Positioning method and device for surgical navigation, computer device and storage medium

Abstract

The application relates to a positioning method and device for surgical navigation, a computer device and a storage medium. The method comprises the following steps: projecting each marker point of a scanning device under a positioning tracking device to obtain corresponding projection marker points and first projection position information of the projection marker points; acquiring first actual position information of each marker point and projection transformation relationship parameters of the scanning device, obtaining second projection position information parameters of the projection marker points according to the first actual position information and the projection transformation relationship parameters; calculating a loss between the first projection position information and the second projection position information parameters, and optimizing the loss to reduce the loss and obtain an optimization result; and performing three-dimensional positioning on a two-dimensional scanning image to be positioned according to the optimization result. The method can improve the positioning accuracy of the two-dimensional scanning image in surgical navigation.

Description

Technical Field

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

[0002] C / O / G arm X-ray machines are frequently used auxiliary equipment in surgical procedures. However, on the one hand, this equipment can only capture two-dimensional scans of partial areas, such as the lesion site. This results in the loss of spatial location information of the target in the two-dimensional scans, making it impossible to quickly and intuitively find the correspondence between the target in three-dimensional space and the two-dimensional scan image, such as the X-ray film. On the other hand, since the two-dimensional scan image of the X-ray machine is based on the scanning principle of light source projection, there will be some degree of objective distortion in the two-dimensional scan image during the projection process. Furthermore, during rotation, the robotic arm in the C / O / G arm deforms, resulting in inconsistent positions of the light source particles relative to the X-ray receiving plate under different patient positions. In summary, the accuracy of two-dimensional projection image navigation in C / O / G arm X-ray machines is relatively low. Summary of the Invention

[0003] Based on this, a surgical navigation positioning method, device, computer equipment, and storage medium are provided to improve the low accuracy of two-dimensional scanning image navigation in existing C / O / G type arm X-ray machines.

[0004] On one hand, a positioning method for surgical navigation is provided, the method comprising: projecting each marker point of the scanning device under the positioning and tracking device under different scanning positions to obtain the corresponding projected marker points and the first projected position information of the projected marker points; obtaining the first actual position information of each marker point and the projection transformation relationship parameters of the scanning device; obtaining the second projected position information parameters of the projected marker points according to the first actual position information and the projection transformation relationship parameters; calculating the loss between the first projected position information and the second projected position information parameters, and optimizing the loss to reduce the loss and obtain an optimization result; and performing three-dimensional positioning on the two-dimensional scan image to be positioned according to the optimization result.

[0005] In one embodiment, obtaining the first projection position information of the projection marker includes: acquiring a two-dimensional scanned image of the scanning device, determining the corresponding position information of the projection marker in the two-dimensional scanned image; acquiring the pixel pitch of the two-dimensional scanned image, and obtaining the first projection position information of the projection marker based on the pixel pitch and the corresponding position information.

[0006] In one embodiment, before / after projecting the various marker points of the scanning device under the positioning and tracking device in different scanning positions to obtain the corresponding projected marker points and the first projected position information of the projected marker points, the method further includes: acquiring various light source marker points of the light source positioning and tracking device of the scanning device, and determining the light source coordinate system based on the light source marker points; acquiring various receiving plate marker points of the receiving plate positioning and tracking device of the scanning device, and determining the receiving plate coordinate system based on the receiving plate marker points, wherein the marker points include the light source marker points and the receiving plate marker points; determining the actual coordinate system based on the optical navigation device of the scanning device, determining the projected coordinate system based on the two-dimensional scanning plane of the scanning device, calculating the transformation relationship between the various coordinate systems, and obtaining the corresponding coordinate system transformation relationship, wherein the various coordinate systems include the light source coordinate system, the receiving plate coordinate system, the actual coordinate system, and the projected coordinate system.

[0007] In one embodiment, calculating the transformation relationship between various coordinate systems to obtain the corresponding coordinate system transformation relationship includes: calculating the transformation relationship between the actual coordinate system and the receiving plate coordinate system to obtain a first coordinate system transformation relationship; and calculating the transformation relationship between the light source coordinate system and the actual coordinate system to obtain a second coordinate system transformation relationship.

[0008] In one embodiment, obtaining the second projection position information parameter of the projection marker point based on the first actual position information and the projection transformation relationship parameter includes: acquiring the third coordinate system transformation relationship parameter between the receiving plate coordinate system and the projection coordinate system, and the light source position information parameter of the point light source of the scanning device in the light source coordinate system; obtaining the projection position information parameter of the point light source in the projection coordinate system based on the light source position information parameter, the first coordinate system transformation relationship, the second coordinate system transformation relationship, and the third coordinate system transformation relationship parameter; transforming the first actual position information of each marker point into the third projection position information parameter in the projection coordinate system based on the first coordinate system transformation relationship and the third coordinate system transformation relationship parameter, and obtaining the third projection position information parameter; obtaining the second projection position information parameter of the projection marker point based on the third projection position information parameter, the projection position information parameter, and the projection transformation relationship parameter.

