool fixed to the navigation stick, the navigation tool is calibrated. This process involves acquiring a first image when the apex of the navigation stick contacts the target positioning point on the second tracking tool. Based on this first image, the coordinates of the first positioning point in a first coordinate system established by the first tracking tool, and the coordinates of the second positioning point in a second coordinate system established by the second tracking tool, a first transformation matrix from a third coordinate system to the first coordinate system and a second transformation matrix from the second coordinate system to the third coordinate system are obtained. Through the transition to the third coordinate system, the coordinates of the target positioning point in the second coordinate system are then obtained, which in turn yields the coordinates of the apex of the navigation stick in the first coordinate system, thus calibrating the navigation tool. In this calibration process, the introduction of a tracking tool avoids the axis-rotation process found in related technologies, improving both the calibration effect and efficiency. Attached Figure Description

[0059] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0060] Figure 1 This illustration shows a schematic diagram of calibrating a surgical navigation tool using the Pivot calibration method, as shown in an exemplary embodiment of this application.

[0061] Figure 2 This illustration shows a schematic diagram of the calibration system structure used in the navigation tool calibration method for surgical navigation provided in an exemplary embodiment of this application;

[0062] Figure 3 A flowchart illustrating a navigation tool calibration method for surgical navigation provided in an exemplary embodiment of this application is shown;

[0063] Figure 4 A flowchart illustrating a navigation tool calibration method for surgical navigation provided in an exemplary embodiment of this application is shown;

[0064] Figure 5 A schematic diagram of a second tracking tool illustrated in an exemplary embodiment of this application is shown;

[0065] Figure 6 This is a schematic diagram illustrating a first image of an exemplary embodiment of this application;

[0066] Figure 7 This is a schematic diagram illustrating a first image of an exemplary embodiment of this application;

[0067] Figure 8A flowchart illustrating a calibration method for a navigation tool for surgical navigation, as shown in an exemplary embodiment of this application, is presented.

[0068] Figure 9 A schematic diagram illustrating a computer device display interface according to an exemplary embodiment of this application is shown;

[0069] Figure 10 This application illustrates a navigation tool calibration device for surgical navigation according to an exemplary embodiment.

[0070] Figure 11 This application illustrates a navigation tool calibration device for surgical navigation according to an exemplary embodiment.

[0071] Figure 12 A structural block diagram of a computer device illustrated in an exemplary embodiment of this application is shown;

[0072] Figure 13 A structural block diagram of a computer device provided in an exemplary embodiment of this application is shown. Detailed Implementation

[0073] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0074] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0075] This application provides a navigation tool calibration method for surgical navigation, which can improve the development efficiency of applications with navigation tool calibration and display functions for surgical navigation. For ease of understanding, several terms involved in this application are explained below.

[0076] 1) Surgical Navigation System

[0077] Surgical navigation systems, also known as computer-assisted surgery or image-guided surgery, refer to methods that organically combine modern imaging technology, stereotactic technology, electronic computer technology, and artificial intelligence technology with surgeons to make full use of information to enable patients to receive safe, precise, and minimally invasive surgical treatment.

[0078] Surgical navigation systems utilize digital scanning technology to obtain preoperative images of patients. These images are then input into a powerful computer workstation, the core of the system. The workstation processes these images at high speed to reconstruct a three-dimensional model of the patient. Based on this image, the surgeon can use relevant software to plan the operation and simulate the process, thereby reducing surgical risks and increasing the success rate.

[0079] In surgical navigation systems, spatial positioning navigation tools (hereinafter referred to as navigation tools) are needed to achieve accurate positioning. These navigation tools typically include a navigation rod and a tracking tool. The tracking tool is used to track the navigation rod, which is usually a needle-like object. It is used in conjunction with the tracking tool to calculate the three-dimensional coordinates of any point in the navigation tool's space.

[0080] Before using a navigation tool, it is necessary to obtain the position of the navigation stick tip relative to the tracking tool. In other words, the tracking tool needs to locate the position of the navigation stick tip according to its own coordinate system. This process is called calibrating the navigation tool.

[0081] 2) Artificial Intelligence

[0082] Artificial intelligence (AI) is the theory, methods, technology, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that attempts to understand the essence of intelligence and produce a new kind of intelligent machine that can react in a way similar to human intelligence. AI studies the design principles and implementation methods of various intelligent machines, enabling them to possess the functions of perception, reasoning, and decision-making.

[0083] Artificial intelligence (AI) is a comprehensive discipline encompassing a wide range of fields, including both hardware and software technologies. Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies primarily include computer vision, speech processing, natural language processing, and machine learning / deep learning.

[0084] 3) Computer Vision (CV) technology

[0085] Computer vision is the science that studies how to enable machines to "see." More specifically, it refers to machine vision, which uses cameras and computers to replace human eyes in recognizing, tracking, and measuring targets, and then performs image processing to create images more suitable for human observation or transmission to instruments. As a scientific discipline, computer vision studies related theories and technologies, attempting to build artificial intelligence systems capable of extracting information from images or multidimensional data. Computer vision technologies typically include image processing, image recognition, image semantic understanding, image retrieval, OCR (Optical Character Recognition), video processing, video semantic understanding, video content / behavior recognition, 3D object reconstruction, 3D (3D) technology, virtual reality, augmented reality, and map building.

[0086] As an illustration, in related technologies, the Pivot calibration method is typically used to calibrate surgical navigation tools. Figure 1 This illustration shows a schematic diagram of calibrating a surgical navigation tool using a Pivot calibration method, as shown in an exemplary embodiment of this application. Figure 1 As shown, in this process, the tip of the navigation rod 110 is fixed at a designated position and rotated several times around that position along the central axis between 30° and 60°. This causes the navigation rod to rotate around the central axis to form a sphere with the tip as its center and the distance from the tip to the origin of the tracking tool 120 as its radius. A spherical fitting algorithm is then used to determine the center of the sphere, thereby determining the position of the tip in the spatial coordinate system corresponding to the tracking tool, thus calibrating the navigation tool. However, in the above-mentioned calibration process using the Pivot calibration method, a device is needed to fix the tip position, and the navigation rod needs to rotate several times around the coordinate axis to obtain enough points for spherical fitting. If not enough points are obtained, or if many noise points are present, the calibration accuracy will be affected, or even calibration will fail. Furthermore, multiple operations are required to complete the calibration of the navigation tool, resulting in low calibration efficiency.

[0087] To improve the calibration performance of navigation tools used for surgical navigation, this application provides a calibration method for such tools, which can be applied to calibration systems. Figure 2 A schematic diagram of the calibration system structure used in the navigation tool calibration method for surgical navigation provided in an exemplary embodiment of this application is shown, such as... Figure 2 As shown, the system includes: an image acquisition device 210 and a data processing device 220.

