Positioning method, apparatus, medium, and electronic device

Abstract

This disclosure relates to a positioning method, apparatus, medium, and electronic device. The positioning method includes: determining the position of a first lesion positioning point in the coordinate system of the image tracking device; determining the position of a first X-ray source in the coordinate system of the image tracking device; obtaining a second X-ray source position in the patient tracker coordinate system transformed from the first X-ray source position to the patient tracker coordinate system, and obtaining a second lesion positioning point position in the patient tracker coordinate system transformed from the first X-ray source position to the patient tracker coordinate system, based on a second transformation relationship between the patient tracker coordinate system and the image tracking device coordinate system, the first X-ray source position, and the first lesion positioning point position; and obtaining a lesion spatial positioning line in the patient tracker coordinate system where the lesion positioning point is located, based on the second X-ray source position and the second lesion positioning point position.

Description

Technical Field

[0001] This disclosure relates to the field of positioning technology, and more specifically, to a positioning method, apparatus, medium, and electronic device. Background Technology

[0002] Traditional surgery often relies on multiple CT scans taken before or during the operation to locate the lesion. Doctors then analyze the CT images to determine the surgical plan. Surgical navigation technology, however, provides a more intuitive and visual representation of the lesion, aiding in surgical planning. Furthermore, the navigation system can track the lesion in real time, making the surgery more precise.

[0003] Current surgical navigation technologies typically involve at least two CT scans, or a circumferential CT scan, followed by intraoperative registration to achieve positioning. For some surgeries that do not require fully constrained positioning with six degrees of freedom in space, the existing intraoperative spatial navigation technology, which relies on multiple CT scans, becomes redundant and cumbersome. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a positioning method, apparatus, medium, and electronic device.

[0005] According to one aspect of the present disclosure, a positioning method is provided, applied to a surgical positioning system, the surgical positioning system including a C-arm, wherein an image tracking device is fixed to the image receiving end of the C-arm, the image tracking device including a tracer and a calibration plate, the calibration plate including a plurality of markers with marked positions, the method comprising:

[0006] Based on the image position of the lesion location point on the two-dimensional image of the lesion area in the two-dimensional image coordinate system, and the first transformation relationship between the image tracking device coordinate system and the two-dimensional image coordinate system, the position of the first lesion location point in the coordinate system of the image tracking device is obtained. The first lesion location point is the intersection of the projection line of the lesion location point and the calibration plane of the image tracking device.

[0007] Based on the position of the X-ray source in the C-arm and the positional relationship between the X-ray source and the image tracking device, the first X-ray source position in the coordinate system of the image tracking device is obtained;

[0008] Based on the second transformation relationship between the patient tracer coordinate system and the image tracking device coordinate system, the first X-ray source position, and the first lesion location point position, the second X-ray source position in the patient tracer coordinate system is obtained by transforming the first X-ray source position to the second X-ray source position in the patient tracer coordinate system, and the second lesion location point in the patient tracer coordinate system is obtained by transforming the first lesion location point to the second lesion location point position in the patient tracer coordinate system.

[0009] Based on the location of the second radiation source and the location of the second lesion location point, the spatial positioning line of the lesion location point in the coordinate system of the patient tracer is obtained.

[0010] Optionally, the method further includes:

[0011] The first transformation relationship between the image tracking device coordinate system and the two-dimensional image coordinate system is determined as follows:

[0012] Obtain the image positions of multiple markers in the two-dimensional image coordinate system;

[0013] The first transformation relationship is obtained based on the positions of multiple markers in the coordinate system of the image tracking device and the corresponding image positions of the markers.

[0014] Optionally, the surgical positioning system further includes a visual positioning device, and the method further includes:

[0015] The visual positioning device determines a second transformation relationship between the coordinate system of the patient tracker and the coordinate system of the image tracking device based on the positions of the patient tracker and the image tracking device.

[0016] Optionally, the surgical positioning system further includes a visual positioning device, and after obtaining the spatial positioning line of the lesion location point in the patient tracer coordinate system, the method further includes:

[0017] After the position of the patient tracker changes, the amount of position change of the patient tracker is obtained through the visual positioning device;

[0018] Based on the change in position of the patient tracer, the spatial positioning line of the lesion is moved to obtain the moved spatial positioning line of the lesion.

