A method, device and program product for intraoperative navigation image registration based on coordinates

Abstract

The present application relates to the field of intelligent medical treatment, and specifically to a method, device and program product for intraoperative navigation image registration based on coordinates. It includes S1, obtaining the image of the register through the imaging system to obtain the coordinates of the optical ball on the register in the image coordinate system; S2, the optical tracking system tracks the coordinates of the optical ball on the register in the three-dimensional space; S3, completing the registration based on the coordinates of the optical ball in the image coordinate system and the coordinates of the optical ball in the three-dimensional space. This application improves the image registration of intraoperative navigation, omits the dimensional conversion between different systems, shortens the system processing time, and has great clinical value.

Description

Technical Field

[0001] The present application relates to the field of intelligent medical treatment, and specifically to a method, device, program product and computer-readable storage medium for coordinate-based intraoperative navigation image registration. Background Art

[0002] Intraoperative navigation image registration is an important part of modern medical imaging and surgical navigation technology. It can help surgeons locate anatomical structures more accurately during surgery, improve surgical accuracy and reduce surgical risks. With the development of medical technology, the requirements for surgical accuracy are getting higher and higher, especially in the fields of neurosurgery, orthopedics, etc. And during surgery, doctors may need real-time imaging information to guide operations, especially when the patient moves or the anatomical structure changes. However, the surgical navigation system needs to complete the registration process in a short time, which places high demands on the speed and efficiency of the algorithm. In addition, the patient's breathing, heartbeat and other physiological activities during surgery will cause slight changes in the anatomical structure, which may affect the registration results. In addition, different imaging technologies have different resolutions and contrasts, and the registration algorithm needs to be able to accurately align images of different modalities. CN202311011873.8 A fracture surgery planning method, device and storable medium based on two-dimensional imaging, discloses the use of registration between an infrared light positioning system and an imaging system, and constructs a spatial posture conversion relationship between the spatial positioning coordinates of the infrared light positioning system and the imaging coordinate system in the optical system before surgery through a device with a registration ball, and maps the implanted instrument in the spatial positioning coordinate system to the imaging coordinates through the constructed spatial position conversion relationship during surgery, and obtains the relative position of the patient's fracture site and the implanted instrument in the imaging coordinate system. However, in this method, the spatial position conversion relationship is fixed, and the coordinate mapping during surgery is fixed and unchanged, which makes it difficult to solve the problem of mismatch between the special situation during surgery and the preoperative spatial conversion mapping function. CN202411321459.1 An image registration method, device and program product for intraoperative navigation, proposes the use of two registration devices, a reference frame with an optical ball, and an image register with an optical ball and a steel column, through which the spatial coordinates between the imaging system and the optical tracking positioning system are obtained in real time during surgery and the spatial coordinate relationship is constructed to complete the intraoperative image registration. This method can calculate the spatial conversion relationship between the imaging system and the optical tracking system in real time during surgery, avoiding the problem of mismatch between special situations during surgery and preoperative spatial conversion mapping functions. However, this method needs to calculate the relationship between the spatial coordinate systems before performing spatial coordinate conversion during surgery, which takes a certain amount of conversion time. CN202411321464.2 An image and navigation system registration device and registration method. This patent discloses an image and navigation system registration device. However, the registration ball on the first plane of the device has a relative distance when constructing the image coordinate system, and intraoperative navigation has high requirements for accuracy. Summary of the invention

[0003] In view of the above problems, the present invention provides a method for intraoperative navigation image registration based on coordinates, which constructs a coordinate transformation relationship and performs spatial coordinate transformation in real time during surgery, avoids the problem that special situations during surgery do not match the preoperative spatial transformation mapping function, shortens or eliminates the transformation time, and corrects the construction of the coordinate system to solve the error problem, which specifically includes:

[0004] S1. Obtain an image of the aligner through an imaging system to obtain the coordinates of the optical ball on the aligner in the image coordinate system. The aligner includes a first plane and a second plane that are not parallel. The first plane has N optical balls connected by a matching structure. The optical balls are at a distance from the first plane. The second plane has N steel balls. The imaging system obtains N coordinate points by identifying the N steel balls and N optical balls on the second plane of the aligner, where N is a natural number greater than or equal to 3. The coordinate points of the optical balls are corrected based on the distance to obtain the coordinate points of the corrected optical balls on the first plane. The image coordinate system is constructed by extracting the coordinate points of the corrected optical balls on the first plane and the coordinate points of the steel balls on the second plane.