[0088] The data processing device 220 can be implemented as a terminal or a server to calibrate navigation tools based on the image content acquired by the image acquisition device 210. When the data processing device 220 is implemented as a server, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. It can also be a node server on a blockchain network.

[0089] When the data processing device 220 is implemented as a terminal, the terminal can be a terminal with data processing function. For example, the data processing device 220 can be a smartphone, tablet computer, e-book reader, laptop computer, desktop computer, etc.

[0090] The image acquisition device 210 may be a camera or camera assembly installed based on the calibration operation of a navigation tool, used to track a first tracking tool in the navigation tool and a second tracking tool used to calibrate the navigation tool.

[0091] The image acquisition device 210 and the data processing device 220 can be connected via a communication network. Optionally, the communication network can be a wired network or a wireless network.

[0092] Optionally, the aforementioned wireless or wired networks use standard communication technologies and / or protocols. The network is typically the Internet, but can also be any network, including but not limited to Local Area Networks (LANs), Metropolitan Area Networks (MANs), Wide Area Networks (WANs), mobile, wired or wireless networks, private networks, or any combination of virtual private networks. In some embodiments, technologies and / or formats including Hypertext Markup Language (HTML), Extensible Markup Language (XML), etc., are used to represent data exchanged over the network. Furthermore, conventional encryption technologies such as Secure Socket Layer (SSL), Transport Layer Security (TLS), Virtual Private Networks (VPNs), and Internet Protocol Security (IPsec) can be used to encrypt all or some links. In other embodiments, custom and / or dedicated data communication technologies can be used to replace or supplement the aforementioned data communication technologies. This application does not impose any limitations.

[0093] Optionally, the image acquisition device 210 and the data processing device 220 can also be connected by a wire, for example, by a USB cable (Universal Serial Bus), etc. This application does not limit the connection method between the image acquisition device 210 and the data processing device 220.

[0094] The navigation tool in this application embodiment includes a navigation stick and a first tracking tool fixed on the navigation stick, the first tracking tool containing at least three first positioning points; wherein the first positioning points are positioning points that can be captured and acquired by an image acquisition device. Figure 3 This application illustrates a flowchart of a navigation tool calibration method for surgical navigation provided in an exemplary embodiment. The method is executed by a computing device, which can be implemented as a terminal or a server, such as... Figure 3 As shown, the calibration method for the navigation tool used for surgical navigation includes the following steps:

[0095] Step 310: Acquire a first image. The first image is obtained by image acquisition device of the navigation tool and the second tracking tool when the vertex of the navigation stick comes into contact with the target positioning point on the second tracking tool. The second tracking tool contains at least three second positioning points, and the target positioning point is any one of the at least three second positioning points.

[0096] In one possible implementation, the second tracking tool is a tracking tool set independently of the navigation tool, and the second tracking tool includes at least three second positioning points, which are positioning points that can be captured and tracked by an image acquisition device.

[0097] In one possible implementation, the image acquisition device can be implemented as a camera or a camera component, and the image acquisition device is used to track a first tracking tool and a second tracking tool in a navigation tool.

[0098] Step 320: Based on the first image and the coordinates of at least three first positioning points in the first coordinate system, obtain the first transformation matrix from the third coordinate system to the first coordinate system; the first coordinate system is a spatial coordinate system established based on the first tracking tool; the third coordinate system is a spatial coordinate system established based on the image acquisition device.

[0099] Among them, the relative coordinates of at least three first positioning points with respect to the origin in the first coordinate system remain unchanged. In other words, once the spatial coordinate system (first coordinate system) established based on the first tracking tool is determined, the coordinate positions of at least three first positioning points in the first coordinate system are also determined. During the use and testing of the navigation tool, the method of establishing the first coordinate system remains unchanged, thereby ensuring that the coordinates of at least three first positioning points relative to the first coordinate system remain unchanged.

[0100] The coordinates of the first positioning point in the first coordinate system are known in advance. For example, the coordinates of the first positioning point in the first coordinate system can be preset in a computer device.

[0101] Since the first coordinate system is a spatial coordinate system established based on the first tracking tool, and the third coordinate system is a spatial coordinate system established based on the image acquisition device, the origin of the first coordinate system will be different from the origin of the third coordinate system. The directions of the coordinate axes of the first coordinate system and the third coordinate system may also be different. Therefore, when implementing the coordinate transformation from the third coordinate system to the first coordinate system, it is necessary to first obtain the transformation matrix from the third coordinate system to the first coordinate system, that is, the first transformation matrix.

[0102] Step 330: Based on the first image and the coordinates of at least three second positioning points in the second coordinate system, obtain the second transformation matrix from the second coordinate system to the third coordinate system; the second coordinate system is a spatial coordinate system established based on the second tracking tool.

[0103] Since the second coordinate system is a spatial coordinate system established based on the second tracking tool, and the third coordinate system is a spatial coordinate system established based on the image acquisition device, when realizing the coordinate transformation from the second coordinate system to the third coordinate system, it is necessary to first obtain the transformation matrix from the second coordinate system to the third coordinate system, that is, the second transformation matrix.

[0104] The coordinates of the second positioning point in the second coordinate system are also known in advance. For example, the coordinates of the second positioning point in the second coordinate system can be preset in a computer device.

[0105] In the embodiments of this application, the first positioning point and the second positioning point can be indicated by a pattern that can be accurately identified from the image by a computer device.

[0106] Step 340: Based on the first transformation matrix, the second transformation matrix, and the coordinates of the target positioning point in the second coordinate system, obtain the target coordinates of the apex of the navigation stick in the first coordinate system to calibrate the navigation tool.

[0107] In this embodiment, the coordinates of the target positioning point in the second coordinate system are known. The vertex of the navigation stick is in contact with the target positioning point on the second tracking tool, so the coordinates of the target positioning point in the first coordinate system are obtained, thereby obtaining the coordinates of the vertex of the navigation stick in the first coordinate system and thus calibrating the navigation tool.

[0108] In one possible implementation, to improve the accuracy of the navigation tool calibration, when the apex of the navigation stick coincides with the target positioning point on the second tracking tool, the coordinates of the target positioning point in the first coordinate system are obtained, so as to obtain the coordinates of the apex of the navigation stick in the first coordinate system.

[0109] In summary, the navigation tool calibration method for surgical navigation provided in this application introduces a second tracking tool, which, together with a first tracking tool fixed to the navigation stick, calibrates the navigation tool. This process involves acquiring a first image when the apex of the navigation stick contacts the target positioning point on the second tracking tool. Based on the first image, the coordinates of the first positioning point in a first coordinate system established by the first tracking tool, and the coordinates of the second positioning point in a second coordinate system established by the second tracking tool, a first transformation matrix from a third coordinate system to the first coordinate system and a second transformation matrix from the second coordinate system to the third coordinate system are obtained. Through the transition to the third coordinate system, the coordinates of the target positioning point in the second coordinate system are obtained, i.e., the coordinates of the apex of the navigation stick in the first coordinate system are obtained, thus calibrating the navigation tool. In this calibration process, the introduction of a tracking tool avoids the axis-rotation process in related technologies, improving the calibration effect and efficiency of the navigation tool.

