Surgical coordinate system registration method and device and storage medium

Abstract

The invention relates to a registration method and device of an operation coordinate system and a storage medium, and the method comprises the steps: obtaining prior information and operation type information of a scanned person, and the prior information comprises the rotation relation of a C-arm coordinate system and a CT coordinate system under different operation types; determining a first intra-operative rotation relation between the C-arm coordinate system and the CT coordinate system according to the prior information and the operative information; a first intraoperative registration relation between the C-arm coordinate system and a mechanical arm base coordinate system is obtained; and according to the first intra-operative rotation relation and the first intra-operative registration relation, a second intra-operative registration relation between the CT coordinate system and the mechanical arm base coordinate system is determined. According to the registration method of the surgical coordinate system, the relation quantity needing to be calibrated and measured in the surgery is less, so that the time consumption of the registration process is shorter, and the efficiency is higher. The problems of long time consumption and low efficiency of a registration process between a CT coordinate system and a mechanical arm base coordinate system in the prior art are solved.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a registration method, device and storage medium for a surgical coordinate system. Background Art

[0002] Spinal surgeries include trauma, degeneration, tumors, and deformities, which require the placement of screws at the spinal level. However, due to the particularity of the spine, which is surrounded by nerves and blood vessels, the precision of the screw placement needs to be very high.

[0003] Traumatic surgery includes fractures of the pelvis and lower limbs, especially pelvic sacroiliac joint surgery, which requires ensuring that the screws do not penetrate into the sacral foramen. However, there are often soft tissues, excrement, etc. blocking the operation, so it is necessary to find the location of the sacral foramen many times, and it is not very clear. When doctors insert screws, they rely on experience or other special instruments.

[0004] For surgeries that require particularly high precision, planning can be done on preoperative 3D CT (computer tomography) images to guide the movement of the surgical robot, which can ensure the precision of the surgery. It is necessary to register the CT coordinate system and the robot base coordinate system during the surgery, and how to quickly and efficiently perform the registration is of great significance.

[0005] In an existing registration method, firstly, an X-ray image is taken by a C-arm (X-ray machine) during surgery, then the imaging parameters of the C-arm imaging system are determined, and at least three anatomical points are determined on the X-ray image, and then based on the imaging parameters of the C-arm imaging system and the above-mentioned at least three anatomical points, a rough registration relationship between the robot base coordinate system and the CT coordinate system is obtained, and finally the registration relationship is corrected by a fine registration method to obtain a fine registration relationship between the two. Among them, the rough registration relationship needs to be obtained through manual participation. First, at least three anatomical points are marked in the X-ray image, and then the doctor needs to continuously observe the CT image to determine the spatial positions corresponding to at least three anatomical points in the CT image. This process requires the doctor to have a certain degree of operating experience, and it takes a certain amount of time to more accurately determine the spatial positions corresponding to the three anatomical points in the CT image, which results in the entire registration process being time-consuming and inefficient.

[0006] There is currently no effective solution to the problem that the registration process between the CT coordinate system and the robot arm base coordinate system in the related technology is time-consuming and inefficient. Summary of the invention

[0007] The present invention provides a registration method, device and storage medium for a surgical coordinate system to solve the problem that the registration process between a CT coordinate system and a robot arm base coordinate system in the related art is time-consuming and inefficient.

[0008] In a first aspect, the present invention provides a registration method for a surgical coordinate system, the registration method comprising:

[0009] Acquiring prior information and surgical procedure information of the scanned person, wherein the prior information includes a rotation relationship between a C-arm coordinate system and a CT coordinate system under different surgical procedures;

[0010] Determining a first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system according to the prior information and the procedure information;

[0011] Acquiring a first intraoperative registration relationship between the C-arm coordinate system and the robot arm base coordinate system;

[0012] A second intraoperative registration relationship between the CT coordinate system and the robot arm base coordinate system is determined according to the first intraoperative rotation relationship and the first intraoperative registration relationship.

[0013] In some embodiments, determining a second intraoperative registration relationship between the CT coordinate system and the robot arm base coordinate system according to the first intraoperative rotation relationship and the first intraoperative registration relationship comprises:

[0014] Acquire an X-ray image imaged in the C-arm coordinate system and a three-dimensional CT image imaged in the CT coordinate system;

[0015] The second intraoperative registration relationship is determined according to the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship and the first intraoperative registration relationship.

[0016] In some embodiments, determining the second intraoperative registration relationship according to the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship and the first intraoperative registration relationship comprises:

[0017] determining an anatomical point in a target surgical region of the scanned subject;

[0018] Determine a first coordinate of the anatomical point in the three-dimensional CT image, and determine a second coordinate of the anatomical point in the X-ray image;

[0019] The second intraoperative registration relationship is determined according to the first coordinates, the second coordinates, the first intraoperative rotation relationship, and the first intraoperative registration relationship.

[0020] In some embodiments, determining the second intraoperative registration relationship according to the first coordinate, the second coordinate, the first intraoperative rotation relationship, and the first intraoperative registration relationship comprises:

[0021] Determining a first intraoperative translation relationship between the C-arm coordinate system and the CT coordinate system according to the first coordinate, the second coordinate, and the first intraoperative rotation relationship;

[0022] Determining a third intraoperative registration relationship between the C-arm coordinate system and the CT coordinate system according to the first intraoperative rotation relationship and the first intraoperative translation relationship;

[0023] The second intraoperative registration relationship is determined according to the third intraoperative registration relationship and the first intraoperative registration relationship.

