A method, apparatus, system, and medium for spatial registration for surgical navigation

Abstract

The application discloses a space registration method, device, system and storage medium for surgical navigation, wherein the method comprises the following steps: acquiring CT three-dimensional data and navigation data of a target object wearing a registration device, the registration device being provided with a self-owned feature pattern and at least three common feature patterns arranged in a neighborhood range of the self-owned feature pattern, the common feature patterns being made of a developing material; determining a first space position of the self-owned feature pattern in a navigation coordinate system corresponding to the navigation data, and determining second space positions of the common feature patterns in the navigation coordinate system according to the first space position; and performing registration on the navigation data and the CT three-dimensional data according to the second space positions and third space positions of the common feature patterns in the CT three-dimensional data, to obtain a space registration result. The method solves the problem that the existing registration method of the surgical navigation system cannot balance stability and operation convenience, and improves the stability and operation convenience of the registration of the surgical navigation system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to a spatial registration method, device, system and medium for surgical navigation. BACKGROUND

[0002] In surgical navigation, a surgical instrument can be tracked and guided in real time through navigation registration. The existing method of navigation registration based on a registration device requires accurate calibration of the registration device before leaving the factory, which is complex to operate. Moreover, during storage and use, deformation of the registration device can affect registration accuracy. Therefore, the stability and operational convenience of navigation registration need to be improved. In summary, the existing navigation registration method has the problem of being unable to balance stability and operational convenience. SUMMARY

[0003] The present application provides a spatial registration method, device, system and medium for surgical navigation to solve the problem of the existing navigation registration method being unable to balance stability and operational convenience.

[0004] According to an aspect of the present application, a spatial registration method for surgical navigation is provided, which comprises:

[0005] Obtaining CT three-dimensional data and navigation data of a target object wearing a registration device, the registration device being provided with a self-owned feature pattern and at least three common feature patterns arranged in a set neighborhood range of the self-owned feature pattern according to a set arrangement rule, the common feature patterns being made of a radiopaque material;

[0006] Determining a first spatial position of the self-owned feature pattern in a navigation coordinate system corresponding to the navigation data, and determining a second spatial position of each common feature pattern in the navigation coordinate system according to the first spatial position;

[0007] According to the second spatial position and a third spatial position of the common feature pattern in the CT three-dimensional data, the navigation data and the CT three-dimensional data are registered to obtain a spatial registration result for surgical navigation.

[0008] According to another aspect of the present application, a device is provided, which comprises:

[0009] A data acquisition module is configured to obtain CT three-dimensional data and navigation data of a target object wearing a registration device, the registration device being provided with a self-owned feature pattern and at least three common feature patterns arranged in a set neighborhood range of the self-owned feature pattern according to a set arrangement rule, the common feature patterns being made of a radiopaque material;

[0010] The position determining module is configured to determine a first spatial position of the self-owned feature pattern in a navigation coordinate system corresponding to the navigation data, and determine a second spatial position of each common feature pattern in the navigation coordinate system according to the first spatial position;

[0011] The registration module is configured to register the navigation data and the CT three-dimensional data according to the second spatial position and a third spatial position of the common feature pattern in the CT three-dimensional data, to obtain a spatial registration result for surgical navigation.

[0012] According to another aspect of the present application, a system is provided, which comprises:

[0013] The registration device is arranged at a relevant position of a surgical site of a target object, and is configured with a self-owned feature pattern and at least three common feature patterns arranged in a set arrangement rule within a set neighborhood range of the self-owned feature pattern, and the relevant position does not deform during a surgical process;

[0014] The navigation device is configured to acquire navigation data comprising the self-owned feature pattern and the common feature pattern;

[0015] at least one processor; and

[0016] a memory in communication with the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the spatial registration method for surgical navigation of any of the embodiments of the present application.

[0018] According to still another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the spatial registration method for surgical navigation of any of the embodiments of the present application when executed by the processor.

[0019] The technical solution of the embodiments of the present application improves the stability and operation convenience of navigation registration by performing spatial registration of the common feature pattern of the registration device in the navigation data and the CT three-dimensional data for surgical navigation.