[0110] Figure 4 This application illustrates a flowchart of a navigation tool calibration method for surgical navigation provided in an exemplary embodiment. The method is executed by a computing device, which can be implemented as a terminal or a server, such as... Figure 4 As shown, the calibration method for the navigation tool used for surgical navigation includes the following steps:

[0111] Step 410: Acquire a first image. The first image is obtained by image acquisition device of the navigation tool and the second tracking tool when the vertex of the navigation stick comes into contact with the target positioning point on the second tracking tool. The second tracking tool contains at least three second positioning points, and the target positioning point is any one of the at least three second positioning points.

[0112] In one possible implementation, the second tracking tool can be a cube tracking tool; that is, the shape of the second tracking tool can be a cube. Figure 5 A schematic diagram of a second tracking tool illustrated in an exemplary embodiment of this application is shown, such as... Figure 5 As shown, the second tracking tool is a cube tracking tool, and each face of the cube tracking tool contains positioning points. In this embodiment, the target positioning point may be located on the top face of the second tracking tool, such as... Figure 5 Plane 510 is shown. In one possible implementation, the positioning points on the cube tracking tool are corner points obtained through a checkerboard grid division.

[0113] In one possible implementation, the second tracking tool could be a tracking tool used to track the patient's head movements during surgical navigation.

[0114] In one possible implementation, before acquiring the first image, the method further includes:

[0115] The image preview interface displays preview images captured in real time by the image acquisition device;

[0116] The preview image displays the annotation information of the identified location points, which include at least one of the first location point and the second location point identified from the preview image.

[0117] The acquisition of the first image includes:

[0118] In response to receiving an image acquisition operation performed based on the image preview interface, the preview image displayed in the image preview interface is acquired as the first image.

[0119] In other words, while displaying the first image in the image preview interface, it also displays location point annotations (annotation information) corresponding to at least three first location points and at least three second location points in the first image; after acquiring the preview image captured by the image acquisition device, the computer device can identify and annotate each location point in the preview image so that when displaying the preview image, each location point in the preview image can be displayed synchronously (i.e., ... Figure 5 (The corner points shown), i.e., displaying the first image; in one possible implementation, the identification and annotation of each positioning point in the preview image can be obtained based on computer vision technology in artificial intelligence; illustrative, Figure 6 A schematic diagram illustrating a first image of an exemplary embodiment of this application is shown, such as... Figure 6 As shown, the navigation tool includes a navigation stick 611 and a first tracking tool 612 fixed to the navigation stick 611. The first tracking tool includes at least three first positioning points, such as... Figure 6 The first tracking tool shown contains corner points marked on a checkerboard pattern. Simultaneously, the first image includes a second tracking tool 620, which is a cube tracking tool and contains at least three second positioning points, such as... Figure 6 The corner points marked on the checkerboard in the second tracking tool are used to indicate to the user that the tracking tool can be tracked.

[0120] In one possible implementation, the first tracking tool can be flat against the navigation stick, or the first tracking tool can be abutted against the surface of the first tracking tool. Figure 7 A schematic diagram illustrating a first image of an exemplary embodiment of this application is shown, such as... Figure 7 As shown, the first tracking tool 710 is attached to the surface of the navigation stick 720.

[0121] In one possible implementation, the location of the image acquisition device must ensure that it can simultaneously track the positioning points in the first tracking tool and the positioning points in the second tracking tool.

[0122] In one possible implementation, the target positioning point can be the positioning point closest to the apex of the navigation stick, identified by the computer device through image recognition; or, the target positioning point can be the positioning point obtained by the user after selecting from multiple positioning points within a specified range around the apex of the navigation stick identified by the computer device, whereby the selection operation can be a point-to-point operation by the user, or a point-to-point operation by the user based on a list of multiple positioning points displayed by the computer device; or, the target positioning point can also be the positioning point determined by the user entering the number of each positioning point in a specified input box based on the pre-defined numbers of the positioning points in the second tracking tool.

[0123] Step 420: Obtain the set of first coordinates corresponding to at least three first positioning points in the first coordinate system.

[0124] The first coordinate system is a spatial coordinate system established based on the first tracking tool. In one possible implementation, the first coordinate system is established with the center point of the first tracking tool as the origin. After the first coordinate system is established, it remains unchanged relative to the first tracking tool. That is, the coordinates of at least three first positioning points in the first coordinate system are known and fixed, so that the first coordinate set can be obtained.

[0125] When the shape of the first tracking tool changes (e.g., the degree of curvature changes), the first coordinate system needs to be re-established. (Illustrative example follows.) Figure 7 The first tracking tool 710 shown, in its current form, has a fixed first coordinate system. When the form of the first tracking tool 710 changes... Figure 6 After the shape of the first tracking tool 612 shown is determined, it is necessary to re-establish the spatial coordinate system corresponding to the first tracking tool after the shape change, or it is necessary to redetermine the coordinates of each positioning point in the spatial coordinate system corresponding to the shape change.

[0126] Step 430: Based on the first image, obtain the set of second coordinates corresponding to at least three first positioning points in the third coordinate system.

[0127] Since the first image is a two-dimensional image, and the coordinate system of its corresponding image acquisition device is a spatial coordinate system, the process of obtaining the set of second coordinates corresponding to at least three first positioning points in the third coordinate system based on the first image includes a coordinate transformation step from the two-dimensional coordinate system corresponding to the first image to the third coordinate system corresponding to the image acquisition device. This process can be implemented as follows:

[0128] Obtain the pixel positions of at least three first positioning points in the first image to obtain a set of two-dimensional coordinates corresponding to the at least three first positioning points in a planar coordinate system; the planar coordinate system is a two-dimensional coordinate system in the plane where the first image is located.

[0129] A second set of coordinates is obtained based on the set of two-dimensional coordinates corresponding to at least three first positioning points in a planar coordinate system.

[0130] Since the first image is an image acquired by an image acquisition device, there is a correspondence between the second coordinate system corresponding to the first image and the third coordinate system corresponding to the image acquisition device. Therefore, after determining the set of two-dimensional coordinates corresponding to the first positioning point in the plane coordinate system, the three-dimensional coordinates of the first positioning point in the third coordinate system can be obtained based on the correspondence between the plane coordinate system and the third coordinate system. In this embodiment, the correspondence between the plane coordinate system and the third coordinate system is concretized into a third transformation matrix. That is, the second coordinate set is obtained based on the set of two-dimensional coordinates corresponding to at least three first positioning points in the plane coordinate system and the third transformation matrix between the plane coordinate system and the third coordinate system.