[0009] In one embodiment, performing three-dimensional positioning of the two-dimensional scanned image to be positioned based on the optimization result includes: calculating the light source position information parameters and the third coordinate system transformation relationship parameters based on the optimization result to obtain the light source position information of the point light source in the light source coordinate system and the third coordinate system transformation relationship between the receiving plate coordinate system and the projection coordinate system; obtaining the fourth coordinate system transformation relationship between the projection coordinate system and the actual coordinate system based on the first coordinate system transformation relationship and the third coordinate system transformation relationship; and performing three-dimensional positioning of the two-dimensional scanned image to be positioned in the actual coordinate system based on the fourth coordinate system transformation relationship to obtain the second actual position information of the two-dimensional scanned image in the actual coordinate system.

[0010] In one embodiment, after calculating the light source position information parameters and the third coordinate system transformation relationship parameters based on the optimization results to obtain the light source position information of the point light source in the light source coordinate system and the third coordinate system transformation relationship between the receiving plate coordinate system and the projection coordinate system, the method further includes: performing three-dimensional positioning of the point light source to be positioned in the actual coordinate system based on the second coordinate system transformation relationship and the light source position information to obtain the third actual position information of the point light source in the actual coordinate system.

[0011] On the other hand, a positioning device for surgical navigation is provided, the device comprising: a scanning device, the scanning device including a point light source projection module and a receiving plate module, the scanning device being used to scan a target object to obtain two-dimensional scan images of the target object under different scanning positions;

[0012] A light source positioning and tracking device is connected to the point light source projection module of the scanning device, and the light source positioning and tracking device is used to acquire the position information of the point light source in the light source coordinate system;

[0013] A receiving board positioning and tracking device is connected to the receiving board module of the scanning device, and the receiving board positioning and tracking device is used to obtain the position information of the receiving board in the receiving board coordinate system;

[0014] An optical navigation device is used to acquire the position information of each marker point in the actual coordinate system, and to perform three-dimensional positioning on the two-dimensional scanned image based on the position information in the actual coordinate system.

[0015] In another aspect, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: projecting each marker point of the scanning device onto the positioning and tracking device under different scanning positions to obtain corresponding projected marker points and first projected position information of the projected marker points; acquiring first actual position information of each marker point and projection transformation relationship parameters of the scanning device; obtaining second projected position information parameters of the projected marker points based on the first actual position information and the projection transformation relationship parameters; calculating the loss between the first projected position information and the second projected position information parameters, and optimizing the loss to reduce the loss and obtain an optimization result; and performing three-dimensional positioning on the two-dimensional scanned image to be positioned based on the optimization result.

[0016] In another aspect, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program performs the following steps: projecting each marker point of the scanning device onto the positioning and tracking device under different scanning positions to obtain the corresponding projected marker points and the first projected position information of the projected marker points; obtaining the first actual position information of each marker point and the projection transformation relationship parameters of the scanning device; obtaining the second projected position information parameters of the projected marker points based on the first actual position information and the projection transformation relationship parameters; calculating the loss between the first projected position information and the second projected position information parameters, and optimizing the loss to reduce the loss and obtain an optimization result; and performing three-dimensional positioning on the two-dimensional scanned image to be positioned based on the optimization result.

[0017] The aforementioned surgical navigation positioning method, device, computer equipment, and storage medium can be applied to the positioning of two-dimensional scanned images in C / O / G type arm X-ray machines. By projecting each marker point of the scanning device under the positioning and tracking device in different scanning positions, the corresponding projected marker points and the first projected position information of the projected marker points are obtained. Then, by obtaining the first actual position information of each marker point and the projection transformation relationship parameters of the scanning device, the second projected position information of the projected marker points is calculated, thereby calculating the loss between the first and second projected position information, optimizing the loss, and obtaining the corresponding optimization result, thus realizing the three-dimensional positioning of the two-dimensional scanned image and improving the accuracy of positioning the two-dimensional scanned image. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating a positioning method for surgical navigation in one embodiment;

[0019] Figure 2This is a system structure diagram of a positioning device for surgical navigation in one embodiment;

[0020] Figure 3 This is an internal structural diagram of a computer device in one embodiment.

[0021] Explanation of markings in the diagram:

[0022] 1-Optical navigation equipment

[0023] 2-Light source positioning and tracking equipment

[0024] 3-Two-dimensional scanning plane

[0025] 4-Receiver board positioning and tracking equipment

[0026] 5-Point Light Source Detailed Implementation

[0027] 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.

[0028] In one embodiment, such as Figure 1 As shown, a positioning method for surgical navigation is provided, which is applied to... Figure 2 Taking the scanning device in the image as an example, the following steps are included:

[0029] Step 101: Under different scanning positions, project each marker point of the scanning device onto the positioning and tracking device to obtain the corresponding projected marker point and the first projected position information of the projected marker point.

[0030] Step 102: Obtain the first actual position information of each marker point and the projection transformation relationship parameters of the scanning device, and obtain the second projection position information parameters of the projection marker points based on the first actual position information and the projection transformation relationship parameters;

[0031] Step 103: Calculate the loss between the parameters of the first projection position information and the second projection position information, and optimize the loss to reduce the loss and obtain the optimization result.

[0032] Step 104: Perform three-dimensional localization on the two-dimensional scanned image to be localized based on the optimization results.