[0024] In some embodiments, determining the second intraoperative registration relationship according to the first coordinate, the second coordinate, the first intraoperative rotation relationship, and the first intraoperative registration relationship comprises:

[0025] Determining a second intraoperative rotation relationship between the CT coordinate system and the robotic arm base coordinate system according to the first intraoperative rotation relationship and the first intraoperative registration relationship;

[0026] Determine a third coordinate of the anatomical point in the robot arm base coordinate system according to the second coordinate and the first intraoperative registration relationship;

[0027] Determining a second intraoperative translation relationship between the CT coordinate system and the robot arm base coordinate system according to the first coordinate, the third coordinate, and the second intraoperative rotation relationship;

[0028] The second intraoperative registration relationship is determined according to the second intraoperative rotation relationship and the second intraoperative translation relationship.

[0029] In some embodiments, determining a first coordinate of the anatomical point in the three-dimensional CT image and determining a second coordinate of the anatomical point in the X-ray image comprises:

[0030] determining the first coordinate in the three-dimensional CT image;

[0031] Projecting the three-dimensional CT image through the first intraoperative rotation relationship to obtain a two-dimensional virtual image;

[0032] Adjusting the three-dimensional CT image until the two-dimensional virtual image overlaps with the X-ray image;

[0033] The second coordinate is determined in the X-ray image according to the projection point of the first coordinate on the two-dimensional virtual image.

[0034] In some embodiments, determining the second intraoperative registration relationship according to the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship and the first intraoperative registration relationship comprises:

[0035] Projecting the three-dimensional CT image through the first intraoperative rotation relationship to obtain a two-dimensional virtual image;

[0036] Adjusting the three-dimensional CT image until the two-dimensional virtual image overlaps with the X-ray image;

[0037] determining a first intraoperative translation relationship between the C-arm coordinate system and the CT coordinate system according to the translation change amount of the three-dimensional CT image;

[0038] The second intraoperative registration relationship is determined according to the first intraoperative rotation relationship, the first intraoperative translation relationship, and the first intraoperative registration relationship.

[0039] In some of the embodiments, the registration method further comprises, before determining the second intraoperative registration relationship:

[0040] The first intraoperative rotation relationship is corrected according to the adjusted three-dimensional CT image.

[0041] In a second aspect, the present invention provides a registration device for a surgical coordinate system, the registration device comprising:

[0042] A first acquisition module is used to acquire prior information and surgical procedure information of the scanned person, wherein the prior information includes a rotation relationship between a C-arm coordinate system and a CT coordinate system under different surgical procedures;

[0043] A first determination module, configured to determine a first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system according to the prior information and the procedure information;

[0044] A second acquisition module is used to acquire a first intraoperative registration relationship between the C-arm coordinate system and the robot arm base coordinate system;

[0045] The second determination module is used to determine a second intraoperative registration relationship between the CT coordinate system and the robot arm base coordinate system according to the first intraoperative rotation relationship and the first intraoperative registration relationship.

[0046] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the surgical coordinate system registration method described in the first aspect when executing the computer program.

[0047] In a fourth aspect, the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the surgical coordinate system registration method described in the first aspect.

[0048] Compared with the related art, the registration method, device and storage medium of the surgical coordinate system provided in the present invention only need to calibrate and measure the translation relationship between the C-arm coordinate system and the CT coordinate system, or the translation relationship between the CT coordinate system and the robot base coordinate system during the operation, so as to obtain the registration relationship between the CT coordinate system and the robot base coordinate system. Therefore, the registration method of the surgical coordinate system provided in the present invention requires less relationship calibration and measurement during the operation, and thus the registration process is shorter and more efficient. The problem of the registration process between the CT coordinate system and the robot base coordinate system being longer and less efficient in the related art is solved.

[0049] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0051] Figure 1 is a hardware structure block diagram of a terminal for executing the registration method of the surgical coordinate system in an embodiment of the present invention;

[0052] Figure 2 is a flow chart of a registration method for a surgical coordinate system in an embodiment of the present invention;

[0053] Figure 3 is a flow chart of a registration method for a surgical coordinate system in a specific embodiment of the present invention;

[0054] Figure 4 It is a structural block diagram of a registration device for a surgical coordinate system in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0056] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0057] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 is a hardware structure block diagram of a terminal for executing the registration method of the surgical coordinate system in an embodiment of the present invention. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown in the figure) processor 102 and memory 104 for storing data, wherein processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0058] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the registration method of the surgical coordinate system in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0059] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0060] Figure 2 FIG. 4 is a flow chart of a registration method for a surgical coordinate system in an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0061] Step S210, obtaining prior information and surgical procedure information of the scanned person, wherein the prior information includes the rotation relationship between the C-arm coordinate system and the CT coordinate system under different surgical procedures.

[0062] Specifically, the patient will undergo a CT scan before the operation, and an X-ray scan will be performed by a C-arm during the operation. The rotation relationship between the CT coordinate system and the C-arm coordinate system under various surgical procedures can be obtained before the operation by preset means, which is a priori information. Specifically, the rotation relationship between the CT coordinate system and the C-arm coordinate system can be determined by the position relationship between the patient's position during the operation and the C-arm, as well as the patient's position in the CT device before the operation.