[0020] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent from the following description. The acquisition, storage, use, processing, etc. of data in the technical solution of the present application all comply with the relevant provisions of national laws and regulations. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to make the technical solution in the embodiments of the present application clearer, the accompanying drawings needed in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by those skilled in the art without any creative effort based on the embodiments in the present application should belong to the protection scope of the present application.

[0022] Figure 1A is a structural block diagram of a surgical navigation system according to an embodiment of the present application;

[0023] Figure 1A is a structural schematic diagram of a registration device according to an embodiment of the present application;

[0024] Figure 2 is a flow chart of a spatial registration method for surgical navigation according to an embodiment of the present application;

[0025] Figure 3 is a flow chart of another spatial registration method for surgical navigation according to an embodiment of the present application;

[0026] Figure 4A is a structural block diagram of a spatial registration device for surgical navigation according to an embodiment of the present application;

[0027] Figure 4B is a structural block diagram of another spatial registration device for surgical navigation according to an embodiment of the present application;

[0028] Figure 4C is a structural block diagram of still another spatial registration device for surgical navigation according to an embodiment of the present application;

[0029] Figure 4D is a structural block diagram of yet another spatial registration device for surgical navigation according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the technical solution in the embodiments of the present application clearer, the accompanying drawings needed in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by those skilled in the art without any creative effort based on the embodiments in the present application should belong to the protection scope of the present application.

[0031] It is to be understood that the terms "first", "second", "third", and "fourth" and the like in the description and in the claims of the present application are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of data "or" means about any one member of the other alternative is optionally present, and that repeated use of "or" indicates a "and / or", such that, for example, a device containing integral parts X, Y, and / or Z is interpreted to contain one or each of X and Y and / or Z. Similarly, "comprising" and "containing" are to be interpreted as specifying the presence of stated features but not precluding the presence of one or more other features.

[0032] Figure 1A is a structural diagram of a surgical navigation system according to an embodiment of the present application, the components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the application described herein and / or claimed.

[0033] As shown in Figure 1A The system comprises a registration device 2, which is arranged at a relevant site of a surgical site of a target object, is configured with a self-feature pattern and at least three common feature patterns arranged in a set arrangement rule within a set neighborhood range of the self-feature pattern, and the relevant site does not deform during a surgical process; a navigation device 10, which is used to acquire navigation data including the registration device 2; at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is in communication connection with the at least one processor 11.

[0034] The relevant site is located near the surgical site of the target object. For example, in oral surgery, the patient wears the registration device 2, which is fixed to a tooth in good physiological condition of the patient, i.e., the tooth is at least not loose, so as to ensure that the configuration device 2 does not change position due to tooth loosening during CT three-dimensional data shooting and during the surgical process.

[0035] The self-feature pattern is a feature that can only be shot by the navigation device, and is configured as a strong feature, i.e., when identifying it on the navigation data, it is not easy to be disturbed by other features, and for example, can be a two-dimensional code or a feature code, etc.

[0036] In one embodiment, the number of common feature patterns is greater than or equal to three, and the at least three common feature patterns are arranged around the self-feature pattern. For example, Figure 1B is a structural diagram of a registration device according to an embodiment of the present application, as shown in Figure 1BAs shown, the registration device 75 is provided with a self-feature pattern 71, wherein the self-feature pattern 71 is a two-dimensional code pattern; and four common feature patterns 70 are arranged around the self-feature pattern 71 with a radius of 1 cm. The common feature pattern 70 is made of developing material, and the shape thereof can be selected as a spherical ball; and a fixed feature pattern 72 is provided on a reference plate 73, the reference plate 73 is configured to be connected with the registration device 75 through a connecting rod 74, and can be continuously photographed by the navigation device during the surgery. The connecting rod 74 is configured not to be deformed during the surgery, for example, the connecting rod 74 is made of a rigid material. The reference plate 73 is provided, so that the fixed feature pattern 72 on the reference plate 73 and the common feature pattern 70 can be positioned according to the spatial positional relationship therebetween.

[0037] The memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the surgical navigation system can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14. Various components in the surgical navigation system are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, a speaker, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0038] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 can execute the spatial registration method for surgical navigation described below.

