Lesion positioning method, device, system, computer device and storage medium

Abstract

The application relates to a lesion positioning method, device, system, computer equipment, storage medium and computer program product. The method comprises the following steps: acquiring a scanning image and a navigation image corresponding to a target part; determining a first spatial relationship between a scanning coordinate system and a navigation coordinate system according to an encoded marker in the scanning image and the encoded marker in the navigation image; determining a second spatial relationship between the navigation coordinate system and a global coordinate system according to the encoded marker and a global marker in the navigation image; and determining a spatial position of a lesion region in the global coordinate system according to the first spatial relationship and the second spatial relationship. In the method, the target part does not need to be pressed or contacted during the spatial registration process, data misalignment caused by external force interference is avoided, and the accuracy of lesion positioning is improved.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method, apparatus, system, computer equipment, and storage medium for lesion localization. Background Technology

[0002] In the medical field, spatial registration refers to the registration of corresponding points in navigation images and scanned images to obtain the spatial registration relationship between the navigation images and scanned images. It is an important foundation for realizing visualized medical technology.

[0003] In practical applications, the lesion area identified by the scan can be visualized in the navigation image based on the obtained spatial registration relationship, enabling the tracking and localization of the lesion. The relevant localization process requires pressing on the scanned area to determine the marker point. However, pressing can cause deformation of the scanned area, resulting in inaccurate data acquisition and reducing the accuracy of the determined spatial registration relationship, which in turn reduces the accuracy of the lesion location determined based on the spatial registration relationship. Summary of the Invention

[0004] Therefore, it is necessary to provide a lesion localization method, device, system, computer equipment, computer-readable storage medium, and computer program product to address the above-mentioned technical problems.

[0005] Firstly, this application provides a method for lesion localization, including:

[0006] Acquire scan images and navigation images corresponding to the target site; wherein, the scan images include the lesion area in the target site and the coded markers set on the target site, and the navigation images include the coded markers and global markers that are relatively fixed to the position of the target site;

[0007] Based on the coded markers in the scanned image and the coded markers in the navigation image, determine the first spatial relationship between the scanned coordinate system and the navigation coordinate system;

[0008] Determine the second spatial relationship between the navigation coordinate system and the global coordinate system based on coded markers and global markers in the navigation imagery;

[0009] Based on the first spatial relationship and the second spatial relationship, the spatial location of the lesion area in the global coordinate system is determined.

[0010] In one embodiment, determining a first spatial relationship between the scanning coordinate system and the navigation coordinate system based on coded markers in the scanned image and the coded markers in the navigation image includes:

[0011] The scanned spatial location of the coded marker is determined based on the scanned image, and the navigation spatial location of the coded marker is determined based on the navigation image;

[0012] Based on the scan spatial location and the navigation spatial location, determine the first spatial relationship between the scan coordinate system and the navigation coordinate system.

[0013] In one embodiment, the coded marker includes a positioning block; determining the scanned spatial position of the coded marker based on the scanned image; and determining the navigation spatial position of the coded marker based on the navigation image, including:

[0014] Based on the structural characteristics of the coded markers, the target spatial region of the coded markers in the scanned image and the target image region in the navigation image are determined;

[0015] Based on the geometric features of the positioning block and the target spatial region, the spatial position of the positioning block is determined and used as the scanning spatial position. Also based on the geometric features of the positioning block and the target image region, the image position of the positioning block is determined and used as the navigation spatial position.

[0016] In one embodiment, the number of coded markers is multiple, and a first spatial relationship between the scanning coordinate system and the navigation coordinate system is determined based on the scanning spatial position and the navigation spatial position, including:

[0017] Identify the encoding information of each coded marker in the scanned image and the encoding information of each coded marker in the navigation image;

[0018] Identify at least three coded markers in the scanned and navigation images that correspond to the same coded information;

[0019] Based on the scanning spatial position and navigation spatial position of at least three coded markers, determine the coordinate transformation matrix between the scanning coordinate system and the navigation coordinate system, which serves as the first spatial relationship.

[0020] In one embodiment, determining a second spatial relationship between the navigation coordinate system and the global coordinate system based on coded markers and global markers in the navigation image includes:

[0021] Determine the reference spatial position of the coded marker relative to the global marker based on navigation imagery;

[0022] Based on the navigation space position and reference space position of the coded marker in the navigation coordinate system, the second spatial relationship between the navigation coordinate system and the global coordinate system is determined.

[0023] In one embodiment, determining the spatial location of the lesion region in the global coordinate system based on a first spatial relationship and a second spatial relationship includes:

[0024] Determine the spatial location of the lesion area based on the scanned images;

[0025] The spatial location of the lesion is transformed based on the first spatial relationship to obtain the transformed spatial location of the lesion region;

[0026] The spatial position of the lesion region is transformed according to the second spatial relationship to obtain the spatial position of the lesion region in the global coordinate system.

[0027] Secondly, this application also provides a lesion localization system, including: coded markers, global markers, and a registration workstation; wherein, the coded markers are used to be set at a target site; a lesion area exists in the target site; the global markers are set independently of the target site and are relatively fixed in position to the target site;

[0028] The registration workstation is used to acquire the scan image and navigation image corresponding to the target area. Based on the coded markers in the scan image and the coded markers in the navigation image, a first spatial relationship between the scan coordinate system and the navigation coordinate system is determined. Based on the coded markers in the navigation image and the global markers, a second spatial relationship between the navigation coordinate system and the global coordinate system is determined. Based on the first spatial relationship and the second spatial relationship, the spatial position of the lesion area in the global coordinate system is determined.

[0029] In one embodiment, the coded marker includes a positioning block and at least one coded element; wherein the positioning block is used to locate the position of the coded marker; and the coded element is used to form coded information corresponding to the coded marker.

[0030] In one embodiment, the coded object is arranged around the positioning block, with the positioning block as the center.

[0031] In one embodiment, the coding includes dot coding and / or strip coding.

[0032] In one embodiment, the positioning block and the coding object are made of a developing material, and the surfaces of the positioning block and the coding object are coated with a reflective coating.