[0005] S2, the optical tracking system tracks the coordinates of the optical ball on the aligner in three-dimensional space;

[0006] S3. Complete the alignment based on the coordinates of the optical sphere in the image coordinate system and the coordinates of the optical sphere in the three-dimensional space.

[0007] The correction is to calculate the relative displacement of the coordinate points according to the relative distance.

[0008] The aligner is replaced by one including two planes, each plane having N optical balls, the optical balls are connected to the planes through a matching structure, and there is a distance between the optical balls and the planes. The imaging system obtains the coordinates of the N optical balls by identifying the N optical balls on the two planes, corrects the coordinates of the N optical balls to obtain corrected optical ball coordinates, and constructs an imaging coordinate system based on the corrected optical ball coordinates.

[0009] The aligner is replaced by N steel balls and N optical balls on the first plane, and there are N steel balls on the second plane. The steel balls on the first plane are connected to the optical balls through a matching structure 1, and the steel balls are connected to the first plane through a matching structure 2. The optical balls, matching structure 1, steel balls, and matching structure 2 are located on the same axis, and the axis is perpendicular to the first plane. There is a distance between the steel balls and the first plane. The imaging system obtains N coordinate points of the aligner by identifying the N steel balls or N optical balls on the aligner.

[0010] The construction of the image coordinate system includes: acquiring an image of the aligner, extracting the coordinates of the steel ball on the first plane and the coordinates of the steel ball on the second plane in the image, correcting the coordinates of the steel ball on the first plane to obtain the corrected coordinates of the steel ball on the first plane, and constructing a three-dimensional coordinate system based on the corrected coordinates of the steel ball on the first plane and the steel ball on the second plane.

[0011] S3 is replaced by: the coordinates of the steel ball on the first plane in the image coordinate system are obtained by performing relative displacement calculation based on the relative distance between the steel ball and the optical ball, and the alignment is completed based on the calculated coordinates of the steel ball and the coordinates of the optical ball in three-dimensional space.

[0012] The aligner is replaced by two planes, which are not parallel. There are N optical balls on each plane. The imaging system obtains the coordinates of the N optical balls in the image coordinate system by identifying the N optical balls on any one plane.

[0013] The construction of the image coordinate system includes: acquiring an image of a register, extracting the coordinates of an optical sphere in the image, constructing a three-dimensional coordinate system, and obtaining the image coordinate system.

[0014] The register includes a first plane and a second plane, the first plane is not parallel to the second plane, there are N optical balls on the first plane, and there are N steel balls on the second plane. The imaging system obtains the coordinates of the N optical balls by identifying the N optical balls on the first plane.

[0015] The construction of the image coordinate system includes: acquiring an image of the aligner, extracting the coordinates of the optical sphere and the steel column in the image to construct a three-dimensional coordinate system, and obtaining the image coordinate system.

[0016] The method also includes preoperative image registration, obtaining a preoperative three-dimensional image through an imaging system, mapping the coordinate relationship between the preoperative three-dimensional image and the intraoperative two-dimensional image obtained by the imaging system to obtain a preoperative coordinate relationship, and then obtaining the registration of the preoperative three-dimensional image and the optical tracking system based on the registration of the imaging system and the optical tracking system and the preoperative coordinate relationship.

[0017] An object of the present invention is to provide a computer program product, which includes a computer program or instructions, and the computer program or instructions are executed by a processor to implement the above-mentioned coordinate-based intraoperative navigation image registration method.

[0018] The object of the present invention is to provide a computer device, which includes a memory, a processor and a computer program or instructions stored in the memory, wherein the computer program or instructions are executed by the processor to implement the above-mentioned coordinate-based intraoperative navigation image registration method.