[0131] Step 440: Generate a first transformation matrix based on the first coordinate set and the second coordinate set.

[0132] In one possible implementation, the process can be implemented as follows: generating an intermediate transformation matrix from the first coordinate system to the third coordinate system based on the first coordinate set and the second coordinate set;

[0133] Transpose the intermediate transformation matrix to obtain the first transformation matrix.

[0134] In other words, when obtaining the first transformation matrix, the intermediate transformation matrix (T2C) from the first coordinate system to the third coordinate system is first obtained. By transposing the intermediate transformation matrix, the first transformation matrix (C2T) from the third coordinate system to the first coordinate system is obtained, where T represents the first coordinate system and C represents the third coordinate system.

[0135] Alternatively, in another possible implementation, the first transformation matrix from the third coordinate system (C) to the first coordinate system (T) can be obtained directly.

[0136] Step 450: Obtain the set of third coordinates corresponding to at least three second positioning points in the second coordinate system.

[0137] In one possible implementation, the second coordinate system is a spatial coordinate system established with the center of the second tracking tool as the origin, and a third coordinate set corresponding to at least three second positioning points is obtained based on the established second coordinate system.

[0138] Step 460: Based on the first image, obtain the set of fourth coordinates corresponding to at least three second positioning points in the third coordinate system.

[0139] The process of obtaining the fourth coordinate set of at least three second positioning points in the third coordinate system is the same as the process of obtaining the second coordinate set of at least three first positioning points in the first coordinate system, that is, obtaining the pixel positions of at least three second positioning points in the first image to obtain the two-dimensional coordinate set corresponding to at least three second positioning points in the planar coordinate system.

[0140] The fourth coordinate set is obtained based on the set of two-dimensional coordinates corresponding to at least three second positioning points in the planar coordinate system.

[0141] The process of obtaining the fourth coordinate set is implemented by obtaining the fourth coordinate set based on the two-dimensional coordinate set corresponding to at least the second positioning point in the planar coordinate system, and the third transformation matrix between the planar coordinate system and the third coordinate system.

[0142] Step 470: Generate the second transformation matrix based on the third coordinate set and the fourth coordinate set.

[0143] In other words, when obtaining the second transformation matrix, the second transformation matrix from the second coordinate system (M) to the third coordinate system (T) can be obtained directly.

[0144] In one possible implementation, the third transformation matrix is ​​obtained using the PnP (Perspective-n-Points) method, a commonly used pose estimation algorithm in computer vision. The principle is that, given the 3D coordinates of n points defined in the model space (i.e., the aforementioned third coordinate system space) and the 2D (2-Dimension) projected coordinates of these n 3D points in the 2D coordinate system, the spatial transformation relationship between the 2D coordinate system and the third coordinate system is obtained by optimizing the projection error; this is the third transformation matrix.

[0145] In one possible implementation, both the first and second transformation matrices are 4x4 matrices used to indicate the rotation and translation of the coordinate system.

[0146] Step 480: Based on the first transformation matrix, the second transformation matrix, and the coordinates of the target positioning point in the second coordinate system, obtain the target coordinates of the apex of the navigation stick in the first coordinate system to calibrate the navigation tool.

[0147] In one possible implementation, the above process is implemented as follows: based on the coordinates of the target positioning point in the second coordinate system and the second transformation matrix, the coordinates of the target positioning point in the third coordinate system are obtained;

[0148] Based on the coordinates of the target positioning point in the third coordinate system and the first transformation matrix, the target coordinates of the apex of the navigation stick in the first coordinate system are obtained to calibrate the navigation tool. Figure 6 As shown, the process is implemented as follows: obtain the coordinates of the target positioning point 621 in the second coordinate system (M), obtain the coordinates of the target positioning point in the third coordinate system (C) based on the second transformation matrix (M2C); then, obtain the coordinates of the target positioning point in the first coordinate system (T) based on the first transformation matrix (C2T) to obtain the target coordinates of the apex of the navigation stick in the first coordinate system.

[0149] In other words, by linking the first and second coordinate systems through a third coordinate system, the coordinates of the target positioning point in the first coordinate system are determined when determining the coordinates of the target positioning point in the second coordinate system, thereby obtaining the coordinates of the apex of the navigation stick in the first coordinate system. The formula for obtaining the coordinates of the target positioning point in the first coordinate system can be expressed as:

[0150]

[0151] Among them, P T P represents the target coordinates of the target location point in the first coordinate system. M This represents the coordinates of the target location point in the second coordinate system. C2T represents the first transformation matrix, and M2C represents the second transformation matrix.

[0152] In one possible implementation, the coordinates of the target positioning point in the first coordinate system are obtained as the target coordinates of the apex of the navigation stick in the first coordinate system.

[0153] To prevent inaccurate calibration of the navigation tool due to inaccurate placement of the navigation stick's tip, and to improve the accuracy of obtaining the coordinates of the navigation stick's vertex in the first coordinate system, in another possible implementation, verification points can be obtained from the second tracking tool to verify the coordinates of the navigation stick's vertex determined based on the target positioning point. These verification points can be any positioning point in the second tracking tool other than the target positioning point. The number of verification points can be one or more; this application does not limit the number of verification points. The verification process is illustrated below using one verification point as an example:

[0154] Acquire a second image, which is obtained by image acquisition device when the vertex of the navigation stick comes into contact with the target verification point on the second tracking tool. The target verification point is any one of the other positioning points among at least three second positioning points, excluding the target positioning point.

[0155] Based on the first transformation matrix, the second transformation matrix, and the coordinates of the target verification point in the second coordinate system, obtain the verification coordinates of the target verification point in the first coordinate system;

[0156] Based on the first transformation matrix, the second transformation matrix, and the coordinates of the target positioning point in the second coordinate system, the target coordinates of the apex of the navigation stick in the first coordinate system are obtained, including:

[0157] The target coordinates of the navigator's vertex in the first coordinate system are obtained based on the verification coordinates and candidate coordinates; the candidate coordinates are obtained based on the first transformation matrix, the second transformation matrix, and the coordinates of the target positioning point in the second coordinate system, and are obtained as the coordinates of the target positioning point in the first coordinate system.

[0158] In other words, after obtaining the candidate coordinates of the navigation stick's vertex in the first coordinate system based on the first image, the image is re-acquired by changing the contact point between the navigation stick's vertex and the second tracking tool. The target coordinates of the navigation stick's vertex in the first coordinate system are then re-acquired based on the re-acquired image (the second image), which is to obtain the verification coordinates. Then, based on the differences between the candidate coordinates obtained from different images and the verification coordinates, the target coordinates of the navigation stick's vertex in the first coordinate system are determined. This avoids the phenomenon of inaccurate target coordinate determination due to operational errors during the coordinate acquisition process. By verifying multiple times and determining the target coordinates based on the verification results, the accuracy of target coordinate acquisition is improved.