[0033] In one embodiment, the coded marker further includes an adhesive layer; wherein the positioning block and the coded marker are fixed to the fabric side of the adhesive layer, and the coded marker is used to be adhered to the target area through the adhesive side of the adhesive layer.

[0034] Thirdly, this application also provides a spatial registration device, comprising:

[0035] The image acquisition module is used to acquire scan images and navigation images corresponding to the target site; wherein, the scan images include the lesion area in the target site and the coded marker pasted on the target site, and the navigation images include the coded marker and global markers that are relatively fixed to the position of the target site;

[0036] The first spatial module is used to determine the first spatial relationship between the scanning coordinate system and the navigation coordinate system based on the coded markers in the scanned image and the coded markers in the navigation image;

[0037] The second spatial module is used to determine the second spatial relationship between the navigation coordinate system and the global coordinate system based on the coded markers and global markers in the navigation image;

[0038] The spatial transformation module is used to determine the spatial location of the lesion area in the global coordinate system based on the first spatial relationship and the second spatial relationship.

[0039] Fourthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above-mentioned lesion localization methods.

[0040] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the above-described lesion localization methods.

[0041] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above-described lesion localization methods.

[0042] The aforementioned lesion localization method, apparatus, system, computer equipment, storage medium, and computer program product acquire scanned images including the lesion region in the target area and coded markers placed on the target area, as well as navigation images including the coded markers and global markers fixed relative to the target area. Based on the coded markers in the scanned images and the navigation images, a first spatial relationship between the scanned coordinate system and the navigation coordinate system is determined. Based on the coded markers in the navigation images and the global markers, a second spatial relationship between the navigation coordinate system and the global coordinate system is determined. Finally, based on the first and second spatial relationships, the spatial position of the lesion region in the global coordinate system is determined. In this method, the spatial registration process does not require pressing or contacting the target area, avoiding data inaccuracies caused by external force interference, improving registration accuracy, and thus improving the accuracy of lesion localization. Attached Figure Description

[0043] Figure 1 This is a diagram illustrating the application environment of a lesion localization method in one embodiment.

[0044] Figure 2 This is a flowchart illustrating a lesion localization method in one embodiment;

[0045] Figure 3 This is a flowchart illustrating the process of determining a first spatial relationship in one embodiment;

[0046] Figure 4 This is a flowchart illustrating a method for determining the navigational spatial location of an coded marker in one embodiment;

[0047] Figure 5 This is a schematic diagram of coded markers in a navigation image in one embodiment;

[0048] Figure 6 This is a flowchart illustrating the process of determining the first spatial relationship in another embodiment;

[0049] Figure 7 This is a flowchart illustrating the process of determining a second spatial relationship in one embodiment;

[0050] Figure 8 This is a flowchart illustrating the spatial location of the lesion region in the global coordinate system in one embodiment.

[0051] Figure 9 This is a schematic diagram of the lesion localization system in one embodiment;

[0052] Figure 10 This is a schematic diagram of the structure of an encoded marker under one encoding method in one embodiment;

[0053] Figure 11 This is a schematic diagram of the structure of the coded marker in one embodiment;

[0054] Figure 12 This is a schematic diagram of the structure of the coded marker in another embodiment;

[0055] Figure 13 This is a schematic cross-sectional view of the coded marker in one embodiment;

[0056] Figure 14 This is a schematic diagram of the structure of the coded marker in another embodiment;

[0057] Figure 15 This is a structural block diagram of a lesion localization device in one embodiment;

[0058] Figure 16 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0060] The lesion localization method provided in this application embodiment can be applied to, for example... Figure 1In the application environment shown, the registration workstation 100 communicates with both the scanning device 102 and the navigation device 104. Encoded markers are affixed to the target area of ​​the object being measured, and global markers, relatively fixed to the target area, are placed in the environment where the object is located. The scanning device 102 performs image scanning on the object, obtaining a scanned image including the lesion area in the target area and the encoded markers. The navigation device 104 performs tracking photography on the object, obtaining a navigation image including the encoded markers and the global markers. The registration workstation 100 acquires the scanned image and navigation image of the target area from the scanning device 102 and the navigation device 104, respectively. Based on the encoded markers in the scanned image and the navigation image, it determines a first spatial relationship between the scanning coordinate system and the navigation coordinate system, and a second spatial relationship between the navigation coordinate system and the global coordinate system based on the encoded markers in the navigation image and the global markers. Finally, based on the first and second spatial relationships, it determines the spatial position of the lesion area in the global coordinate system. The registration workstation 100 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and other computing devices. The scanning device 102 can be, but is not limited to, Magnetic Resonance Imaging (MRI) equipment, Computed Tomography (CT) equipment, and other image scanning equipment. The navigation device 104 can be, but is not limited to, RGB cameras, infrared cameras, monocular cameras, or binocular cameras, and other image navigation devices. In this embodiment, the registration workstation 100 and the navigation device 104 can also be integrated into a single device and presented as a portable wearable device with computing power, such as a head-mounted display.

[0061] In one embodiment, such as Figure 2 As shown, a lesion localization method is provided, which can be applied to... Figure 1 Taking the registration workstation in the example, the process includes the following steps:

[0062] S210. Acquire scan images and navigation images of the target area.

[0063] The scanned images include the lesion area in the target site and the coded markers pasted on the target site, while the navigation images include the coded markers and global markers that are relatively fixed in position to the target site.

[0064] It should be noted that the following preparatory work is required before performing the above-mentioned lesion localization method:

[0065] At least one coded marker is affixed to the target area of ​​the object being tested, and global markers, whose positions are relatively fixed to the target area, are placed in the environment where the object is located. The coded marker is visible in the scanned image. The target area can be any part of the object being tested, such as the head, chest, or abdomen.

[0066] Optionally, such as Figure 1 As shown, the registration workstation communicates with both the scanning and navigation devices. The scanning device scans the object under test, obtaining scanned images including lesion areas and coded markers within the target region. The navigation device captures images of the object under test, obtaining navigation images including coded markers and global markers. Based on the communication between the registration workstation and the scanning and navigation devices, the registration workstation can acquire scanned images of the target region from the scanning device and navigation images of the target region from the navigation device.