[0019] An object of the present invention is to provide a computer-readable storage medium having a computer program or instruction stored thereon, wherein the computer program or instruction is executed by a processor to implement the above-mentioned coordinate-based intraoperative navigation image registration method.

[0020] Advantages of the present invention:

[0021] 1. Image registration for intraoperative navigation unifies the coordinates of the imaging system and the optical tracking system. That is, the coordinates of the imaging system are calculated by displacement to determine the coordinates of the optical tracking system. This saves the steps of coordinate conversion between systems, shortens the data processing time of the system, meets the real-time requirements of intraoperative navigation, and improves computing efficiency.

[0022] 2. By performing simple displacement calculations on the coordinates of the optical ball on the aligner, the error in constructing the image coordinate system is resolved, the accuracy of identifying the site is improved, and the precise presentation of the position of the instrument or patient during intraoperative navigation is facilitated, while saving consumables. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A schematic flow chart of a method for coordinate-based intraoperative navigation image registration provided by an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of a system for coordinate-based intraoperative navigation image registration provided by an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of a device for coordinate-based intraoperative navigation image registration provided by an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of the first structure of the aligner provided in an embodiment of the present invention, 1 steel ball, 2 optical ball, 3 matching structure 1, 4 matching groove, 5 connecting channel, 6 assembly direction 1, 8 steel ball;

[0028] Figure 5 Schematic diagram of the structure of steel balls and optical balls on the register provided by an embodiment of the present invention, 1 steel ball, 2 optical ball, 3 matching structure 1, 7 matching structure 2;

[0029] Figure 6 Schematic diagram of the second result of the aligner provided in the embodiment of the present invention, 2 optical balls, 11 support platform 1, 12 support platform 2. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel. The sequence numbers of the operations, such as S101, S102, etc., are only used to distinguish between different operations, and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to be different types.

[0032] Figure 1 A schematic diagram of a coordinate-based intraoperative navigation image registration method provided by an embodiment of the present invention specifically includes:

[0033] S1: Acquire an image of the aligner through an imaging system to obtain the coordinates of the optical ball on the aligner in the image coordinate system, the aligner includes a first plane and a second plane that are not parallel, the first plane has N optical balls connected by a matching structure, the optical balls are at a distance from the first plane, and the second plane has N steel balls, the imaging system obtains N coordinate points by identifying the N steel balls and N optical balls on the second plane of the aligner, N is a natural number greater than or equal to 3, and corrects the coordinate points of the optical balls based on the distance to obtain the coordinate points of the corrected optical balls on the first plane; extract the coordinate points of the corrected optical balls in the image at the first plane and the coordinate points of the steel balls on the second plane to construct an image coordinate system;

[0034] In one embodiment, the imaging system is a C-arm fluoroscopy machine.

[0035] In one embodiment, the correction is to calculate the relative displacement of the coordinate points according to the relative distance.

[0036] In one embodiment, the aligner includes two planes, the two planes are not parallel, and each plane has N optical balls. The imaging system obtains the coordinates of the N optical balls by identifying the N optical balls on any one of the planes.

[0037] The construction of the image coordinate system includes: acquiring an image of a register, extracting the coordinates of an optical sphere in the image, constructing a three-dimensional coordinate system, and obtaining the image coordinate system.

[0038] In another embodiment, the aligner includes a first plane and a second plane, the first plane is not parallel to the second plane, there are N optical balls on the first plane, and there are N steel balls on the second plane, and the imaging system obtains the coordinates of the N optical balls by identifying the N optical balls on the first plane.

[0039] The construction of the image coordinate system includes: acquiring an image of the aligner, extracting the coordinates of the optical sphere and the steel column in the image to construct a three-dimensional coordinate system, and obtaining the image coordinate system.

[0040] In another embodiment, the aligner is replaced by one including two planes with N optical balls on each plane, the optical balls are connected to the planes through a matching structure, and there is a distance between the optical balls and the planes. The imaging system obtains the coordinates of the N optical balls by identifying the N optical balls on the two planes, corrects the coordinates of the N optical balls to obtain corrected optical ball coordinates, and constructs an imaging coordinate system based on the corrected optical ball coordinates.

