Surgical instrument navigation method, device, medium and program product

Abstract

The invention discloses a navigation method of a surgical instrument, equipment, a medium and a program product, relates to the technical field of surgery, and discloses the navigation method of the surgical instrument, comprising: acquiring a calibration module DR image and a calibration module optical image; based on the imaging position of the mark point in the DR image of the calibration module and the imaging position of the mark point in the optical image of the calibration module, determining a conversion matrix between an optical tracking system coordinate system and a DR imaging plane coordinate system, and recording the conversion matrix as a first conversion matrix; the surgical instrument is tracked through the optical tracking system, the instrument feature points of the surgical instrument are projected to the DR image of the patient based on the first conversion matrix, the actual position of the surgical instrument can be presented in real time in the DR image of the patient on the basis of not depending on three-dimensional CT image equipment, and therefore the surgical precision and the operation convenience of a doctor are improved.

Description

Technical Field

[0001] This application relates to the field of surgical technology, and in particular, to a navigation method, device, medium, and program product for surgical instruments. Background Art

[0002] In orthopedic trauma surgery, doctors often rely on intraoperative X-ray images (Digital Radiography, DR) for lesion localization and intraoperative operation navigation. Common image navigation systems include Computed Tomography (CT) navigation and Cone beam CT (CBCT) navigation, etc. They rely on intraoperative three-dimensional reconstruction, registration, and navigation system support to achieve real-time positioning of instruments relative to the patient's anatomical structure.

[0003] However, the above surgical navigation systems rely on three-dimensional CT imaging devices, increasing the equipment cost. Summary of the Invention

[0004] This application provides a navigation method, device, medium, and program product for surgical instruments, which can realize the visual display of surgical instruments in intraoperative DR images without relying on three-dimensional CT imaging devices, reduce costs, and ensure the safety of surgical operations.

[0005] To achieve the above object, this application proposes a navigation method for surgical instruments, including: Obtain a calibration module DR image and a calibration module optical image, where the calibration module DR image is a DR image of the calibration module captured by a DR imaging device, the calibration module optical image is an image of the calibration module captured by an optical tracking system, and fiducial points are set on the calibration module; Based on the imaging position of the fiducial points in the calibration module DR image and the imaging position of the fiducial points in the calibration module optical image, determine the transformation matrix between the optical tracking system coordinate system and the DR imaging plane coordinate system, and denote it as the first transformation matrix; Track the surgical instrument through the optical tracking system, and project the instrument feature points of the surgical instrument onto the patient DR image based on the first transformation matrix.

[0006] In addition, to achieve the above object, this application also proposes an electronic device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the navigation method for surgical instruments as described above.

[0007] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the navigation method of the surgical instrument as described above are implemented.

[0008] In addition, to achieve the above object, the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the navigation method of the surgical instrument as described above are implemented.

[0009] One or more technical solutions proposed by the present application have at least the following technical effects: By acquiring the DR image of the calibration module and the optical image of the calibration module; based on the imaging position of the fiducial point in the DR image of the calibration module and the imaging position of the fiducial point in the optical image of the calibration module, determining the conversion matrix between the coordinate system of the optical tracking system and the image coordinates of the DR imaging device, and denoted as the first conversion matrix; tracking the surgical instrument through the optical tracking system, and projecting the instrument feature points of the surgical instrument onto the patient's DR image based on the first conversion matrix, it is possible to present the actual position of the surgical instrument in the patient's DR image in real time without relying on a three-dimensional CT imaging device, thereby improving the surgical accuracy and the convenience of the doctor's operation. In addition, since the instrument position is visualized in real time on the patient's DR image, the doctor can reduce the number of times of repeatedly taking calibration images, reduce the X-ray exposure risk for both doctors and patients, and improve the work efficiency in surgical operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0011] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0012] Figure 1 It is a schematic flowchart provided for an embodiment of the navigation method of the surgical instrument of the present application; Figure 2 It is a spatial position relationship diagram of the C-arm, the image calibrator, and the calibration plate involved in the embodiment of the navigation method of the surgical instrument of the present application; Figure 3 It is a schematic diagram of the projection of the first instrument projection point onto the anteroposterior patient DR image and the lateral patient DR image provided for the embodiment of the present application; Figure 4Spatial position relationship diagram of feature points of the surgical instrument involved in the embodiment of the present application and the instrument reference coordinate system; Figure 5 Schematic diagram of the electronic device structure of the hardware operating environment involved in the navigation method of the surgical instrument in the embodiment of the present application. Detailed implementation manners

[0013] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0014] To better understand the technical solutions of the present application, the following will be described in detail in conjunction with the specification drawings and specific implementation manners.