[0033] The aforementioned surgical navigation positioning method can be applied to the positioning of two-dimensional scanning images using a C-arm X-ray machine. For example... Figure 2As shown, the C / O / G type arm X-ray machine generates X-rays through a tube, and then obtains a two-dimensional scan image of the three-dimensional effective area through a flat panel detector and image processing system. However, the two-dimensional scan image obtained by the C-arm X-ray machine is obtained by projection through a point light source 5. Therefore, the three-dimensional spatial structure information of the two-dimensional scan image obtained by the C-arm X-ray machine is lost, resulting in lower accuracy in positioning. Therefore, by projecting each marker point of the scanning device under the positioning and tracking device under different scanning positions, the corresponding projection marker points and the first projection position information of the projection marker points can be obtained. Then, by obtaining the first actual position information of each marker point and the projection transformation relationship parameters of the scanning device, the second projection position information parameters of the projection marker points can be calculated. This allows for the calculation of the loss of the first and second projection position information parameters, optimization of the loss, and obtaining the corresponding optimization results. This enables three-dimensional positioning of the two-dimensional scan image, thereby improving the accuracy of positioning the two-dimensional scan image.

[0034] In step 101, it is exemplarily explained that, under different scanning positions, the scanning device projects each marker point under the positioning and tracking device to obtain the corresponding projected marker points and the first projected position information of the projected marker points. For example, because the robotic arm of the C-arm X-ray machine deforms during rotation, the position of the point light source relative to the two-dimensional scanning plane is inconsistent under different scanning positions. Therefore, in order to solve the problem of reduced positioning accuracy caused by different scanning positions, such as... Figure 2As shown, the C-arm X-ray machine can be placed in different scanning positions. Each marker point of the scanning device under the positioning and tracking device is projected onto the two-dimensional scanning plane 3 under the point light source 5, thereby obtaining the projected marker point on the two-dimensional scanning plane 3 corresponding to each marker point, and the first projection position information of the projected marker point relative to the two-dimensional scanning plane 3. In some implementations, this first projection position information can be obtained through a projection coordinate system established based on the two-dimensional scanning plane 3. The marker point can be an optical marker that can be identified and located by the optical navigation device 1, and the marker point is placed within the effective scanning area of ​​the C-arm X-ray machine to ensure that the marker point can be completely displayed on the two-dimensional scan image, which can be an X-ray film image. In some implementations, the positioning and tracking device includes a light source tracking device 2 and a receiver plate tracking device 4. The light source tracking device 2 is rigidly connected to one end of the C-arm X-ray machine's X-ray source, and the light source tracking device 2 is equipped with light source markers that can be identified and located by the optical navigation device 1. Preferably, the number of light source markers is three or more. Similarly, the receiving plate tracking device 4 is rigidly connected to one end of the C-arm X-ray machine's X-ray receiving plate, and the receiving plate tracking device 2 is equipped with receiving plate markers that can be identified and located by the optical navigation device 1. Preferably, the number of receiving plate markers is three or more. Thus, by using the fixed positioning tracking device, the spatial positions of the X-ray source and the X-ray receiving plate of the scanning equipment can be independently calibrated, and a corresponding coordinate system can be established. This solves the calibration error caused by the physical deformation between the X-ray source and the X-ray receiving plate during the rotation of the C-arm X-ray machine.

[0035] In step 102, it is exemplarily explained that the first actual position information of each marker point and the projection transformation relationship parameters of the scanning device are obtained. Based on the first actual position information and the projection transformation relationship parameters, the second projection position information parameters of the projected marker points are obtained. For example, in some implementations, the first actual position information can be obtained through the optical navigation device 1. Specifically, an actual coordinate system can be established based on the optical navigation device 1 to obtain the position information of each marker point in the actual coordinate system, i.e., the first actual position information. The projection transformation relationship parameters refer to the coordinate transformation relationship of the marker points projected onto the two-dimensional scanning plane 3 under the projection of the point light source 5. This projection transformation relationship parameter is an unknown quantity. In some implementations, it can be represented by a projection transformation matrix as follows:

[0036]

[0037] in, Parameters representing the projected position information of a point light source in the projected coordinate system. This represents the third projected position information of the j-th marker point in the projected coordinate system under the i-th scanning position. This third projected position information can be obtained by converting the first actual position information of the marker point into its position information in the projected coordinate system. The marker point can be projected onto the two-dimensional scanning plane in the projected coordinate system using the projection transformation matrix. This represents the second projection position information parameter of the projection marker point obtained by projecting the j-th marker point onto the two-dimensional scanning plane under the i-th scanning position.

[0038] Therefore, based on the above calculation process of projection transformation relationship parameters, the second projection position information parameter can be obtained accordingly, wherein the second projection position information parameter is an unknown quantity of the second projection position information.

[0039] In step 103, it is illustrated by way of example that the loss between the first projected position information and the second projected position information parameters is calculated, and the loss is optimized to reduce the loss and obtain the optimization result. For example, the loss between the first projected position information and the second projected position information parameters can be obtained by establishing a Euclidean distance error function, the mathematical expression of which is as follows:

[0040]

[0041] Among them, T loss This represents the loss between the first and second projection position information parameters, where m represents the number of scan positions. This represents the second projection position information parameter under the i-th scanning position. This represents the first projection position information under the i-th scanning position.