[0159] The target verification point can be any of the other positioning points besides the target positioning point that are located on the same plane as the target positioning point.

[0160] In one possible implementation, obtaining the target coordinates of the navigation stick's vertex in the first coordinate system based on the verification coordinates includes:

[0161] In response to the fact that the difference between the verification coordinates and the candidate coordinates is less than the first difference threshold, the verification coordinates or the candidate coordinates are obtained as the target coordinates;

[0162] or,

[0163] In response to the fact that the difference between the verification coordinates and the candidate coordinates is less than the second difference threshold, the coordinates corresponding to the average of the verification coordinates and the candidate coordinates are obtained as the target coordinates.

[0164] The first gap threshold is used to indicate the maximum difference between the coordinates and the candidate coordinates in this application when the coordinates are determined to be trustworthy coordinates. When the difference between the verified coordinates and the candidate coordinates is less than the first gap threshold, the coordinates of the target positioning point in the first coordinate system or the coordinates of the target verification point in the first coordinate system can be directly obtained as the target coordinates of the apex of the navigation stick in the first coordinate system. Since errors are unavoidable in actual operation, when the difference between the verified coordinates and the candidate coordinates is less than the first gap threshold, it indicates that both the verified coordinates and the candidate coordinates are trustworthy. When both are trustworthy, one of them can be randomly selected as the target coordinates of the apex of the navigation stick in the first coordinate system.

[0165] The second gap threshold indicates the maximum difference between the candidate coordinates and the average of the verification coordinates when the coordinates are considered trustworthy. When the difference between the verification coordinates and the candidate coordinates is less than the second gap threshold, the average of the coordinates of the navigation stick's vertex in the first coordinate system obtained from different positioning points in the second tracking tool is taken as the target coordinates of the navigation stick's vertex in the first coordinate system. When the number of target verification points is greater than one, the average of the coordinates of the navigation stick's vertex in the first coordinate system obtained from multiple target verification points and the candidate coordinates is taken as the target coordinates of the navigation stick's vertex in the first coordinate system. This allows for the combined acquisition of the target coordinates by combining the coordinates of the navigation stick obtained from multiple positioning points, thereby reducing the impact of a single selection factor on the acquisition of target coordinates and improving the accuracy of target coordinate acquisition.

[0166] When the above two methods of determining the target coordinates are used individually, the values ​​of the first gap threshold and the second gap threshold can be the same, or the values ​​of the first gap threshold and the second gap threshold can be different. The values ​​of the first gap threshold and the second gap threshold can be set by relevant personnel, and this application does not impose any restrictions on this.

[0167] Optionally, when the above two target coordinate value methods are used individually, in response to the difference between the verification coordinate and the candidate coordinate being greater than a first difference threshold, or the difference between the verification coordinate and the candidate coordinate being greater than the first difference threshold and greater than the second difference threshold, a prompt message is displayed in the display screen of the first image. This prompt message is used to indicate that there is an inaccurate operation during the calibration of the navigation tool, and to instruct relevant personnel to adjust the calibration operation, such as repositioning the apex of the navigation stick to ensure that the apex of the navigation stick is accurately located on the target positioning point or target verification point of the second tracking tool.

[0168] In one possible application, the two target coordinate value methods and the prompt message display method described above can be combined. In this case, the value of the second difference threshold can be greater than the value of the first difference threshold. When the difference between the verification coordinate and the candidate coordinate is less than the first difference threshold, the coordinates of the target positioning point in the first coordinate system or the coordinates of the target verification point in the first coordinate system are directly obtained as the target coordinates of the vertices of the navigation stick in the first coordinate system. When the difference between the verification coordinate and the candidate coordinate is greater than the first difference threshold but less than the second difference threshold, the average value of the coordinates of the vertices of the navigation stick obtained from different positioning points in the second tracking tool in the first coordinate system is taken as the target coordinates of the vertices of the navigation stick in the first coordinate system. When the difference between the verification coordinate and the candidate coordinate is greater than the second difference threshold, a prompt message is displayed on the first image display screen to indicate that there is an inaccurate operation during the calibration of the navigation tool, and to instruct relevant personnel to adjust the calibration operation.

[0169] In summary, the navigation tool calibration method for surgical navigation provided in this application introduces a second tracking tool, which, together with a first tracking tool fixed to the navigation stick, calibrates the navigation tool. This process involves acquiring a first image when the apex of the navigation stick contacts the target positioning point on the second tracking tool. Based on the first image, the coordinates of the first positioning point in a first coordinate system established by the first tracking tool, and the coordinates of the second positioning point in a second coordinate system established by the second tracking tool, a first transformation matrix from a third coordinate system to the first coordinate system and a second transformation matrix from the second coordinate system to the third coordinate system are obtained. Through the transition to the third coordinate system, the coordinates of the target positioning point in the second coordinate system are obtained, i.e., the coordinates of the apex of the navigation stick in the first coordinate system are obtained, thus calibrating the navigation tool. In this calibration process, the introduction of a tracking tool avoids the axis-rotation process in related technologies, improving the calibration effect and efficiency of the navigation tool.

[0170] Figure 8 The diagram illustrates a flowchart of a calibration method for a navigation tool for surgical navigation according to an exemplary embodiment of this application. This method can be performed by a computer device, which can be implemented as a terminal. The navigation tool includes a navigation stick and a first tracking tool fixed to the navigation stick. The first tracking tool includes at least three first positioning points, such as... Figure 8 As shown, the method includes:

[0171] Step 810: Display the image preview interface, which includes a preview image display area and calibration controls.

[0172] Step 820: Display the preview image captured in real time by the image acquisition device in the preview image display area.

[0173] Step 830: In response to the apex of the navigation stick coming into contact with the target positioning point on the second tracking tool and receiving a trigger operation on the calibration control, the calibration of the navigation tool is completed; the second tracking tool contains at least three second positioning points, and the target positioning point is any one of the at least three second positioning points.

[0174] The coordinates of at least three first positioning points in the first coordinate system and the coordinates of at least three second positioning points in the second coordinate system are known; the first coordinate system is a spatial coordinate system established based on the first tracking tool; and the second coordinate system is a spatial coordinate system established based on the second tracking tool.

[0175] In one possible implementation, the navigation tool is calibrated in response to the apex of the navigation stick coming into contact with the target location point on the second tracking tool and receiving a trigger operation on the calibration control.

[0176] Figure 9 A schematic diagram illustrating a computer device display interface according to an exemplary embodiment of this application is shown, such as... Figure 9 As shown, the image preview interface includes a preview image display area 910 and a calibration control 920. The preview image display area 910 displays a first image acquired by the image acquisition device, which includes a navigation tool and a second tracking tool. In one possible implementation, the preview image display area 910 also displays positioning point labels corresponding to the first positioning point in the first tracking tool and the second positioning point in the second tracking tool. The calibration control 920 is used to trigger the calculation process of the coordinates of the apex of the navigation stick in the first coordinate system when a selection operation is received, so as to realize the calibration of the navigation tool.