[0015] In orthopedic trauma surgery, doctors often rely on intraoperative DR images for lesion localization and intraoperative operation navigation. Common image navigation systems include CT navigation and CBCT navigation, etc. They rely on intraoperative three-dimensional reconstruction, registration, and navigation system support to achieve real-time positioning of the instrument relative to the patient's anatomical structure. However, the above surgical navigation systems need to rely on three-dimensional CT imaging equipment, increasing the equipment cost.

[0016] To solve the above problems, the embodiment of the present application provides a navigation method for surgical instruments, which can present the relationship between the actual position of the surgical instrument and the preoperative planned path in the patient's DR image without relying on three-dimensional CT imaging equipment, thereby improving the surgical accuracy and the convenience of doctor operation.

[0017] The following will describe in detail the navigation method of the surgical instrument in the embodiment of the present application with reference to the drawings.

[0018] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of an embodiment of the navigation method of the surgical instrument of the present application. In this embodiment, the navigation method of the surgical instrument includes steps S10 to S40: Step S10, obtaining a calibration module DR image and a calibration module optical image.

[0019] Among them, the calibration module DR image is the DR image of the calibration module obtained by the DR imaging device, and the calibration module optical image is the image of the calibration module obtained by the optical tracking system. At least one fiducial point is set on the calibration module.

[0020] In some implementation manners, the DR imaging device can be controlled to respectively capture the DR image of the calibration module from the frontal view and the lateral view, so as to form a frontal calibration module DR image on the imaging plane of the frontal DR imaging light source of the DR imaging device, and form a lateral calibration module DR image on the imaging plane of the lateral DR imaging light source.

[0021] In some embodiments, the calibration module includes a first calibration module and a second calibration module. At least three first fiducial points are provided on the first calibration module, and at least three second fiducial points are provided on the second calibration module. The calibration module DR image includes a first calibration module DR image and a second calibration module DR image, and the calibration module optical image includes a second calibration module optical image.

[0022] Furthermore, the first calibration module DR image includes an anteroposterior first calibration module DR image formed on the imaging plane of the anteroposterior DR imaging light source and a lateral first calibration module DR image formed on the imaging plane of the lateral DR imaging light source. The second calibration module DR image includes an anteroposterior second calibration module DR image formed on the imaging plane of the anteroposterior DR imaging light source and a lateral second calibration module DR image formed on the imaging plane of the lateral DR imaging light source.

[0023] In some embodiments, the DR imaging device can be a C-arm. The C-arm is also known as a C-arm X-ray machine. Through the X-ray emitter and receiver at both ends of the C-shaped frame, X-rays are generated to penetrate the target object, and the signal is converted into a real-time DR image by the receiver for intraoperative navigation.

[0024] Preferably, the first calibration module is an image calibrator, and a plurality of metal balls are provided on the image calibrator as the first fiducial points. The second calibration module is a calibration plate, and a plurality of metal balls are provided on the calibration plate as the second fiducial points.

[0025] As Figure 2 shown, Figure 2 shows the spatial positional relationship among the C-arm, the image calibrator, and the calibration plate. The C-arm includes a C-shaped frame 1. An X-ray emitter 2 is provided at one end of the C-shaped frame, and a flat panel sensor 3 (i.e., an X-ray receiver) is provided at the other end (the end close to the bottom). An image calibrator 4 is placed on the flat panel sensor 3, and the calibration plate 5 is located between the X-ray emitter 2 and the image calibrator 4. A first fiducial point 6 is placed on the image calibrator 4, and a second fiducial point 7 is placed on the calibration plate. The first fiducial point 6 and the second fiducial point 7 can be metal balls.