[0063] For example, in one procedure, the patient is scanned in a supine head-first position before the operation for CT scanning, and the patient is also scanned in a supine position during the operation for X-ray scanning, and the C-arm is on the left side of the patient, and the C-arm is in the initial position (or uses the initial scanning angle). The above information can be used to calculate and determine the rotation relationship between the CT coordinate system and the C-arm coordinate system. In essence, the position of the patient is used as the central reference. On the one hand, the position relationship between the CT device and the patient's position is determined, and on the other hand, the position relationship between the C-arm and the patient's position is determined. Combining the two position relationships, the rotation relationship between the CT coordinate system and the C-arm coordinate system is determined. Among them, since the CT device is a three-dimensional scan, the position relationship between the CT device and the patient's position is only determined by the patient's position; and the position relationship between the C-arm and the patient's position is jointly determined by the patient's position, the orientation of the C-arm relative to the patient, and the C-arm position. Therefore, the rotation relationship between the C-arm coordinate system and the CT coordinate system under various different procedures can be calculated in advance.

[0064] For different surgical procedures, the positional relationship between the patient's position during the operation and the C-arm, as well as the patient's position in the CT device before the operation may be different. Therefore, the C-arm coordinate system and the CT coordinate system may have different rotational relationships. The prior information in this step includes the rotational relationship between the C-arm coordinate system and the CT coordinate system under different surgical procedures. Correspondingly, the surgical procedure information of the scanned person includes the surgical procedure to be performed on the scanned person, specifically including the patient's preoperative CT scanning position, intraoperative X-ray scanning position, scanning site, C-arm position and other information. Among them, the scanning site determines the positional relationship between the C-arm and the scanned person, that is, whether the C-arm is on the left or right side of the scanned person.

[0065] Step S220: determining a first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system according to the prior information and the procedure information.

[0066] In this step, the procedure to be performed on the scanned person is mainly determined based on the procedure information of the scanned person. The prior information includes the rotation relationship between the C-arm coordinate system and the CT coordinate system under different procedures. Then, according to the procedure information of the scanned person, the prior information is searched to determine the rotation relationship between the C-arm coordinate system and the CT coordinate system under the current procedure. Then, through this step, the first intraoperative rotation relationship can be directly and quickly determined. The first intraoperative rotation relationship is the rotation relationship between the C-arm coordinate system and the CT coordinate system during the operation, without the need to use other means for measurement and calibration during the operation.

[0067] Step S230, obtaining a first intraoperative registration relationship between the C-arm coordinate system and the robot arm base coordinate system.

[0068] In this step, the first intraoperative registration relationship is the intraoperative registration relationship between the C-arm coordinate system and the robotic arm base coordinate system. Through the first intraoperative registration relationship, the C-arm coordinate system and the robotic arm base coordinate system can be aligned. Specifically, the first intraoperative registration relationship can be obtained by intraoperative measurement and calibration.

[0069] Exemplarily, when the person being scanned lies on the operating table, a C-arm is used to take an X-ray image containing a calibration target in two different postures, where the calibration target is a component in the robotic arm; at the same time, the position of the calibration target is recorded, and the three-dimensional coordinates of the marking points on the calibration target in the robotic arm base coordinate system are calculated; then, the pixel coordinates of the marking points on the X-ray image are extracted (in the C-arm coordinate system), and based on the three-dimensional coordinates of the marking points in the robotic arm base coordinate system, the imaging parameters of the C-arm in the two different postures are calculated, and the imaging parameters represent the first intraoperative registration relationship.

[0070] Step S240: determining a second intraoperative registration relationship between the CT coordinate system and the robot arm base coordinate system according to the first intraoperative rotation relationship and the first intraoperative registration relationship.

[0071] In this step, the second intraoperative registration relationship is the intraoperative registration relationship between the CT coordinate system and the robotic arm base coordinate system. The robotic arm base coordinate system is the motion coordinate system of the surgical robotic arm. Through the second intraoperative registration relationship, the CT coordinate system and the robotic arm base coordinate system can be registered. For surgeries with particularly high execution accuracy requirements, planning can be performed on the preoperative three-dimensional CT image and the movement of the surgical robotic arm can be guided, which can well ensure the intraoperative execution accuracy.

[0072] There are two main ways to determine the second intraoperative registration relationship based on the first intraoperative rotation relationship and the first intraoperative registration relationship. One is to obtain the translation relationship between the C-arm coordinate system and the CT coordinate system during surgery. The translation relationship is combined with the rotation relationship between the C-arm coordinate system and the CT coordinate system to calculate the registration relationship between the C-arm coordinate system and the CT coordinate system. The registration relationship is combined with the registration relationship between the C-arm coordinate system and the robotic arm base coordinate system to calculate the registration relationship between the CT coordinate system and the robotic arm base coordinate system. The second is to combine the rotation relationship between the C-arm coordinate system and the CT coordinate system with the registration relationship between the C-arm coordinate system and the robotic arm base coordinate system during surgery to calculate the rotation relationship between the CT coordinate system and the robotic arm base coordinate system, and calibrate and measure the translation relationship between the CT coordinate system and the robotic arm base coordinate system. Combined with the above rotation relationship and translation relationship, the registration relationship between the CT coordinate system and the robotic arm base coordinate system can be calculated.

