Method, device and storage medium for registering a surgical coordinate system

Abstract

This application relates to a method, apparatus, and storage medium for registering surgical coordinate systems. The method includes: acquiring prior information and surgical procedure information of the patient, wherein the prior information includes the rotational relationship between a C-arm coordinate system and a CT coordinate system under different surgical procedures; determining a first intraoperative rotational relationship between the C-arm coordinate system and the CT coordinate system based on the prior information and the surgical procedure information; acquiring a first intraoperative registration relationship between the C-arm coordinate system and a robotic arm base coordinate system; and determining a second intraoperative registration relationship between the CT coordinate system and the robotic arm base coordinate system based on the first intraoperative rotational relationship and the first intraoperative registration relationship. This surgical coordinate system registration method requires fewer calibrated measurements during surgery, resulting in a shorter registration process and higher efficiency. It solves the problem of long registration times and low efficiency between the CT coordinate system and the robotic arm base coordinate system in related technologies.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a method, apparatus and storage medium for registering surgical coordinate systems. Background Technology

[0002] Spinal surgery, including procedures for trauma, degeneration, tumors, and deformities, requires the placement of screws and other devices along the spine. However, due to the unique nature of the spine, with its surrounding nerves and blood vessels, the precision required for screw placement is extremely high.

[0003] Traumatic surgeries, including fractures of the pelvis and lower limbs, particularly sacroiliac joint surgery, require ensuring that screws do not penetrate into the sacral foramen. However, during surgery, soft tissues and excrement often obstruct the view, necessitating multiple attempts to locate the sacral foramen, which is not always clearly visible. Surgeons rely on experience or specialized instruments when inserting screws.

[0004] For surgeries requiring exceptionally high precision, preoperative planning using 3D CT (computed tomography) images can guide the movement of the surgical robotic arm, effectively ensuring intraoperative accuracy. A crucial aspect of this is the intraoperative registration of the CT coordinate system and the robotic arm's base coordinate system; therefore, achieving rapid and efficient registration is of paramount importance.

[0005] In a current registration method, the first step is to take X-ray images intraoperatively using a C-arm (X-ray machine). Then, the imaging parameters of the C-arm imaging system are determined, and at least three anatomical points are identified on the X-ray images. Based on these parameters and the three anatomical points, a coarse registration relationship is obtained between the robotic arm's base coordinate system and the CT coordinate system. Finally, a fine registration method is used to correct this relationship, resulting in a precise registration relationship. However, the coarse registration requires manual intervention. First, at least three anatomical points are marked on the X-ray images. Then, the surgeon must continuously observe the CT images to determine the spatial positions of these three points. This process requires considerable experience from the surgeon, and accurately determining the spatial positions of the three anatomical points on the CT images takes time, resulting in a lengthy and inefficient registration process.

[0006] There is currently no effective solution to the problem of long registration time and low efficiency between the CT coordinate system and the robot arm base coordinate system in related technologies. Summary of the Invention

[0007] This invention provides a method, apparatus, and storage medium for registering surgical coordinate systems to solve the problems of long registration time and low efficiency between CT coordinate systems and robotic arm base coordinate systems in related technologies.

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

[0009] Acquire prior information and surgical procedure information of the patient being scanned, wherein the prior information includes the rotational relationship between the C-arm coordinate system and the CT coordinate system under different surgical procedures;

[0010] Based on the prior information and the surgical procedure information, a first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system is determined;

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

[0012] Based on the first intraoperative rotation relationship and the first intraoperative registration relationship, a second intraoperative registration relationship is determined between the CT coordinate system and the robotic arm base coordinate system.

[0013] In some embodiments, determining the second intraoperative registration relationship between the CT coordinate system and the robotic arm base coordinate system based on the first intraoperative rotation relationship and the first intraoperative registration relationship includes:

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

[0015] The second intraoperative registration relationship is determined based on 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 based on the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship, and the first intraoperative registration relationship includes:

[0017] Identify anatomical points in the target surgical area of ​​the subject being scanned;

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

[0019] The second intraoperative registration relationship is determined based on the first coordinate, the second coordinate, the first intraoperative rotation relationship, and the first intraoperative registration relationship.

[0020] In some embodiments, determining the second intraoperative registration relationship based on the first coordinate, the second coordinate, the first intraoperative rotation relationship, and the first intraoperative registration relationship includes:

[0021] Based on the first coordinate, the second coordinate, and the first intraoperative rotation relationship, determine the first intraoperative translation relationship between the C-arm coordinate system and the CT coordinate system;

[0022] Based on the first intraoperative rotation relationship and the first intraoperative translation relationship, a third intraoperative registration relationship between the C-arm coordinate system and the CT coordinate system is determined;

[0023] The second intraoperative registration relationship is determined based on the third intraoperative registration relationship and the first intraoperative registration relationship.