[0019] Optionally, the method further includes:

[0020] The patient's lesion area is acquired by using the C-arm to obtain a two-dimensional image of the lesion area.

[0021] According to another aspect of the present disclosure, a positioning device is provided for use in a surgical positioning system. The surgical positioning system includes a C-arm, and an image tracking device is fixed to the image receiving end of the C-arm. The image tracking device includes a tracer and a calibration plate, and the calibration plate includes a plurality of markers with marked positions. The device includes:

[0022] The first determining module is used to obtain the position of the first lesion location point in the coordinate system of the image tracking device based on the image position of the lesion location point on the two-dimensional image of the lesion area in the two-dimensional image coordinate system and the first transformation relationship between the coordinate system of the image tracking device and the two-dimensional image coordinate system. The first lesion location point is the intersection of the projection line of the lesion location point and the calibration plane of the image tracking device.

[0023] The second determining module is used to determine the first X-ray source position of the X-ray source in the coordinate system of the image tracking device based on the position of the X-ray source of the C-arm and the positional relationship between the X-ray source and the image tracking device.

[0024] The third determining module is used to obtain, based on the second transformation relationship between the patient tracer coordinate system and the image tracking device coordinate system, the first radiation source position, and the first lesion positioning point position, the second radiation source position transformed to the patient tracer coordinate system, and the second lesion positioning point position transformed to the patient tracer coordinate system.

[0025] The fourth determining module is used to obtain the spatial positioning line of the lesion positioning point in the patient tracer coordinate system based on the position of the second radiation source and the position of the second lesion positioning point.

[0026] Optionally, the first determining module determines the first transformation relationship between the image tracking device coordinate system and the two-dimensional image coordinate system in the following manner:

[0027] Obtain the image positions of multiple markers in the two-dimensional image coordinate system;

[0028] The first transformation relationship is obtained based on the positions of multiple markers in the coordinate system of the image tracking device and the corresponding image positions of the markers.

[0029] Optionally, the surgical positioning system further includes a visual positioning device, and the third determining module is further configured to:

[0030] The visual positioning device determines a second transformation relationship between the coordinate system of the patient tracker and the coordinate system of the image tracking device based on the positions of the patient tracker and the image tracking device.

[0031] Optionally, the surgical positioning system further includes a visual positioning device, and after obtaining the spatial positioning line of the lesion location point in the patient tracer coordinate system, the third determining module is further configured to:

[0032] After the position of the patient tracker changes, the amount of position change of the patient tracker is obtained through the visual positioning device;

[0033] Based on the change in position of the patient tracer, the spatial positioning line of the lesion is moved to obtain the moved spatial positioning line of the lesion.

[0034] Optionally, the first determining module is further configured to:

[0035] The patient's lesion area is acquired by using the C-arm to obtain a two-dimensional image of the lesion area.

[0036] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided, which stores computer-executable instructions that, when executed by a processor, perform the positioning method of the first aspect or any example of the first aspect.

[0037] According to another aspect of this disclosure, an electronic device is provided, comprising: a memory having a computer program stored thereon;

[0038] A processor is configured to execute the computer program in the memory to implement the positioning method in the first aspect or any example of the first aspect.

[0039] Through the above technical solution, surgeries that do not require fully constrained positioning with 6 degrees of freedom in space can be achieved based on a surgical positioning system including a C-arm. The image receiving end of the C-arm is fixed with an image tracking device, which includes a tracer and a calibration plate. The calibration plate includes multiple markers with pre-marked positions. Since the positional relationship between the X-ray source of the C-arm and the image tracking device fixed to the image receiving end of the C-arm is known, only one two-dimensional image of the patient's lesion needs to be taken. Based on the image position of the lesion's location point in the two-dimensional image, and the determined positional relationship between the X-ray source, the patient's lesion area, and the image tracking device, the spatial line of the lesion can be located. Because only one image of the patient is required, the harm of X-rays to the patient is reduced, and the surgical navigation process is simplified, shortening the operation time.

[0040] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0041] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0042] Figure 1This is a flowchart illustrating a positioning method according to an exemplary embodiment.

[0043] Figure 2 This is a block diagram illustrating a positioning device according to an exemplary embodiment.