[0073] Therefore, in the present invention, it is only necessary to calibrate and measure the translation relationship between the C-arm coordinate system and the CT coordinate system, or the translation relationship between the CT coordinate system and the robot arm base coordinate system, during the operation to obtain the registration relationship between the CT coordinate system and the robot arm base coordinate system. In the existing related technologies, it is necessary to obtain the registration relationship between the C-arm coordinate system and the CT coordinate system, or the registration relationship between the CT coordinate system and the robot arm base coordinate system during the operation, and the registration relationship includes both the rotation relationship and the translation relationship. Therefore, the registration method of the surgical coordinate system provided in the present invention requires less relationship calibration and measurement during the operation, and thus the registration process is shorter and more efficient. The problem of the long time-consuming and low efficiency of the registration process between the CT coordinate system and the robot arm base coordinate system in the related technology is solved.

[0074] Similar to the related art, the registration method of the surgical coordinate system in the present invention mainly relies on X-ray images and three-dimensional CT images to achieve the registration and calibration between various coordinate systems.

[0075] In some embodiments, step S240 specifically includes:

[0076] Step S241, acquiring an X-ray image formed in a C-arm coordinate system and a three-dimensional CT image formed in a CT coordinate system.

[0077] In this step, the three-dimensional CT image is obtained by performing a CT scan on the scanned person before the operation, and the X-ray image is obtained by performing an X-ray scan on the scanned person during the operation. The main function of obtaining the two images is to determine the registration relationship between the two images. Since the X-ray image is a two-dimensional image, it is usually necessary to obtain at least two X-ray images with different shooting angles, and the position and posture of the C-arm coordinate system at different shooting angles are different. Therefore, the registration relationship (translation relationship and / or rotation relationship) between the C-arm coordinate system and the other two coordinate systems in the present invention includes the registration relationship between the C-arm coordinate system and the other coordinate systems at at least two different positions. Correspondingly, in the prior information, only the rotation relationship between the C-arm coordinate system of the initial position (initial shooting angle) and the CT coordinate system under different surgical procedures can be recorded. Because under the same surgical procedure, the rotation relationship between the C-arm coordinate system and the CT coordinate system of other positions can be derived from the rotation relationship between the C-arm coordinate system and the CT coordinate system of the initial position based on the shooting angle difference between other positions and the initial position.

[0078] Step S242, determining a second intraoperative registration relationship according to the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship and the first intraoperative registration relationship.

[0079] There are many ways to implement this step, and please refer to the following embodiments for details.

[0080] In some embodiments, step S242 specifically includes:

[0081] Step S242a, determining an anatomical point in the target surgical area of ​​the scanned person; step S242b, determining a first coordinate of the anatomical point in the three-dimensional CT image, and determining a second coordinate of the anatomical point in the X-ray image; step S242c, determining a second intraoperative registration relationship based on the first coordinate, the second coordinate, the first intraoperative rotation relationship and the first intraoperative registration relationship.

[0082] Specifically, the anatomical point can be a feature point arbitrarily determined by the physician, preferably with a certain degree of recognition. It can also be a feature point provided by the system. During the operation, the physician needs to determine the position of the anatomical point in the three-dimensional CT image, and determine the position of the anatomical point in the two X-ray images, and then obtain the first coordinate of the anatomical point in the CT coordinate system, and the second coordinate in the C-arm coordinate system. Based on the first coordinate and the second coordinate of the anatomical point, the translation relationship between the CT coordinate system and the C-arm coordinate system, or the translation relationship between the CT coordinate system and the robotic arm base coordinate system can be determined.

[0083] It should be noted that in the existing related technologies, it is usually necessary to determine the registration relationship between the CT coordinate system and the C-arm coordinate system, or the registration relationship between the CT coordinate system and the robotic arm base coordinate system, so at least three anatomical points are required. Because in spatial transformation, at least three spatial points can determine the spatial transformation relationship. In this embodiment, since the rotation relationship between the two registration objects is determined, only the translation relationship between the two needs to be determined, so only one anatomical point is needed. This means that the doctor only needs to mark one anatomical point in the three-dimensional CT image and the X-ray image during the operation, thereby simplifying the coordinate system registration process.

[0084] As described above, based on the first coordinate and the second coordinate of the anatomical point, the translation relationship between the CT coordinate system and the C-arm coordinate system, or the translation relationship between the CT coordinate system and the robot arm base coordinate system can be determined.

[0085] Further, in one embodiment, step S242c specifically includes:

[0086] According to the first coordinate, the second coordinate and the first intraoperative rotation relationship, the first intraoperative translation relationship between the C-arm coordinate system and the CT coordinate system is determined; according to the first intraoperative rotation relationship and the first intraoperative translation relationship, the third intraoperative registration relationship between the C-arm coordinate system and the CT coordinate system is determined; according to the third intraoperative registration relationship and the first intraoperative registration relationship, the second intraoperative registration relationship is determined.

[0087] Specifically, the first intraoperative translation relationship is the translation relationship between the C-arm coordinate system and the CT coordinate system during the operation. The third intraoperative registration relationship is the registration relationship between the C-arm coordinate system and the CT coordinate system during the operation. Furthermore, in the present embodiment, firstly, the translation relationship between the CT coordinate system and the C-arm coordinate system is determined based on the coordinates of the anatomical points in the CT coordinate system and the C-arm coordinate system, thereby determining the registration relationship between the CT coordinate system and the C-arm coordinate system, and finally determining the registration relationship between the CT coordinate system and the robotic arm base coordinate system in combination with the registration relationship between the C-arm coordinate system and the robotic arm base coordinate system.

