Method and system for determining position of subject or surgical tool

Abstract

According to various embodiments of the present disclosure, the present disclosure may be configured to perform the following: obtain a three-dimensional medical image of a subject from an external device; obtaining a plurality of first X-ray images of the object by using an X-ray device; matching a second coordinate system of the three-dimensional medical image to the first coordinate system based on position coordinates of a plurality of X-ray sources and X-ray detectors on the first coordinate system, the plurality of first X-ray images and the three-dimensional medical image; based on the matching result, determining position coordinates of the object body on the first coordinate system; obtaining, with the X-ray apparatus, a plurality of second X-ray images for a surgical tool comprising electrodes; and determining position coordinates of the surgical tool on the first coordinate system based on the plurality of second X-ray images.

Description

Technical Field

[0001] The present disclosure relates to a method and system for determining the position of an object or a surgical tool.

[0002] This study is the result of a research project conducted as part of the "Small and Medium Enterprises DNA Convergence Industry-Academic Cooperation Project" of the Ministry of Trade, Industry and Energy and the Korea Industrial Technology Agency. [Project Name: Development of Low-Dose Multi-Light Source C-Arm CT Technology for Surgery Based on AI, Project Number: P0021346] Background Art

[0003] In order to confirm the position of the affected part of the object (e.g., patient) in three-dimensional space, a three-dimensional medical image, such as a CT (Computed Tomography) image or an MRI (Magnetic Resonance Imaging) image, can be taken in advance. Afterwards, the doctor performs surgery on the object with reference to the pre-taken three-dimensional medical image. In order to accurately confirm the affected part of the object, an X-ray image can also be used. Summary of the invention

[0004] Technical issues to be solved

[0005] When a three-dimensional medical image such as a CT image or an MRI image is used together with a two-dimensional medical image such as an X-ray image, the respective coordinate systems must be integrated to determine the exact position of the affected part in the subject's body. However, in the case where a doctor performs surgery with reference to a pre-photographed three-dimensional medical image, whether the surgical tool is accurately located at the affected part depends on the doctor's discretion.

[0006] Solutions to the problem

[0007] According to various embodiments of the present disclosure, a system for determining the position of an object or a surgical tool may include: an X-ray device, the X-ray device including a plurality of X-ray sources and an X-ray detector, the plurality of X-ray sources irradiating X-rays to the object, and the X-ray detector detecting the X-rays passing through the object; a memory, the memory storing the position coordinates of each of the plurality of X-ray sources and the X-ray detector in a first coordinate system related to the system; and a processor. According to various embodiments, the processor may be configured to perform the following operations: obtaining a three-dimensional medical image of the object from an external device; obtaining a plurality of first X-ray images of the object using the X-ray device; matching a second coordinate system of the three-dimensional medical image to the first coordinate system based on the position coordinates of each of the plurality of X-ray sources and the X-ray detector in the first coordinate system, the plurality of first X-ray images and the three-dimensional medical image; determining the position coordinates of the object in the first coordinate system based on the matching result; obtaining a plurality of second X-ray images of a surgical tool including an electrode using the X-ray device; and determining the position coordinates of the surgical tool in the first coordinate system based on the plurality of second X-ray images.

[0008] According to various embodiments, the processor can be configured to perform the following operations: obtain multiple projection images by projecting the three-dimensional medical image onto a two-dimensional plane; compare the multiple projection images with the multiple first X-ray images; determine the projection image among the multiple projection images that has the highest similarity to the multiple first X-ray images; and match the second coordinate system of the three-dimensional medical image to the first coordinate system based on the multiple first X-ray images and the determined projection image.

[0009] The plurality of X-ray sources according to various embodiments may be arranged on the same plane.

[0010] In the processor according to various embodiments, the plurality of X-ray sources may be arranged on a straight line at equal intervals, and angles at which the plurality of X-ray sources irradiate the object with X-rays may be different from each other.

[0011] In the processor according to various embodiments, the plurality of X-ray sources may be X-ray sources using carbon nanotubes.

[0012] In the processor according to various embodiments, the X-ray device may further include a power supply unit that supplies a high voltage to the plurality of X-ray sources.

[0013] In the processor according to various embodiments, the X-ray device may further include a marker, the marker being attached to a pre-specified position, the system may further include a tracking sensor, the tracking sensor tracking the position of the marker, and the memory may store a first coordinate transformation relationship between the multiple X-ray sources and the X-ray detector and a second coordinate transformation relationship between the multiple X-ray sources and the marker. The processor according to various embodiments may be configured to perform the following operations: obtain the position coordinates of the marker on the first coordinate system from the tracking sensor; obtain the position coordinates of each of the multiple X-ray sources and the X-ray detector on the first coordinate system based on the position coordinates of the marker; and store the position coordinates of each of the multiple X-ray sources and the X-ray detector on the first coordinate system in the memory.

[0014] In the processor according to various embodiments, the X-ray device may also include: a connecting component, which is connected to the multiple X-ray sources and the X-ray detector; a first rotating unit, which is configured with the multiple X-ray sources and rotates around a first rotation axis; and a second rotating unit, which is connected to the connecting component and rotates around a second rotation axis.

[0015] In the processor according to various embodiments, the marker may be attached to a designated position of the connecting component of the X-ray device, and the designated position may be located within a field of view angle of the tracking sensor.

[0016] In the processor according to various embodiments, the marker may be attached to a designated position of the first rotating portion of the X-ray device, and the designated position may be located within a field of view angle of the tracking sensor.

[0017] According to various embodiments of the present disclosure, a method for determining the position of an object body or a surgical tool of a system, the system includes: an X-ray device, the X-ray device includes a plurality of X-ray sources and an X-ray detector, the plurality of X-ray sources irradiate X-rays to the object body, and the X-ray detector detects X-rays passing through the object body; a memory; and a processor, wherein the method may include the following operations: receiving a three-dimensional medical image of the object body from an external device; obtaining a plurality of first X-ray images of the object body using the X-ray device; matching a second coordinate system of the three-dimensional medical image to the first coordinate system based on the position coordinates of the plurality of X-ray sources and the X-ray detector respectively on a first coordinate system associated with the system, the plurality of first X-ray images and the three-dimensional medical image stored in the memory; determining the position coordinates of the object body on the first coordinate system based on the matching result; obtaining a plurality of second X-ray images for a surgical tool including an electrode using the X-ray device; and determining the position coordinates of the surgical tool on the first coordinate system based on the plurality of second X-ray images.