[0039] Figure 2is a flowchart of a spatial registration method for surgical navigation provided by an embodiment of the present application, the embodiment can be applied to a scenario of preoperative navigation data registration with CT three-dimensional data based on a self-feature pattern and a common feature pattern arranged on a registration device worn by a target object, and the method is configured in a processor of a surgical navigation system.

[0040] As shown in Figure 2 A spatial registration method for surgical navigation includes the following steps:

[0041] S210, obtaining CT three-dimensional data and navigation data of a target object wearing a registration device, the registration device is provided with a self-feature pattern and at least three common feature patterns arranged in a set arrangement rule within a neighborhood range of the self-feature pattern, and the common feature pattern is made of a developing material.

[0042] In one embodiment, the CT three-dimensional data is computed tomography (CT) data of the target object wearing the registration device before surgery, and can also be other medical image data of the target object wearing the registration device.

[0043] In one embodiment, the navigation data of the target object wearing the registration device is obtained by a binocular navigation device. For example, the navigation data of the target object wearing the registration device can be obtained before oral surgery.

[0044] In one embodiment, the CT three-dimensional data of the target object includes the common feature pattern, and the navigation data includes the self-feature pattern and the common feature pattern. The common feature pattern is made of a developing material. For example, a high-density ball made of a CT developing material is used as the self-feature pattern. This has the advantage of facilitating the identification of the common feature pattern in the CT three-dimensional data and the navigation data, and improving the stability of navigation registration.

[0045] Optionally, the self-feature pattern is a feature code, and the feature code information in the navigation data can be extracted by image binarization, quadrilateral search or code information search. For example, the feature code information can be the number, side length, area, center coordinates and / or corner point coordinates of the feature code.

[0046] S220, determining a first spatial position of the self-feature pattern in a navigation coordinate system corresponding to the navigation data, and determining a second spatial position of each common feature pattern in the navigation coordinate system according to the first spatial position.

[0047] The first spatial position of the self-feature pattern in the navigation data can be extracted using existing image processing algorithms or training corresponding models, which are not limited by the present scheme.

[0048] Specifically, coordinates of the self-owned feature pattern in a coordinate system corresponding to the navigation data are extracted as the first spatial position; a polar coordinate system of the navigation data is established with the coordinates corresponding to the center of the self-owned feature pattern as the origin, as the navigation coordinate system; coordinates of the common feature patterns arranged around the self-owned feature pattern in the navigation coordinate system are determined in the navigation data according to the set neighborhood range and the set arrangement rule as the second spatial position. The advantage of this is that the search range of the common feature pattern can be reduced according to the self-owned feature pattern, the interference of noise is reduced, and the stability of spatial registration is improved.

[0049] Further, the first spatial position of the self-owned feature pattern in the navigation coordinate system corresponding to the navigation data is determined, and the second spatial position of each common feature pattern in the navigation coordinate system is determined according to the first spatial position, including:

[0050] Step a1, identifying the first spatial position of the self-owned feature pattern in the navigation coordinate system, and determining the neighborhood navigation data containing the common feature pattern according to the first spatial position and the set neighborhood range.

[0051] Specifically, coordinates of the self-owned feature pattern in a coordinate system corresponding to the navigation data are extracted as the first spatial position; a polar coordinate system of the navigation data is established with the coordinates corresponding to the center of the self-owned feature pattern as the origin, as the navigation coordinate system; coordinates of the common feature patterns arranged around the self-owned feature pattern in the navigation coordinate system are determined in the navigation data according to the set neighborhood range and the set arrangement rule as the second spatial position. The advantage of this is that the search range of the common feature pattern can be reduced according to the self-owned feature pattern, the interference of noise is reduced, and the stability of spatial registration is improved.

[0052] Step a2, determining the second spatial position of each common feature pattern in the navigation coordinate system according to the neighborhood navigation data.