[0042] After obtaining the loss through the Euclidean distance error function, the loss is optimized. Specific optimization methods include, but are not limited to, gradient descent and other optimization methods. The loss is optimized by the above methods to reduce the loss. Preferably, the loss is minimized, thereby obtaining the three-dimensional positioning of the two-dimensional scan image corresponding to the optimal loss in the actual coordinate system.

[0043] As a specific implementation of the above embodiments, obtaining the first projection position information of the projection marker includes: acquiring a two-dimensional scanned image of the scanning device, determining the corresponding position information of the projection marker in the two-dimensional scanned image; acquiring the pixel pitch of the two-dimensional scanned image, and obtaining the first projection position information of the projection marker based on the pixel pitch and the corresponding position information.

[0044] It should be noted that the first projection position information of the projection marker can be obtained through two-dimensional scanned images. Specifically, based on the X-ray scan images obtained from different scanning positions of a C-arm X-ray machine, the corresponding position information of each projection marker in the scanned image can be obtained, and the first projection position information of the projection marker in the projection coordinate system can be obtained based on the pixel spacing in the X-ray scan image. For example... This represents the first projected position information of the j-th marker point in the i-th scanning position in the projected coordinate system, id. x id represents the pixel coordinate index position along the horizontal axis in a 2D scanned image. y sp represents the pixel coordinate index position along the vertical axis in a two-dimensional scanned image. x sp represents the pixel spacing along the horizontal axis in a two-dimensional scanned image. y This represents the pixel spacing along the vertical axis in a two-dimensional scanned image.

[0045] As a specific implementation of the above embodiments, before projecting each marker point of the scanning device under the positioning and tracking device under different scanning positions to obtain the corresponding projected marker points and the first projected position information of the projected marker points, the method further includes: acquiring each light source marker point of the light source positioning and tracking device of the scanning device, and determining the light source coordinate system based on the light source marker points; acquiring each receiving plate marker point of the receiving plate positioning and tracking device of the scanning device, and determining the receiving plate coordinate system based on the receiving plate marker points, wherein the marker points include light source marker points and receiving plate marker points; determining the actual coordinate system based on the optical navigation device of the scanning device, determining the projected coordinate system based on the two-dimensional scanning plane of the scanning device, calculating the transformation relationship between each coordinate system, and obtaining the corresponding coordinate system transformation relationship, wherein each coordinate system includes the light source coordinate system, the receiving plate coordinate system, the actual coordinate system, and the projected coordinate system.

[0046] It should be noted that the light source markers bound to the light source positioning and tracking device 2 can be three or more optically distributed markers. The light source coordinate system can be determined by these markers. Therefore, the optical navigation device 1 can use the first actual position information of the light source markers on the light source positioning and tracking device 2 to calculate the second coordinate system transformation relationship between the actual coordinate system and the light source coordinate system in real time. Similarly, the receiver plate markers bound to the receiver plate positioning and tracking device 4 can be three or more optically distributed markers. The receiver plate coordinate system can be determined by these markers. Therefore, the optical navigation device 1 can use the first actual position information of the receiver plate markers on the receiver plate positioning and tracking device 2 to calculate the first coordinate system transformation relationship between the actual coordinate system and the receiver plate coordinate system in real time. By using the calibration method of the X-ray source mass (point source) and X-ray receiver plate of the C-arm X-ray machine, the spatial position information of the point source and receiver plate in the actual coordinate system at the moment of each C-arm X-ray machine scan can be obtained, which can provide technical support for subsequent two-dimensional (2D) X-ray machine scanning image navigation.

[0047] As a specific implementation of the above embodiments, calculating the transformation relationship between each coordinate system to obtain the corresponding coordinate system transformation relationship includes: calculating the transformation relationship between the actual coordinate system and the receiving plate coordinate system to obtain the first coordinate system transformation relationship; and calculating the transformation relationship between the light source coordinate system and the actual coordinate system to obtain the second coordinate system transformation relationship.

[0048] As a specific implementation of the above embodiments, obtaining the second projection position information parameters of the projection marker points based on the first actual position information and projection transformation relationship parameters includes: acquiring the third coordinate system transformation relationship parameters between the receiving plate coordinate system and the projection coordinate system, and the light source position information parameters of the point light source of the scanning device in the light source coordinate system; obtaining the projection position information parameters of the point light source in the projection coordinate system based on the light source position information parameters, the first coordinate system transformation relationship, the second coordinate system transformation relationship, and the third coordinate system transformation relationship parameters; transforming the first actual position information of each marker point into the third projection position information parameters in the projection coordinate system based on the first coordinate system transformation relationship and the third coordinate system transformation relationship parameters, and obtaining the third projection position information parameters; and obtaining the second projection position information parameters of the projection marker points based on the third projection position information parameters, the projection position information parameters, and the projection transformation relationship parameters.