[0024] In some embodiments, determining the second intraoperative registration relationship based on the first coordinate, the second coordinate, the first intraoperative rotation relationship, and the first intraoperative registration relationship includes:

[0025] Based on the first intraoperative rotation relationship and the first intraoperative registration relationship, a second intraoperative rotation relationship between the CT coordinate system and the robotic arm base coordinate system is determined;

[0026] Based on the second coordinates and the first intraoperative registration relationship, determine the third coordinates of the dissection point in the robotic arm base coordinate system;

[0027] Based on the first coordinate, the third coordinate, and the second intraoperative rotation relationship, determine the second intraoperative translation relationship between the CT coordinate system and the robotic arm base coordinate system;

[0028] The second intraoperative registration relationship is determined based on the second intraoperative rotation relationship and the second intraoperative translation relationship.

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

[0030] Determine the first coordinates in the three-dimensional CT image;

[0031] The three-dimensional CT image is projected using the first intraoperative rotation relationship to obtain a two-dimensional virtual image;

[0032] Adjust the 3D CT image until the 2D virtual image coincides with the X-ray image;

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

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

[0035] The three-dimensional CT image is projected using the first intraoperative rotation relationship to obtain a two-dimensional virtual image;

[0036] Adjust the 3D CT image until the 2D virtual image coincides with the X-ray image;

[0037] Based on the translational changes of the three-dimensional CT image, determine the first intraoperative translational relationship between the C-arm coordinate system and the CT coordinate system;

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

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

[0040] The first intraoperative rotation relationship is corrected based on the adjusted 3D CT image.

[0041] Secondly, this invention provides a registration device for a surgical coordinate system, the registration device comprising:

[0042] The first acquisition module is used to acquire prior information and surgical procedure information of the scanned subject. The prior information includes the rotational relationship between the C-arm coordinate system and the CT coordinate system under different surgical procedures.

[0043] The first determining module is used to determine the first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system based on the prior information and the surgical procedure information.

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

[0045] The second determining module is used to determine the second intraoperative registration relationship between the CT coordinate system and the robotic arm base coordinate system based on the first intraoperative rotation relationship and the first intraoperative registration relationship.

[0046] Thirdly, the present invention provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the surgical coordinate system registration method described in the first aspect above.

[0047] Fourthly, the present invention provides a storage medium storing a computer program that, when executed by a processor, implements the surgical coordinate system registration method described in the first aspect above.

[0048] Compared with related technologies, the surgical coordinate system registration method, apparatus, and storage medium provided in this invention only require intraoperative calibration and measurement of the translational relationship between the C-arm coordinate system and the CT coordinate system, or the translational relationship between the CT coordinate system and the robotic arm base coordinate system, to obtain the registration relationship between the CT coordinate system and the robotic arm base coordinate system. Therefore, the surgical coordinate system registration method provided in this invention requires fewer calibrated and measured relationships during surgery, resulting in a shorter registration process and higher efficiency. This solves the problem of long registration time and low efficiency between the CT coordinate system and the robotic arm base coordinate system in related technologies.

[0049] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0050] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0051] Figure 1 This is a hardware structure block diagram of a terminal that executes the surgical coordinate system registration method in the embodiments of the present invention;

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

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

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

[0055] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0056] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0057] The method embodiments provided in this example can be executed on a terminal, computer, or similar computing device. For example, it can run on a terminal. Figure 1 This is a hardware structure block diagram of the terminal that executes the surgical coordinate system registration method in this embodiment of the invention. For example... Figure 1 As shown, a terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 and a memory 104 for storing data are also included. The processor 102 may be, but is not limited to, a microprocessor (MCU) or a programmable logic device (FPGA). The terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that… Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, the terminal may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown are illustrated.

[0058] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the surgical coordinate system registration method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0059] The transmission device 106 is used to receive or send data via a network. This network includes a wireless network provided by the terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 can be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0060] Figure 2 This is a flowchart of the surgical coordinate system registration method in an embodiment of the present invention. For example... Figure 2 As shown, the process includes the following steps:

[0061] Step S210: Obtain prior information and surgical procedure information of the patient being scanned. The prior information includes the rotational relationship between the C-arm coordinate system and the CT coordinate system under different surgical procedures.

[0062] Specifically, the patient undergoes a CT scan before surgery and an X-ray scan via a C-arm during the procedure. The rotational relationship between the CT coordinate system and the C-arm coordinate system under various surgical procedures can be obtained pre-operatively through pre-set methods; this is prior information. Specifically, the rotational relationship between the CT coordinate system and the C-arm coordinate system can be determined by the patient's position during surgery relative to the C-arm, as well as the patient's pre-operative position within the CT scanner.