[0041] In another embodiment, the aligner is replaced by N steel balls and N optical balls on the first plane, and there are N steel balls on the second plane. The steel balls on the first plane are connected to the optical balls through a matching structure 1, and the steel balls are connected to the first plane through a matching structure 2. The optical balls, matching structure 1, steel balls, and matching structure 2 are located on the same axis, and the axis is perpendicular to the first plane. There is a distance between the steel balls and the first plane, and the imaging system obtains N coordinate points of the aligner by identifying the N steel balls or N optical balls on the aligner.

[0042] The construction of the image coordinate system includes: acquiring an image of the aligner, extracting the coordinates of the steel ball on the first plane and the coordinates of the steel ball on the second plane in the image, correcting the coordinates of the steel ball on the first plane to obtain the corrected coordinates of the steel ball on the first plane, and constructing a three-dimensional coordinate system based on the corrected coordinates of the steel ball on the first plane and the steel ball on the second plane.

[0043] In another embodiment, the aligner is replaced by N steel balls and N optical balls on the first plane, and there are N steel balls on the second plane. The steel balls on the first plane are connected to the optical balls through a matching structure 1, and the steel balls are connected to the first plane through a matching structure 2. The optical balls, matching structure 1, steel balls, and matching structure 2 are located on the same axis, and the axis is perpendicular to the first plane. There is a distance between the steel balls and the first plane, and the imaging system obtains N coordinate points of the aligner by identifying the N steel balls or N optical balls on the aligner.

[0044] The construction of the image coordinate system includes: acquiring the image of the aligner, extracting the coordinates of the steel ball on the first plane and the coordinates of the steel ball on the second plane in the image, correcting the coordinates of the steel ball on the first plane to obtain the corrected coordinates of the steel ball on the first plane, and constructing a three-dimensional coordinate system based on the corrected coordinates of the steel ball on the first plane and the steel ball on the second plane. S3 is replaced by: the coordinates of the steel ball on the first plane in the image coordinate system are calculated based on the relative displacement calculation of the relative distance between the steel ball and the optical ball to obtain the calculated coordinates of the steel ball, and the alignment is completed based on the calculated coordinates of the steel ball and the coordinates of the optical ball in three-dimensional space.

[0045] In a specific embodiment, the first structure of the aligner is as follows: Figure 4 As shown, the reference frame includes a reference frame, which includes a bearing platform 1 and a bearing platform 2. The bearing platform 1 and the bearing platform 2 are both bearing platforms. The bearing platform 1 is combined with the optical ball through a matching structure. A steel ball is arranged in the middle of the matching structure. Each optical ball corresponds to a steel ball through the matching structure. The distance between the center of the optical ball and the steel ball on each matching structure is fixed. The longitudinal axis of the matching structure is a straight line. The optical ball and the steel ball are arranged along the axis of the matching structure. Figure 5 As shown; this setting is mainly for the navigation of spinal surgery in clinical practice. When shooting from the side, due to the large thickness of the body and the high similarity between the optical ball and the body density, the optical ball is not clear in this case, resulting in inaccurate calibration of the imaging system coordinate system. Of course, the use of this solution for normal shooting will also increase the accuracy of the calibration of the imaging system coordinate system. The above setting can ensure that the registration balls (optical balls and steel balls) are set in the same space through the matching structure, without increasing the space requirements, and because the optical balls and steel balls are at a fixed distance on the same axis, this improvement will not cause great pressure on the calculation program. The distance between the optical ball and the steel ball is 0.8-1.5cm, and there is a distance between the steel ball and the first plane.

[0046] The steel ball can be connected to the support platform one along an assembly direction one; the optical ball is connected to the steel ball, and the line connecting the centers of the optical ball and the steel ball is parallel to the assembly direction one.

[0047] The reference frame also has a connecting portion, which connects the first support platform and the second support platform respectively, and a connecting channel is provided through the connecting portion. The connecting channel can be connected to a connecting piece, one end of which is inserted into the connecting channel, and the other end of the connecting piece is exposed outside the connecting portion. The user can grasp the connecting piece with bare hands or with a mechanical arm, and can adjust the spatial position and posture of the alignment device by driving the connecting piece to move. This operation method can prevent the user's limbs from entering the irradiation range of the electronic computer tomography device or the optical alignment device used to capture the image, thereby reducing the radiation received by the user during operation, and also avoiding the user's limbs from blocking the steel balls and optical balls.