[0049] It should be noted that the position information parameters of a point light source in the light source coordinate system can be expressed as the homogeneous coordinates of the point light source in the light source coordinate system: The transformation relationship parameters between the receiving plate coordinate system and the projection coordinate system in the third coordinate system can be obtained through the rigid transformation matrix. To indicate, further, It can be represented using a quaternion rotation transformation matrix (left multiplication). This is a 4×3 matrix, where the parameters in the first row can be represented as: cosθ z cosθ y cosθ z sinθ y sinθ x -sinθ z cosθ x

[0050] cosθ z sinθ y cosθ x +sinθ z sinθ x T x The parameters in the second row of this matrix can be represented as: sinθ z cosθ y cosθ z sinθ y sinθ x +cosθ z cosθ x sinθ z sinθ y cosθ x -cosθ z sinθ x T y The parameters in the third row of this matrix can be represented as: -sinθ y cosθ y sinθ x cosθ y cosθ x T z The parameters in the fourth row of this matrix can be represented as: 0, 0, 0, 1.

[0051] Wherein, cosθ x cosθ y cosθ z sinθ x sinθ y sinθ z T represents the rotation parameter. x T y T z This represents the translation parameter.

[0052] Assumption Let be the projection position information parameters of the point light source in the projection coordinate system, then calculate... The mathematical expression is as follows:

[0053]

[0054] in, This represents the first coordinate system transformation relationship between the actual coordinate system and the receiving plate coordinate system in the i-th scanning position. This represents the second coordinate system transformation relationship between the light source coordinate system and the actual coordinate system under the i-th scanning position.

[0055] Since the projection transformation relationship parameters can be expressed as follows:

[0056]

[0057] Therefore, based on the above mathematical expression, the second projection position information of the projection marker point can be calculated:

[0058] As a specific implementation of the above embodiments, the three-dimensional positioning of the two-dimensional scanned image to be positioned based on the optimization result includes: calculating the light source position information parameters and the third coordinate system transformation relationship parameters based on the optimization result to obtain the light source position information of the point light source in the light source coordinate system and the third coordinate system transformation relationship between the receiving plate coordinate system and the projection coordinate system; obtaining the fourth coordinate system transformation relationship between the projection coordinate system and the actual coordinate system based on the first coordinate system transformation relationship and the third coordinate system transformation relationship; and performing three-dimensional positioning of the two-dimensional scanned image to be positioned in the actual coordinate system based on the fourth coordinate system transformation relationship to obtain the second actual position information of the two-dimensional scanned image in the actual coordinate system.

[0059] It should be noted that the loss between the first and second projected position information parameters can be obtained by establishing a Euclidean distance error function. By optimizing the aforementioned Euclidean distance error function to minimize its value, the corresponding optimization result can be obtained. Its mathematical expression is as follows:

[0060]

[0061] in,

[0062]

[0063] in, This represents the projection transformation matrix of a point light source.

[0064] Therefore, based on the above optimization method, the position information parameter S of the point light source in the light source coordinate system can be obtained. lig Transformation parameters with the third coordinate system The optimal solution.

[0065] Then, based on the transformation relationship of the first coordinate system Transformation relationship with the third coordinate system It can obtain the fourth coordinate system transformation relationship between the projected coordinate system and the actual coordinate system under any X-ray scanning position: Thus, based on the transformation relationship of the fourth coordinate system, the second actual position information of the two-dimensional scanned image in the actual coordinate system of the optical navigation device 1 is obtained.

[0066] As a specific implementation of the above embodiment, after calculating the light source position information parameters and the third coordinate system transformation relationship parameters according to the optimization results, and obtaining the light source position information of the point light source in the light source coordinate system and the third coordinate system transformation relationship between the receiving plate coordinate system and the projection coordinate system, the method further includes: performing three-dimensional positioning of the point light source to be positioned in the actual coordinate system according to the second coordinate system transformation relationship and the light source position information, and obtaining the third actual position information of the point light source in the actual coordinate system.

[0067] It should be noted that the third actual position of the point light source can be obtained through the transformation relationship of the second coordinate system, and the specific mathematical expression is as follows: The aforementioned surgical navigation positioning method collects information data from multiple scanning positions, establishes a loss function based on the Euclidean distance error in the projected coordinate system, and optimizes the solution of this loss. This enables the spatial calibration of the point light source and the two-dimensional scanning plane of the C-arm X-ray machine, thereby spatially locating the two-dimensional scan image and further improving the accuracy of surgical navigation positioning.

[0068] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0069] In one embodiment, such as Figure 2As shown, a surgical navigation positioning device is provided, comprising: a scanning device, the scanning device including a point light source projection module and a receiving plate module, the scanning device being used to scan a target object to obtain two-dimensional scan images of the target object under different scanning positions; a light source positioning and tracking device, the light source positioning and tracking device being connected to the point light source projection module of the scanning device, the light source positioning and tracking device being used to acquire the position information of the point light source in the light source coordinate system; a receiving plate positioning and tracking device, the receiving plate positioning and tracking device being connected to the receiving plate module of the scanning device, the receiving plate positioning and tracking device being used to acquire the position information of the receiving plate in the receiving plate coordinate system; and an optical navigation device, the optical navigation device being used to acquire the position information of each marker point in the actual coordinate system, and to perform three-dimensional positioning of the two-dimensional scan image based on the position information in the actual coordinate system.

[0070] It should be noted that the point light source projection module is the module containing point light source 5, and the receiving board module is the module containing two-dimensional scanning plane 3.