[0018] According to various embodiments, the matching operation may include the following operations: obtaining multiple projection images by projecting the three-dimensional medical image onto a two-dimensional plane; comparing the multiple projection images with the multiple first X-ray images; determining the projection image among the multiple projection images that has the highest similarity to the multiple first X-ray images; and matching the second coordinate system of the three-dimensional medical image to the first coordinate system based on the multiple first X-ray images and the determined projection image.

[0019] The plurality of X-ray sources according to various embodiments may be arranged on the same plane.

[0020] According to various embodiments, the plurality of X-ray sources may be arranged on a straight line at equal intervals, and angles at which the plurality of X-ray sources irradiate X-rays to the object may be different from each other.

[0021] The plurality of X-ray sources according to various embodiments may be X-ray sources using carbon nanotubes.

[0022] The X-ray apparatus according to various embodiments may further include a power supply unit that supplies a high voltage to the plurality of X-ray sources.

[0023] According to various embodiments, the X-ray device may further include a marker, the marker being attached to a pre-specified position, the system may further include a tracking sensor, the tracking sensor tracking the position of the marker, and the memory may store a first coordinate transformation relationship between the multiple X-ray sources and the X-ray detector and a second coordinate transformation relationship between the multiple X-ray sources and the marker. According to various embodiments, the method may further include the following operations: obtaining the position coordinates of the marker on the first coordinate system from the tracking sensor; obtaining the position coordinates of each of the multiple X-ray sources and the X-ray detector on the first coordinate system based on the position coordinates of the marker; and storing the position coordinates of each of the multiple X-ray sources and the X-ray detector on the first coordinate system in the memory.

[0024] According to various embodiments, the X-ray device may further include: a connecting component, which is connected to the multiple X-ray sources and the X-ray detector; a first rotating unit, which is configured with the multiple X-ray sources and rotates around a first rotation axis; and a second rotating unit, which is connected to the connecting component and rotates around a second rotation axis.

[0025] The marker according to various embodiments may be attached to a designated position of the connecting component of the X-ray device, and the designated position may be located within a field of view of the tracking sensor.

[0026] The marker according to various embodiments may be attached to a designated position of the first rotating portion of the X-ray device, and the designated position may be located within a field of view of the tracking sensor.

[0027] Effects of the Invention

[0028] According to the system of various embodiments of the present disclosure, the position of the object body can be accurately confirmed in the three-dimensional space coordinate system by integrating the coordinate systems of the three-dimensional medical image of the object body and the two-dimensional X-ray image of the object body with each other.

[0029] According to the system of various embodiments of the present disclosure, the accurate position of the surgical tool in the three-dimensional space coordinate system can be confirmed by taking an X-ray image of the surgical tool.

[0030] According to various embodiments of the present disclosure, since the plurality of X-ray sources are X-ray sources using digital carbon nanotubes, the shooting time can be shortened, the X-ray exposure time of the object can be shortened, and the power consumption can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a block diagram of a system according to an embodiment of the present disclosure.

[0032] Figure 2a is a diagram showing an X-ray device according to an embodiment of the present disclosure.

[0033] Figure 2b The figure schematically shows a plurality of X-ray sources and an X-ray detector of an X-ray device.

[0034] Figure 3a and Figure 3b is a diagram illustrating a system according to an embodiment of the present disclosure.

[0035] Figure 4 is an operation flow chart of a processor according to an embodiment of the present disclosure.

[0036] Figure 5 is an operation flow chart of a processor according to an embodiment of the present disclosure.

[0037] Figure 6 is an X-ray image of a surgical tool according to an embodiment of the present disclosure.

[0038] Figure 7 is a diagram showing the position of the surgical tool on the first coordinate system.

[0039] Figure 8 is an operation flow chart of a processor according to an embodiment of the present disclosure.

[0040] Figures 9 to 11 It is a diagram for explaining the process of obtaining the first coordinate transformation relationship.

[0041] Figure 12 to Figure 14 is a diagram illustrating a method for obtaining a second coordinate transformation relationship according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0042] The embodiments of the present disclosure are provided for the purpose of illustrating the technical features of the present disclosure. The scope of rights according to the present disclosure is not limited to the embodiments given below or the specific description of these embodiments.

[0043] Unless otherwise defined, all technical terms and scientific terms used in this disclosure have the meanings generally understood by people with general knowledge in the technical field to which this disclosure belongs. All terms used in this disclosure are selected to more clearly illustrate the purpose of this disclosure, rather than to limit the scope of rights of this disclosure.

[0044] The expressions “including”, “having” and “having” used in the present disclosure should be understood as open-ended terms that may include other embodiments, unless otherwise mentioned in a sentence or phrase including the corresponding expression.

[0045] Unless otherwise mentioned, singular expressions described in the present disclosure may include a plural meaning, and the same applies to singular expressions recorded in the claims.

[0046] The expressions “first”, “second”, etc. used in the present disclosure are used to distinguish between a plurality of components, and are not used to limit the order or importance of the corresponding components.

[0047] The term "unit" as used in the present disclosure means hardware components such as software, or FPGA (field-programmable gate array) and ASIC (application specific integrated circuit). However, "unit" is not limited to hardware and software. "Unit" can be configured to be located in an addressable storage medium, or it can be configured to run one or more processors. Therefore, as an example, "unit" includes components such as software components, object-oriented software components, class components, and task components; and processors, functions, attributes, procedures, subroutines, program code segments, drivers, firmware, microcodes, circuits, data, databases, data structures, platforms, arrays, and variables. The functions provided in the components and "units" can be combined into a smaller number of components and "units" or further separated into additional components and "units".

[0048] The expression "based on..." used in the present disclosure is used to explain one or more factors that affect the determination, judgment behavior or operation described in the statement or sentence including the corresponding expression. The expression does not exclude additional factors that affect the determination, judgment behavior or operation.

[0049] In the present disclosure, when it is mentioned that a certain component is "coupled" or "connected" to other components, it should be understood that the certain component and the other components can be directly coupled or connected, or can be coupled or connected with a new other component as a medium.