[0026] Step S20: Based on the imaging positions of the fiducial points in the calibration module DR image and the imaging positions of the fiducial points in the calibration module optical image, determine the transformation matrix between the optical tracking system coordinate system and the DR imaging plane coordinate system, and denote it as the first transformation matrix.

[0027] Specifically, the principle of the DR imaging device can be regarded as a monocular camera perspective projection process. Therefore, it is necessary to perform shooting and calibration through the fiducial points to establish the mapping relationship between the world coordinate system (the optical tracking system coordinate system is used as the world coordinate system in this step) and the DR imaging plane coordinate system, that is, to complete the calibration of the internal and external parameters of the DR imaging device.

[0028] Among them, the imaging position of the fiducial point in the DR image of the calibration module refers to the coordinate position of the fiducial point in the DR imaging plane coordinate system. The DR imaging plane coordinate system refers to the projection of the DR imaging light source of the DR imaging device on the physical imaging plane, and is a two-dimensional coordinate system.

[0029] In some embodiments, the above step S20 may include: Determine the internal parameters of the DR imaging device based on the imaging positions of the first fiducial points in the DR images of the first calibration module; Determine the external parameters of the DR imaging device based on the imaging positions of the second fiducial points in the DR images of the second calibration module and the imaging positions of the second fiducial points in the optical images of the second calibration module. The external parameters are used to characterize the conversion relationship between the optical tracking coordinate system and the DR imaging device coordinate system; Determine the conversion matrix between the optical tracking system coordinate system and the image coordinates of the DR imaging device based on the internal parameters and the external parameters.

[0030] Step S30, track the surgical instrument through the optical tracking system, and project the instrument feature points of the surgical instrument onto the patient DR image based on the first conversion matrix.

[0031] In some embodiments, the above S30 may include: S301, based on the first conversion matrix and the conversion matrix between the optical tracking system coordinate system and the patient reference coordinate system determined in advance, determine the position of the patient DR image obtained by the DR imaging device in the patient reference coordinate system and the position of the DR imaging light source of the DR imaging device in the patient reference coordinate system.

[0032] Specifically, install a patient reference array on the patient's bone, and establish a patient reference coordinate system based on the patient reference array, denoted as PatientRF. Then, through an optical tracking system (such as a binocular camera), realize real-time spatial tracking of the patient reference coordinate system PatientRF to obtain the conversion relationship between the patient reference coordinate system PatientRF and the optical tracking system coordinate system, that is, the conversion matrix between the optical tracking system coordinate system and the patient reference coordinate system.

[0033] In some embodiments, the patient DR image obtained by the DR imaging device includes a frontal patient DR image and a lateral patient DR image. In specific implementation, project the frontal patient DR image, the lateral patient DR image, the frontal DR imaging light source, and the lateral DR imaging light source onto the patient reference coordinate system respectively to obtain the positions of the frontal patient DR image, the lateral patient DR image, the frontal DR imaging light source, and the lateral DR imaging light source in the patient reference coordinate system.

[0034] Specifically, the frontal patient DR image / lateral patient DR image / frontal DR imaging light source / lateral DR imaging light source are projected into the patient reference coordinate system through the following steps to obtain the positions of the frontal patient DR image / lateral patient DR image / frontal DR imaging light source / lateral DR imaging light source projected in the patient reference coordinate system: First, if the first transformation matrix is the transformation matrix from the optical tracking system coordinate system to the DR imaging plane coordinate system, then multiply the first transformation matrix by the transformation matrix from the patient reference coordinate system to the optical tracking system coordinate system to obtain the transformation matrix from the patient reference coordinate system to the DR imaging plane coordinate system; Then, according to the transformation matrix from the patient reference coordinate system to the DR imaging plane coordinate system, transform the frontal patient DR image / lateral patient DR image / frontal DR imaging light source / lateral DR imaging light source in the DR imaging plane coordinate system into the patient reference coordinate system to obtain the positions of the frontal patient DR image / lateral patient DR image / frontal DR imaging light source / lateral DR imaging light source in the patient reference coordinate system.