[0063] For example, in one surgical procedure, the patient is in a supine head-up position for CT scanning before the procedure, and also in a supine position for X-ray scanning during the procedure. The C-arm is positioned to the patient's left and in its initial setup (or at the initial scanning angle). Using this information, the rotational relationship between the CT coordinate system and the C-arm coordinate system can be calculated. Essentially, with the patient's position as the central reference, the positional relationship between the CT equipment and the patient's position is determined, as is the positional relationship between the C-arm and the patient's position. Combining these two positional relationships, the rotational relationship between the CT coordinate system and the C-arm coordinate system is determined. Since the CT equipment performs three-dimensional scanning, the positional relationship between the CT equipment and the patient's position is determined solely by the patient's position; while the positional relationship between the C-arm and the patient's position is determined by the patient's position, the C-arm's orientation relative to the patient, and the C-arm's setup. Therefore, the rotational relationship between the C-arm coordinate system and the CT coordinate system can be calculated in advance for various surgical procedures.

[0064] For different surgical procedures, the intraoperative position of the patient and the C-arm, as well as the patient's preoperative position within the CT scanner, may vary. 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 relationships between the C-arm and CT coordinate systems under different surgical procedures. Correspondingly, the patient's surgical procedure information includes the procedure to be performed, specifically including the patient's preoperative CT scan position, intraoperative X-ray scan position, scanning site, and C-arm positioning. The scanning site determines the orientation of the C-arm relative to the patient, i.e., whether the C-arm is positioned to the patient's left or right.

[0065] Step S220: Based on prior information and surgical procedure information, determine the first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system.

[0066] This step primarily involves determining the surgical procedure to be performed on the patient based on their surgical procedure information. Prior information includes the rotational relationships between the C-arm coordinate system and the CT coordinate system under different surgical procedures. Then, based on the patient's surgical procedure information, the rotational relationship between the C-arm and CT coordinate systems under the current surgical procedure is determined by searching within the prior information. This step allows for the direct and rapid determination of the first intraoperative rotational relationship, which is the rotational relationship between the C-arm and CT coordinate systems during the operation, without requiring additional measurement and calibration during the operation.

[0067] Step S230: Obtain the 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 registration relationship between the C-arm coordinate system and the robot arm base coordinate system during surgery. This first intraoperative registration relationship allows the C-arm coordinate system to be aligned with the robot arm base coordinate system. Specifically, this first intraoperative registration relationship can be obtained through intraoperative measurement and calibration.

[0069] For example, when the patient is lying on the operating table, an X-ray image containing a calibration target is captured in two different postures using a C-arm. The calibration target is a component in the robotic arm. The pose of the calibration target is recorded, and the three-dimensional coordinates of the marker points on the calibration target in the robotic arm's base coordinate system are calculated. Then, the pixel coordinates (in the C-arm coordinate system) of the marker points on the X-ray image are extracted, and the imaging parameters of the C-arm in the two different postures are calculated based on the three-dimensional coordinates of the marker points in the robotic arm's base coordinate system. These imaging parameters characterize the first intraoperative registration relationship.

[0070] Step S240: Based on the first intraoperative rotation relationship and the first intraoperative registration relationship, determine the second intraoperative registration relationship between the CT coordinate system and the robotic arm base coordinate system.

[0071] In this step, the second intraoperative registration relationship refers to the registration relationship between the CT coordinate system and the robotic arm base coordinate system during the operation. The robotic arm base coordinate system is the motion coordinate system of the surgical robot. Through the second intraoperative registration relationship, the CT coordinate system and the robotic arm base coordinate system can be registered. Furthermore, for surgeries with particularly high precision requirements, planning can be performed on preoperative 3D CT images to guide the movement of the surgical robot, which can effectively ensure intraoperative execution accuracy.

[0072] Based on the first intraoperative rotation and registration relationships, the second intraoperative registration relationship is determined in two main ways. First, during surgery, the translation relationship between the C-arm coordinate system and the CT coordinate system is obtained. This translation relationship, combined with the rotation relationship between the C-arm and CT coordinate systems, allows calculation of the registration relationship between them. This registration relationship, combined with the registration relationship between the C-arm and robotic arm base coordinate systems, allows calculation of the registration relationship between the CT and robotic arm base coordinate systems. Second, during surgery, the rotation relationship between the C-arm and CT coordinate systems is combined with the registration relationship between the C-arm and robotic arm base coordinate systems. This allows calculation of the rotation relationship between the CT and robotic arm base coordinate systems. Furthermore, the translation relationship between the CT and robotic arm base coordinate systems is calibrated and measured. Combining these rotation and translation relationships, the registration relationship between the CT and robotic arm base coordinate systems can then be calculated.