[0053] The epipolar line constraint of the two neighborhood navigation data is established based on the coordinates of the camera optical center and the center point of the self-owned feature pattern of the two neighborhood navigation data; the polar coordinate system is established with the center point of the self-owned feature pattern in the corresponding coordinates in the two neighborhood navigation data as the origin and the epipolar line as the polar axis, and the conversion relationship between the polar coordinate system and the navigation coordinate system is determined; the feature points of the common feature pattern in the two neighborhood navigation data are matched according to the coordinates of the common feature pattern in the polar coordinate system and the epipolar line constraint in the two neighborhood navigation data, to obtain the matching result of the feature points of the common feature pattern, that is, the coordinates of the feature points in the polar coordinate system; the coordinates of the feature points in the navigation coordinate system are obtained as the second spatial position through the conversion relationship between the polar coordinate system and the navigation coordinate system.

[0054] In one embodiment, taking the high-density ball as an example of the common feature pattern, which is circular in the neighborhood navigation data, the two pieces of neighborhood navigation data obtained by the binocular navigation device are binarized, connected domain filtered, and subjected to Hough transform and other modes to extract the circle, and the sub-pixel boundary is fitted to obtain the coordinates of the feature points of each common feature pattern. The feature points of the common feature pattern in the two pieces of navigation data are matched based on the polar constraint to obtain the common feature matching result. The advantage of this is that only the feature points of the common feature pattern need to be searched on the polar line, and the entire neighborhood navigation data does not need to be searched, thereby reducing the amount of calculation and improving the speed of spatial registration. Here, the directions of the polar axes in the two pieces of neighborhood navigation data are not limited, as long as the directions of the polar axes in the two pieces of neighborhood navigation data are consistent.

[0055] Further, the position of the common feature pattern in the navigation coordinate system in the neighborhood navigation data is determined by the following method, comprising:

[0056] Step b1, identifying at least three candidate common feature patterns included in the neighborhood navigation data, and the second spatial position of each candidate common feature pattern in the navigation coordinate system.

[0057] Specifically, when at least three common feature patterns are identified in the navigation data, the at least three common feature patterns are taken as candidate common feature patterns, and the coordinates of the at least three candidate common feature patterns in the navigation coordinate system in the navigation data are determined as the second spatial positions.

[0058] Step b2, according to the first spatial position and each second spatial position, screening out the common feature pattern that meets the known position relationship from the at least three candidate common feature patterns, and determining the position of the common feature pattern in the navigation coordinate system.

[0059] The known position relationship is the position relationship between the self-feature pattern and each common feature pattern in the CT three-dimensional data.

[0060] Specifically, all candidate common feature patterns are screened according to the second spatial positions of each candidate common feature pattern and the position relationship between each common feature pattern in the CT three-dimensional data, and the second spatial position of the screened candidate common feature pattern is taken as the second spatial position of the common feature pattern.

[0061] S230, registering the navigation data and the CT three-dimensional data according to each second spatial position and the third spatial position of the common feature pattern in the CT three-dimensional data to obtain a spatial registration result for surgical navigation.

[0062] The position of the common characteristic pattern in the CT three-dimensional data is used as the third spatial position. By aligning the second spatial position and the third spatial position, the common characteristic pattern in the navigation data and the common characteristic pattern in the CT three-dimensional data are aligned, thereby achieving alignment between the navigation data and the CT three-dimensional data to obtain a spatial alignment result for surgical navigation.

[0063] The technical solution of this embodiment, by identifying the inherent characteristic patterns in the navigation data and establishing a navigation coordinate system, aligns the navigation data and CT three-dimensional data according to the position of the common characteristic patterns in the navigation coordinate system, obtains the spatial alignment results for surgical navigation, and further improves the stability and operational convenience of surgical spatial alignment.

[0064] Figure 3 This is a flowchart of another spatial registration method for surgical navigation provided by an embodiment of the present invention. This embodiment and the spatial registration method for surgical navigation in the above embodiment belong to the same inventive concept. On the basis of the above embodiment, after obtaining the spatial registration result for surgical navigation, the following steps are added: obtaining current navigation data including a consolidation feature pattern, and a spatial position correspondence between a pre-created consolidation feature pattern and a common feature pattern; determining the fourth spatial position of the consolidation feature pattern in the navigation coordinate system, and determining the position of the target structure in the CT three-dimensional data based on the spatial position correspondence and the fourth spatial position.