[0067] S220. Determine the first spatial relationship between the scanning coordinate system and the navigation coordinate system based on the coded markers in the scanned image and the coded markers in the navigation image.

[0068] Among them, the scanning coordinate system is the coordinate system used by the scanning device to acquire the scanned image, and the navigation coordinate system is the coordinate system used by the navigation device to acquire the navigation image.

[0069] Optionally, the scanned image includes coded markers, and the navigation image also includes coded markers. The registration workstation can determine the spatial transformation relationship between the scanned coordinate system and the navigation coordinate system based on the position information of the same coded marker in the scanned image and the position information in the navigation image, as the first spatial relationship.

[0070] S230. Determine the second spatial relationship between the navigation coordinate system and the global coordinate system based on the coded markers and global markers in the navigation image.

[0071] The global coordinate system is a coordinate system built based on global markers, such as a coordinate system built with the location of a point in the global marker as the origin.

[0072] Optionally, the registration workstation can determine the position information of the coded marker in the navigation coordinate system based on the navigation image, and determine the position information of the coded marker in the global coordinate system based on the relative positional relationship between the coded marker and the global marker in the navigation image. Then, based on the position information of the same coded marker in the navigation coordinate system and the position information in the global coordinate system, the spatial transformation relationship between the navigation coordinate system and the global coordinate system is determined as a second spatial relationship.

[0073] S240. Determine the spatial location of the lesion region in the global coordinate system based on the first spatial relationship and the second spatial relationship.

[0074] Optionally, after obtaining the first spatial relationship between the scanning coordinate system and the navigation coordinate system, and the second spatial relationship between the navigation coordinate system and the global coordinate system, the registration workstation can determine the third spatial relationship between the scanning coordinate system and the global coordinate system based on the first and second spatial relationships.

[0075] Optionally, the registration workstation can determine the position information of the lesion area in the scanning coordinate system based on the scanned image, and transform the spatial position of the lesion area in the scanning coordinate system to the global coordinate system based on the third spatial relationship between the scanning coordinate system and the global coordinate system, so as to obtain the spatial position of the lesion area in the global coordinate system.

[0076] In this embodiment, the registration workstation acquires a scanned image including the lesion region in the target area and coded markers pasted on the target area, as well as a navigation image including the coded markers and global markers fixed relative to the target area. Based on the coded markers in the scanned image and the navigation image, a first spatial relationship between the scanned coordinate system and the navigation coordinate system is determined. Then, based on the coded markers in the navigation image and the global markers, a second spatial relationship between the navigation coordinate system and the global coordinate system is determined. Finally, based on the first and second spatial relationships, the spatial position of the lesion region in the global coordinate system is determined. In this method, the spatial registration process does not require pressing or contacting the target area, avoiding data inaccuracies caused by external force interference, improving registration accuracy, and thus improving the accuracy of lesion localization.

[0077] In practical applications, a first spatial relationship between the scanning coordinate system and the navigation coordinate system can be determined based on the spatial positions of the coded markers in the scanned image and the navigation image. Based on this, in one embodiment, such as... Figure 3 As shown, the above-mentioned S220, determining the first spatial relationship between the scanning coordinate system and the navigation coordinate system based on the coded markers in the scanned image and the coded markers in the navigation image, includes:

[0078] S310. Determine the scanning spatial position of the coded marker based on the scanned image, and determine the navigation spatial position of the coded marker based on the navigation image.

[0079] Optionally, the registration workstation can input scanned images into a scanning recognition model. This model identifies coded markers and determines their spatial positions in the scanning coordinate system, which are then used as the scanned spatial positions. The scanning recognition model is a network model trained using a large number of scanned image samples including coded markers. Similarly, the registration workstation can input navigation images into a navigation recognition model. This model identifies coded markers and determines their spatial positions in the scanning coordinate system, which are then used as the scanned spatial positions. The navigation recognition model is also a network model trained using a large number of navigation image samples including coded markers.

[0080] Optionally, the registration workstation can also identify coded markers in the scanned image based on their feature information to determine the spatial position of the corresponding coded marker in the scan coordinate system, which is then used as the scanned spatial position. Similarly, the registration workstation can also identify coded markers in the navigation image based on their feature information to determine the spatial position of the corresponding coded marker in the navigation coordinate system, which is then used as the navigation spatial position.

[0081] Optionally, when identifying coded markers in a scanned image, the feature information of the coded markers may include at least one of shape features, structural features, size features, and quantity features; when identifying coded markers in a navigation image, the feature information of the coded markers may include at least one of shape features, structural features, size features, quantity features, and color features.

[0082] Optionally, when the navigation spatial position of the coded marker in the navigation coordinate system is determined, the registration workstation can pre-determine the two-dimensional coordinates of the coded marker in the navigation image, and then combine the intrinsic and extrinsic parameters of the navigation device with the two-dimensional coordinates of the coded marker in the navigation image to obtain the three-dimensional coordinates of the corresponding coded marker in the navigation coordinate system, i.e., the navigation spatial position.

[0083] S320. Determine the first spatial relationship between the scanning coordinate system and the navigation coordinate system based on the scanning spatial position and the navigation spatial position.

[0084] Optionally, after obtaining the scanning spatial position and navigation spatial position of the coded marker, the registration workstation can determine the first spatial relationship between the scanning coordinate system and the navigation coordinate system based on the scanning spatial position and navigation spatial position of the same coded marker.

[0085] In this embodiment, the registration workstation determines the scanning spatial position of the coded marker based on the scanned image and the navigation spatial position of the coded marker based on the navigation image. Then, based on the scanning spatial position and the navigation spatial position, a first spatial relationship between the scanning coordinate system and the navigation coordinate system is determined. This method accurately obtains the spatial transformation relationship between the scanning coordinate system and the navigation coordinate system, i.e., the first spatial relationship, providing an accurate data foundation for subsequent lesion visualization and improving the accuracy of lesion localization.