[0073] Therefore, in this invention, only the translational relationship between the C-arm coordinate system and the CT coordinate system, or the translational relationship between the CT coordinate system and the robotic arm base coordinate system, needs to be calibrated and measured intraoperatively to obtain the registration relationship between the CT coordinate system and the robotic arm base coordinate system. In contrast, existing related technologies require obtaining 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 robotic arm base coordinate system, intraoperatively, and the registration relationship includes both rotation and translation relationships. Therefore, the surgical coordinate system registration method provided in this invention requires fewer relationships to be calibrated and measured intraoperatively, resulting in a shorter registration process and higher efficiency. This solves the problem of long registration times and low efficiency in related technologies between the CT coordinate system and the robotic arm base coordinate system.

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

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

[0076] Step S241: Acquire X-ray images imaged in the C-arm coordinate system and three-dimensional CT images imaged in the CT coordinate system.

[0077] In this step, the 3D CT image is obtained from a preoperative CT scan of the patient, while the X-ray image is obtained from an intraoperative X-ray scan. The main purpose of acquiring these two types of images is to determine the registration relationship between them. Since X-ray images are two-dimensional, it is usually necessary to acquire at least two X-ray images from different shooting angles, as the pose of the C-arm coordinate system differs at different shooting angles. Therefore, the registration relationship (translation and / or rotation relationship) between the C-arm coordinate system and the other two coordinate systems in this invention includes the registration relationship between the C-arm coordinate system and other coordinate systems at at least two different poses. Correspondingly, in the prior information, only the rotation relationship between the C-arm coordinate system and the CT coordinate system at the initial setup (initial shooting angle) under different surgical procedures can be recorded. Because under the same surgical procedure, based on the difference in shooting angles between other setups and the initial setup, the rotation relationship between the C-arm coordinate system and the CT coordinate system at the initial setup can be derived from the rotation relationship between the C-arm coordinate system and the CT coordinate system at other setups.

[0078] Step S242: Determine the second intraoperative registration relationship based on the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship, and the first intraoperative registration relationship.

[0079] There are multiple ways to implement this step, and you can refer to the following examples for details.

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

[0081] Step S242a: Determine the anatomical point in the target surgical area of ​​the scanned subject; Step S242b: Determine the first coordinate of the anatomical point in the three-dimensional CT image and the second coordinate of the anatomical point in the X-ray image; Step S242c: Determine the 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 any feature point arbitrarily determined by the surgeon, preferably with a certain degree of recognizability. Alternatively, it can be a feature point provided by the system. During the operation, the surgeon needs to determine the location of the anatomical point in the 3D CT image and in two X-ray images, thereby obtaining 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 and second coordinates of the anatomical point, the translational relationship between the CT coordinate system and the C-arm coordinate system, or the translational relationship between the CT coordinate system and the robotic arm base coordinate system, can be determined.

[0083] It should be noted that in 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, thus requiring at least three anatomical points. This is because at least three spatial points are needed to determine the spatial transformation relationship during spatial transformation. However, in this embodiment, since the rotational relationship between the two registration objects is determined, only the translational relationship between them needs to be determined, thus requiring only one anatomical point. This means that the surgeon only needs to mark one anatomical point in the 3D CT image and the X-ray image during surgery, thereby simplifying the coordinate system registration process.

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

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

[0086] Based on the first coordinate, the second coordinate, and the first intraoperative rotation relationship, determine the first intraoperative translation relationship between the C-arm coordinate system and the CT coordinate system; based on the first intraoperative rotation relationship and the first intraoperative translation relationship, determine the third intraoperative registration relationship between the C-arm coordinate system and the CT coordinate system; based on the third intraoperative registration relationship and the first intraoperative registration relationship, determine the second intraoperative registration relationship.

[0087] Specifically, the first intraoperative translation relationship is the translation relationship between the C-arm coordinate system and the CT coordinate system during surgery. The third intraoperative registration relationship is the registration relationship between the C-arm coordinate system and the CT coordinate system during surgery. Therefore, in this embodiment, firstly, based on the coordinates of the anatomical points in the CT coordinate system and the C-arm coordinate system, the translation relationship between the CT coordinate system and the C-arm coordinate system is determined, thereby determining the registration relationship between the CT coordinate system and the C-arm coordinate system. Combined with the registration relationship between the C-arm coordinate system and the robotic arm base coordinate system, the final registration relationship between the CT coordinate system and the robotic arm base coordinate system is determined.