[0065] S310. Acquire CT three-dimensional data and navigation data of a target object wearing a registration device, wherein the registration device is provided with its own characteristic pattern and at least three common characteristic patterns arranged according to a set arrangement rule within a set neighborhood range of the own characteristic pattern, wherein the common characteristic pattern is made of a developing material.

[0066] The registration device and the reference plate are detachably connected, and this embodiment does not specifically limit the connection method.

[0067] S320: Determine a first spatial position of the own characteristic pattern in the navigation coordinate system corresponding to the navigation data, and determine a second spatial position of each shared characteristic pattern in the navigation coordinate system based on the first spatial position.

[0068] S330 , registering the navigation data with the CT three-dimensional data according to each second spatial position and the third spatial position of the common characteristic pattern in the CT three-dimensional data to obtain a spatial registration result for surgical navigation.

[0069] S3401 , obtaining current navigation data including a consolidation feature pattern and a pre-created spatial position correspondence between the consolidation feature pattern and the common feature pattern.

[0070] The spatial position correspondence is determined before surgery. When the registration device is connected with the reference plate, the navigation data of the common feature pattern and the inherent feature pattern on the registration device is obtained, the coordinates of the common feature pattern and the inherent feature pattern in the navigation coordinate system are obtained, the spatial position correspondence between the inherent feature pattern and the common feature pattern is obtained and stored; at this time, the spatial position correspondence between the inherent feature pattern and the common feature pattern is obtained in advance, which is combined with the spatial registration result to realize the registration of the navigation data and the CT three-dimensional data in the surgical navigation.

[0071] Further, the spatial position correspondence between the inherent feature pattern and the common feature pattern is determined, comprising:

[0072] Step c1, obtaining the reference navigation data including the inherent feature pattern and the common feature pattern.

[0073] Step c2, determining the spatial position correspondence between the inherent feature pattern and the common feature pattern according to the reference navigation data.

[0074] Specifically, before the surgical navigation, the navigation data including the inherent feature pattern and the common feature pattern is obtained as the reference navigation data; the reference navigation data is mapped into the target navigation coordinate system based on the coordinates of the inherent feature pattern in the reference navigation data, and the position relationship between the inherent feature pattern and the common feature pattern in the target navigation coordinate system is taken as the spatial position relationship between the inherent feature pattern and the common feature pattern.

[0075] S3402, determining the fourth spatial position of the inherent feature pattern in the navigation coordinate system, and determining the position of the target structure in the CT three-dimensional data according to the spatial position correspondence and the fourth spatial position, the target structure being any human structure with known position relationship with the common feature pattern in the CT three-dimensional data.

[0076] Specifically, the coordinates of the inherent feature pattern in the navigation coordinate system corresponding to the navigation process are determined as the fourth spatial position; the position of the target structure in the CT three-dimensional data is determined according to the spatial position correspondence between the target structure and the common feature pattern and the fourth spatial position.

[0077] The technical scheme of the embodiment, by setting the inherent feature pattern on the detachable reference plate, establishing the spatial position correspondence between the inherent feature pattern and the common feature pattern before the surgical navigation; the spatial position correspondence combined with the spatial registration result in the surgical navigation process can realize the spatial registration in the surgery, and further improve the operation convenience and stability of the spatial registration.

[0078] Figure 4A is a structural block diagram of a surgical navigation spatial device provided by an embodiment of the application. As shown inFigure 4A The device comprises:

[0079] The data acquisition module 401 is configured to acquire CT three-dimensional data and navigation data of a target object wearing the registration device, the registration device being provided with a self-feature pattern and at least three common feature patterns arranged in a set arrangement rule within a set neighborhood range of the self-feature pattern, the common feature patterns being made of a developing material;

[0080] The position determination module 402 is configured to determine a first spatial position of the self-feature pattern in a navigation coordinate system corresponding to the navigation data, and determine a second spatial position of each common feature pattern in the navigation coordinate system according to the first spatial position;

[0081] The registration module 403 is configured to register the navigation data and the CT three-dimensional data according to the second spatial position of each common feature pattern and a third spatial position of the common feature pattern in the CT three-dimensional data, to obtain a spatial registration result for surgical navigation.