[0088] Accordingly, in another embodiment, step S242c specifically includes:

[0089] According to the first intraoperative rotation relationship and the first intraoperative registration relationship, the second intraoperative rotation relationship between the CT coordinate system and the robotic arm base coordinate system is determined; according to the second coordinate and the first intraoperative registration relationship, the third coordinate of the anatomical point in the robotic arm base coordinate system is determined; according to the first coordinate, the third coordinate and the second intraoperative rotation relationship, the second intraoperative translation relationship between the CT coordinate system and the robotic arm base coordinate system is determined; according to the second intraoperative rotation relationship and the second intraoperative translation relationship, the second intraoperative registration relationship is determined.

[0090] Specifically, the second intraoperative rotation relationship is the intraoperative rotation relationship between the CT coordinate system and the robot arm base coordinate system, and the second intraoperative translation relationship is the intraoperative translation relationship between the CT coordinate system and the robot arm base coordinate system. Furthermore, in this embodiment, first, the rotation relationship between the CT coordinate system and the C-arm coordinate system is combined with the registration relationship between the C-arm coordinate system and the robot arm base coordinate system to determine the rotation relationship between the CT coordinate system and the robot arm base coordinate system; then, through the registration relationship between the C-arm coordinate system and the robot arm base coordinate system, the coordinates of the anatomical point in the C-arm coordinate system are converted to the robot arm base coordinate system; then, based on the coordinates of the anatomical point in the CT coordinate system and the robot arm base coordinate system, the translation relationship between the CT coordinate system and the robot arm base coordinate system is determined; finally, the registration relationship between the CT coordinate system and the robot arm base coordinate system is obtained by combining the rotation relationship between the CT coordinate system and the robot arm base coordinate system.

[0091] As described in the above embodiments, the physician needs to mark at least one anatomical point in the three-dimensional CT image and the X-ray image, or the system provides one anatomical point. Since the X-ray image is a two-dimensional image, the two-dimensional image loses the depth information, resulting in projection occlusion, which makes it difficult for the physician to accurately mark the position of the anatomical point in the X-ray image in some cases. In view of this situation, the present invention provides the following embodiments to solve the related problems.

[0092] In some embodiments, step S242b specifically includes:

[0093] Determine a first coordinate in the three-dimensional CT image; project the three-dimensional CT image through a first intraoperative rotation relationship to obtain a two-dimensional virtual image; adjust the three-dimensional CT image until the two-dimensional virtual image coincides with the X-ray image; determine a second coordinate in the X-ray image according to the projection point of the first coordinate in the two-dimensional virtual image.

[0094] In this embodiment, the two-dimensional virtual image includes at least two two-dimensional virtual images at different angles. 。 First, the position of the anatomical point is marked in the three-dimensional CT image (the first coordinate); then, through the rotation relationship between the CT coordinate system and the C-arm coordinate system, the three-dimensional CT image is projected to obtain a two-dimensional virtual image. At this time, the anatomical point has a projection point in the two-dimensional virtual image; the doctor can change the two-dimensional virtual image by continuously adjusting the three-dimensional CT image, and finally make the two-dimensional virtual image coincide with the X-ray image. At this time, the doctor can mark the position of the anatomical point in the X-ray image with reference to the projection point, that is, mark the second coordinate at the position where the X-ray image coincides with the projection point. Among them, the adjustment operation of the three-dimensional CT image includes translation and rotation. Through this method, it is convenient for doctors to mark the position of the anatomical point in the X-ray image more accurately.

[0095] In the above embodiments, the scheme of registering the CT coordinate system and the robot base coordinate system by marking anatomical points in the three-dimensional CT image and the X-ray image is mainly introduced. A scheme without the need for standard anatomical points for registration is introduced as follows.

[0096] In some embodiments, step S242 specifically includes:

[0097] Step S242d, projecting the three-dimensional CT image through the first intraoperative rotation relationship to obtain a two-dimensional virtual image; step S242e, adjusting the three-dimensional CT image until the two-dimensional virtual image coincides with the X-ray image; step S242f, determining the first intraoperative translation relationship between the C-arm coordinate system and the CT coordinate system according to the translation change of the three-dimensional CT image; step S242d, determining the second intraoperative registration relationship according to the first intraoperative rotation relationship, the first intraoperative translation relationship and the first intraoperative registration relationship.

[0098] In this embodiment, the three-dimensional CT image is first projected to obtain a two-dimensional virtual image through the rotation relationship between the CT coordinate system and the C-arm coordinate system; the physician can change the two-dimensional virtual image by continuously adjusting the three-dimensional CT image, and finally make the two-dimensional virtual image coincide with the X-ray image. Among them, the adjustment operation of the three-dimensional CT image includes translation and rotation. After the two images coincide, the translation change of the three-dimensional CT image reflects the translation relationship between the C-arm coordinate system and the CT coordinate system. Therefore, in this embodiment, by recording the translation change of the three-dimensional CT image, the translation relationship between the C-arm coordinate system and the CT coordinate system can be directly determined, and then the registration relationship between the C-arm coordinate system and the CT coordinate system can be determined. Combined with the registration relationship between the C-arm coordinate system and the robot base coordinate system, the registration relationship between the CT coordinate system and the robot base coordinate system can be determined.