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

[0089] Based on the first intraoperative rotation relationship and the first intraoperative registration relationship, determine the second intraoperative rotation relationship between the CT coordinate system and the robotic arm base coordinate system; based on the second coordinate and the first intraoperative registration relationship, determine the third coordinate of the anatomical point in the robotic arm base coordinate system; based on the first coordinate, the third coordinate, and the second intraoperative rotation relationship, determine the second intraoperative translation relationship between the CT coordinate system and the robotic arm base coordinate system; based on the second intraoperative rotation relationship and the second intraoperative translation relationship, determine the second intraoperative registration relationship.

[0090] Specifically, the second intraoperative rotation relationship is the rotation relationship between the CT coordinate system and the robotic arm base coordinate system during the operation, and the second intraoperative translation relationship is the translation relationship between the CT coordinate system and the robotic arm base coordinate system during the operation. Therefore, in this embodiment, firstly, 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 robotic arm base coordinate system to determine the rotation relationship between the CT coordinate system and the robotic arm base coordinate system; then, through the registration relationship between the C-arm coordinate system and the robotic arm base coordinate system, the coordinates of the anatomical point in the C-arm coordinate system are transformed to the robotic arm base coordinate system; next, based on the coordinates of the anatomical point in the CT coordinate system and the robotic arm base coordinate system, the translation relationship between the CT coordinate system and the robotic arm base coordinate system is determined; finally, combining the rotation relationship between the CT coordinate system and the robotic arm base coordinate system, the registration relationship between the CT coordinate system and the robotic arm base coordinate system is obtained.

[0091] As described in the above embodiments, physicians need to annotate at least one anatomical point in 3D CT images and X-ray images, or the system needs to provide an anatomical point. Since X-ray images are two-dimensional, they lose depth information, causing projection occlusion, which makes it difficult for physicians to accurately annotate the location of anatomical points in X-ray images in some cases. To address this issue, the present invention provides the following embodiments to solve the related problems.

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

[0093] A first coordinate is determined in the 3D CT image; the 3D CT image is projected using a first intraoperative rotation relationship to obtain a 2D virtual image; the 3D CT image is adjusted until the 2D virtual image coincides with the X-ray image; a second coordinate is determined in the X-ray image based on the projection point of the first coordinate in the 2D virtual image.

[0094] In this embodiment, the two-dimensional virtual image includes at least two two-dimensional virtual images at different angles. First, the positions of anatomical points (first coordinates) are marked on the three-dimensional CT image. 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 the two-dimensional virtual image. At this point, the anatomical points have projection points in the two-dimensional virtual image. The physician can then continuously adjust the three-dimensional CT image, thereby changing the two-dimensional virtual image, until the two-dimensional virtual image coincides with the X-ray image. The physician can then mark the positions of the anatomical points on the X-ray image based on the projection points, that is, mark the second coordinates at the position where the X-ray image and the projection points coincide. The adjustment operations of the three-dimensional CT image include translation and rotation. This method facilitates the physician in accurately marking the positions of anatomical points on the X-ray image.

[0095] The above embodiments mainly introduced a scheme for registering the CT coordinate system and the robotic arm base coordinate system by marking anatomical points in 3D CT images and X-ray images. A scheme that does not require standard anatomical points for registration is described below.

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

[0097] Step S242d: Project the three-dimensional CT image using the first intraoperative rotation relationship to obtain a two-dimensional virtual image; Step S242e: Adjust the three-dimensional CT image until the two-dimensional virtual image coincides with the X-ray image; Step S242f: Determine the first intraoperative translation relationship between the C-arm coordinate system and the CT coordinate system based on the translation change of the three-dimensional CT image; Step S242d: Determine the second intraoperative registration relationship based on the first intraoperative rotation relationship, the first intraoperative translation relationship, and the first intraoperative registration relationship.

[0098] In this embodiment, a two-dimensional virtual image is first obtained by projecting the three-dimensional CT image using the rotational relationship between the CT coordinate system and the C-arm coordinate system. The physician can then continuously adjust the three-dimensional CT image, thereby altering the two-dimensional virtual image until it coincides with the X-ray image. The adjustment operations of the three-dimensional CT image include translation and rotation. After the two images coincide, the amount of translation change in the three-dimensional CT image reflects the translational relationship between the C-arm coordinate system and the CT coordinate system. Therefore, in this embodiment, by recording the amount of translation change in the three-dimensional CT image, the translational relationship between the C-arm coordinate system and the CT coordinate system can be directly determined, thereby determining the registration relationship between the C-arm coordinate system and the CT coordinate system. Combined with the registration relationship between the C-arm coordinate system and the robotic arm base coordinate system, the registration relationship between the CT coordinate system and the robotic arm base coordinate system can be determined.

[0099] Compared with the above embodiments, this embodiment simplifies the registration process and further improves the registration efficiency of the surgical coordinate system because it does not require marking anatomical points in the 3D CT images and X-ray images.