[0035] S302: Based on the pre-determined transformation matrix between the instrument reference coordinate system and the patient reference coordinate system, calculate the projection point of the instrument feature point of the surgical instrument in the patient reference coordinate system, and denote it as the first instrument projection point.

[0036] Specifically, the surgical instrument (such as a guiding sleeve, drill bit) is equipped with an optical reflection array. An instrument reference coordinate system, denoted as ToolRF, is established based on the optical reflection array. Then, the coordinates of the instrument feature point KeyPoint (such as the position of the drill bit tip, the direction of the sleeve central axis) in the instrument reference coordinate system ToolRF are predefined, as Figure 4 shown.

[0037] Then, with the help of the optical tracking system, obtain the real-time spatial transformation relationship between the instrument reference coordinate system ToolRF and the patient reference coordinate system PatientRF, and then transform the instrument feature point in the instrument reference coordinate system ToolRF into the three-dimensional position in the patient reference coordinate system PatientRF in real time to obtain the first instrument projection point.

[0038] S303: Based on the position of the DR imaging light source in the patient reference coordinate system, project the first instrument projection point onto the patient DR image in the patient reference coordinate system.

[0039] In some embodiments, the above S303 may include: In the patient reference coordinate system, construct a ray starting from the position point of the DR image light source and emitting towards the first instrument projection point; Calculate the intersection point of the ray and the patient DR image plane in the patient reference coordinate system to obtain the projection point of the first instrument projection point on the patient DR image, and denote it as the second instrument projection point; Render the second instrument projection point onto the patient DR image in the patient reference coordinate system.

[0040] Specifically, in the patient reference coordinate system PatientRF coordinate system, let the position of the anteroposterior DR imaging light source be S, the instrument feature point of the surgical instrument be P, the imaging plane of the anteroposterior DR imaging light source be denoted as Ⅱ, and its unit normal vector be , there is a known point on the anteroposterior patient DR image denoted as , and then perform the following steps to obtain the projection point of the first instrument projection point on the patient DR image: First, establish a projection line passing through the anteroposterior DR imaging light source S and the instrument feature point P, and its direction vector is : , This projection line The parametric equation of is: , t is the coefficient; The imaging plane of the anteroposterior DR imaging light source The general form of is: , where represents the general point on the imaging plane , in this embodiment, it corresponds to the intersection position vector of the projection line and the imaging plane , that is, the coordinate of the projection point to be obtained; Then, substitute into the plane equation to solve the intersection parameter : , The final intersection point is expressed as: , The intersection point P′ is the projection point of the first instrument projection point on the patient DR image.

[0041] In addition, the implementation principle of projecting the first instrument projection point onto the lateral patient DR image is the same as that of projecting the first instrument projection point onto the anteroposterior patient DR image, and will not be elaborated here.

[0042] Exemplarily, please refer to Figure 3 , Figure 3Schematic diagram of the projection of the first instrument projection point provided in this embodiment onto the anteroposterior patient DR image and the lateral patient DR image. Figure 3 In it, O1 represents the lateral DR imaging light source, O2 represents the anteroposterior DR imaging light source, F APIImage represents the imaging plane coordinate system of the anteroposterior DR imaging light source, F LTImage represents the imaging plane coordinate system of the lateral DR imaging light source, C1 and C2 respectively represent the first instrument projection points corresponding to two instrument feature points, API1 and API2 respectively represent the projection points of the first instrument projection point C1 and the second instrument projection point C2 on the imaging plane coordinate system of the anteroposterior DR imaging light source, and LT1 and LT2 respectively represent the projection points of the first instrument projection point C1 and the second instrument projection point C2 on the imaging plane coordinate system of the lateral DR imaging light source.

[0043] In some embodiments, the above step of determining the internal parameters of the DR imaging device based on the imaging positions of the first fiducial points in the DR image of the first calibration module may include steps a1 to a5: Step a1, based on the coordinates of each type of first fiducial point in the first calibration module coordinate system and the imaging positions of each type of first fiducial point in the DR imaging device coordinate system determined in advance, determine the transformation matrix between the first calibration module coordinate system and the DR imaging plane coordinate system, and denote it as the second transformation matrix.