[0071] In one embodiment, the device is further configured to acquire a two-dimensional scanned image from a scanning device, determine the corresponding position information of the projection marker point in the two-dimensional scanned image, acquire the pixel pitch of the two-dimensional scanned image, and obtain the first projection position information of the projection marker point based on the pixel pitch and the corresponding position information.

[0072] In one embodiment, the device is further configured to acquire each light source marker point of the light source positioning and tracking device of the scanning device, and determine the light source coordinate system based on the light source marker points; acquire each receiving plate marker point of the receiving plate positioning and tracking device of the scanning device, and determine the receiving plate coordinate system based on the receiving plate marker points, wherein the marker points include light source marker points and receiving plate marker points; determine the actual coordinate system based on the optical navigation device of the scanning device, determine the projection coordinate system based on the two-dimensional scanning plane of the scanning device, calculate the transformation relationship between each coordinate system, and obtain the corresponding coordinate system transformation relationship, wherein each coordinate system includes the light source coordinate system, the receiving plate coordinate system, the actual coordinate system, and the projection coordinate system.

[0073] In one embodiment, the device is further configured to calculate the transformation relationship between the actual coordinate system and the receiving plate coordinate system to obtain a first coordinate system transformation relationship; and to calculate the transformation relationship between the light source coordinate system and the actual coordinate system to obtain a second coordinate system transformation relationship.

[0074] In one embodiment, the device is further configured to acquire the third coordinate system transformation relationship parameters between the receiving plate coordinate system and the projection coordinate system, and the light source position information parameters of the point light source of the scanning device in the light source coordinate system; and obtain the projection position information parameters of the point light source in the projection coordinate system based on the light source position information parameters, the first coordinate system transformation relationship, the second coordinate system transformation relationship, and the third coordinate system transformation relationship parameters; transform the first actual position information of each marker point into the third projection position information in the projection coordinate system, and obtain the third projection position information; and obtain the second projection position information of the projection marker point based on the third projection position information, the projection position information parameters, and the projection transformation relationship parameters.

[0075] In one embodiment, the device is further configured to calculate the light source position information parameters and the third coordinate system transformation relationship parameters based on the optimization results, to obtain the light source position information of the point light source in the light source coordinate system and the third coordinate system transformation relationship between the receiving plate coordinate system and the projection coordinate system; to obtain the fourth coordinate system transformation relationship between the projection coordinate system and the actual coordinate system based on the first coordinate system transformation relationship and the third coordinate system transformation relationship; and to perform three-dimensional positioning of the two-dimensional scanned image to be positioned in the actual coordinate system based on the fourth coordinate system transformation relationship, to obtain the second actual position information of the two-dimensional scanned image in the actual coordinate system.

[0076] In one embodiment, the device is further configured to perform three-dimensional positioning of the point light source to be positioned in the actual coordinate system according to the second coordinate system transformation relationship and the light source position information, and obtain the third actual position information of the point light source in the actual coordinate system.

[0077] Specific limitations regarding the positioning device for surgical navigation can be found in the limitations on the positioning method for surgical navigation described above, and will not be repeated here. Each module in the aforementioned positioning device for surgical navigation 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 in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0078] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 3As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and the database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores positioning data for surgical navigation. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a positioning method for surgical navigation.

[0079] Those skilled in the art will understand that Figure 3 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.

[0080] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: projecting each marker point of the scanning device onto the positioning and tracking device under different scanning positions to obtain the corresponding projected marker points and the first projected position information of the projected marker points; acquiring the first actual position information of each marker point and the projection transformation relationship parameters of the scanning device, and obtaining the second projected position information parameters of the projected marker points based on the first actual position information and the projection transformation relationship parameters; calculating the loss between the first projected position information and the second projected position information parameters, and optimizing the loss to reduce the loss and obtain the optimization result; and performing three-dimensional positioning on the two-dimensional scanned image to be positioned based on the optimization result.

[0081] In one embodiment, when the processor executes the computer program, it further performs the following steps: acquiring a two-dimensional scanned image from the scanning device, determining the corresponding position information of the projection marker point in the two-dimensional scanned image; acquiring the pixel pitch of the two-dimensional scanned image, and obtaining the first projection position information of the projection marker point based on the pixel pitch and the corresponding position information.

[0082] In one embodiment, when the processor executes the computer program, it further performs the following steps: acquiring each light source marker point of the light source positioning and tracking device of the scanning device, and determining the light source coordinate system based on the light source marker points; acquiring each receiving plate marker point of the receiving plate positioning and tracking device of the scanning device, and determining the receiving plate coordinate system based on the receiving plate marker points, wherein the marker points include light source marker points and receiving plate marker points; determining the actual coordinate system based on the optical navigation device of the scanning device, determining the projection coordinate system based on the two-dimensional scanning plane of the scanning device, calculating the transformation relationship between each coordinate system, and obtaining the corresponding coordinate system transformation relationship, wherein each coordinate system includes the light source coordinate system, the receiving plate coordinate system, the actual coordinate system, and the projection coordinate system.

[0083] In one embodiment, when the processor executes the computer program, it further performs the following steps: calculating the transformation relationship between the actual coordinate system and the receiving plate coordinate system to obtain a first coordinate system transformation relationship; and calculating the transformation relationship between the light source coordinate system and the actual coordinate system to obtain a second coordinate system transformation relationship.