[0048] Furthermore, the connecting channel includes at least two circular holes with different inner diameters so as to assemble connecting pieces of different shapes.

[0049] Furthermore, the matching structure includes a matching structure 2 connected to the steel ball, the supporting platform 1 is provided with a matching groove, and the matching structure 2 is adapted to the matching groove.

[0050] Furthermore, the second matching structure is columnar, wherein the axis thereof coincides with the center of the steel ball.

[0051] Furthermore, the matching structure also includes a matching structure 1 connected to the steel ball, and the matching structure 1 is connected to the optical ball.

[0052] Furthermore, the matching structure 1 is columnar, wherein the axis thereof coincides with the center of the steel ball and the center of the optical ball, and the center axis of the matching structure 2 coincides or does not coincide with the center axis of the matching structure 1.

[0053] Furthermore, the line connecting the centers of any two of the steel balls does not coincide with the centers of other steel balls.

[0054] Furthermore, the outer diameter of the steel ball is different from the outer diameter of the optical sphere. Specifically, the outer diameter of the optical sphere is larger than the outer diameter of the steel ball.

[0055] In a specific embodiment, the second structure of the register is as follows Figure 6 As shown, at least three optical balls are provided, the three optical balls are connected to plane one through a matching structure, the centers of the three optical balls are located in the same plane, the plane formed by the three optical balls is parallel to plane one, and there is a distance, at least three steel balls are provided, the centers of the three steel balls are on plane two, and plane one is not parallel to plane two; wherein, the optical balls can be identified by the imaging system and the navigation system, and the steel balls can only be identified by the imaging system;

[0056] The aligner includes a reference frame, which includes a first carrier and a second carrier. The optical ball is directly arranged on the first carrier or arranged on the first carrier through a connecting rod; the steel ball is arranged on the second carrier and arranged on the second carrier through a connecting rod.

[0057] The first support platform and the second support platform are mirror images of each other in whole or in part. Preferably, the first support platform and the second support platform have the same structure and are mirror images of each other. Through this arrangement, all the balls are framed in one space.

[0058] Furthermore, both the first support platform and the second support platform are support platforms, and the first support platform is combined with the first alignment ball through a matching structure; the second alignment ball is embedded in the second support platform.

[0059] The optical balls are arranged at the edge of the first carrier platform to increase the distance between each ball, so as to ensure that the optical balls can be accurately identified by the navigation system, while the steel balls are distributed in the middle of the second carrier platform. By arranging them in the middle, it can be ensured that the steel balls will not interfere with each other when being identified, and the accuracy of the image system identification can be ensured. In addition, an arc-shaped notch is arranged at the edge of the first carrier platform, and an optical ball is arranged in the middle of the notch. The arc-shaped arrangement can increase the length of the edge of the first carrier platform, so as to ensure that an optical ball arranged in the middle of the notch can be identified by the navigation system. Because the image system identification requires the optical balls to be close to ensure the accuracy of the identification, while the navigation system identification requires the optical balls to be far away, the above arrangement can meet the identification accuracy of the two systems to the greatest extent, and ensure that the volume of the entire device is minimized.

[0060] In one embodiment, the method further includes image calibration, wherein the image system constructs the image coordinate system and then performs image calibration to obtain a calibrated image coordinate system, and acquires an image of the registrator to obtain coordinates of the registrator in the calibrated image coordinate system.

[0061] In one embodiment, the image calibration is completed by a calibrator with N steel balls, where N is a natural number greater than or equal to 3, and the imaging system obtains the spatial position relationship between the surgical light source and the image coordinate system through the N steel balls in the calibrator.