[0044] Figure 3 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0045] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0046] Current surgical navigation technologies typically require at least two CT scans of the patient's lesion area, or a circumferential CT scan of the lesion area, followed by intraoperative registration based on the CT images to achieve localization. The use of multiple CT scans in current surgical navigation technologies undoubtedly increases the risk of X-ray damage to the patient and prolongs the operation time.

[0047] In view of this, the positioning method disclosed herein, for surgeries that do not require fully constrained positioning with 6 degrees of freedom in space, can be implemented based on a surgical positioning system including a C-arm. The image receiving end of the C-arm is fixed with an image tracking device, which includes a tracer and a calibration plate. The calibration plate includes multiple markers with pre-marked positions. Since the positional relationship between the X-ray source of the C-arm and the image tracking device fixed to the image receiving end of the C-arm is known, only one two-dimensional image of the patient's lesion needs to be taken. Based on the image position of the lesion's location point in the two-dimensional image, and the determined positional relationship between the X-ray source, the patient's lesion area, and the image tracking device, the spatial line of the lesion can be located. Because only one image of the patient is required, the harm of X-rays to the patient is reduced, and the surgical navigation process is simplified, shortening the surgical time.

[0048] Figure 1 This is a flowchart illustrating a positioning method according to an exemplary embodiment, such as... Figure 1 As shown, the positioning method includes the following steps.

[0049] In step S11, the patient's lesion area is acquired through the C-arm to obtain a two-dimensional image of the lesion area.

[0050] The C-arm is used to acquire images of the patient's lesion area, resulting in a two-dimensional image of the lesion area. Then, based on the patient tracker, the image tracking device fixed to the image receiver of the C-arm, and the two-dimensional image of the patient's lesion area, a patient tracker coordinate system (denoted as O) can be established. p The coordinate system of the image tracking device is the C-arm coordinate system (denoted as O).c ) and the two-dimensional image coordinate system, i.e., the image coordinate system (denoted as O) i ).

[0051] Among them, the patient tracer coordinate system can move with the movement of the patient's lesion area, the image tracking device coordinate system can move with the movement of the C-arm, and the two-dimensional image coordinate system represents the image coordinates of the object captured by the C-arm.

[0052] In step S12, a first transformation relationship is determined between the coordinate system of the image tracking device and the coordinate system of the two-dimensional image.

[0053] In one implementation, for example, the first transformation relationship between the image tracking device coordinate system and the two-dimensional image coordinate system can be determined in the following manner:

[0054] According to the imaging principle of the C-arm:

[0055]

[0056] The intrinsic parameter matrix of the C-arm The extrinsic parameter matrix of the C-arm. The physical coordinates of a point in the world coordinate system. For the corresponding point on the 2D image captured by the C-arm, in the 2D image coordinate system O i The image location is Z, where Z is the scale factor.

[0057] The coordinate system O of the image tracking device c As a world coordinate system, since the coordinates of the markers on the image tracking and positioning device are known, and the world coordinates of the markers W = 0, the intrinsic and extrinsic parameter matrices can be obtained using four non-collinear markers. Let... but The first transformation relationship between the coordinate system of the image tracking device and the two-dimensional image coordinate system can be obtained.

[0058] Furthermore, the step of determining the first transformation relationship between the image tracking device coordinate system and the two-dimensional image coordinate system can be performed after step S11, or it can be determined in advance before performing the positioning method of this disclosure. This disclosure does not limit this step.

[0059] In step S13, the visual positioning device determines a second transformation relationship between the coordinate system of the patient tracker and the coordinate system of the image tracking device based on the positions of the patient tracker and the image tracking device.

[0060] The visual positioning device includes, for example, a positioning camera and a tracker. The positioning camera can establish the relative spatial relationship between the patient tracker and the tracker installed on the image tracking device.

[0061] In step S14, based on the image position of the lesion location point in the two-dimensional image of the lesion area and the first transformation relationship between the coordinate system of the image tracking device and the coordinate system of the two-dimensional image, the position of the first lesion location point in the coordinate system of the image tracking device is obtained. The first lesion location point is the intersection of the projection line of the lesion location point and the calibration plane of the image tracking device.