[0084] In one embodiment, when the processor executes the computer program, it further performs the following steps: obtaining the third coordinate system transformation relationship parameters between the receiving plate coordinate system and the projection coordinate system, and the light source position information parameters of the point light source of the scanning device in the light source coordinate system; and obtaining the projection position information parameters of the point light source in the projection coordinate system based on the light source position information parameters, the first coordinate system transformation relationship, the second coordinate system transformation relationship, and the third coordinate system transformation relationship parameters; transforming the first actual position information of each marker point into the third projection position information in the projection coordinate system, and obtaining the third projection position information; and obtaining the second projection position information of the projection marker point based on the third projection position information, the projection position information parameters, and the projection transformation relationship parameters.

[0085] In one embodiment, when the processor executes the computer program, it further performs the following steps: calculating the light source position information parameters and the third coordinate system transformation relationship parameters based on the optimization results, to obtain the light source position information of the point light source in the light source coordinate system and the third coordinate system transformation relationship between the receiving plate coordinate system and the projection coordinate system; obtaining the fourth coordinate system transformation relationship between the projection coordinate system and the actual coordinate system based on the first coordinate system transformation relationship and the third coordinate system transformation relationship; and performing three-dimensional positioning of the two-dimensional scanned image to be positioned in the actual coordinate system based on the fourth coordinate system transformation relationship, to obtain the second actual position information of the two-dimensional scanned image in the actual coordinate system.

[0086] In one embodiment, when the processor executes the computer program, it further performs the following steps: based on the second coordinate system transformation relationship and the light source position information, it performs three-dimensional positioning of the point light source to be located in the actual coordinate system to obtain the third actual position information of the point light source in the actual coordinate system.

[0087] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it performs the following steps: projecting each marker point of the scanning device onto the positioning and tracking device under different scanning positions to obtain the corresponding projected marker points and the first projected position information of the projected marker points; obtaining the first actual position information of each marker point and the projection transformation relationship parameters of the scanning device, and obtaining the second projected position information parameters of the projected marker points based on the first actual position information and the projection transformation relationship parameters; calculating the loss between the first projected position information and the second projected position information parameters, and optimizing the loss to reduce the loss and obtain the optimization result; and performing three-dimensional positioning on the two-dimensional scanned image to be positioned based on the optimization result.

[0088] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: acquiring a two-dimensional scanned image from the scanning device, determining the corresponding position information of the projection marker point in the two-dimensional scanned image; acquiring the pixel pitch of the two-dimensional scanned image, and obtaining the first projection position information of the projection marker point based on the pixel pitch and the corresponding position information.

[0089] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: acquiring each light source marker point of the light source positioning and tracking device of the scanning device, and determining the light source coordinate system based on the light source marker points; acquiring each receiving plate marker point of the receiving plate positioning and tracking device of the scanning device, and determining the receiving plate coordinate system based on the receiving plate marker points, wherein the marker points include light source marker points and receiving plate marker points; determining the actual coordinate system based on the optical navigation device of the scanning device, determining the projection coordinate system based on the two-dimensional scanning plane of the scanning device, calculating the transformation relationship between each coordinate system, and obtaining the corresponding coordinate system transformation relationship, wherein each coordinate system includes the light source coordinate system, the receiving plate coordinate system, the actual coordinate system, and the projection coordinate system.

[0090] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: calculating the transformation relationship between the actual coordinate system and the receiving plate coordinate system to obtain a first coordinate system transformation relationship; calculating the transformation relationship between the light source coordinate system and the actual coordinate system to obtain a second coordinate system transformation relationship.

[0091] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the third coordinate system transformation relationship parameters between the receiving plate coordinate system and the projection coordinate system, and the light source position information parameters of the point light source of the scanning device in the light source coordinate system; and obtaining the projection position information parameters of the point light source in the projection coordinate system based on the light source position information parameters, the first coordinate system transformation relationship, the second coordinate system transformation relationship, and the third coordinate system transformation relationship parameters; transforming the first actual position information of each marker point into the third projection position information in the projection coordinate system, and obtaining the third projection position information; and obtaining the second projection position information of the projection marker point based on the third projection position information, the projection position information parameters, and the projection transformation relationship parameters.

[0092] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: calculating the light source position information parameters and the third coordinate system transformation relationship parameters based on the optimization results, to obtain the light source position information of the point light source in the light source coordinate system and the third coordinate system transformation relationship between the receiving plate coordinate system and the projection coordinate system; obtaining the fourth coordinate system transformation relationship between the projection coordinate system and the actual coordinate system based on the first coordinate system transformation relationship and the third coordinate system transformation relationship; and performing three-dimensional positioning of the two-dimensional scanned image to be positioned in the actual coordinate system based on the fourth coordinate system transformation relationship, to obtain the second actual position information of the two-dimensional scanned image in the actual coordinate system.

[0093] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: based on the second coordinate system transformation relationship and the light source position information, it performs three-dimensional positioning of the point light source to be located in the actual coordinate system to obtain the third actual position information of the point light source in the actual coordinate system.

[0094] Those skilled in the art will understand that all or part of the processes in the methods of 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, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0095] 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.