[0062] In one embodiment, the calibration is based on Zhang Zhengyou's calibration method. As long as more than 3 planes in three-dimensional space and more than 4 points in each plane are obtained, as well as their corresponding projection coordinates in the two-dimensional image, the calibration can be completed. The more planes there are, the more points there are on the planes, and the stronger the robustness. Therefore, based on this, the present invention constructs multiple planes as much as possible, with multiple points on each plane. According to the current whole column, 12 points can form 4 straight lines (3 points on each straight line), and any two of these 4 straight lines are on the same plane. Therefore, there are 6 combinations of 4 out of 2, that is, 6 planes, 6 points on each plane (each plane is composed of 2 lines, and there are 3 points on each line), which meets the requirements of Zhang Zhengyou's calibration method.

[0063] In one embodiment, the method further includes image distortion correction, wherein the image coordinate system of the image system obtains a corrected image coordinate system through image distortion correction, an image of the registrator is acquired based on the corrected image coordinate system, and then the coordinates of the registrator in the corrected image coordinate system are obtained based on the image of the registrator.

[0064] In one embodiment, the method first corrects image distortion of the imaging system, then calibrates the imaging system to obtain a corrected and calibrated image coordinate system, obtains an image of the registrator based on the corrected and calibrated image coordinate system, and then obtains the coordinates of the registrator in the corrected and calibrated image coordinate system based on the image of the registrator.

[0065] S2: The optical tracking system tracks the coordinates of the optical ball on the aligner in three-dimensional space;

[0066] In one embodiment, the optical tracking systems are NDI Polaris Vega® and Polaris Vicra® optical measurement systems, which utilize near infrared (IR) light to wirelessly detect and track navigation markers on OEM surgical instruments. They are suitable for large measurement volumes and have excellent tracking accuracy and precision.

[0067] S3: Complete the registration based on the coordinates of the optical sphere in the image coordinate system and the coordinates of the optical sphere in the three-dimensional space.

[0068] In one embodiment, different aligners are assembled and different alignment methods are adopted. When the aligner includes any two planes, each plane has N optical balls. The imaging system constructs an image coordinate system by identifying the spatial positions of the optical balls in the two planes, and obtains the coordinates of each optical ball in the two planes. The optical tracking system identifies the optical ball in any plane to obtain the three-dimensional spatial coordinates of the optical ball. The image coordinate system and the three-dimensional space are aligned based on the coordinates of the optical ball on the aligner in the image coordinate system and in the three-dimensional space.

[0069] Furthermore, after the coordinates of the optical spheres of the two planes are identified, the coordinates of the optical spheres are corrected according to the relative distance between the optical spheres and the planes where they are located to obtain corrected coordinates of the optical spheres, and the image coordinate system is constructed based on the corrected coordinates of the optical spheres.

[0070] In one embodiment, when the aligner includes a first plane and a second plane, the first plane is not parallel to the second plane, there are N optical balls on the first plane and N steel balls on the second plane, the imaging system constructs an imaging coordinate system by identifying the spatial positions of the optical balls and the steel balls on the plane, and obtains the coordinates of the optical balls and the coordinates of the steel balls, the optical tracking system identifies the optical balls on the first plane to obtain the three-dimensional spatial coordinates of the optical balls, and aligns the imaging coordinate system and the three-dimensional space based on the coordinates of the optical balls on the aligner in the image coordinate system and in the three-dimensional space, wherein the imaging system identifies the optical balls on the plane and corrects the coordinates of the optical balls based on the relative distance between the optical balls and the plane to obtain the corrected optical ball coordinates, and constructs the imaging coordinate system through the spatial positions of the corrected optical balls and the steel balls.