[0050] Although the process steps, method steps, and algorithms are described in sequence in the flowcharts illustrated in this specification, these processes, methods, and algorithms may be configured to operate in any suitable order. In other words, the steps of the processes, methods, and algorithms described in the various embodiments of the present disclosure do not need to be performed in the order described in the present disclosure. In addition, even if some steps are described as being performed non-simultaneously, these partial steps may be performed simultaneously in other embodiments. In addition, the examples of the processes illustrated in the accompanying drawings do not mean that the illustrated processes exclude other changes and modifications to them, do not mean that the illustrated processes or any of their steps are essential in one or more of the various embodiments of the present disclosure, and do not mean that the illustrated processes are preferred.

[0051] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the accompanying drawings, identical or corresponding constituent elements are given identical reference numerals. In addition, in the description of the following embodiments, repeated descriptions of identical or corresponding constituent elements may be omitted. However, even if descriptions related to constituent elements are omitted, it does not mean that such constituent elements are not included in a certain embodiment.

[0052] Figure 1 is a block diagram of a system 10 according to an embodiment of the present disclosure, Figure 2a is a diagram showing an X-ray device 110 according to an embodiment of the present disclosure, Figure 2b 1 is a diagram schematically showing a plurality of X-ray sources 111 and an X-ray detector 113 of an X-ray device 110. Figure 3a and Figure 3b is a diagram illustrating a system 10 according to an embodiment of the present disclosure.

[0053] The system 10 for determining the position of an object or a surgical tool may include an X-ray device 110, a processor 120, a tracking sensor 130, and / or a memory 140. In one embodiment, the system 10 may also include a display 150. Even if omitted or replaced Figure 1 A part of the structure shown in the specification will not cause any obstacles to the implementation of the various embodiments disclosed in this specification.

[0054] The X-ray device 110 may be a device for analyzing an object by transmitting X-rays through the object to obtain an image of the inside of the object. Figure 2a As shown, the X-ray device 110 may include an X-ray source 111 and / or an X-ray detector 113. In one embodiment, the X-ray device 110 may further include a marker 115 and / or a power supply 117. The marker 115 may be tracked by a tracking sensor 130 described later.

[0055] The X-ray source 111 of the X-ray device 110 is a light source capable of emitting X-rays, and can irradiate X-rays to an object under the control of the processor 120. The object can be located between the X-ray source 111 and the X-ray detector 113. In one embodiment, the X-ray device 110 may include a plurality of X-ray sources 111. For example, the X-ray device 110 may include three X-ray sources 111, or two X-ray sources 111, or more than four X-ray sources 111. In the following, for ease of description, three X-ray sources 111 will be used as an example for description, but the number of X-ray sources 111 is not limited to this description. The plurality of X-ray sources 111 may be, for example, X-ray sources 111 using carbon nanotubes (CNT). The plurality of X-ray sources 111 may be composed of, for example, a digital X-ray tube using a cold cathode structure of carbon nanotubes.

[0056] The X-ray detector 113 of the X-ray device 110 may be a detection device for detecting the amount of X-rays (or the intensity of X-rays). The X-ray detector 113 may detect the amount of X-rays that pass through the object body among the X-rays irradiated from the X-ray source 111 to the object body. When the internal density of the object body is uneven, the amount of X-rays absorbed by the object body may be different depending on the irradiation direction of the X-rays. The X-ray detector 113 may measure the amount of X-rays reduced when X-rays irradiated from various angles pass through the object body, and the processor 120 may generate a two-dimensional X-ray image of the interior of the projected object body based on the values ​​measured by the X-ray detector 113. For example, the processor 120 may convert the X-rays measured by the X-ray detector 113 into visible light, and convert it again into a digital signal for imaging. The X-ray detector 113 may be in the shape of a plate, or may be implemented in various forms capable of detecting X-rays.

[0057] Multiple X-ray sources 111 may be arranged on a plane. Figure 2b As shown, the plurality of X-ray sources 111 may all be arranged on a plane (plane P-P') parallel to the surface of the X-ray detector 113. The plurality of X-ray sources 111 may be arranged on a straight line at the same intervals, or may be arranged on a straight line at different intervals from each other. For example, the intervals between the plurality of X-ray sources 111 may be determined within 50 to 200 nm. For example, the intervals between the plurality of X-ray sources 111 may be 150 nm. The irradiation angles of the plurality of X-ray sources 111 may be set to be different from each other so that the object is located within the field of view of the X-ray beam irradiated from all of the plurality of X-ray sources 111. For example, as Figure 2bAs shown, among the multiple X-ray sources 111, the first X-ray source 111b located on the left side can be set to irradiate X-rays at an angle of 15 degrees tilted to the right with the normal line of the corresponding plane (plane P-P') as the reference, the second X-ray source 111b located in the center can be set to irradiate X-rays in parallel with the normal line of the corresponding plane (plane P-P'), and the third X-ray source 111c located on the right side can be set to irradiate X-rays at an angle of 15 degrees tilted to the left with the normal line of the corresponding plane (plane P-P') as the reference. In the above case, the object S can be located in the area A where the field of view angles of the multiple X-ray sources 111 overlap. The above angles are exemplary, and it is obvious that the multiple X-ray sources 111 can be changed to various angles capable of irradiating X-rays to the object. When the multiple X-ray sources 111 have the above configuration, for example, even if the multiple X-ray sources 111 are not configured on the rotation plane, multiple X-ray images of the object taken from different directions can be obtained.

[0058] Each of the multiple X-ray sources 111 can be selectively and sequentially driven at a certain time interval (e.g., several milliseconds). For example, the processor 120 can first drive the first X-ray source 111a among the multiple X-ray sources 111b and stop, and after a preset time (e.g., after 5ms), drive the second X-ray source 111b and stop, and after a preset time again, drive the third X-ray source 111c and stop. That is, the processor 120 controls in a manner of selectively and sequentially driving the multiple X-ray sources 111 in a short time instead of driving them simultaneously, so that the X-ray exposure amount of the object can be reduced.

[0059] According to various embodiments, the X-ray device 110 may further include a connecting component 112, a first rotating portion 114a, a second rotating portion 114b and / or a stage 116. The connecting component 112 may be a structure for connecting a plurality of X-ray sources 111 and an X-ray detector 113. For example, the connecting component 112 may be a C-shaped robot arm. The first rotating portion 114a may be configured with a plurality of X-ray sources 111 and rotate around a first rotation axis. For example, the first rotating portion 114a may be a structure capable of yaw rotation around the z-axis. By yaw rotating the first rotating portion 114a, the plurality of X-ray sources 111 may be yaw rotated, thereby obtaining a longitudinal X-ray image or a transverse X-ray image of the object.