[0082] Optionally, as shown in Figure 4B The device further comprises a surgical registration module 404, which is configured to:

[0083] acquire current navigation data comprising a fixed feature pattern, and a spatial position correspondence relationship between the fixed feature pattern and the common feature pattern created in advance, wherein the fixed feature pattern is arranged on a reference plate, the reference plate is configured to be connected to the registration device, and can be photographed by the navigation device at all times during the surgery;

[0084] determine a fourth spatial position of the fixed feature pattern in the navigation coordinate system, and determine a position of a target structure in the CT three-dimensional data according to the spatial position correspondence relationship and the fourth spatial position, the target structure being any human structure whose position relationship with the common feature pattern in the CT three-dimensional data is known.

[0085] Optionally, the position determination module 402 is further configured to:

[0086] identify the first spatial position of the self-feature pattern in the navigation coordinate system, and determine neighborhood navigation data containing the common feature pattern according to the first spatial position and the set neighborhood range;

[0087] determine the second spatial position of each common feature pattern in the navigation coordinate system according to the neighborhood navigation data.

[0088] Optionally, as shown in Figure 4C The device further comprises a spatial position correspondence module 405, which is configured to:

[0089] acquire reference navigation data comprising the fixed feature pattern and the common feature pattern;

[0090] determining the spatial positional relationship between the consolidation feature pattern and the common feature pattern according to the reference navigation data.

[0091] Optionally, as shown in Figure 4D the device further comprises a common feature determining module 406, configured to:

[0092] identifying at least three candidate common feature patterns included in the neighborhood navigation data, and a second spatial position of each candidate common feature pattern in the navigation coordinate system;

[0093] selecting a common feature pattern from the at least three candidate common feature patterns according to the first spatial position and each second spatial position, and determining the position of the common feature pattern in the navigation coordinate system, the known positional relationship being the spatial positional relationship between the self-feature pattern and each common feature pattern.

[0094] The technical solution of the embodiment improves the stability and operation convenience of navigation registration by mutual cooperation of each module to perform spatial registration of the common feature pattern of the registration device in the navigation data and CT three-dimensional data.

[0095] The spatial registration device for surgical navigation provided by the embodiment of the application can perform the spatial registration method for surgical navigation provided by any embodiment of the application, and has the corresponding function modules and beneficial effects of the execution method.

[0096] In some embodiments, the spatial registration method for surgical navigation can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18 in Figure 1A In some embodiments, part or all of the computer program can be loaded and / or installed on the surgical navigation system via the ROM 12 and / or the communication unit 19, as shown in Figure 1A When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for spatial registration X of surgical navigation described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the spatial registration method for surgical navigation by any other appropriate means (for example, by means of firmware).

[0097] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0098] Computer programs used to implement the processes of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package and partially on a remote machine or entirely on a remote machine or server.

[0099] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0100] To provide for interaction with a user, the systems and techniques described here can be implemented on a surgical navigation system having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the surgical navigation system. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0101] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet. The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server can arise by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0102] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in different orders, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0103] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and principles of the disclosure. Accordingly, the disclosure is not limited to the specific embodiments described above, but only by the scope of the appended claims.

Claims

1. A method for spatial registration for surgical navigation, characterized in that, The method comprises the following steps: obtaining CT three-dimensional data and navigation data of a target object wearing a registration device, the registration device being provided with a self-characteristic pattern and a common characteristic pattern; wherein the common characteristic pattern is made of a radiopaque material, the number of the common characteristic patterns is greater than or equal to three, and the at least three common characteristic patterns are arranged around the self-characteristic pattern within a set neighborhood range of the self-characteristic pattern; the navigation device includes navigation data of the registration device, and the self-characteristic pattern is a feature that can only be photographed by the navigation device; determining a first spatial position of the self-characteristic pattern in a navigation coordinate system corresponding to the navigation data, and determining a second spatial position of each common characteristic pattern in the navigation coordinate system according to the first spatial position; performing registration on the navigation data and the CT three-dimensional data according to the second spatial position of each common characteristic pattern and a third spatial position of the common characteristic pattern in the CT three-dimensional data, to obtain a spatial registration result for surgical navigation.