[0071] In one embodiment, when the aligner includes a first plane and a second plane, the first plane is not parallel to the second plane, there are N steel balls and N optical balls on the first plane, and there are N steel balls on the second plane, the steel balls and the optical balls on the first plane are located on the same axis, and the axis is perpendicular to the first plane, the imaging system constructs a three-dimensional coordinate system by identifying the spatial positions of the optical balls in the first plane and the steel balls in the second plane, or the imaging system constructs a three-dimensional coordinate system (image coordinates) by identifying the spatial positions of the steel balls in the first plane and the steel balls in the second plane, and obtains the coordinates of the steel balls and the optical balls in the first plane and the coordinates of the steel balls in the second plane, the optical tracking system identifies the optical balls in the first plane to obtain the three-dimensional spatial coordinates of the optical balls, and aligns the image coordinate system and the three-dimensional space based on the coordinates of the optical balls on the aligner in the image coordinate system and the coordinates in the three-dimensional space; or the optical tracking system identifies the optical balls in the first plane to obtain the three-dimensional spatial coordinates of the optical balls, and performs relative displacement calculation on the coordinates of the steel balls in the first plane in the image coordinate system and the coordinates of the optical balls in the three-dimensional space to complete the alignment. In another embodiment, the coordinates of the steel ball on the first plane in the image coordinate system and the coordinates of the optical ball in the three-dimensional space are registered based on fixed position calculation.

[0072] In one embodiment, the structure of the optical ball and the steel ball in an assembly direction is equipped on a support platform and is located on the same axis, which is parallel to the assembly direction, so that the imaging system recognizes the steel ball, the optical tracking system recognizes the optical ball, or the imaging system recognizes the optical ball and the optical tracking system recognizes the optical ball as the coordinates of the same point, that is, they have the same coordinates in different systems. Furthermore, in the image alignment process of intraoperative navigation, the relationship conversion between the coordinates between the imaging system and the optical tracking system is omitted, and the coordinates in one system coordinate system are obtained as the coordinates in the other system coordinate system, which shortens the alignment time of the navigation system, improves the system work efficiency, and meets the requirements of real-time and fast computing efficiency of intraoperative navigation.

[0073] In one embodiment, the method also includes preoperative image registration, obtaining a preoperative three-dimensional image through an imaging system, mapping the coordinate relationship between the preoperative three-dimensional image and the intraoperative two-dimensional image obtained by the imaging system to obtain a preoperative coordinate relationship, and then obtaining the registration of the preoperative three-dimensional image and the optical tracking system based on the registration of the imaging system and the optical tracking system and the preoperative coordinate relationship.

[0074] The disclosed embodiments of the present invention further provide a computer program product or system, including a computer program, which implements the above-mentioned method steps for coordinate-based intraoperative navigation image registration when executed by a processor.

[0075] Figure 2 A schematic diagram of a system for coordinate-based intraoperative navigation image registration provided by an embodiment of the present invention specifically includes:

[0076] Coordinate module: the image of the aligner is acquired through the imaging system to obtain the coordinates of the optical ball on the aligner in the image coordinate system, the aligner includes a first plane and a second plane that are not parallel, the first plane has N optical balls connected by a matching structure, the optical balls are at a distance from the first plane, and the second plane has N steel balls, the imaging system obtains N coordinate points by identifying the N steel balls and N optical balls on the second plane of the aligner, N is a natural number greater than or equal to 3, the coordinate points of the optical balls are corrected based on the distance to obtain the coordinate points of the corrected optical balls on the first plane; the coordinate points of the corrected optical balls in the image are extracted at the coordinate points of the steel balls on the first plane and the second plane to construct an image coordinate system;

[0077] Transmission module: The optical tracking system tracks the coordinates of the optical ball on the aligner in three-dimensional space;

[0078] Registration module: Registration is completed based on the coordinates of the optical sphere in the image coordinate system and the coordinates of the optical sphere in three-dimensional space.

[0079] Figure 3 A schematic diagram of a device for coordinate-based intraoperative navigation image registration provided by an embodiment of the present invention specifically includes:

[0080] A memory and a processor; the memory is used to store program instructions; the processor is used to call the program instructions, and when the program instructions are executed, any one of the above-mentioned coordinate-based intraoperative navigation image registration methods is implemented.

[0081] The disclosed embodiments of the present invention further provide a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, is any one of the above-mentioned coordinate-based intraoperative navigation image registration methods.

[0082] The verification results of this verification embodiment show that assigning inherent weights to indications can improve the performance of the method relative to the default setting. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units. A person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above-mentioned embodiments may be completed by instructing the relevant hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0083] A person skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be implemented by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. The above-mentioned medium storage can be a read-only memory, a disk or an optical disk, etc.