[0060] The second rotating part 114b of the X-ray device 110 can be connected to the connecting part 112 and rotate around the second rotating axis. For example, the second rotating part 114b can be configured to roll around the x-axis. That is, by rolling the second rotating part 114b, the plurality of X-ray sources 111 and the X-ray detector 113 can be rotated together. The user (e.g., a doctor) can adjust the positions of the first rotating part 114a and the second rotating part 114b to obtain an accurate X-ray image of the object.

[0061] The object S may be placed on a stage 116 of the X-ray device 110. The stage 116 may move along the x-axis direction. After the object S is placed on the stage 116, the stage 116 may move between the plurality of X-ray sources 111 and the X-ray detector 113. For example, Figure 3b As shown, the object S can be located on the stage 116, and the surgical site of the object S is located within the field of view T_FOV of the multiple X-ray sources 111. The power supply unit 117 of the X-ray device 110 can supply the power required to operate the various components of the X-ray device 110. The power supply unit 117 can supply the power required for the multiple X-ray sources 111 to output X-rays.

[0062] The tracking sensor 130 may be a device for tracking the position and / or posture of an object. For example, the tracking sensor 130 may track a target (e.g., the X-ray device 110) to which the marker 115 is attached by measuring the position and / or posture of the marker 115 attached to the target. The marker 115 may generate energy or a signal so that the tracking sensor 130 can sense it. The marker 115 may be attached to a pre-specified position of the X-ray device 110. The marker 115 may be attached to various positions of various components of the X-ray device 110. According to one embodiment, the marker 115 may be attached to a predetermined position of the X-ray device 110. Figure 2a The connecting member 112 of the X-ray device 110 may be attached to a designated position of the connecting member 112 as shown, or may be attached to a designated position of the connecting member 112 of the X-ray device 110 as shown. Figure 3a The designated position is attached to the first rotating portion 114a of the X-ray device 110 as shown. Here, the designated position is within the field of view of the tracking sensor 130. For example, Figure 3a As shown, marker 115 is located within the field of view T_FOV of tracking sensor 130 .

[0063] The tracking method using the tracking sensor 130 is not particularly limited, and generally, an optical tracking method based on an optical technology or an electromagnetic tracking method based on an electromagnetic wave technology can be used. In addition, various tracking methods can also be used in combination.

[0064] The position measured by the tracking sensor 130 can be defined as a three-dimensional space coordinate, such as the coordinates on the x, y, and z axes of a Cartesian coordinate system. In addition, the posture measured by the tracking sensor 130 can be defined as rotation information, such as roll, pitch, and yaw. In order to accurately track an object, the 6 degrees of freedom (6 degrees of freedom) of the position and posture of the object defined as described above can be measured. According to one embodiment, the tracking sensor 130 can confirm the position of the X-ray device 110 by measuring the position of the marker 115 attached to the specified position of the X-ray device 110.

[0065] The processor 120 may be a component capable of performing calculations or data processing related to the control and / or communication of each component included in the system 10. The processor 120 may be operably connected with, for example, the components of the X-ray device 110, the tracking sensor 130, the memory 140, and / or the display 150. The processor 120 may load commands or data received from other components of the X-ray device 110 into the memory 140, process the commands or data stored in the memory 140, and store the result data.

[0066] The memory 140 may store commands for the operation of the processor 120. The memory 140 may store a first coordinate transformation relationship between the plurality of X-ray sources 111 and the X-ray detector 113 and a second coordinate transformation relationship between the plurality of X-ray sources 111 and the marker 115. For example, the first coordinate transformation relationship and the second coordinate transformation relationship may be matrix vectors. The memory 140 may store the position coordinates of each of the plurality of X-ray sources 111 and the X-ray detector 113 on a first coordinate system associated with the system 10.

[0067] The display 150 may display various screens based on the control of the processor 120. The display 150 may display, for example, a three-dimensional medical image or a two-dimensional X-ray image.

[0068] The processor 120 may obtain the position coordinates of the marker 115 in the first coordinate system related to the system 10 through the tracking sensor 130. Here, the first coordinate system may be a three-dimensional space coordinate system used in the system 10. The processor 120 may obtain the position coordinates of the plurality of X-ray sources 111 and the X-ray detector 113 in the first coordinate system based on the position coordinates of the marker 115. For example, the processor 120 may obtain the position coordinates of the plurality of X-ray sources 111 based on the second coordinate transformation relationship between the plurality of X-ray sources 111 and the marker 115 and the position coordinates of the marker 115. Thereafter, the processor 120 may obtain the position coordinates of the X-ray detector 113 based on the first coordinate transformation relationship between the plurality of X-ray sources 111 and the X-ray detector 113 and the position coordinates of the plurality of X-ray sources 111. Here, the position coordinates of the plurality of X-ray sources 111 and the position coordinates of the X-ray detector 113 are position coordinates defined in the first coordinate system of the system 10. The processor 120 may store the obtained position coordinates of the plurality of X-ray sources and the X-ray detector in the memory 140.

[0069] The processor 120 may obtain the three-dimensional medical image of the object from an external device. The user may obtain the three-dimensional medical image of the object (e.g., MRI image or CT image) in advance using an MRI device or a CT device before surgery, and the processor 120 may receive the three-dimensional medical image of the object from the MRI device or the CT device. For example, the processor 120 may receive the three-dimensional medical image of the object from an MRI device or a CT device connected via wired or wireless communication. According to another embodiment, the processor 120 may receive the three-dimensional medical image of the object from a server device. In the above case, the user may upload the three-dimensional medical image of the object to the server device, and then may transmit the three-dimensional medical image of the object to the system 10.

[0070] The processor 120 may obtain a plurality of first X-ray images of the object body by using the X-ray device 110. The processor 120 may sequentially drive the plurality of X-ray sources 111 of the X-ray device 110 to obtain a plurality of first X-ray images of the object body. For example, the processor 120 may obtain a plurality of first X-ray images by using the plurality of X-ray sources 111, respectively. In the above case, the plurality of first X-ray images may be X-ray images of the object body taken from different directions from each other.

