Image navigation method and navigation system

Abstract

The application provides an image navigation method and a navigation system. The image navigation method comprises the following steps: obtaining three-dimensional imaging data and a system imaging matrix of a surgical area; implanting a guide needle positioning assembly in the surgical area; performing two-dimensional imaging on the surgical area containing the guide needle positioning assembly to obtain a two-dimensional imaging image; segmenting the position of the guide needle positioning assembly in the two-dimensional imaging image; calculating the projection matrix of the guide needle positioning assembly in the two-dimensional imaging image; and calculating the position of the guide needle positioning assembly in the three-dimensional imaging data based on the system imaging matrix and the projection matrix. Compared with the prior art, the image navigation method and the navigation system can solve the error factors of traditional optical navigation and realize high-precision navigation.

Description

Technical Field

[0001] This invention relates to an image navigation method and navigation system, belonging to the field of medical surgical navigation. Background Technology

[0002] Most existing surgical navigation systems are based on optical positioning systems, which use binocular optical principles and markings placed on surgical tools and the human body to construct a digital virtual positional relationship between the surgical tools and the human body structure.

[0003] However, this method requires fixing markers (usually infrared reflective spheres) on the human body surface and deriving the internal structure of the body from these markers. If the markers are not firmly fixed and move, or if the human body shifts or breathes, the spatial location of the "derived" internal structure will be inaccurate, leading to deviations during surgical navigation.

[0004] In view of this, it is indeed necessary to propose improvements to image navigation methods and navigation systems in order to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a high-precision image navigation method.

[0006] To achieve the above objectives, the present invention provides an image navigation method, comprising the following steps:

[0007] Obtain three-dimensional imaging data of the surgical area and the system imaging matrix;

[0008] A guide needle positioning component is implanted in the surgical area;

[0009] Two-dimensional imaging is performed on the surgical area containing the guide needle positioning component to obtain a two-dimensional imaging image;

[0010] The position of the guide pin positioning component is segmented in the two-dimensional imaging image;

[0011] Calculate the projection matrix of the guide pin positioning component in the two-dimensional imaging image;

[0012] Based on the system imaging matrix and the projection matrix, the position of the guide pin positioning component in the three-dimensional imaging data is calculated.

[0013] As a further improvement of the present invention, calculating the projection matrix of the guide pin positioning component in the two-dimensional imaging image includes: calculating the projection matrix of the guide pin positioning component in the two-dimensional imaging image based on the three-dimensional coordinates of the guide pin positioning component itself.

[0014] As a further improvement of the present invention, the position of the guide pin positioning component in the three-dimensional imaging data is calculated based on the system imaging matrix and the projection matrix, including:

[0015] Based on the camera calibration algorithm, the system imaging matrix is ​​decomposed into the first intrinsic parameter matrix and the first extrinsic parameter matrix of the camera;

[0016] Based on the camera calibration algorithm, the projection matrix is ​​decomposed into the camera's second intrinsic parameter matrix and second extrinsic parameter matrix;

[0017] Based on the first extrinsic matrix and the second extrinsic matrix, the position of the guide pin positioning component in the three-dimensional imaging data is calculated.

[0018] As a further improvement of the present invention, the three-dimensional coordinates of the three-dimensional imaging data are equal to the product of the ratio of the second extrinsic matrix to the first extrinsic matrix and the three-dimensional coordinates of the guide pin positioning component.

[0019] As a further improvement of the present invention, the axial direction of the guide pin positioning assembly is set to be parallel to the positioning direction of the X-ray.

[0020] As a further improvement of the present invention, two-dimensional imaging is performed on the surgical area containing the guide needle positioning component in the axial direction to obtain a two-dimensional imaging image.

[0021] Another object of the present invention is to provide a navigation system that applies the above-described image navigation method.

[0022] To achieve the above objectives, the present invention provides a navigation system, comprising:

[0023] Imaging equipment for scanning surgical areas, including an X-ray source for emitting X-rays and a detector for receiving X-rays;

[0024] The guide needle positioning assembly is used to locate the surgical area and has an axial direction parallel to the positioning direction of the X-ray.

[0025] The control component executes the image navigation method described above.

[0026] As a further improvement of the present invention, the guide pin positioning assembly includes a guide pin and a mold positioning component, wherein the guide pin extends in the axial direction and is detachably connected to the mold positioning component.