[0086] The structural features of coded markers can be simultaneously presented in scanned and navigation images, and can more specifically and accurately characterize coded markers. Based on this, in one embodiment, such as... Figure 4 As shown, S310 above, determining the scanning spatial position of the coded marker based on the scanned image, and determining the navigation spatial position of the coded marker based on the navigation image, includes:

[0087] S410. Based on the structural characteristics of the coded marker, determine the target spatial region and the target image region of the coded marker in the scanned image.

[0088] The structural features of the encoded markers refer to the characteristic information of the encoded markers in the dimension of physical structure. For example, the structural features of the encoded markers include layered structures arranged in a stacked manner, spiral structures, and encircling structures with small circles surrounding a large circle.

[0089] Optionally, the registration workstation can determine the region in the scanned image that matches the structural features of the coded marker, as the target spatial region; similarly, the registration workstation can determine the region in the navigation image that matches the structural features of the coded marker, as the target image region. Taking the structural feature of the coded marker as a surrounding structure with smaller circles encircling a larger circle as an example... Figure 5 (a) The dashed box area in the partial navigation image shown is the target image area in the navigation image that matches the structural features of the coded marker.

[0090] S420. Based on the geometric features of the positioning block and the target spatial region, determine the spatial position of the positioning block and use it as the scanning spatial position; and based on the geometric features of the positioning block and the target image region, determine the image position of the positioning block and use it as the navigation spatial position.

[0091] The geometric features of the positioning block can be its shape or size.

[0092] Optionally, such as Figure 5As shown in (a) to (b), the coded marker provided in this embodiment includes a positioning block and a coded object, and the structural feature is that the coded object surrounds the positioning block. The positioning block is used to locate the position of the coded marker, and the registration workstation can determine the scanning spatial position and navigation spatial position of the coded marker based on the positioning block.

[0093] Optionally, after obtaining the target spatial region and the target image region, the registration workstation can identify the positioning block in the target spatial region based on its geometric features, and determine the three-dimensional coordinates of the geometric center of the positioning block in the scanning coordinate system as the spatial position of the positioning block; similarly, the registration workstation can identify the positioning block in the target image region based on its geometric features, and determine the three-dimensional coordinates of the geometric center of the positioning block in the navigation coordinate system as the image position of the positioning block. Figure 5 (b) The three-dimensional coordinates of the center point S of the positioning block in the navigation coordinate system are the image position of the positioning block.

[0094] Optionally, the registration workstation can directly use the spatial position of the positioning block as the scanning spatial position of the coded marker, and the image position of the positioning block as the navigation spatial position of the coded marker.

[0095] In this embodiment, the registration workstation determines the target spatial region of the coded marker in the scanned image and the target image region in the navigation image based on the structural characteristics of the coded marker. It then determines the spatial position of the positioning block based on its geometric features and the target spatial region, and further determines its image position based on the geometric features and the target image region. The spatial position of the positioning block is then used as the scanned spatial position of the coded marker, and its image position is used as the navigation spatial position of the coded marker. In this method, the structural features of the coded marker can be simultaneously presented in both the scanned and navigation images, and can more accurately and specifically characterize the coded marker. Therefore, based on the structural features of the coded marker, the scanned spatial position and navigation spatial position of the coded marker can be accurately determined, thereby improving the accuracy of the first spatial relationship.

[0096] Multiple coded markers are affixed to the target area, with different markers corresponding to different coded information for differentiation. Based on this, in one embodiment, such as... Figure 6 As shown, the above-mentioned S320, determining the first spatial relationship between the scanning coordinate system and the navigation coordinate system based on the scanning spatial position and the navigation spatial position, includes:

[0097] S610. Identify the encoding information of each coded marker in the scanned image and the encoding information of each coded marker in the navigation image.

[0098] The encoded information of the encoded marker can be characterized by the structural features of the encoded marker. Different structural features correspond to different encoded markers, and different encoded markers correspond to different encoded information.

[0099] Optionally, the registration workstation can identify the encoding information of each coded marker in the scanned image by recognizing the structural features of the coded markers; similarly, the registration workstation can also identify the encoding information of each coded marker in the navigation image by recognizing the structural features of the coded markers. The correspondence between the structural features of the coded markers and the encoding information can be preset. For example, for a coded marker with a structure of a small circle surrounding a large circle, the corresponding encoding information could be 1; for a coded marker with two small circles surrounding a large circle, the corresponding encoding information could be 2; and for a coded marker with three small circles surrounding a large circle, the corresponding encoding information could be 3.

[0100] S620. Identify at least three coded markers in the scanned image and navigation image that correspond to the same coded information.

[0101] In the coding information of the coded markers determined based on the scanned image and the navigation image respectively, if the coding information of the coded marker A determined in the scanned image is the same as the coding information of the coded marker B determined in the navigation image, it indicates that the coded marker A in the scanned image and the coded marker B in the navigation image are the same coded marker set on the target location.

[0102] Optionally, after obtaining the encoding information of each coded marker in the scanned image and the encoding information of each coded marker in the navigation image, the registration workstation matches the encoding information of the coded markers in the scanned image and the navigation image to determine at least three coded markers in the scanned image and the navigation image that correspond to the same encoding information. For example, if the scanned image includes 5 coded markers with corresponding encoding information 001, 002, 003, 004, and 005, and the navigation image includes 6 coded markers with corresponding encoding information 001, 002, 004, 005, 007, and 010, after matching the encoding information of the scanned image and the navigation image, the registration workstation can determine that the coded markers corresponding to encoding information 001, 002, and 004 are the coded markers in the scanned image and the navigation image that correspond to the same encoding information.

[0103] S630. Based on the scanning spatial position and navigation spatial position of at least three coded markers, determine the coordinate transformation matrix between the scanning coordinate system and the navigation coordinate system, as the first spatial relationship.

[0104] Optionally, after obtaining at least three coded markers with the same coded information corresponding to the scanned image and the navigation image, the registration workstation can determine the coordinate transformation matrix between the scanned coordinate system and the navigation coordinate system based on the scanned spatial position and navigation spatial position of these at least three coded markers, as the first spatial relationship.