[0099] Compared with the above-mentioned embodiment, this embodiment does not need to mark anatomical points in the three-dimensional CT image and the X-ray image, so the registration process is simpler, and the registration efficiency of the surgical coordinate system is further improved.

[0100] In some of the embodiments, the registration method further includes, before determining the second intraoperative registration relationship: correcting the first intraoperative rotation relationship according to the adjusted three-dimensional CT image.

[0101] As described in the above two embodiments, by using the rotation relationship between the CT coordinate system and the C-arm coordinate system, a two-dimensional virtual image can be obtained by projecting the three-dimensional CT image. The doctor can change the two-dimensional virtual image by continuously adjusting the three-dimensional CT image, and finally make the two-dimensional virtual image coincide with the X-ray image. Based on the above process, the position of the anatomical point can be determined in the X-ray image, or the translation relationship between the CT coordinate system and the C-arm coordinate system can be determined. However, considering that the first intraoperative rotation relationship in the prior information is not completely accurate, the rotation operation instruction is retained in the process of adjusting the three-dimensional CT image. In order to make the two-dimensional virtual image coincide with the X-ray image, the three-dimensional CT image can be rotated. At this time, the first intraoperative rotation relationship can be corrected by recording the rotation change of the three-dimensional CT image, so as to obtain a more accurate rotation relationship between the CT coordinate system and the C-arm coordinate system. It should be noted that if the doctor can make the two-dimensional virtual image coincide with the X-ray image only by translating the three-dimensional CT image, it means that the first intraoperative rotation relationship in the prior information is relatively accurate.

[0102] The above-mentioned multiple embodiments have fully introduced the registration method of the surgical coordinate system in the present invention. The ultimate goal of this method is to determine the registration relationship between the CT coordinate system and the robot arm base coordinate system. Part of the means is to project the three-dimensional CT data to obtain a two-dimensional virtual image. The doctor can change the two-dimensional virtual image by continuously adjusting the three-dimensional CT image, and finally make the two-dimensional virtual image coincide with the X-ray image. Then, through the doctor's adjustment process, the physical quantities required for the registration between each coordinate system can be calibrated and measured. However, there are inevitably certain errors in the manual operation of the doctor, which are mainly reflected in the coincidence error between the two-dimensional virtual image and the X-ray image (difficult to adjust to complete coincidence). Finally, there is a certain error in the registration relationship between the CT coordinate system and the robot arm base coordinate system.

[0103] Therefore, in some embodiments, the registration relationship between the CT coordinate system and the robot base coordinate system is also fine-tuned and corrected. The fine-tuning and correction process is as follows:

[0104] First, all the vertebrae in the X-ray image are preliminarily segmented and each vertebra is identified; then, according to the registration relationship between the C-arm coordinate system and the robot base coordinate system, as well as the registration relationship between the robot base coordinate system and the CT coordinate system, the three-dimensional CT image is projected to obtain a two-dimensional virtual image; then, the two-dimensional virtual image and the X-ray image can be registered through some high-precision image registration algorithms. In this process, the vertebrae in the two images are mainly registered; after the registration is completed, a precise registration matrix can be obtained, and finally, the registration relationship between the C-arm coordinate system and the robot base coordinate system can be precisely corrected through the precise registration matrix.

[0105] The technical solution of the present invention is described below through a specific embodiment.

[0106] Figure 3 FIG. 1 is a flow chart of a registration method for a surgical coordinate system in a specific embodiment of the present invention. Figure 3 , the registration method of the surgical coordinate system includes the following steps:

[0107] Step S310: determining the rotation relationship between the C-arm coordinate system and the CT coordinate system according to prior information.

[0108] Specifically, the rotational transformation relationship between the CT coordinate system and the C-arm coordinate system can be obtained through the positional relationship between the scanned person's body position and the C-arm, as well as the scanned person's body position in the CT coordinate system. This rotational transformation relationship is bound to the patient's surgical site and body position to generate a rotational relationship list, which is prior information and includes the rotational relationship between the C-arm coordinate system and the CT coordinate system under different surgical procedures.

[0109] Before the operation, the patient undergoes a CT scan and planning is performed on the three-dimensional CT data; during the operation, the user selects the surgical site / body position on the patient registration interface. According to different surgical procedures, the acquisition interface displays the corresponding C-arm positioning position. At the same time, the host computer determines the rotation matrix of the CT coordinate system and the C-arm coordinate system under the current surgical procedure based on the rotation relationship list.

[0110] Step S320, determining the registration relationship between the C-arm coordinate system and the robot arm base coordinate system.

[0111] Specifically, the patient lies on the operating table, and the user follows the prompts on the interface to move the C-arm in two different postures to take an X-ray image containing the calibration target and the patient's spine, record the position of the calibration target, and calculate the three-dimensional coordinates of the marking points on the calibration target in the robot base coordinate system. The pixel coordinates of the marking points on the X-ray image are extracted, and the imaging parameters of the C-arm in two different postures are calculated based on the three-dimensional coordinates of the marking points in the robot base coordinate system. The imaging parameters characterize the registration relationship between the C-arm coordinate system and the robot base coordinate system.