[0096] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. 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 patent application should be determined by the appended claims.

Claims

1. A positioning method for surgical navigation, characterized in that, include: Obtain each light source marker point of the light source positioning and tracking device of the scanning device, and determine the light source coordinate system based on the light source marker points; The receiving board of the scanning device is used to locate and track each receiving board marker point of the device, and the receiving board coordinate system is determined based on the receiving board marker points. The marker points include the light source marker points and the receiving board marker points. The actual coordinate system is determined based on the optical navigation device of the scanning device, and the projection coordinate system is determined based on the two-dimensional scanning plane of the scanning device. The transformation relationship between each coordinate system is calculated to obtain the corresponding coordinate system transformation relationship. The coordinate systems include the light source coordinate system, the receiving plate coordinate system, the actual coordinate system, and the projection coordinate system. Under different scanning positions, the scanning device projects each marker point under the positioning and tracking device to obtain the corresponding projected marker point and the first projected position information of the projected marker point; Obtain the first actual position information of each marker point and the projection transformation relationship parameters of the scanning device, and obtain the second projection position information parameters of the projection marker point based on the first actual position information and the projection transformation relationship parameters; Calculate the loss between the parameters of the first projection position information and the second projection position information, and optimize the loss to reduce the loss and obtain the optimization result; Based on the optimization results, perform three-dimensional localization on the two-dimensional scanned image to be localized.

2. The surgical navigation positioning method as described in claim 1, characterized in that, Obtaining the first projection position information of the projection marker point includes: Acquire a two-dimensional scanned image from the scanning device, and determine the corresponding position information of the projection marker point in the two-dimensional scanned image; Obtain the pixel spacing of the two-dimensional scanned image, and obtain the first projection position information of the projection marker point based on the pixel spacing and the corresponding position information.

3. The surgical navigation positioning method as described in claim 1, characterized in that, Calculate the transformation relationships between the various coordinate systems to obtain the corresponding coordinate system transformation relationships, including: Calculate the transformation relationship between the actual coordinate system and the receiving plate coordinate system to obtain the first coordinate system transformation relationship; Calculate the transformation relationship between the light source coordinate system and the actual coordinate system to obtain the second coordinate system transformation relationship.

4. The surgical navigation positioning method as described in claim 3, characterized in that, The second projection position information parameters of the projection marker point are obtained based on the first actual position information and the projection transformation relationship parameters, including: The transformation relationship parameters between the receiving plate coordinate system and the projection coordinate system are obtained, as well as the light source position information parameters of the point light source of the scanning device in the light source coordinate system. Based on the light source position information parameters, the first coordinate system transformation relationship, the second coordinate system transformation relationship, and the third coordinate system transformation relationship parameters, the projection position information parameters of the point light source in the projection coordinate system are obtained. Based on the transformation relationship of the first coordinate system and the transformation relationship parameters of the third coordinate system, the first actual position information of each marker point is transformed into the third projected position information parameters in the projected coordinate system, and the third projected position information parameters are obtained. The second projection position information parameters of the projection mark point are obtained based on the third projection position information parameters, the projection position information parameters, and the projection transformation relationship parameters.

5. The surgical navigation positioning method as described in claim 4, characterized in that, Based on the optimization results, perform three-dimensional localization on the two-dimensional scanned image to be localized, including: Based on the optimization results, the light source position information parameters and the third coordinate system transformation relationship parameters are calculated to obtain the light source position information of the point light source in the light source coordinate system and the third coordinate system transformation relationship between the receiving plate coordinate system and the projection coordinate system. Based on the first coordinate system transformation relationship and the third coordinate system transformation relationship, a fourth coordinate system transformation relationship between the projected coordinate system and the actual coordinate system is obtained; Based on the fourth coordinate system transformation relationship, the two-dimensional scanned image to be located is three-dimensionally positioned in the actual coordinate system to obtain the second actual position information of the two-dimensional scanned image in the actual coordinate system.

6. The surgical navigation positioning method as described in claim 5, characterized in that, After calculating the light source position information parameters and the third coordinate system transformation relationship parameters based on the optimization results, and obtaining the light source position information of the point light source in the light source coordinate system and the third coordinate system transformation relationship between the receiving plate coordinate system and the projection coordinate system, the method further includes: Based on the second coordinate system transformation relationship and the light source position information, the point light source to be located is three-dimensionally located in the actual coordinate system to obtain the third actual position information of the point light source in the actual coordinate system.

7. A positioning device for surgical navigation, applied in the positioning method of surgical navigation as described in any one of claims 1-6, characterized in that, include: A scanning device, comprising a point light source projection module and a receiving plate module, is used to scan a target object and obtain two-dimensional scan images of the target object under different scanning positions; A light source positioning and tracking device is connected to the point light source projection module of the scanning device, and the light source positioning and tracking device is used to acquire the position information of the point light source in the light source coordinate system; A receiving board positioning and tracking device is connected to the receiving board module of the scanning device, and the receiving board positioning and tracking device is used to obtain the position information of the receiving board in the receiving board coordinate system; An optical navigation device is used to acquire the position information of each marker point in the actual coordinate system, and to perform three-dimensional positioning on the two-dimensional scanned image based on the position information in the actual coordinate system.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, 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.

9. 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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