[0177] In summary, the navigation tool calibration method for surgical navigation provided in this application introduces a second tracking tool, which, together with a first tracking tool fixed to the navigation stick, calibrates the navigation tool. This process involves acquiring a first image when the apex of the navigation stick contacts the target positioning point on the second tracking tool. Based on the first image, the coordinates of the first positioning point in a first coordinate system established by the first tracking tool, and the coordinates of the second positioning point in a second coordinate system established by the second tracking tool, a first transformation matrix from a third coordinate system to the first coordinate system and a second transformation matrix from the second coordinate system to the third coordinate system are obtained. Through the transition to the third coordinate system, the coordinates of the target positioning point in the second coordinate system are obtained, i.e., the coordinates of the apex of the navigation stick in the first coordinate system are obtained, thus calibrating the navigation tool. In this calibration process, the introduction of a tracking tool avoids the axis-rotation process in related technologies, improving the calibration effect and efficiency of the navigation tool.

[0178] Figure 10 This application illustrates an exemplary embodiment of a navigation tool calibration device for surgical navigation. The navigation tool includes a navigation rod and a first tracking tool fixed to the navigation rod. The first tracking tool includes at least three first positioning points. The device includes:

[0179] The first image acquisition module 1010 is used to acquire a first image, which is obtained by image acquisition device of the navigation tool and the second tracking tool when the vertex of the navigation stick comes into contact with the target positioning point on the second tracking tool; the second tracking tool includes at least three second positioning points, and the target positioning point is any one of the at least three second positioning points;

[0180] The first transformation matrix acquisition module 1020 is used to acquire a first transformation matrix from a third coordinate system to the first coordinate system based on the first image and the coordinates of at least three first positioning points in a first coordinate system; the first coordinate system is a spatial coordinate system established based on the first tracking tool; the third coordinate system is a spatial coordinate system established based on the image acquisition device.

[0181] The second transformation matrix acquisition module 1030 is used to acquire a second transformation matrix from the second coordinate system to the third coordinate system based on the first image and the coordinates of at least three second positioning points in the second coordinate system; the second coordinate system is a spatial coordinate system established based on the second tracking tool.

[0182] The target coordinate acquisition module 1040 is used to acquire the target coordinates of the vertex of the navigation stick in the first coordinate system based on the first transformation matrix, the second transformation matrix and the coordinates of the target positioning point in the second coordinate system, so as to calibrate the navigation tool.

[0183] In one possible implementation, the first transformation matrix acquisition module 1020 includes:

[0184] The first coordinate set acquisition submodule is used to acquire at least three first coordinate sets corresponding to the first positioning points in the first coordinate system.

[0185] The second coordinate set acquisition submodule is used to acquire, based on the first image, at least three second coordinate sets corresponding to the first positioning points in the third coordinate system;

[0186] The first transformation matrix generation submodule is used to generate the first transformation matrix based on the first coordinate set and the second coordinate set.

[0187] In one possible implementation, the second coordinate set acquisition submodule includes:

[0188] A two-dimensional coordinate set acquisition unit is used to acquire the pixel positions of at least three first positioning points in the first image, so as to acquire a two-dimensional coordinate set corresponding to the at least three first positioning points in a planar coordinate system; the planar coordinate system is a two-dimensional coordinate system in the plane where the first image is located.

[0189] The second coordinate set acquisition unit is used to acquire the second coordinate set based on the two-dimensional coordinate set corresponding to at least three of the first positioning points in the planar coordinate system.

[0190] In one possible implementation, the second coordinate set acquisition unit is used to acquire the second coordinate set based on the two-dimensional coordinate set corresponding to at least three of the first positioning points in the planar coordinate system, and the third transformation matrix between the planar coordinate system and the third coordinate system.

[0191] In one possible implementation, the first transformation matrix generation submodule is used to generate an intermediate transformation matrix from the first coordinate system to the third coordinate system based on the first coordinate set and the second coordinate set;

[0192] The intermediate transformation matrix is ​​transposed to obtain the first transformation matrix.

[0193] In one possible implementation, the second transformation matrix acquisition module 1030 includes:

[0194] The third coordinate set acquisition submodule is used to acquire at least three third coordinate sets corresponding to the second positioning points in the second coordinate system.

[0195] The fourth coordinate set acquisition submodule is used to acquire, based on the first image, at least three fourth coordinate sets corresponding to the second positioning points in the third coordinate system;

[0196] The second transformation matrix generation submodule is used to generate the second transformation matrix based on the third coordinate set and the fourth coordinate set.

[0197] In one possible implementation, the target coordinate acquisition module 1040 is used to acquire the coordinates of the target positioning point in the third coordinate system based on the coordinates of the target positioning point in the second coordinate system and the second transformation matrix;

[0198] Based on the coordinates of the target positioning point in the third coordinate system and the first transformation matrix, the target coordinates of the vertex of the navigation stick in the first coordinate system are obtained to calibrate the navigation tool.

[0199] In one possible implementation, the device further includes:

[0200] The second image acquisition module is used to acquire a second image. The second image is obtained by image acquisition device of the navigation tool and the second tracking tool when the vertex of the navigation stick comes into contact with the target verification point on the second tracking tool. The target verification point is any one of the other positioning points among the at least three second positioning points, excluding the target positioning point.

[0201] The verification coordinate acquisition module is used to acquire the verification coordinates of the target verification point in the first coordinate system based on the first transformation matrix, the second transformation matrix, and the coordinates of the target verification point in the second coordinate system;

[0202] The target coordinate acquisition module 1040 is used to acquire the target coordinates of the vertex of the navigation stick in the first coordinate system based on the verification coordinates and the candidate coordinates; the candidate coordinates are the coordinates of the target positioning point in the first coordinate system obtained based on the first transformation matrix, the second transformation matrix and the coordinates of the target positioning point in the second coordinate system.

[0203] In one possible implementation, the target coordinate acquisition module 1040 is configured to acquire the verification coordinate or the candidate coordinate as the target coordinate in response to the fact that the difference between the verification coordinate and the candidate coordinate is less than a first difference threshold.

[0204] or,

[0205] In response to the fact that the difference between the verification coordinates and the candidate coordinates is less than a second difference threshold, the coordinates corresponding to the average of the verification coordinates and the candidate coordinates are obtained as the target coordinates.

[0206] In one possible implementation, the second tracking tool is a cube tracking tool, and the target positioning point is located on the top surface of the second tracking tool.

[0207] In one possible implementation, the device further includes:

[0208] The preview image display module is used to display the preview image acquired in real time by the image acquisition device in the image preview interface;

[0209] The annotation information display module is used to display the annotation information of the identified positioning points in the preview image. The identified positioning points include at least one of the first positioning point and the second positioning point identified from the preview image.