[0112] Step S330, determining the rotation relationship between the robot base coordinate system and the CT coordinate system.

[0113] Specifically, the rotation relationship between the robot base coordinate system and the CT coordinate system is determined according to the registration relationship between the C-arm coordinate system and the robot base coordinate system, and the rotation relationship between the C-arm coordinate system and the CT coordinate system.

[0114] Step S340, determining the position information of the same anatomical point in the CT coordinate system and the robot arm base coordinate system respectively.

[0115] Specifically, the same anatomical point is marked in the three-dimensional CT image and the X-ray image respectively, and the coordinates of the anatomical point in the robotic arm base coordinate system are determined according to the coordinates of the anatomical point in the X-ray image and the registration relationship between the C-arm coordinate system and the robotic arm base coordinate system.

[0116] After entering the rough registration interface, the 3D CT image and two X-ray images are displayed on the interface at the same time. According to the vertebra displayed on the 3D CT image, after finding a physiological feature point (anatomical point) on it, the projection point of the physiological feature point is found and selected in the two X-ray images, and its pixel coordinates are obtained. Then, according to the imaging parameters of the C-arm, the 3D coordinates of this anatomical point in the robot arm base coordinate system are calculated.

[0117] Step S350, determining the translation relationship between the robot base coordinate system and the CT coordinate system.

[0118] Specifically, the translation relationship between the robot base coordinate system and the CT coordinate system is determined according to the three-dimensional coordinates of the anatomical point in the CT coordinate system and the robot base coordinate system, and the rotation relationship between the robot base coordinate system and the CT coordinate system.

[0119] Step S360, determining a rough registration relationship between the robot base coordinate system and the CT coordinate system.

[0120] Specifically, a coarse registration relationship between the manipulator base coordinate system and the CT coordinate system is determined according to a translation relationship and a rotation relationship between the manipulator base coordinate system and the CT coordinate system.

[0121] Step S370, determining the precise registration relationship between the robot base coordinate system and the CT coordinate system.

[0122] Specifically, all vertebrae in the X-ray image are preliminarily segmented, and each vertebra is identified; according to the coarse registration relationship between the robot base coordinate system and the CT coordinate system, and the imaging parameters of the C-arm, the C-arms in two different postures are mapped to the CT coordinate system; combined with the three-dimensional CT data of the scanned person, virtual projections are performed to obtain two virtual X-ray images; the two virtual X-ray images are registered with the real X-ray image during the operation, and according to the registration results, the posture of the CT data is continuously adjusted until the virtual X-ray coincides with the real X-ray, and the precise registration matrix is ​​calculated; the coarse registration relationship between the robot base coordinate system and the CT coordinate system is corrected by the precise registration matrix, and the precise registration relationship between the robot base coordinate system and the CT coordinate system is obtained. Among them, all cones in the image can be registered at one time, and the registered X-ray and CT are superimposed and displayed to observe the registration of each vertebra. If there are many cones, it cannot be guaranteed that all cones are imaged in the X-ray image, so multiple films are required and multiple registrations are performed separately.

[0123] Through the above registration process, after the registration is completed, the precise registration relationship between the robot base coordinate system and the CT coordinate system is obtained. In this way, the target position planned on the CT before the operation can be converted to the robot base coordinate system during the operation, guiding the robot to move to the corresponding position.

[0124] In this embodiment, a registration device for a surgical coordinate system is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. The terms "module", "unit", "subunit", etc. used below may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0125] Figure 4FIG. 4 is a structural block diagram of a registration device for a surgical coordinate system in an embodiment of the present invention. Figure 4 As shown, the device comprises:

[0126] A first acquisition module 410 is used to acquire prior information and surgical procedure information of the scanned person, wherein the prior information includes the rotation relationship between the C-arm coordinate system and the CT coordinate system under different surgical procedures;

[0127] A first determination module 420 is used to determine a first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system according to the prior information and the procedure information;

[0128] A second acquisition module 430 is used to acquire a first intraoperative registration relationship between the C-arm coordinate system and the robot arm base coordinate system;

[0129] The second determination module 440 is used to determine a second intraoperative registration relationship between the CT coordinate system and the robot arm base coordinate system according to the first intraoperative rotation relationship and the first intraoperative registration relationship.

[0130] Through the above-mentioned module, it is only necessary to calibrate and measure the translation relationship between the C-arm coordinate system and the CT coordinate system, or the translation relationship between the CT coordinate system and the robot base coordinate system, during the operation to obtain the registration relationship between the CT coordinate system and the robot base coordinate system. In the existing related technologies, it is necessary to calibrate and measure the registration relationship between the C-arm coordinate system and the CT coordinate system, or the registration relationship between the CT coordinate system and the robot base coordinate system, and the registration relationship includes both the rotation relationship and the translation relationship. Therefore, the registration method of the surgical coordinate system provided in the present invention requires less relationship calibration and measurement during the operation, and thus the registration process is shorter and more efficient. The problem of the long time-consuming and low efficiency of the registration process between the CT coordinate system and the robot base coordinate system in the related technology is solved.

[0131] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0132] The present invention further provides an electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0133] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0134] In addition, in combination with the registration method of the surgical coordinate system provided in the above embodiments, a storage medium can also be provided in the present invention to implement the registration method. The storage medium stores a computer program; when the computer program is executed by a processor, any registration method of the surgical coordinate system in the above embodiments is implemented.