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

[0101] As described in the two embodiments above, a two-dimensional virtual image can be obtained by projecting a three-dimensional CT image using the rotational relationship between the CT coordinate system and the C-arm coordinate system. The physician can then continuously adjust the three-dimensional CT image, thereby altering the two-dimensional virtual image until it coincides with the X-ray image. Based on this process, the location of anatomical points or the translational relationship between the CT coordinate system and the C-arm coordinate system can be determined in the X-ray image. However, considering that the first intraoperative rotational relationship in the prior information is not entirely accurate, the rotation operation command is retained during the adjustment of the three-dimensional CT image. 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 rotational relationship can be corrected by recording the rotational change of the three-dimensional CT image, thus obtaining a more accurate rotational relationship between the CT coordinate system and the C-arm coordinate system. It should be noted that if the physician can make the two-dimensional virtual image coincide with the X-ray image simply by translating the three-dimensional CT image, it indicates that the first intraoperative rotational relationship in the prior information is relatively accurate.

[0102] The above embodiments have fully described the surgical coordinate system registration method of this invention. The ultimate goal of this method is to determine the registration relationship between the CT coordinate system and the robotic arm base coordinate system. One approach involves projecting 3D CT data to obtain a 2D virtual image. The physician can then continuously adjust the 3D CT image, thereby altering the 2D virtual image until it coincides with the X-ray image. This adjustment process allows for the calibration of the physical quantities required for registration between the various coordinate systems. However, manual operation by the physician inevitably introduces errors, primarily in the overlap error between the 2D virtual image and the X-ray image (difficult to achieve perfect overlap). This ultimately results in a certain degree of error in the registration relationship between the CT coordinate system and the robotic arm base coordinate system.

[0103] Therefore, in some embodiments, the registration relationship between the CT coordinate system and the robotic arm base coordinate system will also be fine-calibrated. The fine-calibration process is as follows:

[0104] First, all vertebrae in the X-ray image are initially segmented and each vertebra is identified. Then, based on the registration relationship between the C-arm coordinate system and the robotic arm base coordinate system, as well as the registration relationship between the robotic arm base coordinate system and the CT coordinate system, the 3D CT image is projected to obtain a 2D virtual image. Subsequently, the 2D virtual image and the X-ray image are registered using some high-precision image registration algorithms, mainly by registering the vertebrae in the two images. After registration, a fine-fit matrix is ​​obtained, which is then used to fine-fit and correct the registration relationship between the C-arm coordinate system and the robotic arm base coordinate system.

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

[0106] Figure 3 This is a flowchart of the surgical coordinate system registration method in a specific embodiment of the present invention. (Refer to...) Figure 3 The registration method for this surgical coordinate system includes the following steps:

[0107] Step S310: Determine the rotational relationship between the C-arm coordinate system and the CT coordinate system based on prior information.

[0108] Specifically, by analyzing the positional relationship between the patient's body and the C-arm, as well as the patient's position within the CT coordinate system, the rotational transformation relationship between the CT and C-arm coordinate systems can be obtained. This rotational transformation relationship is then linked to the patient's surgical site and position to generate a list of rotational relationships. This list represents prior information and includes the rotational relationships between the C-arm and CT coordinate systems under different surgical procedures.

[0109] Before the operation, the patient undergoes a CT scan and the data is planned on the 3D CT data. During the operation, the user selects the surgical site / position on the patient registration interface. Depending on the surgical procedure, the acquisition interface displays the corresponding C-arm positioning position. At the same time, the host computer determines the rotation matrix between the CT coordinate system and the C-arm coordinate system under the current surgical procedure based on the rotation relationship list.

[0110] Step S320: Determine 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, following the on-screen instructions, moves the C-arm in two different postures to capture an X-ray image containing both the calibration target and the patient's spine. Simultaneously, the pose of the calibration target is recorded, and the 3D coordinates of the marked points on the target in the robotic arm's base coordinate system are calculated. The pixel coordinates of the marked points on the X-ray image are extracted, and based on these 3D coordinates, the imaging parameters for the two different C-arm postures are calculated. These imaging parameters characterize the registration relationship between the C-arm coordinate system and the robotic arm's base coordinate system.

[0112] Step S330: Determine the rotational relationship between the robot arm base coordinate system and the CT coordinate system.

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

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

[0115] Specifically, the same anatomical point is marked in both the 3D CT image and the X-ray image. Based on 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, the coordinates of the anatomical point in the robotic arm base coordinate system are determined.

[0116] After entering the coarse registration interface, the interface simultaneously displays a 3D CT image and two X-ray images. Based on the vertebral body displayed on the 3D CT image, a physiological feature point (anatomical point) is found on it. Then, the projection point of this physiological feature point is found in the two X-ray images, selected, and its pixel coordinates are obtained. Then, based on the imaging parameters of the C-arm, the three-dimensional coordinates of this anatomical point in the robotic arm's base coordinate system are calculated.