[0105] Optionally, the registration workstation can construct an objective function based on the scanned spatial position (x, y, z) and navigation spatial position (X, Y, X) of the coded markers with the same coded information, as well as the coordinate transformation matrix T. The objective functions corresponding to at least three coded markers are combined in parallel to solve for the coordinate transformation matrix T, which is the first spatial relationship.

[0106] The objective function satisfies the following equation:

[0107]

[0108] The navigation imagery includes both coded markers and global markers. The registration workstation can determine a second spatial relationship between the navigation coordinate system and the global coordinate system based on the navigation imagery. Therefore, in one embodiment, such as... Figure 7 As shown, S230 above, determining the second spatial relationship between the navigation coordinate system and the global coordinate system based on coded markers and global markers in the navigation image, includes:

[0109] S710. Determine the reference spatial position of the coded marker relative to the global marker based on the navigation image.

[0110] Among them, the reference spatial position of the coded marker relative to the global marker is the spatial position of the coded marker in the global coordinate system.

[0111] Optionally, the registration workstation can determine the first spatial position of the coded marker in the navigation coordinate system based on the coded marker in the navigation image, and determine the second spatial position of the global marker in the navigation coordinate system based on the global marker in the navigation image. Then, based on the first spatial position and the second spatial position, the relative positional relationship between the coded marker and the global marker is determined. Then, taking the second spatial position as the origin, the reference spatial position of the coded marker relative to the global marker is determined based on the relative positional relationship, that is, the spatial position of the coded marker in the global coordinate system.

[0112] S720. Determine the second spatial relationship between the navigation coordinate system and the global coordinate system based on the navigation spatial position and reference spatial position of the coded marker in the navigation coordinate system.

[0113] Optionally, after obtaining the navigation spatial position of the coded marker in the navigation coordinate system and the reference spatial position of the coded marker in the global coordinate system based on the navigation image, the registration workstation can determine a second spatial relationship between the navigation coordinate system and the global coordinate system based on the navigation spatial position and the reference spatial position of the same coded marker. Specifically, as shown in S610-S630, the registration workstation can determine a coordinate transformation matrix between the navigation coordinate system and the global coordinate system based on at least three sets of navigation spatial positions and reference spatial positions of the same coded marker, as the second spatial relationship.

[0114] In this embodiment, the registration workstation determines the reference spatial position of the coded marker relative to the global marker based on the navigation image. Then, based on the navigation spatial position and the reference spatial position of the coded marker in the navigation coordinate system, it determines the second spatial relationship between the navigation coordinate system and the global coordinate system. This method accurately yields the spatial transformation relationship between the navigation coordinate system and the global coordinate system—the second spatial relationship—providing a solid data foundation for subsequent lesion visualization and thus improving the accuracy of lesion localization.

[0115] Global markers are set independently of the target site and their positions are relatively fixed relative to the target site. The registration workstation transforms the lesion area into a global coordinate system, obtaining the spatial position of the lesion area in the global coordinate system. The lesion area is directly located using the global coordinate system, so that the coded markers on the target site can be removed in subsequent processes. By tracking the position of the global markers through a navigation device, the lesion area can be directly determined based on the position of the global markers, while increasing the operable space on the target site. Therefore, in one embodiment, such as Figure 8 As shown, determining the spatial location of the lesion region in the global coordinate system based on the first spatial relationship and the second spatial relationship includes:

[0116] S810. Determine the spatial location of the lesion area based on the scanned images.

[0117] Among them, the spatial location of the lesion is the spatial location of the lesion area in the scanning coordinate system.

[0118] Optionally, the registration workstation can identify the lesion region in the scanned image, and then determine the spatial location of the lesion region in the scanning coordinate system, i.e., the spatial location of the lesion. Specifically, the registration workstation can identify the lesion region in the scanned image based on at least one feature of the lesion, such as its structure, shape, texture, etc., or it can input the scanned image into a lesion recognition model to identify the lesion region in the scanned image. In this embodiment, no specific limitations are placed on the method of lesion region identification.

[0119] S820. Based on the first spatial relationship, the spatial location of the lesion is transformed to obtain the transformed spatial location of the lesion area.

[0120] Optionally, after obtaining the spatial position of the lesion area in the scanning coordinate system, the registration workstation can use the aforementioned determined first spatial relationship to transform the spatial position of the lesion area to the navigation coordinate system, thereby obtaining the spatial position of the lesion area in the navigation coordinate system as the transformed spatial position of the lesion area.

[0121] S830. Based on the second spatial relationship, the spatial position of the lesion area is transformed to obtain the spatial position of the lesion area in the global coordinate system.

[0122] Optionally, after obtaining the spatial position of the lesion area in the navigation coordinate system, i.e. the transformed spatial position, the registration workstation can use the aforementioned determined second spatial relationship to transform the transformed spatial position, so as to transform the lesion area back to the global coordinate system, thereby obtaining the spatial position of the lesion area in the global coordinate system.

[0123] In this embodiment, after obtaining the first spatial relationship between the scanning coordinate system and the navigation coordinate system, and the second spatial relationship between the navigation coordinate system and the global coordinate system, the registration workstation can determine the spatial location of the lesion region based on the scanned image. Then, it transforms the spatial location of the lesion region according to the first spatial relationship to obtain the transformed spatial location of the lesion region. Finally, it transforms the transformed spatial location of the lesion region according to the second spatial relationship to obtain the spatial location of the lesion region in the global coordinate system. Through this method, the lesion region can be transformed to the global coordinate system based on the first and second spatial relationships obtained from registration, thus obtaining the spatial location of the lesion region in the global coordinate system. This allows for direct positioning of the lesion region using the global coordinate system, enabling the removal of coded markers on the target site in subsequent processes. By tracking the position of the global markers using a navigation device, the lesion region can be directly determined based on the position of the global markers. This also increases the operable space on the target site and avoids the operational inconvenience caused by coded markers occupying space.