[0210] The first image acquisition module is configured to, in response to receiving an image acquisition operation performed based on the image preview interface, acquire the preview image displayed in the image preview interface as the first image.

[0211] In summary, the navigation tool calibration device for surgical navigation provided in this application embodiment calibrates the navigation tool by introducing a second tracking tool, which works in conjunction with a first tracking tool fixed to the navigation stick. This process involves acquiring a first image when the apex of the navigation stick contacts the target positioning point on the second tracking tool. Based on the first image, the coordinates of the first positioning point in a first coordinate system established by the first tracking tool, and the coordinates of the second positioning point in a second coordinate system established by the second tracking tool, a first transformation matrix from a third coordinate system to the first coordinate system and a second transformation matrix from the second coordinate system to the third coordinate system are obtained. Through the transition to the third coordinate system, the coordinates of the target positioning point in the second coordinate system are obtained, i.e., the coordinates of the apex of the navigation stick in the first coordinate system are obtained, thus calibrating the navigation tool. In this calibration process, the introduction of a tracking tool avoids the axis-rotation process in related technologies, improving the calibration effect and efficiency of the navigation tool.

[0212] Figure 11 This application illustrates an exemplary embodiment of a navigation tool calibration device for surgical navigation. The navigation tool includes a navigation rod and a first tracking tool fixed to the navigation rod. The first tracking tool includes at least three first positioning points, such as... Figure 11 As shown, the device includes:

[0213] The interface display module 1110 is used to display an image preview interface; the image preview interface includes a preview image display area and calibration controls;

[0214] The preview image display module 1120 is used to display preview images acquired in real time by the image acquisition device in the preview image display area;

[0215] The calibration module 1130 is configured to complete the calibration of the navigation tool in response to the apex of the navigation stick contacting the target positioning point on the second tracking tool and receiving a trigger operation on the calibration control; the second tracking tool includes at least three second positioning points, and the target positioning point is any one of the at least three second positioning points;

[0216] Wherein, the coordinates of at least three of the first positioning points in the first coordinate system and the coordinates of at least three of the second positioning points in the second coordinate system are known; the first coordinate system is a spatial coordinate system established based on the first tracking tool; the second coordinate system is a spatial coordinate system established based on the second tracking tool.

[0217] In summary, the navigation tool calibration device for surgical navigation provided in this application embodiment calibrates the navigation tool by introducing a second tracking tool, which works in conjunction with a first tracking tool fixed to the navigation stick. This process involves acquiring a first image when the apex of the navigation stick contacts the target positioning point on the second tracking tool. Based on the first image, the coordinates of the first positioning point in a first coordinate system established by the first tracking tool, and the coordinates of the second positioning point in a second coordinate system established by the second tracking tool, a first transformation matrix from a third coordinate system to the first coordinate system and a second transformation matrix from the second coordinate system to the third coordinate system are obtained. Through the transition to the third coordinate system, the coordinates of the target positioning point in the second coordinate system are obtained, i.e., the coordinates of the apex of the navigation stick in the first coordinate system are obtained, thus calibrating the navigation tool. In this calibration process, the introduction of a tracking tool avoids the axis-rotation process in related technologies, improving the calibration effect and efficiency of the navigation tool.

[0218] Figure 12A structural block diagram of a computer device 1200 illustrated in an exemplary embodiment of this application is shown. This computer device can be implemented as a server as described above in this application. The computer device 1200 includes a Central Processing Unit (CPU) 1201, a system memory 1204 including Random Access Memory (RAM) 1202 and Read-Only Memory (ROM) 1203, and a system bus 1205 connecting the system memory 1204 and the CPU 1201. The computer device 1200 also includes a mass storage device 1206 for storing an operating system 1209, application programs 1210, and other program modules 1211.

[0219] The mass storage device 1206 is connected to the central processing unit 1201 via a mass storage controller (not shown) connected to the system bus 1205. The mass storage device 1206 and its associated computer-readable media provide non-volatile storage for the computer device 1200. That is, the mass storage device 1206 may include computer-readable media (not shown) such as a hard disk or a compact disc read-only memory (CD-ROM) drive.

[0220] Without loss of generality, the computer-readable medium may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include RAM, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state storage technologies, CD-ROM, digital versatile disc (DVD) or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that the computer storage media are not limited to the above-mentioned types. The system memory 1204 and mass storage device 1206 described above can be collectively referred to as memory.

[0221] According to various embodiments of this disclosure, the computer device 1200 can also be connected to a remote computer on a network, such as the Internet. That is, the computer device 1200 can be connected to the network 1208 via a network interface unit 1207 connected to the system bus 1205, or the network interface unit 1207 can be used to connect to other types of networks or remote computer systems (not shown).

[0222] The memory further includes at least one instruction, at least one program, code set, or instruction set, which are stored in the memory. The central processing unit 1201 executes the at least one instruction, at least one program, code set, or instruction set to implement all or part of the steps in the navigation tool calibration method for surgical navigation shown in the above embodiments.

[0223] Figure 13 A structural block diagram of a computer device 1300 provided in an exemplary embodiment of this application is shown. The computer device 1300 can be implemented as the aforementioned terminal, such as a smartphone, tablet computer, laptop computer, or desktop computer. The computer device 1300 may also be referred to as user equipment, portable terminal, laptop terminal, desktop terminal, or other names.

[0224] Typically, computer device 1300 includes a processor 1301 and a memory 1302.

[0225] Processor 1301 may include one or more processing cores, such as a 4-core processor, a 13-core processor, etc. Processor 1301 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1301 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1301 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 1301 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0226] Memory 1302 may include one or more computer-readable storage media, which may be non-transitory. Memory 1302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in memory 1302 is used to store at least three instructions that are executed by processor 1301 to implement the navigation tool calibration method for surgical navigation provided in the method embodiments of this application.

[0227] In some embodiments, the computer device 1300 may also optionally include a peripheral device interface 1303 and at least three peripheral devices. The processor 1301, memory 1302, and peripheral device interface 1303 can be connected via a bus or signal lines. Each peripheral device can be connected to the peripheral device interface 1303 via a bus, signal lines, or a circuit board. Specifically, the peripheral devices include at least one of the following: a radio frequency circuit 1304, a display screen 1305, an image acquisition device assembly 1306, an audio circuit 1307, and a power supply 1309.

[0228] Peripheral interface 1303 can be used to connect at least three I / O (Input / Output) related peripheral devices to processor 1301 and memory 1302. In some embodiments, processor 1301, memory 1302, and peripheral interface 1303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1301, memory 1302, and peripheral interface 1303 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0229] In some embodiments, the computer device 1300 further includes one or more sensors 1310. The one or more sensors 1310 include, but are not limited to, an accelerometer 1311, a gyroscope 1312, a pressure sensor 1313, an optical sensor 1315, and a proximity sensor 1316.