[0117] Step S350: Determine the translation relationship between the robot arm base coordinate system and the CT coordinate system.

[0118] Specifically, based on the three-dimensional coordinates of the anatomical points in the CT coordinate system and the robotic arm base coordinate system, respectively, and the rotational relationship between the robotic arm base coordinate system and the CT coordinate system, the translational relationship between the robotic arm base coordinate system and the CT coordinate system is determined.

[0119] Step S360: Determine the coarse registration relationship between the robot arm base coordinate system and the CT coordinate system.

[0120] Specifically, based on the translation and rotation relationships between the robot arm base coordinate system and the CT coordinate system, the coarse registration relationship between the robot arm base coordinate system and the CT coordinate system is determined.

[0121] Step S370: Determine the precise registration relationship between the robot arm base coordinate system and the CT coordinate system.

[0122] Specifically, all vertebrae in the X-ray images are initially segmented and each vertebra is identified. Based on the coarse registration relationship between the robotic arm's 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 patient's 3D CT data, virtual projections are performed to obtain two virtual X-ray images. These two virtual X-ray images are then registered with the real X-ray images taken during the operation. Based on the registration results, the posture of the CT data is continuously adjusted until the virtual X-rays coincide with the real X-rays, and a fine registration matrix is ​​calculated. The coarse registration relationship between the robotic arm's base coordinate system and the CT coordinate system is corrected using the fine registration matrix to obtain the fine registration relationship between the two systems. In this case, all vertebrae in the image can be registered at once, and the registered X-rays and CT scans are overlaid to observe the registration status of each vertebra. If there are many vertebrae, it cannot be guaranteed that all vertebrae will be imaged in the X-ray images, so multiple images are taken and multiple registrations are performed.

[0123] Through the above registration process, a precise registration relationship between the robotic arm's base coordinate system and the CT coordinate system is obtained after registration. This allows the target position planned preoperatively on the CT scan to be transferred to the robotic arm's base coordinate system during surgery, guiding the robotic arm to move to the corresponding position.

[0124] This embodiment also provides a surgical coordinate system registration device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. The terms "module," "unit," "subunit," etc., used below refer to combinations of software and / or hardware that perform a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

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

[0126] The first acquisition module 410 is used to acquire prior information and surgical procedure information of the scanned subject. The prior information includes the rotational relationship between the C-arm coordinate system and the CT coordinate system under different surgical procedures.

[0127] The first determining module 420 is used to determine the first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system based on prior information and surgical procedure information.

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

[0129] The second determining module 440 is used to determine the second intraoperative registration relationship between the CT coordinate system and the robotic arm base coordinate system based on the first intraoperative rotation relationship and the first intraoperative registration relationship.

[0130] With the above modules, the registration relationship between the CT coordinate system and the robotic arm base coordinate system can be obtained simply by calibrating and measuring the translational relationship between the C-arm coordinate system and the CT coordinate system, or the translational relationship between the CT coordinate system and the robotic arm base coordinate system, during the operation. In contrast, existing related technologies require intraoperative calibration and measurement of 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 robotic arm base coordinate system, which includes both rotational and translational relationships. Therefore, the surgical coordinate system registration method provided in this invention requires fewer relationships to be calibrated and measured intraoperatively, resulting in a shorter registration process and higher efficiency. This solves the problem of long registration times and low efficiency in related technologies between the CT coordinate system and the robotic arm base coordinate system.

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

[0132] The present invention also provides an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any 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 implementations, and will not be repeated in this embodiment.

[0134] Furthermore, in conjunction with the surgical coordinate system registration method provided in the above embodiments, this invention can also provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any of the surgical coordinate system registration methods described in the above embodiments.

[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, data stored, data displayed, 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 merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0137] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0138] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0139] 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 patent protection. 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 scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A method for registering a surgical coordinate system, characterized in that, The registration method includes: Acquire prior information and surgical procedure information of the patient being scanned, wherein the prior information includes the rotational relationship between the C-arm coordinate system and the CT coordinate system under different surgical procedures; Based on the prior information and the surgical procedure information, a first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system is determined; Obtain the first intraoperative registration relationship between the C-arm coordinate system and the robot arm base coordinate system; Determining a second intraoperative registration relationship between the CT coordinate system and the robotic arm base coordinate system based on the first intraoperative rotation relationship and the first intraoperative registration relationship includes: determining the second intraoperative registration relationship based on the first intraoperative rotation relationship, the first intraoperative registration relationship, and the translation relationship between the C-arm coordinate system and the CT coordinate system measured during intraoperative calibration; or, determining the second intraoperative registration relationship based on the first intraoperative rotation relationship, the first intraoperative registration relationship, and the translation relationship between the CT coordinate system and the robotic arm base coordinate system measured during intraoperative calibration.