[0124] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0125] This application also provides a lesion localization system, such as... Figure 9 As shown, the lesion localization system includes:

[0126] Encoding marker 200, global marker 300, and registration workstation 100.

[0127] The coded marker 200 is used to set at the target site, where a lesion area exists. The global marker 300 is set independently of the target site and its position is relatively fixed.

[0128] The registration workstation 100 is used to acquire scan images and navigation images of the target area. Based on the coded markers in the scan images and the coded markers in the navigation images, it determines the first spatial relationship between the scan coordinate system and the navigation coordinate system. Based on the coded markers in the navigation images and global markers, it determines the second spatial relationship between the navigation coordinate system and the global coordinate system. Based on the first spatial relationship and the second spatial relationship, it determines the spatial position of the lesion area in the global coordinate system.

[0129] It should be noted that the lesion localization system provided in this embodiment is used to implement the lesion localization method in any of the above embodiments. For the specific process, please refer to the content of the corresponding embodiment, which will not be repeated here.

[0130] Optionally, the registration workstation 100 may be a standalone computer device or other form of computing-capable device system. For example, to improve ease of use, the registration workstation 100 may include a wearable extended reality device, such as virtual reality (VR) glasses, and be equipped with the corresponding computing power to implement the aforementioned lesion localization algorithm. The wearable extended reality device can directly output and display the spatial location of the lesion area for the wearer to perform subsequent operations.

[0131] Optionally, the computing power of the registration workstation 100 is increased. The registration workstation 100 also includes a registration computer that communicates with the wearable extended reality device. The registration computer is used to execute the lesion localization method described above and outputs the obtained spatial location of the lesion area through the wearable extended reality device for subsequent operations by the wearer of the wearable extended reality device.

[0132] The registration computer and the wearable extended reality device can communicate wirelessly, such as via Bluetooth or Wi-Fi, or via a wired connection using a data cable. In this embodiment, no specific restrictions are placed on the communication method between the registration computer and the wearable extended reality device.

[0133] The following preparatory work is required before performing the above-mentioned lesion localization method:

[0134] At least one coded marker 200 is set on the target area of ​​the object being tested, and a global marker 300 with a fixed position relative to the target area is set in the environment where the object being tested is located. The coded marker 200 can be developed in the scanned image.

[0135] like Figure 9 As shown, the target area can be the head of the object being tested. Multiple coded markers 200 (six shown in the figure) are attached to the head of the object being tested via adhesive. Global markers 300 are fixed to the head of the object being tested via a fixed bracket, such as the three-pronged head frame shown in the figure. The global markers 300 can move with the head, but their phase position relative to the head remains fixed.

[0136] Optionally, the surfaces of the coded marker 200 and the global marker 300 are provided with marker points 101. The marker points 101 are used to form the coded information of the marker. Different coded information represents different markers to distinguish the markers.

[0137] Optionally, the encoding method of the markers can be varied, and can be based on at least one of the number, shape, and structural form of the marker points 101. Among them, the structural form of the marker points 101 includes three-dimensional and two-dimensional. Figure 10 (a) to (d) provide an encoded marker 200 formed by an encoding method based on the number of marker points 101.

[0138] In this embodiment, the provided lesion localization system includes: coded markers, global markers, and a registration workstation. The coded markers are attached to the target site, where a lesion area exists. The global markers are set independently of the target site and are relatively fixed in position to it. Based on this lesion localization system, efficient and rapid lesion localization can be achieved. The entire lesion localization system has a simple structure and is highly convenient to operate.

[0139] In one embodiment, such as Figure 11 As shown, the marker point 101 on the coded marker 200 includes a positioning block 201 and at least one encoding element 202. The positioning block 201 is used to locate the position of the coded marker 200, and the encoding element 202 is used to form the coded information corresponding to the coded marker 200.

[0140] It should be noted that the positioning block 201 is used for identification in the scanned image and / or navigation image to locate the spatial position of the coded marker 200 based on the position of the positioning block 201. The coded marker 202 is also used for identification in the scanned image and / or navigation image to form the coded information of the coded marker 200 based on the number, shape or form of the coded marker 202.

[0141] Optionally, the positioning block 201 and the coded object 202 may have different functions, but their structural, shape, size, and material attributes may be the same or different. Specifically, at least one of the structural, shape, or size attributes of the positioning block 201 and the coded object 202 may be set to be different to distinguish them. If the structural, shape, size, and material attributes of the positioning block 201 and the coded object 202 are the same, they can be distinguished based on their location. For example, a marker point 101 independently set on the surface of the coded marker 200 may be pre-defined as the positioning block 201, and a centrally set marker point 101 may be designated as the coded object 202; alternatively, the first / last marker point 101 arranged clockwise / counterclockwise may be designated as the positioning block 201.

[0142] Optionally, to improve the accuracy of the identification of the positioning block 201, the positioning block 201 has a regular symmetrical structure.

[0143] Optionally, the arrangement of the marking points 101 on the coded marker 200 is as follows: the coded marker 202 is set around the positioning block 201 with the positioning block 201 as the center. Figure 11 An coded marker 200 is shown, which includes one positioning block 201 and eight coded elements 202. The eight coded elements 202 are arranged in a circle around the positioning block 201 with the positioning block 201 as the center. Both the positioning block 201 and the coded elements 202 are cylinders, and the diameter and height of the positioning block 201 are greater than the diameter and height of the coded elements 202.

[0144] Optionally, the coding element 202 includes dot-matrix coding elements, such as... Figure 11 The coded information is formed using circular coded dots. The coded material 202 may also include strip-shaped coded materials, such as... Figure 12 The diagram shows how encoded information is formed using a coding ring. Specifically, when the coded element 202 is a dot-shaped coded element, different quantities, sizes, or arrangement patterns of the coded elements 202 can form different encoded information. For example... Figure 10 Among the four coded markers shown in (a) to (d), the number of coded markers 202 varies, and (a) to (d) correspond to four types of coded information. When the coded markers 202 are strip-shaped, different numbers, lengths, or arrangement patterns of the coded markers 202 can form different coded information. For example... Figure 12The two coded markers 200 shown in (a) and (b) each include two coded objects 202, but their lengths and arrangements differ, resulting in two different types of coded information in (a) and (b). Strip-shaped and dot-shaped coded objects have different advantages and can be configured according to requirements. Strip-shaped coded objects present a larger area than dot-shaped coded objects, which helps in accurate identification; while dot-shaped coded objects are easier to identify than strip-shaped coded objects and are more feasible to implement.