[0062] That is, for any point on the calibration plane of the image tracking device, the coordinates x in the coordinate system of the image tracking device are... c y c z c (z c =0), its projection onto the two-dimensional image corresponds to the two-dimensional image coordinate system O. i The coordinates below are u i v i They all Because z c =0, in the known and Under what circumstances can it be obtained?

[0063] Therefore, since the X-ray source passes through the patient's lesion location point to reach the image receiver, the image receiver forms a CT image. The X-ray source, the lesion location point, and the projection point of the image receiver form a straight line L. Line L is defined as the projection line of the lesion location point. Line L intersects the calibration plane of the image tracking device at a single point. Therefore, the image position of the lesion location point in the two-dimensional image of the lesion area is... In the coordinate system of the image tracking device (O) c The location of the first lesion under the subtraction is as follows: This location That is, the intersection of line L and the calibration plane of the image tracking device, then according to It can be obtained

[0064] In step S15, the first X-ray source position of the X-ray source in the coordinate system of the image tracking device is obtained based on the position of the X-ray source of the C-arm and the positional relationship between the X-ray source and the image tracking device.

[0065] In one embodiment, based on the position of the X-ray source (denoted as point X) in the C-arm and the positional relationship between the X-ray source and the image tracking device, the position of the X-ray source in the image tracking device coordinate system (O) can be obtained. c The location of the first ray source under () is denoted as

[0066] In step S16, based on the second transformation relationship between the patient tracer coordinate system and the image tracking device coordinate system, the first X-ray source position, and the first lesion location point position, the second X-ray source position in the patient tracer coordinate system is obtained by transforming the first X-ray source position to the second X-ray source position in the patient tracer coordinate system, and the second lesion location point in the patient tracer coordinate system is obtained by transforming the first lesion location point to the second lesion location point position in the patient tracer coordinate system.

[0067] In one implementation, for example, the coordinate system O of the image tracking device can be obtained through a visual positioning camera. c With respect to the patient tracer coordinate system O p The second transformation relationship between them is denoted as

[0068] Because for any point in space, its coordinates in the patient tracer coordinate system O p The coordinates below are (x p y p , z p In the C-arm coordinate system O c The coordinates below are (x c y c , z c ),have

[0069] The location of the first lesion will be transformed to the coordinate system of the image tracking device based on the image location. Substituting into the formula, we can obtain the location of the second lesion location point in the patient tracer coordinate system after transforming the first lesion location point, denoted as . The X-ray source is positioned in the coordinate system of the image tracking device (O). c The location of the first radiation source under ) Substituting into the above formula, we can obtain the position of the radiation source transformed into the coordinate system of the patient tracer (O). p The location of the second ray source under () is denoted as

[0070] In step S17, based on the location of the second radiation source and the location of the second lesion location point, the spatial positioning line of the lesion location point in the patient tracer coordinate system is obtained.

[0071] According to the second radiation source position X p and the location of the second lesion Get including and X p The line connecting them is denoted as L. p Then the location of the patient's lesion in the coordinate system of the patient tracer must lie on the line L. psuperior.

[0072] Furthermore, after the position of the patient tracker changes, there is no need for the C-arm to take another picture of the patient's lesion area. It is only necessary to obtain the position change of the patient tracker through the visual positioning device included in the surgical positioning system, and move the lesion spatial positioning line according to the position change of the patient tracker to obtain the moved lesion spatial positioning line.

[0073] In an exemplary embodiment of this disclosure, for surgeries requiring fully constrained positioning without spatial 6 degrees of freedom, a surgical positioning system including a C-arm can be implemented. The image receiving end of the C-arm is fixed with an image tracking device, which includes a tracer and a calibration plate. The calibration plate includes multiple markers with pre-marked positions. Since the positional relationship between the X-ray source of the C-arm and the image tracking device fixed to the image receiving end of the C-arm is known, only one two-dimensional image of the patient's lesion needs to be taken. Based on the image position of the lesion's location point in the two-dimensional image and the determined positional relationship between the X-ray source, the patient's lesion area, and the image tracking device, the spatial line of the lesion can be located. Because only one image of the patient is required, the harm of X-rays to the patient is reduced, while the surgical navigation process is simplified and the surgical time is shortened.