2. The registration method for the surgical coordinate system according to claim 1, characterized in that, The step of determining the second intraoperative registration relationship between the CT coordinate system and the robotic arm base coordinate system based on the first intraoperative rotation relationship and the first intraoperative registration relationship includes: Acquire X-ray images imaged in the C-arm coordinate system and three-dimensional CT images imaged in the CT coordinate system; The second intraoperative registration relationship is determined based on the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship, and the first intraoperative registration relationship.

3. The registration method for the surgical coordinate system according to claim 2, characterized in that, Determining the second intraoperative registration relationship based on the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship, and the first intraoperative registration relationship includes: Identify anatomical points in the target surgical area of ​​the subject being scanned; Determine the first coordinates of the anatomical point in the three-dimensional CT image, and determine the second coordinates of the anatomical point in the X-ray image; The second intraoperative registration relationship is determined based on the first coordinate, the second coordinate, the first intraoperative rotation relationship, and the first intraoperative registration relationship.

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

5. The registration method for the surgical coordinate system according to claim 3, characterized in that, The step of determining the second intraoperative registration relationship based on the first coordinate, the second coordinate, the first intraoperative rotation relationship, and the first intraoperative registration relationship includes: Based on the first intraoperative rotation relationship and the first intraoperative registration relationship, a second intraoperative rotation relationship between the CT coordinate system and the robotic arm base coordinate system is determined; Based on the second coordinates and the first intraoperative registration relationship, determine the third coordinates of the dissection point in the robotic arm base coordinate system; Based on the first coordinate, the third coordinate, and the second intraoperative rotation relationship, determine the second intraoperative translation relationship between the CT coordinate system and the robotic arm base coordinate system; The second intraoperative registration relationship is determined based on the second intraoperative rotation relationship and the second intraoperative translation relationship.

6. The registration method for the surgical coordinate system according to claim 3, characterized in that, Determining the first coordinates of the anatomical point in the three-dimensional CT image and the second coordinates of the anatomical point in the X-ray image includes: Determine the first coordinates in the three-dimensional CT image; The three-dimensional CT image is projected using the first intraoperative rotation relationship to obtain a two-dimensional virtual image; Adjust the 3D CT image until the 2D virtual image coincides with the X-ray image; The second coordinate is determined in the X-ray image based on the projection point of the first coordinate in the two-dimensional virtual image.

7. The registration method for the surgical coordinate system according to claim 2, characterized in that, Determining the second intraoperative registration relationship based on the X-ray image, the three-dimensional CT image, the first intraoperative rotation relationship, and the first intraoperative registration relationship includes: The three-dimensional CT image is projected using the first intraoperative rotation relationship to obtain a two-dimensional virtual image; Adjust the 3D CT image until the 2D virtual image coincides with the X-ray image; Based on the translational changes of the three-dimensional CT image, determine the first intraoperative translational relationship between the C-arm coordinate system and the CT coordinate system; The second intraoperative registration relationship is determined based on the first intraoperative rotation relationship, the first intraoperative translation relationship, and the first intraoperative registration relationship.

8. The registration method for the surgical coordinate system according to claim 6 or 7, characterized in that, The registration method further includes the following steps before determining the second intraoperative registration relationship: The first intraoperative rotation relationship is corrected based on the adjusted 3D CT image.

9. A registration device for a surgical coordinate system, characterized in that, The registration device includes: The first acquisition module is used to acquire prior information and surgical procedure information of the scanned subject. The prior information includes the rotational relationship between the C-arm coordinate system and the CT coordinate system under different surgical procedures. The first determining module is used to determine the first intraoperative rotation relationship between the C-arm coordinate system and the CT coordinate system based on the prior information and the surgical procedure information. The second acquisition module is used to acquire the first intraoperative registration relationship between the C-arm coordinate system and the robot arm base coordinate system; The second determining module is used to determine the second intraoperative registration relationship between the CT coordinate system and the robotic arm base coordinate system based on the first intraoperative rotation relationship and the first intraoperative registration relationship. The second determining module is further configured to determine the second intraoperative registration relationship based on the first intraoperative rotation relationship, the first intraoperative registration relationship, and the translation relationship between the C-arm coordinate system and the CT coordinate system measured during intraoperative calibration; or, to determine the second intraoperative registration relationship based on the first intraoperative rotation relationship, the first intraoperative registration relationship, and the translation relationship between the CT coordinate system and the robotic arm base coordinate system measured during intraoperative calibration.

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

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