[0145] To ensure that the coded marker 200 can be developed in the scanned image, in one embodiment, the positioning block 201 and the coded element 202 in the coded marker 200 are made of a developing material. Since different scanned images have different imaging principles, the developing material of the coded marker 200 is set according to the corresponding requirements for development. For example, for CT images, it can be used to develop metals such as aluminum alloys, titanium alloys, and lead alloys; for MR images, it can be used to develop ionically active materials, such as silicone oil iodide.

[0146] Meanwhile, in order for the coded marker 200 to be visible in the navigation image, such as Figure 13 As shown, the surfaces of the positioning block 201 and the coding object 202 are coated with a reflective coating 203 so that the positioning block 201 and the coding object 202 are visible in the navigation image based on reflection.

[0147] Optionally, to efficiently and accurately identify the position of the positioning block 201, the reflective coating 203 can be... Figure 14 The grid pattern shown is a cross, with the cross intersections of the grid located at the center of the positioning block 201, so as to quickly identify the cross intersections of the positioning block 201 and determine the position of the positioning block 201.

[0148] To enable the reusability of the coded marker 200, in one embodiment, such as Figure 13 As shown, the coded marker 200 also includes an adhesive layer 204.

[0149] Optionally, to reduce the probability of the positioning block 201 and the encoded object 202 falling off the encoded marker 200, such as Figure 13 As shown, the positioning block 201 and the coding object 202 are respectively provided with a fixing shell 205 around them to fix the positioning block 201 and the coding object 202 to the adhesive layer 204.

[0150] The positioning block 201 and the coding mark 202 are fixed to the fabric side of the adhesive layer 204, and the coding mark 200 is used to be attached to the target area through the adhesive side of the adhesive layer 204. When not in use, the adhesive side of the adhesive layer 204 is attached to the release film 206. Figure 11As shown in the diagram, the release film 206 is adhered to prevent contamination; during use, the release film 206 can be peeled off and the label pasted on. This allows the coded marker 200 to be reused, reducing consumable costs.

[0151] It should be noted that the setting format of marker point 101 on global marker 300 can be the same as that of marker point 101 on coded marker 200, and will not be repeated here.

[0152] Based on the same inventive concept, this application also provides a lesion localization device for implementing the lesion localization method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more lesion localization device embodiments provided below can be found in the limitations of the lesion localization method described above, and will not be repeated here.

[0153] In one embodiment, such as Figure 15 As shown, a lesion localization device is provided, comprising: an image acquisition module 1501, a first spatial module 1502, a second spatial module 1503, and a spatial conversion module 1504, wherein:

[0154] The image acquisition module 1501 is used to acquire scan images and navigation images corresponding to the target site; wherein, the scan image includes the lesion area in the target site and the coded marker set on the target site, and the navigation image includes the coded marker and the global marker that is relatively fixed to the position of the target site;

[0155] The first spatial module 1502 is used to determine the first spatial relationship between the scanning coordinate system and the navigation coordinate system based on the coded markers in the scanned image and the coded markers in the navigation image;

[0156] The second spatial module 1503 is used to determine the second spatial relationship between the navigation coordinate system and the global coordinate system based on the coded markers and global markers in the navigation image;

[0157] The spatial transformation module 1504 is used to determine the spatial location of the lesion region in the global coordinate system based on the first spatial relationship and the second spatial relationship.

[0158] In one embodiment, the first space module 1502 includes:

[0159] The navigation submodule is used to determine the scanning spatial position of the coded marker based on the scanned image, and to determine the navigation spatial position of the coded marker based on the navigation image;

[0160] The first relationship submodule is used to determine the first spatial relationship between the scan coordinate system and the navigation coordinate system based on the scan spatial position and the navigation spatial position.

[0161] In one embodiment, the coded marker includes a positioning block, and the navigation submodule includes:

[0162] Region units are used to determine the target spatial region of the coded marker in the scanned image and the target image region in the navigation image based on the structural characteristics of the coded marker;

[0163] The position unit is used to determine the spatial position of the positioning block based on its geometric features and the target spatial region, and to use it as the scanning spatial position; and to determine the image position of the positioning block based on its geometric features and the target image region, and to use it as the navigation spatial position.

[0164] In one embodiment, the number of coded markers is multiple, and the first relational submodule includes:

[0165] The identification unit is used to identify the encoding information of each coded marker in the scanned image and the encoding information of each coded marker in the navigation image;

[0166] A matching unit is used to identify at least three coded markers in scanned images and navigation images that correspond to the same coded information;

[0167] A relational unit is used to determine the coordinate transformation matrix between the scanning coordinate system and the navigation coordinate system based on the scanning spatial position and navigation spatial position of at least three coded markers, as the first spatial relation.

[0168] In one embodiment, the second space module 1503 includes:

[0169] The location submodule is used to determine the reference spatial position of coded markers relative to global markers based on navigation imagery;

[0170] The second relationship submodule is used to determine the second spatial relationship between the navigation coordinate system and the global coordinate system based on the navigation spatial position and reference spatial position of the coded marker in the navigation coordinate system.

[0171] In one embodiment, the space conversion module 1504 includes:

[0172] The lesion submodule is used to determine the spatial location of lesions in the lesion area based on the scanned images.

[0173] The first conversion submodule is used to convert the spatial position of the lesion according to the first spatial relationship to obtain the converted spatial position of the lesion area;

[0174] The second transformation submodule is used to transform the transformation spatial position of the lesion area according to the second spatial relationship, so as to obtain the spatial position of the lesion area in the global coordinate system.