[0027] As a further improvement of the present invention, the mold positioning component includes a mold body and a positioning ball. The mold body includes an upper end face and a lower end face. Both the upper end face and the lower end face are provided with a plurality of positioning holes, and the positioning ball is installed in the positioning holes.

[0028] As a further improvement of the present invention, the navigation system further includes a display device on which the position of the guide pin positioning component is displayed in the three-dimensional imaging data.

[0029] The beneficial effects of this invention are as follows: The image navigation method of this invention first obtains three-dimensional imaging data of the surgical area and a system imaging matrix. Then, after implanting the guide needle positioning component in the surgical area, it obtains a two-dimensional imaging image of the surgical area containing the guide needle positioning component and a projection matrix of the guide needle positioning component in the two-dimensional imaging image. Based on the system imaging matrix and the projection matrix, the position of the guide needle positioning component in the three-dimensional imaging data is calculated. Thus, by utilizing the direct positioning of the guide needle positioning component, the mapping from the two-dimensional imaging image to the three-dimensional imaging image is realized. This image navigation method can solve the error factors of traditional optical navigation, achieve high-precision navigation, and at the same time reduce the doctor's reliance on experience. Attached Figure Description

[0030] Figure 1 This is a flowchart of the image navigation method according to a preferred embodiment of the present invention.

[0031] Figure 2 yes Figure 1 The flowchart illustrates a method for performing two-dimensional imaging on a surgical area containing the guide needle positioning component to obtain a two-dimensional imaging image.

[0032] Figure 3 yes Figure 1 The flowchart illustrates a method for calculating the position of the guide pin positioning component in three-dimensional imaging data based on the system imaging matrix and the projection matrix.

[0033] Figure 4 yes Figure 1 A schematic diagram of coordinate transformation in the image navigation method.

[0034] Figure 5 This is a structural block diagram of a navigation system according to a preferred embodiment of the present invention.

[0035] Figure 6 yes Figure 5 A schematic diagram of the Chinese navigation system.

[0036] Figure 7 This is a three-dimensional schematic diagram of the guide pin positioning component according to a preferred embodiment of the present invention.

[0037] Figure 8 yes Figure 7 Exploded view of the structure. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and / or processing steps closely related to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0040] Additionally, it should be noted that the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Please see Figures 1 to 8 As shown, the present invention provides an image navigation method and a navigation system 100. The navigation system 100 can reduce costs by applying the image navigation method, and can use direct image navigation for direct positioning in surgery with high accuracy. It solves the error impression of optical navigation from the technical principle, realizes high-precision navigation, and thus improves the accuracy of surgery.

[0042] The image navigation method, applied to the navigation system 100, includes the following steps:

[0043] S1: Obtain three-dimensional imaging data of the surgical area and the system imaging matrix M;

[0044] S2: Implant the guide needle positioning component 20 in the surgical area;

[0045] S3: Perform two-dimensional imaging on the surgical area containing the guide needle positioning component 20 to obtain a two-dimensional imaging image;

[0046] S4: Segment the position of the guide pin positioning component 20 in the two-dimensional imaging image;

[0047] S5: Calculate the projection matrix of the guide pin positioning component 20 in the two-dimensional imaging image;

[0048] S6: Based on the system imaging matrix M and the projection matrix M1, calculate the position of the guide pin positioning component 20 in the three-dimensional imaging data.

[0049] By first obtaining three-dimensional imaging data of the surgical area and the system imaging matrix, and then implanting the guide needle positioning component 20 in the surgical area, a two-dimensional imaging image of the surgical area containing the guide needle positioning component 20 and the projection matrix of the guide needle positioning component 20 in the two-dimensional imaging image are obtained. Based on the system imaging matrix and the projection matrix, the position of the guide needle positioning component 20 in the three-dimensional imaging data is calculated. Thus, by using the direct positioning of the guide needle positioning component 20, the mapping from the two-dimensional imaging image to the three-dimensional imaging image is realized. This image navigation method can solve the error factors of traditional optical navigation, achieve high-precision navigation, and at the same time reduce the doctor's reliance on experience.

[0050] Specifically, the surgical area is scanned by the imaging device 10 in the navigation system 100 to obtain three-dimensional imaging data of the surgical area. Simultaneously, the navigation system 100 also includes another phantom calibration component, which is used to calibrate the entire navigation system 100 when the imaging device 10 performs a three-dimensional scan of the patient's surgical area to obtain a system imaging matrix M. Preferably, the system imaging matrix...