[0071] The processor 120 may match the second coordinate system of the three-dimensional medical image to the first coordinate system based on the three-dimensional medical image and the plurality of first X-ray images of the object. For example, the processor 120 may match the second coordinate system of the three-dimensional medical image to the first coordinate system based on the position coordinates of the plurality of X-ray sources 111 and the X-ray detector 113 on the first coordinate system, the plurality of first X-ray images of the object, and the three-dimensional medical image. The second coordinate system of the three-dimensional medical image may refer to a coordinate system for indicating the position of each point of the object represented in three dimensions in the corresponding three-dimensional medical image. The three-dimensional medical image of the object may indicate the position of the corresponding object on the second coordinate system. The specific method of matching the second coordinate system of the three-dimensional medical image to the first coordinate system of the system 10 using the three-dimensional medical image and the X-ray image will be described later. The processor 120 may determine the position of the object on the first coordinate system based on the matching result. That is, the positional relationship of the plurality of X-ray sources 111 and the X-ray detector 113 can be defined on the first coordinate system through a certain calibration process, and the second coordinate system of the three-dimensional medical image of the object can be integrated into the first coordinate system based on the plurality of first X-ray images of the object obtained from the plurality of X-ray sources 111 and the X-ray detector 113. Thus, the position of the object on the first coordinate system as the three-dimensional space coordinate can be accurately determined only by the X-ray image of the object.

[0072] The processor 120 can also use the matching result to determine the position coordinates of the surgical tool. The processor 120 can use the X-ray device 110 to obtain multiple second X-ray images of the surgical tool including the electrode during the operation. The processor 120 can sequentially drive the multiple X-ray sources 111 of the X-ray device 110 to obtain multiple second X-ray images of the surgical tool. The processor 120 can determine the position of the surgical tool in the first coordinate system based on the multiple second X-ray images. In the above case, since the X-ray image has been integrated into the first coordinate system, the position of the electrode of the surgical tool displayed on the X-ray image can be used to determine the position of the electrode of the surgical tool in the first coordinate system.

[0073] exist Figure 1, the X-ray device 110, the processor 120, the tracking sensor 130, the memory 140 and the display 150 are shown as being separately constructed, but are not limited thereto. According to one embodiment, the processor 120, the memory 140 and the display 150 may be integrated with the X-ray device 110 and implemented as one device. According to one embodiment, the processor 120, the tracking sensor 130, the memory 140 and the display 150 may be implemented as one electronic device separated from the X-ray device 110. According to one embodiment, the processor 120, the memory 140 and the display 150 may be implemented as an electronic device separated from the X-ray device 110, and the tracking sensor 130 may also be implemented as a separate shooting device, and may be communicatively connected to each other.

[0074] Figure 4 4 is an operation flow chart of the processor 120 according to various embodiments of the present disclosure. Referring to the operation flow chart 400, in operation 410, the processor 120 according to various embodiments may receive a three-dimensional medical image of a subject from an external device. The three-dimensional medical image of the subject may be an MRI image or a CT image of the subject obtained in advance before surgery. The external device may be, for example, an MRI device, a CT device, or a server device.

[0075] In operation 420, the processor 120 according to various embodiments may obtain a plurality of first X-ray images of the object body using the X-ray device 110. The processor 120 may obtain the plurality of first X-ray images of the object body by sequentially and selectively driving the plurality of X-ray sources 111. The plurality of first X-ray images may be X-ray images of the object body taken from different directions from each other.

[0076] In operation 430, the processor 120 according to various embodiments may match the second coordinate system of the three-dimensional medical image to the first coordinate system. The processor 120 may match the second coordinate system of the three-dimensional medical image to the first coordinate system based on the position coordinates of the multiple X-ray sources 111 and the X-ray detectors 113 on the first coordinate system, the multiple first X-ray images of the object body, and the three-dimensional medical image. The method of matching coordinate systems using three-dimensional medical images and X-ray images may be performed in various ways. For example, the processor 120 may virtually obtain a projection image of a three-dimensional medical image obtained before surgery projected onto a two-dimensional plane. The projection image may be a digitally reconstructed radiograph (DDR). The processor 120 may perform coordinate system matching by comparing the generated virtual projection image with the actual X-ray image.

[0077] Specifically, the processor 120 obtains a plurality of projection images of a three-dimensional medical image projected from different directions, and can compare the plurality of projection images with the plurality of first X-ray images. The processor 120 can determine the projection image with the highest similarity to the plurality of first X-ray images among the plurality of projection images. That is, the processor 120 can find the projection image that is most similar to the X-ray image of the actual object. Afterwards, when the projection image with the highest similarity to the X-ray image is found, the processor 120 can estimate the position of the object on the X-ray image in which posture it is configured at in the three-dimensional space based on the projection angle when the corresponding projection image is generated. In one embodiment, the processor 120 selects points that can be features on the X-ray image to calculate the approximate position, and can find the projection image that is most similar to the actual X-ray image based on the virtual projection image around the corresponding position. In the above case, the time required to find a matching projection image can be shortened. According to one embodiment, the matching process between the above X-ray image and the three-dimensional medical image may be realized using only one X-ray image, but if the coordinate system matching process is performed using two or more X-ray images, a more accurate matching result can be obtained.

[0078] In operation 440, the processor 120 according to various embodiments may determine the position of the object on the first coordinate system based on the matching result. The position and / or posture of the object on the first coordinate system may be determined by integrating the second coordinate system of the three-dimensional medical image using the three-dimensional medical image and the plurality of first X-ray images with the first coordinate system of the system 10. That is, the user may accurately confirm the position of the object displayed in the three-dimensional medical image on the first coordinate system.

[0079] In operation 450, the processor 120 according to various embodiments may obtain a plurality of second X-ray images for the surgical tool including the electrode using the X-ray device 110. For example, the processor 120 may sequentially and selectively drive the plurality of X-ray sources 111 to obtain a plurality of second X-ray images for the surgical tool.

[0080] In operation 460, the processor 120 according to various embodiments may determine the position of the surgical tool on the first coordinate system based on the plurality of second X-ray images. Figure 4 The matching operation performed in operation 450 can determine which position on the first coordinate system a specific position on the X-ray image corresponds to, and thus can determine the position of the surgical tool on the first coordinate system corresponding to the electrode position of the surgical tool displayed in the plurality of second X-ray images. A user (e.g., a doctor) can confirm the position of the surgical tool on the first coordinate system by taking an X-ray image during surgery, and thus can perform accurate surgery.