[0074] Figure 2 This is a block diagram illustrating a positioning device 200 according to an exemplary embodiment. (Refer to...) Figure 2 This device is used in a surgical positioning system, which includes a C-arm. An image tracking device is fixed to the image receiving end of the C-arm. The image tracking device includes a tracer and a calibration plate. The calibration plate includes multiple markers with pre-marked positions. The device includes:

[0075] The first determining module 201 is used to obtain the position of the first lesion location point in the image tracking device coordinate system based on the image position of the lesion location point on the two-dimensional image of the lesion area in the two-dimensional image coordinate system and the first transformation relationship between the image tracking device coordinate system and the two-dimensional image coordinate system. The first lesion location point is the intersection of the projection line of the lesion location point and the calibration plane of the image tracking device.

[0076] The second determining module 202 is used to determine the first X-ray source position of the X-ray source in the coordinate system of the image tracking device based on the position of the X-ray source of the C-arm and the positional relationship between the X-ray source and the image tracking device.

[0077] The third determining module 203 is used to obtain, based on the second transformation relationship between the patient tracer coordinate system and the image tracking device coordinate system, the first radiation source position, and the first lesion positioning point position, the second radiation source position transformed to the patient tracer coordinate system and the second lesion positioning point position transformed to the patient tracer coordinate system.

[0078] The fourth determining module 204 is used to obtain the spatial positioning line of the lesion positioning point in the patient tracer coordinate system based on the position of the second radiation source and the position of the second lesion positioning point.

[0079] Optionally, the first determining module 201 determines the first transformation relationship between the image tracking device coordinate system and the two-dimensional image coordinate system in the following manner:

[0080] Obtain the image positions of multiple markers in the two-dimensional image coordinate system;

[0081] The first transformation relationship is obtained based on the positions of multiple markers in the coordinate system of the image tracking device and the corresponding image positions of the markers.

[0082] Optionally, the surgical positioning system further includes a visual positioning device, and the third determining module 203 is further configured to:

[0083] The visual positioning device determines a second transformation relationship between the coordinate system of the patient tracker and the coordinate system of the image tracking device based on the positions of the patient tracker and the image tracking device.

[0084] Optionally, the surgical positioning system further includes a visual positioning device. After obtaining the spatial positioning line of the lesion location point in the patient tracer coordinate system, the third determining module 203 is further configured to:

[0085] After the position of the patient tracker changes, the amount of position change of the patient tracker is obtained through the visual positioning device;

[0086] Based on the change in position of the patient tracer, the spatial positioning line of the lesion is moved to obtain the moved spatial positioning line of the lesion.

[0087] Optionally, the first determining module 201 is further configured to:

[0088] The patient's lesion area is acquired by using the C-arm to obtain a two-dimensional image of the lesion area.

[0089] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0090] Figure 3 This is a block diagram illustrating an electronic device 700 according to an exemplary embodiment. For example... Figure 3 As shown, the electronic device 700 may include a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0091] The processor 701 controls the overall operation of the electronic device 700 to complete all or part of the steps in the positioning method described above. The memory 702 stores various types of data to support the operation of the electronic device 700. This data may include, for example, instructions for any application or method operating on the electronic device 700, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 703 may include a screen and audio components. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 702 or transmitted via communication component 705. The audio component also includes at least one speaker for outputting audio signals. I / O interface 704 provides an interface between processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0092] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the positioning method described above.

[0093] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the positioning method described above. For example, the computer-readable storage medium may be the memory 702 including program instructions described above, which may be executed by the processor 701 of the electronic device 700 to complete the positioning method described above.

[0094] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the positioning method described above when executed by the programmable device.