[0175] Each module in the aforementioned lesion localization device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0176] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 16 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a lesion localization method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0177] Those skilled in the art will understand that Figure 16 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0178] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above-described lesion localization methods.

[0179] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described lesion localization methods.

[0180] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of any of the above-described lesion localization methods.

[0181] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0182] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0183] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for locating lesions, characterized in that, The method includes: Acquire scan images and navigation images corresponding to the target site; wherein, the scan images include the lesion area in the target site and the coded markers set on the target site, and the navigation images include the coded markers and global markers that are relatively fixed to the position of the target site and set independently of the target site; Based on the coded markers in the scanned image and the coded markers in the navigation image, a first spatial relationship between the scanned coordinate system and the navigation coordinate system is determined; Based on the coded markers and global markers in the navigation image, a second spatial relationship between the navigation coordinate system and the global coordinate system is determined; the global coordinate system is a coordinate system constructed based on the global markers. Based on the first spatial relationship and the second spatial relationship, the spatial location of the lesion region in the global coordinate system is determined.

2. The method according to claim 1, characterized in that, Determining the first spatial relationship between the scanning coordinate system and the navigation coordinate system based on the coded markers in the scanned image and the coded markers in the navigation image includes: The scanning spatial position of the coded marker is determined based on the scanning image, and the navigation spatial position of the coded marker is determined based on the navigation image; Based on the scanned spatial position and the navigation spatial position, a first spatial relationship between the scanned coordinate system and the navigation coordinate system is determined.

3. The method according to claim 2, characterized in that, The coded marker includes a positioning block. Determining the scanning spatial position of the coded marker based on the scanning image and determining the navigation spatial position of the coded marker based on the navigation image includes: Based on the structural characteristics of the coded marker, the target spatial region of the coded marker in the scanned image and the target image region in the navigation image are determined; Based on the geometric features of the positioning block and the target spatial region, the spatial position of the positioning block is determined and used as the scanning spatial position; and based on the geometric features of the positioning block and the target image region, the image position of the positioning block is determined and used as the navigation spatial position.

4. The method according to claim 2, characterized in that, The number of coded markers is multiple, and determining the first spatial relationship between the scanning coordinate system and the navigation coordinate system based on the scanning spatial position and the navigation spatial position includes: Identify the encoding information of each coded marker in the scanned image, and the encoding information of each coded marker in the navigation image; In the scanned image and the navigation image, at least three coded markers with the same coded information are identified; based on the scanned spatial position and the navigation spatial position of the at least three coded markers, a coordinate transformation matrix between the scanned coordinate system and the navigation coordinate system is determined as the first spatial relationship.

5. The method according to any one of claims 1-4, characterized in that, Determining the second spatial relationship between the navigation coordinate system and the global coordinate system based on coded markers and global markers in the navigation image includes: Determine the reference spatial position of the coded marker relative to the global marker based on the navigation image; Based on the navigation spatial position of the coded marker in the navigation coordinate system and the reference spatial position, a second spatial relationship between the navigation coordinate system and the global coordinate system is determined.

6. The method according to claim 5, characterized in that, Determining the spatial location of the lesion region in the global coordinate system based on the first spatial relationship and the second spatial relationship includes: The spatial location of the lesion in the lesion region is determined based on the scanned images; The spatial location of the lesion is transformed according to the first spatial relationship to obtain the transformed spatial location of the lesion region; The spatial position of the lesion region is transformed according to the second spatial relationship to obtain the spatial position of the lesion region in the global coordinate system.

7. A lesion localization system, characterized in that, The system includes: coded markers, global markers, and a registration workstation; wherein, the coded markers are used to be set at a target site; the target site contains a lesion area; the global markers are set independently of the target site and are relatively fixed in position to the target site; The registration workstation is used to acquire scan images and navigation images corresponding to the target area, determine a first spatial relationship between the scan coordinate system and the navigation coordinate system based on the coded markers in the scan images and the coded markers in the navigation images, determine a second spatial relationship between the navigation coordinate system and the global coordinate system based on the coded markers and global markers in the navigation images, and determine the spatial location of the lesion area in the global coordinate system based on the first spatial relationship and the second spatial relationship; the global coordinate system is a coordinate system constructed based on the global markers.

8. The system according to claim 7, characterized in that, The coded marker includes a positioning block and at least one coded element; wherein the positioning block is used to locate the position of the coded marker; and the coded element is used to form coded information corresponding to the coded marker.

9. The system according to claim 8, characterized in that, The coded object is arranged around the positioning block with the positioning block as the center.

10. The system according to claim 8, characterized in that, The coding includes dot-shaped coding and / or strip-shaped coding.

11. The system according to claim 8, characterized in that, The positioning block and the coded object are made of a developing material, and the surfaces of the positioning block and the coded object are coated with a reflective coating.

12. The system according to any one of claims 8-11, characterized in that, The coded marker further includes an adhesive layer; wherein the positioning block and the coded marker are fixed to the fabric side of the adhesive layer, and the coded marker is used to be attached to the target area through the adhesive side of the adhesive layer.

13. The system according to any one of claims 7-11, characterized in that, The registration workstation includes a wearable extended reality device.

14. The system according to claim 13, characterized in that, The registration workstation includes a registration computer, which communicates with the wearable extended reality device.

15. A spatial registration device, characterized in that, The device includes: The image acquisition module is used to acquire scan images and navigation images corresponding to the target area; wherein, the scan image includes the lesion area in the target area and the coded marker set on the target area, and the navigation image includes the coded marker and a global marker that is relatively fixed to the position of the target area and set independently of the target area; The first spatial module is used to determine a first spatial relationship between the scanning coordinate system and the navigation coordinate system based on the coded markers in the scanned image and the coded markers in the navigation image; The second spatial module is used to determine the second spatial relationship between the navigation coordinate system and the global coordinate system based on the coded markers and global markers in the navigation image; the global coordinate system is a coordinate system constructed based on the global markers. The spatial transformation module is used to determine the spatial location of the lesion region in the global coordinate system based on the first spatial relationship and the second spatial relationship.

16. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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