[0051] Then, the guide needle positioning component 20 is implanted into the human body in the surgical area.

[0052] The surgical area containing the guide needle positioning component 20 is scanned to obtain a two-dimensional imaging image of the surgical area containing the guide needle positioning component 20.

[0053] Preferably, step S3: performing two-dimensional imaging on the surgical area containing the guide needle positioning component 20 to obtain a two-dimensional imaging image, further includes:

[0054] Step S31: Set the axial direction of the guide pin positioning assembly 20 to be parallel to the positioning direction of the X-ray.

[0055] Step S32: Perform two-dimensional imaging on the surgical area containing the guide needle positioning component 20 in the axial direction to obtain a two-dimensional imaging image.

[0056] That is, when scanning the surgical area containing the guide needle positioning component 20, the imaging device 10 is first moved so that the positioning direction of the X-rays emitted by the X-ray source 11 of the imaging device 10 is parallel to the axial direction of the guide needle positioning component 20. This parallelism can be absolute or approximately parallel. The surgical area is then scanned along this axial direction to obtain a two-dimensional imaging image of the surgical area containing the guide needle positioning component 20.

[0057] Then, the position of the guide pin positioning component 20 is segmented in the two-dimensional imaging image using the Hough transform line detection technique.

[0058] Further, step S5: calculating the projection matrix of the guide pin positioning component 20 in the two-dimensional imaging image includes: calculating the projection matrix M1 of the guide pin positioning component 20 in the two-dimensional imaging image based on its own three-dimensional coordinates. Since the guide pin positioning component 20 is equipped with positioning components such as positioning balls 222, its three-dimensional coordinates can be directly determined, and the projection matrix M1 of the guide pin positioning component 20 in the two-dimensional imaging image is calculated based on these three-dimensional coordinates. Preferably, the projection matrix...

[0059] Further, step S6: Calculating the position of the guide pin positioning component 20 in the three-dimensional imaging data based on the system imaging matrix and the projection matrix includes:

[0060] S61: Based on the camera calibration algorithm, the system imaging matrix M is decomposed into the first intrinsic parameter matrix H and the first extrinsic parameter matrix K of the camera;

[0061] S62: Based on the camera calibration algorithm, the projection matrix M1 is decomposed into the camera's second intrinsic parameter matrix H1 and second extrinsic parameter matrix K1;

[0062] S63: Based on the first extrinsic matrix K and the second extrinsic matrix K1, calculate the position of the guide pin positioning component 20 in the three-dimensional imaging data.

[0063] Specifically, the system imaging matrix M and projection matrix M1 are decomposed into intrinsic parameter matrix * extrinsic parameter matrix based on the camera calibration algorithm. The intrinsic parameter matrix H / H1 has a size of 3*4, and the extrinsic parameter matrix K / K1 has a size of 4*4.

[0064] Imaging matrix Projection matrix

[0065] That is, the first intrinsic parameter matrix First extrinsic parameter matrix Second intrinsic parameter matrix Second extrinsic parameter matrix

[0066] From the properties of rigid body transformation and orthogonal matrices, we can obtain the following formula:

[0067]

[0068]

[0069] Finally, the first extrinsic parameter matrix K of the system imaging matrix M and the second extrinsic parameter matrix K1 of the projection matrix M1 can be calculated.

[0070] The relationship between the system imaging coordinate system and the camera coordinate system can be represented by the first extrinsic parameter matrix K of the system imaging matrix M, and the relationship between the coordinate system of the guide pin positioning component 20 and the camera coordinate system can be represented by the second extrinsic parameter matrix K1 of the projection matrix M1. Since the camera coordinate system is the same at the same location, the position of the guide pin positioning component 20 in the three-dimensional imaging data can be deduced.

[0071] Please see Figure 4 As shown, in the coordinate system, Ow represents the coordinate system of the guide pin positioning component 20, and Oc represents the system imaging coordinate system. The coordinate system of the guide pin positioning component 20 is transformed into the system imaging coordinate system through the camera calibration algorithm.