[0081] Figure 5 500 is an operation flow chart of the processor 120 according to various embodiments of the present disclosure. Referring to the operation flow chart 500, in operation 510, the processor 120 according to various embodiments may obtain the position coordinates of the marker 115 on the first coordinate system from the tracking sensor 130. The tracking sensor 130 may obtain the position coordinates of the marker 115 on the first coordinate system by measuring the position of the marker 115 attached to a pre-designated position of the X-ray device 110. Here, the first coordinate system may be a three-dimensional space coordinate system used in the system 10.

[0082] In operation 520, the processor 120 according to various embodiments may obtain the position coordinates of each of the multiple X-ray sources 111 and the X-ray detector 113 on the first coordinate system based on the obtained position coordinates of the marker 115. Here, the position coordinates of the multiple X-ray sources 111 may refer to the position coordinates of each of the multiple X-ray sources 111. The memory 140 stores the first coordinate transformation relationship between the multiple X-ray sources 111 and the X-ray detector 113 and the second coordinate transformation relationship between the multiple X-ray sources 111 and the marker 115. The coordinate transformation relationship may be expressed as a matrix vector. For example, the processor 120 may obtain the position coordinates of the multiple X-ray sources 111 based on the position coordinates of the marker 115 and the second coordinate transformation relationship, and obtain the position coordinates of the X-ray detector 113 based on the obtained position coordinates of the multiple X-ray sources 111 and the first coordinate transformation relationship. The specific method of obtaining the first coordinate transformation relationship and the second coordinate transformation relationship will be described later.

[0083] In operation 530, the processor 120 according to various embodiments may store the position coordinates of the plurality of X-ray sources 111 and the X-ray detector 113 on the first coordinate system in the memory 140. The stored position coordinates of the plurality of X-ray sources 111 and the X-ray detector 113 may be used in the process of matching the second coordinate system of the three-dimensional medical image of the object to the first coordinate system of the system 10.

[0084] Figure 6 is an X-ray image 600 of a surgical tool 610 according to various embodiments of the present disclosure, Figure 7 is a diagram showing the position of a surgical tool on a three-dimensional image 700 having a first coordinate system.

[0085] Reference Figure 6In order to confirm whether the surgical tool 610 is correctly inserted into the affected part of the object during the operation, the user can use the X-ray device 110 to capture a two-dimensional X-ray image 600 related to the surgical tool 610. The surgical tool 610 including the electrode 611 is displayed on the X-ray image 600. Afterwards, the processor 120 can determine which position of the surgical tool 610 on the two-dimensional X-ray image 600 corresponds to which position on the three-dimensional first coordinate system. Specifically, by Figure 4 The matching operation performed in operation 430 utilizes the X-ray image and the three-dimensional medical image of the object body to match the second coordinate system of the three-dimensional medical image to the first coordinate system of the object body, so that the processor 120 can determine the position on the first coordinate system corresponding to the position of the surgical tool on the X-ray image 600. Figure 7 The position of the surgical tool and its electrode 711 on the three-dimensional image 700 is shown. For example, the position of the surgical tool electrode 711 on the first coordinate system corresponding to the position of the surgical tool electrode 611 on the X-ray image 600 can be determined on the three-dimensional image 700. Therefore, using only the X-ray image 600 for the surgical tool 610, the accurate position of the surgical tool electrode 711 on the three-dimensional first coordinate system 700 can be grasped.

[0086] Figure 8 is an operation flow chart of the processor 120 according to various embodiments of the present disclosure. Specifically, the operation flow chart 800 is related to Figure 4 A specific operation flow chart related to operation 430 is provided.

[0087] In operation 810, the processor 120 according to various embodiments may obtain a plurality of projection images by projecting a three-dimensional medical image onto a two-dimensional plane. The plurality of projection images may be two-dimensional images obtained assuming that the three-dimensional medical image is projected onto a two-dimensional plane. The projection images may be DRR images.

[0088] In operation 820 , the processor 120 according to various embodiments may compare the plurality of projection images with the plurality of first X-ray images.

[0089] In operation 830, the processor 120 according to various embodiments may determine a projection image with the highest similarity to the plurality of first X-ray images among the plurality of projection images. The processor 120 may determine a projection image with the highest similarity to the plurality of first X-ray images among the plurality of projection images. When the projection image with the highest similarity to the X-ray image is found, the processor 120 may infer, based on the projection angle when the corresponding projection image is generated, which position of the object on the X-ray image is configured in which posture in the three-dimensional space.

[0090] In operation 840, the processor 120 according to various embodiments may match the second coordinate system of the three-dimensional medical image to the first coordinate system by comparing the plurality of first X-ray images and the determined projection image. That is, the processor 120 may determine the position of the object body on the first coordinate system by matching the second coordinate system of the three-dimensional medical image to the first coordinate system of the system 10. Further, the position on the first coordinate system corresponding to the specific position displayed in the X-ray image may also be determined by integrating the X-ray image and the determined projection image.

[0091] Figures 9 to 11 is a diagram for explaining the process of obtaining the first coordinate transformation relationship. Specifically, Fig. 9 is a diagram showing a method of obtaining the coordinate relationship between the X-ray source 111 and the X-ray detector 113, Fig.10 is a plan view showing a calibration tool for obtaining a coordinate relationship between an X-ray source 111 and an X-ray detector 113, Fig.11 1 is a diagram showing position coordinates of a plurality of X-ray sources 111 with reference to the coordinate system of the X-ray detector 113 .

[0092] Reference Fig. 9 In order to obtain the first coordinate transformation relationship, a calibration tool may be used. The calibration tool may include a first calibration plate 910 and a second calibration plate 920. Fig. 9 As shown, the calibration tool may have a structure in which a first calibration plate 910 and a second calibration plate 920 are arranged in two layers at a specified interval, and may have a structure that can be arranged on the X-ray detector 113. For example, the first calibration plate 910 and the second calibration plate 920 may be arranged in two layers in parallel and the areas may be the same as each other. The first calibration plate 910 and the second calibration plate 920 may respectively include a plurality of balls 911, 921 arranged in a grid. The plurality of balls 911, 921 may be metal balls displayed in the X-ray image. The calibration tool may be referred to as, for example, a calibration fixture (zig).