2. The method of claim 1, wherein, After obtaining the spatial registration result for surgical navigation, the method further comprises the following steps: obtaining current navigation data including a fixed characteristic pattern, and a spatial position correspondence relationship between the fixed characteristic pattern and the common characteristic pattern created in advance, wherein the fixed characteristic pattern is arranged on a reference plate, the reference plate is configured to be connected with the registration device, and the reference plate can be photographed by the navigation device at all times during the surgery; determining a fourth spatial position of the fixed characteristic pattern in the navigation coordinate system, and determining a position of a target structure in the CT three-dimensional data according to the spatial position correspondence relationship and the fourth spatial position, the target structure being any human structure whose position relationship with the common characteristic pattern in the CT three-dimensional data is known.

3. The method of claim 1, wherein, The step of determining the first spatial position of the self-characteristic pattern in the navigation coordinate system corresponding to the navigation data, and determining the second spatial position of each common characteristic pattern in the navigation coordinate system according to the first spatial position comprises the following steps: identifying the first spatial position of the self-characteristic pattern in the navigation coordinate system, and determining neighborhood navigation data including the common characteristic pattern according to the first spatial position and the set neighborhood range; determining the second spatial position of each common characteristic pattern in the navigation coordinate system according to the neighborhood navigation data.

4. The method of claim 2, wherein, The spatial position correspondence relationship between the fixed characteristic pattern and the common characteristic pattern is determined by the following steps: obtaining reference navigation data including the fixed characteristic pattern and the common characteristic pattern; determining the spatial position relationship between the fixed characteristic pattern and the common characteristic pattern according to the reference navigation data.

5. The method of claim 4, wherein, The registration device and the reference plate are detachably connected.

6. The method of claim 3, wherein, The position of the common characteristic pattern in the navigation coordinate system in the neighborhood navigation data is determined by the following method: identifying at least three candidate common characteristic patterns included in the neighborhood navigation data, and the second spatial position of each candidate common characteristic pattern in the navigation coordinate system; According to the first spatial position and each second spatial position, a common feature pattern meeting a known position relationship between the self-owned feature pattern and each common feature pattern is screened out from the at least three candidate common feature patterns, and a position of the common feature pattern in the navigation coordinate system is determined, the known position relationship being a spatial position relationship between the self-owned feature pattern and each common feature pattern.

7. The method of claim 1, wherein, The self-owned feature pattern is a two-dimensional code pattern.

8. A spatial registration device for surgical navigation, characterized in that Comprise: A data acquisition module is configured to acquire CT three-dimensional data and navigation data of a target object wearing a registration device, the registration device being provided with a self-owned feature pattern and a common feature pattern; wherein the common feature pattern is made of a developing material, the number of the common feature patterns is greater than or equal to three, and the at least three common feature patterns are arranged around the self-owned feature pattern within a neighborhood range of the self-owned feature pattern, the navigation device includes navigation data of the registration device, and the self-owned feature pattern is a feature that can only be photographed by the navigation device; A position determination module is configured to determine a first spatial position of the self-owned feature pattern in a navigation coordinate system corresponding to the navigation data, and determine a second spatial position of each common feature pattern in the navigation coordinate system according to the first spatial position; A registration module is configured to register the navigation data and the CT three-dimensional data according to each second spatial position and a third spatial position of the common feature pattern in the CT three-dimensional data, to obtain a spatial registration result for surgical navigation.

9. A surgical navigation system, characterized by The surgical navigation system comprises: A registration device is arranged at an associated part of a surgical site of a target object, the associated part not deforming during a surgical process; A navigation device is configured to acquire navigation data including the self-owned feature pattern and the common feature pattern; At least one processor; and A memory connected in communication with the at least one processor; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the spatial registration method for surgical navigation according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the spatial registration method for surgical navigation according to any one of claims 1-7 when executed.

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