[0084] The above is a detailed introduction to a computer device provided by the present invention. For a person skilled in the art, according to the concept of the embodiments of the present invention, there may be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A coordinate-based intraoperative navigation image registration method, characterized in that: include: S1. Obtain an image of the aligner through an imaging system to obtain the coordinates of the optical ball on the aligner in the image coordinate system. The aligner includes a first plane and a second plane that are not parallel. The first plane has N optical balls connected by a matching structure. The optical balls are at a distance from the first plane. The second plane has N steel balls. The imaging system obtains N coordinate points by identifying the steel balls on the second plane of the aligner and the optical balls on the first plane. N is a natural number greater than or equal to 3. The coordinate points of the optical balls are corrected based on the distance to obtain the coordinate points of the corrected optical balls on the first plane. The image coordinate system is constructed by extracting the coordinate points of the corrected optical balls on the first plane and the steel ball coordinate points on the second plane. When the aligner is replaced with two planes, each plane has N optical balls, the optical balls are connected to the planes through a matching structure, and there is a distance between the optical balls and the planes, the imaging system obtains the coordinates of the N optical balls by identifying the N optical balls on the two planes, corrects the coordinates of the N optical balls to obtain the corrected coordinates of the optical balls, and constructs the imaging coordinate system based on the corrected coordinates of the optical balls; When the aligner is replaced with N steel balls and N optical balls on the first plane, there are N steel balls on the second plane, the steel balls on the first plane are connected to the optical balls through a matching structure 1, the steel balls are connected to the first plane through a matching structure 2, the optical balls, matching structure 1, steel balls, and matching structure 2 are located on the same axis, the axis is perpendicular to the first plane, and there is a distance between the steel balls and the first plane. The imaging system obtains N coordinate points of the aligner by identifying the N steel balls or N optical balls on the aligner; the construction of the image coordinate system includes: acquiring an image of the aligner, extracting the coordinates of the steel balls on the first plane and the coordinates of the steel balls on the second plane in the image, correcting the coordinates of the steel balls on the first plane to obtain the corrected coordinates of the steel balls on the first plane, and constructing a three-dimensional coordinate system based on the corrected coordinates of the steel balls on the first plane and the steel balls on the second plane; S2, the optical tracking system tracks the coordinates of the optical ball on the aligner in three-dimensional space; S3. Complete the alignment based on the coordinates of the optical sphere in the image coordinate system and the coordinates of the optical sphere in the three-dimensional space.

2. The coordinate-based intraoperative navigation image registration method according to claim 1, characterized in that: The correction is to calculate the relative displacement of the coordinate points according to the distance.

3. The coordinate-based intraoperative navigation image registration method according to claim 1, characterized in that: The aligner is N steel balls and N optical balls on the first plane. When there are N steel balls on the second plane, S3 is replaced by: the coordinates of the steel balls on the first plane in the image coordinate system are obtained by performing relative displacement calculation based on the relative distance between the steel balls and the optical balls, and the alignment is completed based on the calculated coordinates of the steel balls and the coordinates of the optical balls in three-dimensional space.

4. The coordinate-based intraoperative navigation image registration method according to claim 1, characterized in that: The method also includes preoperative image registration, obtaining a preoperative three-dimensional image through an imaging system, mapping the coordinate relationship between the preoperative three-dimensional image and the intraoperative two-dimensional image obtained by the imaging system to obtain a preoperative coordinate relationship, and then obtaining the registration of the preoperative three-dimensional image and the optical tracking system based on the registration of the imaging system and the optical tracking system and the preoperative coordinate relationship.

5. A computer program product comprising a computer program or instructions, characterized in that: The computer program or instructions are executed by a processor to implement the coordinate-based intraoperative navigation image registration method described in any one of claims 1-4.

6. A computer device comprising a memory, a processor and a computer program or instruction stored in the memory, characterized in that: The computer program or instructions are executed by a processor to implement the coordinate-based intraoperative navigation image registration method described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: The computer program or instructions are executed by a processor to implement the coordinate-based intraoperative navigation image registration method described in any one of claims 1-4.

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