[0093] The number of the plurality of first balls 911 arranged on the first calibration plate 910 and the number of the plurality of second balls 921 arranged on the second calibration plate 920 are different from each other and the arrangement positions are also different. Fig.10As shown in (a), a plurality of first balls 911 are arranged in a 5*5 shape on the first calibration plate 910, the spacing between the plurality of first balls 911 may be d1, and the distance from the outermost first balls 911 to the corner of the first calibration plate 910 may be d2. A plurality of second balls 921 are arranged in a 4*4 shape on the second calibration plate 920, the spacing between the plurality of second balls 921 may be d1, and the distance from the outermost second balls 921 to the corner of the second calibration plate 920 may be d3. In addition, the distance between the first calibration plate 910 and the second calibration plate 920 may be h. The above d1, d2, d3 and h are values ​​set by the user.

[0094] A plurality of X-ray images for the calibration tool may be obtained using a plurality of X-ray sources 111. For example, when three X-ray sources 111 are used, three X-ray images for the calibration tool may be obtained.

[0095] Afterwards, the processor 120 may use triangulation to obtain the coordinate relationship between the X-ray source 111 and the X-ray detector 113. Specifically, the processor 120 may obtain the position coordinates of the plurality of X-ray sources 111 centered on the X-ray detector 113. Since the method of calculating the coordinate relationship between the X-ray detector 113 and the plurality of X-ray sources 111 using triangulation adopts a general triangulation method, a specific description is omitted.

[0096] According to one embodiment, the processor 120 may obtain the position coordinates of each of the multiple X-ray sources 111 based on the detector center coordinate system based on the center of the X-ray detector 113. According to one embodiment, the processor 120 may obtain the position coordinates of each of the multiple X-ray sources 111 based on the detector corner coordinate system centered on a vertex of the X-ray detector 113. As described above, the coordinate relationship between the X-ray detector 113 and the multiple X-ray sources 111 may be obtained using a calibration tool. Therefore, if the processor 120 knows the position coordinates of each of the multiple X-ray sources 111, the position coordinates of the X-ray detector 113 may be calculated using the above coordinate relationship, and vice versa. The above coordinate relationship between the X-ray detector 113 and the multiple X-ray sources 111 may be expressed in a matrix vector or text format.

[0097] Figure 12 to Figure 14 is a diagram illustrating a method for obtaining a second coordinate transformation relationship according to various embodiments of the present disclosure. Specifically, Fig.12 is a diagram showing a pivoting tool 1200 for obtaining a second coordinate transformation relationship, Fig.13 are multiple X-ray images obtained by photographing the calibration phantom using multiple X-ray sources 111, Fig.141 is a diagram showing the position coordinates of the marker 115 with respect to the first X-ray source 111 .

[0098] Reference Fig.12 , the pivoting mechanism 1200 may be referred to as a pivoting phantom or a calibration phantom. The pivoting mechanism 1200 may include a plurality of pivoting balls formed at designated positions. The pivoting balls may be balls formed of metal so as to be detectable in an X-ray image, and may also be referred to as pivoting points. The plurality of pivoting balls may, for example, be formed with 4 on the top of the pivoting mechanism, 4 on the first side, and 4 on the second side, for a total of 12, but the number and position of the plurality of pivoting balls are not limited thereto.

[0099] The user may position the pivot mechanism 1200 on the X-ray detector 113. Then, the user may obtain multiple X-ray images 1310, 1320, and 1330 for the pivot mechanism 1200 using multiple X-ray sources 111. Since the multiple X-ray sources 111 irradiate X-rays from different positions and at different angles, the positions of the pivot balls respectively displayed in the multiple X-ray images 1310, 1320, and 1330 are different from each other.

[0100] The processor 120 may extract, for example, the position coordinates of the plurality of pivoting balls on the X-ray image 1310 obtained by the first X-ray source 111a. The processor 120 may extract, for example, the position coordinates of the plurality of pivoting balls centered on the first X-ray source 111 using triangulation. In the same manner, the processor 120 may extract the position coordinates of the plurality of pivoting balls on the X-ray images 1320 and 1330 obtained by the second X-ray source 111b and the third X-ray source 111c.

[0101] Afterwards, the user can place a marker probe on the plurality of pivot balls. For example, the marker probe can be placed on one of the plurality of pivot balls. The marker probe can be a marker that generates energy or a signal so that the tracking sensor 130 can sense it, and thus can be sensed by the tracking sensor 130. The marker probe can be a marker that can be carried and implemented in a small size.

[0102] The processor 120 can obtain the position coordinates of the marker probe on the first coordinate system and the position coordinates of the marker 115 attached to the designated position of the X-ray device 110 through the tracking sensor 130. Through this, the processor 120 can obtain the positional relationship between the marker 115 attached to the designated position of the X-ray device 110 and the marker probe. Further, since the position coordinates of the marker 115 probe are the same as the position coordinates of the pivot ball where the marker 115 probe is located, the processor 120 can obtain the positional relationship between the marker 115 attached to the designated position of the X-ray device 110 and the first X-ray source 111. That is, the processor 120 can obtain the coordinate transformation relationship between the first X-ray source 111 and the marker 115. By applying the above method to the second X-ray source 111 and the third X-ray source 111 in the same manner, the processor 120 can obtain the first coordinate transformation relationship between multiple X-ray sources 111 and the marker 115.

[0103] The processor 120 may store the obtained first coordinate transformation relationship and second coordinate transformation relationship in the memory 140 . Figures 9 to 14 The calibration method described in the figure can be performed once immediately after the system 10 is newly set up, or can be performed every time the configuration position of the X-ray device 110 is changed. The first coordinate transformation relationship and the second coordinate transformation relationship stored in the memory 140 can be used to integrate the three-dimensional medical image of the object and the multiple first X-ray images of the object.

[0104] Although the above method is described by specific embodiments, the above method can also be implemented as a computer-readable code in a computer-readable recording medium. Computer-readable recording media include all types of recording devices storing data that can be read by a computer system. Examples of computer-readable recording media may include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. In addition, the computer-readable recording medium can be distributed in a computer system connected by a network, and can store and run computer-readable codes in a distributed manner. In addition, programmers in the technical field of the present disclosure can easily derive functional programs, codes, and code segments for implementing the above embodiments.