[0135] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0136] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0137] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0138] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0139] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A registration method for a surgical coordinate system, characterized in that: The registration method comprises: Acquiring prior information and surgical procedure information of the scanned person, wherein the prior information includes a rotation relationship between a C-arm coordinate system and a CT coordinate system under different surgical procedures; Determining a first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system according to the prior information and the procedure information; Acquiring a first intraoperative registration relationship between the C-arm coordinate system and the robot arm base coordinate system; A second intraoperative registration relationship between the CT coordinate system and the robot arm base coordinate system is determined according to the first intraoperative rotation relationship and the first intraoperative registration relationship.

2. The registration method of the surgical coordinate system according to claim 1, characterized in that: Determining a second intraoperative registration relationship between the CT coordinate system and the robot arm base coordinate system according to the first intraoperative rotation relationship and the first intraoperative registration relationship comprises: Acquire an X-ray image imaged in the C-arm coordinate system and a three-dimensional CT image imaged in the CT coordinate system; The second intraoperative registration relationship is determined according to the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship and the first intraoperative registration relationship.

3. The registration method of the surgical coordinate system according to claim 2, characterized in that: Determining the second intraoperative registration relationship according to the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship, and the first intraoperative registration relationship includes: determining an anatomical point in a target surgical region of the scanned subject; Determine a first coordinate of the anatomical point in the three-dimensional CT image, and determine a second coordinate of the anatomical point in the X-ray image; The second intraoperative registration relationship is determined according to the first coordinates, the second coordinates, the first intraoperative rotation relationship, and the first intraoperative registration relationship.

4. The registration method of the surgical coordinate system according to claim 3, characterized in that: Determining the second intraoperative registration relationship according to the first coordinate, the second coordinate, the first intraoperative rotation relationship, and the first intraoperative registration relationship includes: Determining a first intraoperative translation relationship between the C-arm coordinate system and the CT coordinate system according to the first coordinate, the second coordinate, and the first intraoperative rotation relationship; Determining a third intraoperative registration relationship between the C-arm coordinate system and the CT coordinate system according to the first intraoperative rotation relationship and the first intraoperative translation relationship; The second intraoperative registration relationship is determined according to the third intraoperative registration relationship and the first intraoperative registration relationship.

5. The registration method of the surgical coordinate system according to claim 3, characterized in that: Determining the second intraoperative registration relationship according to the first coordinate, the second coordinate, the first intraoperative rotation relationship, and the first intraoperative registration relationship includes: Determining a second intraoperative rotation relationship between the CT coordinate system and the robotic arm base coordinate system according to the first intraoperative rotation relationship and the first intraoperative registration relationship; Determine a third coordinate of the anatomical point in the robot arm base coordinate system according to the second coordinate and the first intraoperative registration relationship; Determining a second intraoperative translation relationship between the CT coordinate system and the robot arm base coordinate system according to the first coordinate, the third coordinate and the second intraoperative rotation relationship; The second intraoperative registration relationship is determined according to the second intraoperative rotation relationship and the second intraoperative translation relationship.

6. The registration method of the surgical coordinate system according to claim 3, characterized in that: The determining of the first coordinates of the anatomical point in the three-dimensional CT image and the determining of the second coordinates of the anatomical point in the X-ray image comprises: determining the first coordinate in the three-dimensional CT image; Projecting the three-dimensional CT image through the first intraoperative rotation relationship to obtain a two-dimensional virtual image; Adjusting the three-dimensional CT image until the two-dimensional virtual image overlaps with the X-ray image; The second coordinate is determined in the X-ray image according to the projection point of the first coordinate on the two-dimensional virtual image.

7. The registration method of the surgical coordinate system according to claim 2, characterized in that: Determining the second intraoperative registration relationship according to the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship, and the first intraoperative registration relationship includes: Projecting the three-dimensional CT image through the first intraoperative rotation relationship to obtain a two-dimensional virtual image; Adjusting the three-dimensional CT image until the two-dimensional virtual image overlaps with the X-ray image; determining a first intraoperative translation relationship between the C-arm coordinate system and the CT coordinate system according to the translation change amount of the three-dimensional CT image; The second intraoperative registration relationship is determined according to the first intraoperative rotation relationship, the first intraoperative translation relationship, and the first intraoperative registration relationship.

8. The registration method of the surgical coordinate system according to claim 6 or 7, characterized in that: The registration method further comprises, before determining the second intraoperative registration relationship: The first intraoperative rotation relationship is corrected according to the adjusted three-dimensional CT image.

9. A registration device for a surgical coordinate system, characterized in that: The registration device comprises: A first acquisition module is used to acquire prior information and surgical procedure information of the scanned person, wherein the prior information includes a rotation relationship between a C-arm coordinate system and a CT coordinate system under different surgical procedures; A first determination module, configured to determine a first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system according to the prior information and the procedure information; A second acquisition module is used to acquire a first intraoperative registration relationship between the C-arm coordinate system and the robot arm base coordinate system; The second determination module is used to determine a second intraoperative registration relationship between the CT coordinate system and the robot arm base coordinate system according to the first intraoperative rotation relationship and the first intraoperative registration relationship.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the surgical coordinate system registration method according to any one of claims 1 to 8 are implemented.

Images