[0095] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0096] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0097] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A positioning method applied to a surgical positioning system, the surgical positioning system comprising a C-arm, an image tracking device being fixed to an image receiving end of the C-arm, the image tracking device comprising a tracer and a calibration board, the calibration board comprising a plurality of markers at marked positions, the method comprising: obtaining a first lesion positioning point in a coordinate system of the image tracking device according to an image position of a lesion positioning point on a two-dimensional image of a lesion area in a two-dimensional image coordinate system and a first conversion relationship between the coordinate system of the image tracking device and the two-dimensional image coordinate system, the first lesion positioning point being an intersection point of a projection line of the lesion positioning point and a calibration plane of the image tracking device; obtaining a first X-ray source position in the coordinate system of the image tracking device according to a position of an X-ray source of the C-arm and a positional relationship between the X-ray source and the image tracking device; obtaining a second X-ray source position in a coordinate system of a patient tracer by converting the first X-ray source position to the coordinate system of the patient tracer according to a second conversion relationship between the coordinate system of the patient tracer and the coordinate system of the image tracking device, the first X-ray source position and the first lesion positioning point; and obtaining a lesion space positioning line of the lesion positioning point in the coordinate system of the patient tracer according to the second X-ray source position and the second lesion positioning point. The method further comprises: determining the first conversion relationship between the coordinate system of the image tracking device and the two-dimensional image coordinate system by: obtaining image positions of the plurality of markers in the two-dimensional image coordinate system; and obtaining the first conversion relationship according to positions of the plurality of markers in the coordinate system of the image tracking device and the image positions of the corresponding markers. The surgical positioning system further comprises a visual positioning device, and the method further comprises: determining the second conversion relationship between the coordinate system of the patient tracer and the coordinate system of the image tracking device by the visual positioning device according to positions of the patient tracer and the image tracking device. The surgical positioning system further comprises a visual positioning device, and after obtaining the lesion space positioning line of the lesion positioning point in the coordinate system of the patient tracer, the method further comprises: obtaining a position change amount of the patient tracer by the visual positioning device after the position of the patient tracer changes; and moving the lesion space positioning line according to the position change amount of the patient tracer to obtain a moved lesion space positioning line. The method further comprises: obtaining a two-dimensional image of a lesion area of a patient by the C-arm.

2. The method of claim 1, wherein, 6.A positioning device applied to a surgical positioning system, the surgical positioning system comprising a C-arm, an image tracking device being fixed to an image receiving end of the C-arm, the image tracking device comprising a tracer and a calibration board, the calibration board comprising a plurality of markers at marked positions, the device comprising: ​ ​ ​ 3. The method of claim 1, wherein, ​ ​ 4. The method of claim 1, wherein, ​ ​ ​ 5. The method of claim 1, wherein, ​ ​ ​ The first determining module is configured to obtain a first lesion positioning point position in the image tracking device coordinate system according to an image position of the lesion positioning point on a two-dimensional image of a lesion area in a two-dimensional image coordinate system and a first conversion relationship between the image tracking device coordinate system and the two-dimensional image coordinate system, the first lesion positioning point being an intersection point of a projection line of the lesion positioning point and a calibration plane of the image tracking device. The second determining module is configured to obtain a first X-ray source position of the X-ray source in the image tracking device coordinate system according to a position of the X-ray source of the C-arm and a positional relationship between the X-ray source and the image tracking device. The third determining module is configured to obtain a second X-ray source position converted from the first X-ray source position to a patient tracker coordinate system and a second lesion positioning point position converted from the first lesion positioning point position to the patient tracker coordinate system according to a second conversion relationship between the patient tracker coordinate system and the image tracking device coordinate system, the first X-ray source position and the first lesion positioning point position. The fourth determining module is configured to obtain a lesion space positioning line of the lesion positioning point in the patient tracker coordinate system according to the second X-ray source position and the second lesion positioning point position.

7. The apparatus of claim 6, wherein, The first determining module determines the first conversion relationship between the image tracking device coordinate system and the two-dimensional image coordinate system in the following manner: Obtain image positions of a plurality of markers in the two-dimensional image coordinate system. Obtain the first conversion relationship according to positions of the plurality of markers in the image tracking device coordinate system and the image positions of the corresponding markers.

8. The apparatus of claim 6, wherein, The surgical positioning system further comprises a visual positioning device, and the third determining module is further configured to: Determine the second conversion relationship between the patient tracker coordinate system and the image tracking device coordinate system according to positions of the patient tracker and the image tracking device by using the visual positioning device.

9. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the steps of the method in any one of claims 1-5.

10. An electronic device, comprising: The program is executed by the processor to implement the steps of the method in any one of claims 1-5. The program is executed by the processor to implement the steps of the method in any one of claims 1-5. The program is executed by the processor to implement the steps of the method in any one of claims 1-5.

Images