[0072] Specifically, the expression for the relationship between the system imaging coordinate system and the camera coordinate system is as follows: After homogeneous transformation, we obtain

[0073] The expression for the relationship between the coordinate system of the guide pin positioning component 20 and the camera coordinate system is as follows: After homogeneous transformation, we obtain

[0074] Then the positional relationship of the guide pin positioning component 20 in the three-dimensional imaging data can be calculated as follows:

[0075]

[0076] in,

[0077] That is, the three-dimensional coordinates of the three-dimensional imaging data are equal to the product of the ratio of the second extrinsic parameter matrix to the first extrinsic parameter matrix and the three-dimensional coordinates of the guide pin positioning component 20. Thus, the position of the guide pin positioning component 20 in the three-dimensional imaging data can be calculated based on the navigation system matrix M and the projection matrix M1 (especially the first extrinsic parameter matrix H and the second extrinsic parameter matrix H1).

[0078] By calculating the position of the guide needle positioning component 20 in the three-dimensional imaging data, the position of the guide needle positioning component 20 can be virtually displayed on the display device to help doctors make judgments and reduce their reliance on experience.

[0079] The present invention also provides a navigation system 100 that applies the image navigation method. By applying this image navigation method, the cost of the optical positioning system can be reduced, thereby lowering the cost of the navigation system 100. Moreover, this image navigation method can use the guide needle positioning component 20 for direct positioning with high accuracy. Compared with markers set on the human body surface, it can avoid interference caused by human breathing, shaking, etc., improving navigation accuracy. At the same time, the projection of the guide needle positioning component 20 on the two-dimensional image can be mapped onto the three-dimensional navigation system 100, and the position of the guide needle positioning component 20 can be directly displayed on the display device, reducing the doctor's reliance on experience.

[0080] The navigation system 100 includes an imaging device 10, a guide needle positioning component 20, and a control component 30. The imaging device 10 is used to scan the surgical area, the guide needle positioning component 20 is implanted into the surgical area for positioning, and the control component 30 is used to execute image navigation methods to guide the doctor's operations.

[0081] The imaging device 10 includes an X-ray source 11 for emitting X-rays and a detector 12 for receiving X-rays. The imaging device 10 can be a robotic arm imaging device, a C-arm device, etc., and the present invention is not limited thereto. It is sufficient as long as it has an X-ray source 11 capable of emitting X-rays and a detector 12 for receiving the X-rays.

[0082] The guide needle positioning component 20 has an axial direction parallel to the positioning direction of the X-ray. Furthermore, the guide needle positioning component 20 itself has a positioning component capable of calibrating three-dimensional coordinates, allowing it to calculate its projection matrix in a two-dimensional imaging image using its own three-dimensional coordinates. By implanting this guide needle positioning component 20 into the surgical area, inaccurate spatial positioning of internal structures can be avoided when the fixed markers on the body surface become unstable or shake due to displacement or respiration, thus preventing deviations in the surgical navigation process.

[0083] Furthermore, the guide pin positioning assembly 20 includes a guide pin 21, a mold body positioning component 22, and a locking structure 23. The guide pin 21 is detachably connected to the mold body positioning component 22 via the locking structure 23. The guide pin 21 and the mold body positioning component 22 together form a positioning assembly capable of calibrating three-dimensional coordinates. The mold body positioning component 22 includes a mold body 221 and a positioning ball 222, which is disposed on the mold body 221 to perform three-dimensional positioning of the guide pin positioning assembly 20 based on the positioning ball 222. The guide pin 21 is an elongated needle-like structure extending axially and detachably connected to the mold body positioning component 22.

[0084] Further, the mold positioning component 22 includes a mold body 221 and positioning balls 222. The mold body 221 includes an upper end surface 2211 and a lower end surface 2212, as well as a connecting portion 2213 connecting the upper end surface 2211 and the lower end surface 2212. Both the upper end surface 2211 and the lower end surface 2212 are provided with a plurality of positioning holes 2214, which are arranged in a circumferential shape at equal intervals. Preferably, both the upper end surface 2211 and the lower end surface 2212 are provided with 12 positioning holes 2214, and the included angle between adjacent positioning holes 2214 is 30°. The connecting portion 2213 has an inwardly recessed mounting portion 2215 for mounting the guide pin 21. The mounting portion 2215 has an inwardly recessed receiving space 2216. The guide pin 21 is installed in the receiving space 2216 and is locked and fixed in the receiving space 2216 of the mounting portion 2215 by the locking structure 23. When it is necessary to remove the guide pin 21 from the mounting portion 2215, simply unscrew the locking structure 23 in the opposite direction.