Claims

1. A system for determining the position of an object or a surgical tool, in, include: An X-ray device, the X-ray device comprising a plurality of X-ray sources and an X-ray detector, the plurality of X-ray sources irradiating X-rays to the object, and the X-ray detector detecting the X-rays transmitted through the object; A memory storing position coordinates of each of the plurality of X-ray sources and the X-ray detector on a first coordinate system associated with the system; and processor, The processor is configured to perform the following operations: obtaining a three-dimensional medical image of the subject from an external device; obtaining a plurality of first X-ray images of the object using the X-ray device; Based on the position coordinates of each of the plurality of X-ray sources and the X-ray detector in the first coordinate system, the plurality of first X-ray images and the three-dimensional medical image, matching the second coordinate system of the three-dimensional medical image to the first coordinate system; Based on the matching result, determining the position coordinates of the object in the first coordinate system; Using the X-ray device, obtaining a plurality of second X-ray images of the surgical tool including the electrode; Based on the plurality of second X-ray images, the position coordinates of the surgical tool on the first coordinate system are determined.

2. The system according to claim 1, wherein: The processor is configured to perform the following operations: Obtaining a plurality of projection images by projecting the three-dimensional medical image onto a two-dimensional plane; comparing the plurality of projection images with the plurality of first X-ray images; Determine a projection image among the plurality of projection images that has the highest similarity to the plurality of first X-ray images; Based on the plurality of first X-ray images and the determined projection image, the second coordinate system of the three-dimensional medical image is matched to the first coordinate system.

3. The system according to claim 1, wherein: The plurality of X-ray sources are arranged on the same plane.

4. The system according to claim 3, wherein: The multiple X-ray sources are arranged in a straight line at the same intervals. The plurality of X-ray sources irradiate the object with X-rays at different angles.

5. The system according to claim 1, wherein: The plurality of X-ray sources are X-ray sources using carbon nanotubes.

6. The system according to claim 5, wherein: The X-ray device further comprises a power supply unit, which supplies a high voltage to the plurality of X-ray sources.

7. The system according to claim 1, wherein: The X-ray device further comprises a marker, which is attached to a pre-specified position. The system also includes a tracking sensor that tracks the position of the marker, The memory stores a first coordinate transformation relationship between the plurality of X-ray sources and the X-ray detector and a second coordinate transformation relationship between the plurality of X-ray sources and the marker, The processor is configured to perform the following operations: Obtaining the position coordinates of the marker on the first coordinate system from the tracking sensor; Based on the position coordinates of the markers, obtaining the position coordinates of each of the plurality of X-ray sources and the X-ray detector in the first coordinate system; The position coordinates of each of the plurality of X-ray sources and the X-ray detector on the first coordinate system are stored in the memory.

8. The system according to claim 7, wherein: The X-ray device further comprises: a connecting component connected to the plurality of X-ray sources and the X-ray detector; a first rotating unit, the first rotating unit being provided with the plurality of X-ray sources and rotating around a first rotating axis; and The second rotating part is connected to the connecting member and rotates around a second rotating axis.

9. The system according to claim 8, wherein: The marker is attached to a designated position of the connecting component of the X-ray device, The designated position is within a field of view of the tracking sensor.

10. The system according to claim 8, wherein: The marker is attached to a designated position of the first rotating part of the X-ray device, The designated position is within a field of view of the tracking sensor.

11. A method for determining the position of an object or a surgical tool of a system, The system comprises: An X-ray device, the X-ray device comprising a plurality of X-ray sources and an X-ray detector, the plurality of X-ray sources irradiating X-rays to the object, and the X-ray detector detecting the X-rays transmitted through the object; Memory; and processor, The method comprises the following operations: receiving a three-dimensional medical image of the subject from an external device; obtaining a plurality of first X-ray images of the object using the X-ray device; Based on the position coordinates of each of the plurality of X-ray sources and the X-ray detector stored in the memory on a first coordinate system associated with the system, the plurality of first X-ray images and the three-dimensional medical image, matching a second coordinate system of the three-dimensional medical image to the first coordinate system; Based on the matching result, determining the position coordinates of the object in the first coordinate system; Using the X-ray device, obtaining a plurality of second X-ray images of the surgical tool including the electrode; and Based on the plurality of second X-ray images, the position coordinates of the surgical tool on the first coordinate system are determined.

12. The method according to claim 11, wherein: The matching operation includes the following operations: Obtaining a plurality of projection images by projecting the three-dimensional medical image onto a two-dimensional plane; comparing the plurality of projection images with the plurality of first X-ray images; Determine a projection image among the plurality of projection images that has the highest similarity to the plurality of first X-ray images; and Based on the plurality of first X-ray images and the determined projection image, the second coordinate system of the three-dimensional medical image is matched to the first coordinate system.

13. The method according to claim 11, wherein: The plurality of X-ray sources are arranged on the same plane.

14. The method according to claim 13, wherein: The multiple X-ray sources are arranged in a straight line at the same intervals. The plurality of X-ray sources irradiate the object with X-rays at different angles.

15. The method according to claim 11, wherein: The plurality of X-ray sources are X-ray sources using carbon nanotubes.

16. The method according to claim 15, wherein: The X-ray device further comprises a power supply unit, which supplies a high voltage to the plurality of X-ray sources.

17. The method according to claim 11, wherein: The X-ray device further comprises a marker, which is attached to a pre-specified position. The system also includes a tracking sensor that tracks the position of the marker, The memory stores a first coordinate transformation relationship between the plurality of X-ray sources and the X-ray detector and a second coordinate transformation relationship between the plurality of X-ray sources and the marker. The method further comprises the following operations: Obtaining the position coordinates of the marker on the first coordinate system from the tracking sensor; Based on the position coordinates of the markers, obtaining the position coordinates of each of the plurality of X-ray sources and the X-ray detector in the first coordinate system; and The position coordinates of each of the plurality of X-ray sources and the X-ray detector on the first coordinate system are stored in the memory.

18. The method according to claim 17, wherein: The X-ray device further comprises: a connecting component connected to the plurality of X-ray sources and the X-ray detector; a first rotating unit, the first rotating unit being provided with the plurality of X-ray sources and rotating around a first rotating axis; and The second rotating part is connected to the connecting member and rotates around a second rotating axis.

19. The method according to claim 18, wherein: The marker is attached to a designated position of the connecting component of the X-ray device, and the designated position is located within the field of view of the tracking sensor.

20. The method according to claim 18, wherein: The marker is attached to a designated position of the first rotating portion of the X-ray device, and the designated position is located within a field of view of the tracking sensor.

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