[0230] Those skilled in the art will understand that Figure 13 The structure shown does not constitute a limitation on the computer device 1300, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0231] In one exemplary embodiment, a computer-readable storage medium is also provided for storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement all or part of the steps in the navigation tool calibration method for surgical navigation described above. For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, or optical data storage device, etc.

[0232] In one exemplary embodiment, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned actions. Figure 3 , Figure 4 or Figure 8 All or part of the steps of the method shown in any embodiment.

[0233] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0234] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method of calibrating a navigation tool for surgical navigation, the method comprising: The navigation tool comprises a navigation rod and a first tracking tool fixed on the navigation rod; The first tracking tool comprises at least three first positioning points; the method comprises: acquiring a first image, the first image being obtained by an image acquisition device when a vertex of the navigation rod is in contact with a target positioning point on a second tracking tool, the second tracking tool comprising at least three second positioning points, the target positioning point being any one of the at least three second positioning points, the second positioning point being a positioning point for being captured and tracked by the image acquisition device; based on the first image and coordinates of the at least three first positioning points in a first coordinate system, acquiring a first transformation matrix of a third coordinate system to the first coordinate system, the first coordinate system being a spatial coordinate system established based on the first tracking tool, the third coordinate system being a spatial coordinate system established based on the image acquisition device; based on the first image and coordinates of the at least three second positioning points in a second coordinate system, acquiring a second transformation matrix of the second coordinate system to the third coordinate system, the second coordinate system being a spatial coordinate system established based on the second tracking tool; based on the first transformation matrix, the second transformation matrix and the coordinates of the target positioning point in the second coordinate system, acquiring target coordinates of the vertex of the navigation rod in the first coordinate system, so as to realize calibration of the navigation tool.

2. The method of claim 1, wherein, The method comprises: acquiring a first coordinate set corresponding to the at least three first positioning points in the first coordinate system; based on the first image, acquiring a second coordinate set corresponding to the at least three first positioning points in the third coordinate system; generating the first transformation matrix based on the first coordinate set and the second coordinate set.

3. The method of claim 2, wherein, The method comprises: acquiring pixel positions of the at least three first positioning points in the first image, so as to acquire a two-dimensional coordinate set corresponding to the at least three first positioning points in a planar coordinate system, the planar coordinate system being a two-dimensional coordinate system in a plane in which the first image is located; based on the two-dimensional coordinate set corresponding to the at least three first positioning points in the planar coordinate system, acquiring the second coordinate set.

4. The method of claim 3, wherein, The method comprises: based on the two-dimensional coordinate set corresponding to the at least three first positioning points in the planar coordinate system and a third transformation matrix between the planar coordinate system and the third coordinate system, acquiring the second coordinate set.

5. The method of claim 2, wherein, The method comprises: generate an intermediate transformation matrix from the first coordinate system to the third coordinate system based on the first set of coordinates and the second set of coordinates; transpose the intermediate transformation matrix to obtain the first transformation matrix.

6. The method of claim 1, wherein, The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates.

7. The method of claim 1, wherein, The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; 8. The method of claim 1, wherein, generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates.

9. The method of claim 8, wherein, The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates. The method further comprises: obtaining a third set of coordinates of the at least three second positioning points in the second coordinate system; obtaining a fourth set of coordinates of the at least three second positioning points in the third coordinate system based on the first image; generating the second transformation matrix based on the third set of coordinates and the fourth set of coordinates.

10. The method of claim 1, wherein, The second tracking tool is a cube tracking tool, and the target positioning point is located on a top surface of the second tracking tool.

11. The method of claim 1, wherein, Before the first image is acquired, the method further includes: displaying a preview image captured in real time by the image capturing device in an image preview interface; displaying annotation information of the identified positioning point in the preview image, the identified positioning point including at least one of the first positioning point and the second positioning point identified from the preview image; The first image acquisition module is configured to acquire a first image, the first image being acquired by an image capturing device when a top point of the navigation tool contacts a target positioning point on a second tracking tool, the second tracking tool including at least three second positioning points, the target positioning point being any one of the at least three second positioning points, the second positioning points being positioning points for being captured and tracked by the image capturing device. The navigation tool includes a navigation rod and a first tracking tool fixed on the navigation rod; 12. A calibration method of a navigation tool for surgical navigation, characterized by, The first tracking tool includes at least three first positioning points, and the method includes: displaying an image preview interface, the image preview interface including a preview image display area and a calibration control; displaying a preview image captured in real time by an image capturing device in the preview image display area; completing calibration of the navigation tool in response to a top point of the navigation rod contacting a target positioning point on a second tracking tool and receiving a triggering operation on the calibration control, the second tracking tool including at least three second positioning points, the target positioning point being any one of the at least three second positioning points, the second positioning points being positioning points for being captured and tracked by the image capturing device. At least three first positioning points in a first coordinate system and at least three second positioning points in a second coordinate system are known, the first coordinate system being a spatial coordinate system established based on the first tracking tool, and the second coordinate system being a spatial coordinate system established based on the second tracking tool. The navigation tool includes a navigation rod and a first tracking tool fixed on the navigation rod; 13. A navigation tool calibration device for surgical navigation, characterized by, The first tracking tool includes at least three first positioning points, and the method includes: A first image acquisition module is configured to acquire a first image, the first image being acquired by an image capturing device when a top point of the navigation tool contacts a target positioning point on a second tracking tool, the second tracking tool including at least three second positioning points, the target positioning point being any one of the at least three second positioning points, the second positioning points being positioning points for being captured and tracked by the image capturing device. A first transformation matrix acquisition module is configured to acquire a first transformation matrix from a third coordinate system to a first coordinate system based on the first image and coordinates of the at least three first positioning points in the first coordinate system, the first coordinate system being a spatial coordinate system established based on the first tracking tool, and the third coordinate system being a spatial coordinate system established based on the image capturing device. ​ a second transformation matrix obtaining module, configured to obtain a second transformation matrix from the second coordinate system to the third coordinate system based on the first image and coordinates of the at least three second positioning points in the second coordinate system; the second coordinate system is a space coordinate system established based on the second tracking tool; a target coordinate obtaining module, configured to obtain target coordinates of the vertex of the navigation rod in the first coordinate system based on the first transformation matrix, the second transformation matrix and coordinates of the target positioning point in the second coordinate system, so as to realize calibration of the navigation tool.

14. A computer device, comprising: The computer device comprises a processor and a memory, and the memory stores at least one instruction, at least one program, a code set or an instruction set, which are loaded and executed by the processor to implement the navigation tool calibration method for surgical navigation according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one computer program, which is loaded and executed by the processor to implement the navigation tool calibration method for surgical navigation according to any one of claims 1 to 12.

Images