[0085] In this embodiment, the positioning ball 222 is a metal sphere, which is fixedly installed in the positioning hole 2214, and the included angle between adjacent positioning balls 222 is 30°. By setting a plurality of positioning balls 222 on the mold body 221, the three-dimensional coordinates of the guide pin positioning assembly 20 can be effectively and quickly positioned.

[0086] The control component 30 is used to control the imaging device 10 to perform the above-described image navigation method, so as to quickly and accurately navigate and locate the surgical area during surgery, which facilitates the surgeon's operation.

[0087] Furthermore, the navigation system 100 also includes a display device 40, which displays the position of the guide needle positioning component 20 in the three-dimensional imaging data, thereby helping doctors make judgments and reducing the doctor's reliance on experience while ensuring navigation accuracy.

[0088] In summary, the image navigation method of the present invention first obtains three-dimensional imaging data of the surgical area and a system imaging matrix. Then, after implanting the guide needle positioning component 20 in the surgical area, it obtains a two-dimensional imaging image of the surgical area containing the guide needle positioning component 20 and a projection matrix of the guide needle positioning component 20 in the two-dimensional imaging image. Based on the system imaging matrix and the projection matrix, the position of the guide needle positioning component 20 in the three-dimensional imaging data is calculated. Thus, by utilizing the direct positioning of the guide needle positioning component 20, the mapping from the two-dimensional imaging image to the three-dimensional imaging image is realized. This image navigation method can solve the error factors of traditional optical navigation, achieve high-precision navigation, and at the same time reduce the doctor's reliance on experience.

[0089] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A navigation system, characterized in that, include: Imaging equipment for scanning surgical areas, including an X-ray source for emitting X-rays and a detector for receiving X-rays; The guide needle positioning assembly is used to locate the surgical area and has an axial direction parallel to the positioning direction of the X-ray. The control component executes the image navigation method; The image navigation method includes the following steps: Obtain three-dimensional imaging data of the surgical area and the system imaging matrix; A guide needle positioning component is implanted in the surgical area; Two-dimensional imaging is performed on the surgical area containing the guide needle positioning component to obtain a two-dimensional imaging image; The position of the guide pin positioning component is segmented in the two-dimensional imaging image; Calculate the projection matrix of the guide pin positioning component in the two-dimensional imaging image; Based on the system imaging matrix and the projection matrix, the position of the guide pin positioning component in the three-dimensional imaging data is calculated; specifically, this includes: decomposing the system imaging matrix into a first intrinsic parameter matrix and a first extrinsic parameter matrix of the camera based on a camera calibration algorithm; decomposing the projection matrix into a second intrinsic parameter matrix and a second extrinsic parameter matrix of the camera based on a camera calibration algorithm; and calculating the position of the guide pin positioning component in the three-dimensional imaging data based on the first extrinsic parameter matrix and the second extrinsic parameter matrix. The three-dimensional coordinates of the three-dimensional imaging data are equal to the product of the ratio of the second extrinsic matrix to the first extrinsic matrix and the three-dimensional coordinates of the guide pin positioning component.

2. The navigation system according to claim 1, characterized in that, Calculating the projection matrix of the guide pin positioning component in the two-dimensional imaging image includes: calculating the projection matrix of the guide pin positioning component in the two-dimensional imaging image based on the three-dimensional coordinates of the guide pin positioning component itself.

3. The navigation system according to claim 1, characterized in that, Two-dimensional imaging is performed on the surgical area containing the guide needle positioning assembly in the axial direction to obtain a two-dimensional imaging image.

4. The navigation system according to claim 1, characterized in that, The guide pin positioning assembly includes a guide pin and a mold positioning component, wherein the guide pin extends axially and is detachably connected to the mold positioning component.

5. The navigation system according to claim 4, characterized in that, The mold positioning component includes a mold body and a positioning ball. The mold body includes an upper end face and a lower end face. Both the upper end face and the lower end face are provided with a plurality of positioning holes, and the positioning ball is installed in the positioning holes.

6. The navigation system according to claim 1, characterized in that: The navigation system also includes a display device that displays the position of the guide pin positioning component in the three-dimensional imaging data.

Images