[0044] Step a2, based on the second transformation matrix, transform each type of second first fiducial point in the first calibration module coordinate system into the DR imaging plane coordinate system to obtain the projection points of each type of second first fiducial point in the DR imaging plane coordinate system.

[0045] Step a3, connect each type of second first fiducial point and the corresponding projection point in the DR imaging plane coordinate system to obtain multiple groups of connecting lines.

[0046] Step a4, calculate the coordinate positions of the intersection points of multiple groups of connecting lines to obtain the coordinates of the DR imaging light source of the DR imaging device in the DR imaging plane coordinate system; Step a5, based on the coordinates of the DR imaging light source of the DR imaging device in the DR imaging plane coordinate system, determine the internal parameters of the DR imaging device.

[0047] Specifically, the first fiducial points include the first type of first fiducial points and the second type of first fiducial points. The first type of first fiducial points are used for DR image registration, and the second type of first fiducial points are used for calculating the position of the DR imaging light source, that is, calculating the internal parameters of the DR imaging device.

[0048] Taking the first calibration module using an image calibration device as an example, please refer to Figure 2, the image calibration device 4 is provided with upper and lower layers. The lower layer is closely attached to the flat panel sensor. Both the upper layer and the lower layer contain a number of metal balls. Each metal ball provided in the upper layer (i.e., the layer on the side far from the flat panel sensor) serves as a first type of first fiducial point 62, and each metal ball provided in the lower layer serves as a second type of first fiducial point 61.

[0049] The calculation process of the internal parameters of the DR imaging device is as follows: First, obtain the coordinates of each first type of first fiducial point in the first calibration module coordinate system (the coordinates of the first type of first fiducial point have been pre-calibrated in the first calibration module coordinate system, so this coordinate is a known value). Then, based on the coordinates of each first type of first fiducial point in the first calibration module coordinate system and the coordinates in the imaging plane coordinate system of the anterior DR imaging light source (hereinafter referred to as the anterior DR imaging plane coordinate system), calculate the transformation matrix from the first calibration module coordinate system to the anterior DR image coordinate system, and denote it as the anterior second transformation matrix; and, based on the coordinates of each first type of first fiducial point in the first calibration module coordinate system and the coordinates in the imaging plane coordinate system of the lateral DR imaging light source (hereinafter referred to as the lateral DR imaging plane coordinate system), calculate the transformation matrix from the first calibration module coordinate system to the lateral DR image coordinate system, and denote it as the lateral second transformation matrix; Then, use the above anterior second transformation matrix to transform the second type of first fiducial point in the first calibration module coordinate system into the anterior DR imaging plane coordinate system, obtain the projection points of each second type of first fiducial point in the anterior DR image coordinate system, and connect each second type of first fiducial point with the corresponding projection point in the anterior DR imaging plane coordinate system to obtain multiple sets of connecting lines. The point where the multiple sets of connecting lines intersect is the coordinate of the anterior DR imaging light source in this anterior DR imaging plane coordinate system; and, use the above lateral second transformation matrix to transform the second type of first fiducial point in the first calibration module coordinate system into the lateral DR imaging plane coordinate system, obtain the projection points of each second type of first fiducial point in the lateral DR imaging plane coordinate system, and connect each second type of first fiducial point with the corresponding projection point in the lateral DR imaging plane coordinate system to obtain multiple sets of connecting lines. The point where the multiple sets of connecting lines intersect is the coordinate of the lateral DR imaging light source in this lateral DR imaging plane coordinate system.

[0050] After that, based on the coordinate of the anterior DR imaging light source in this anterior DR imaging plane coordinate system and the vertical distance between the X-ray emitter and the receiver in the DR imaging device, calculate the imaging geometric relationship between the anterior DR imaging light source and the anterior DR imaging plane; and, based on the coordinate of the lateral DR imaging light source in this lateral DR imaging plane coordinate system and the vertical distance between the X-ray emitter and the receiver in the DR imaging device, calculate the imaging geometric relationship between the lateral DR imaging light source and the lateral DR imaging plane, thereby completing the internal parameter calibration of the DR imaging device.

[0051] In some embodiments, the navigation method of the surgical instrument further includes: Calculating the movement path of the projection points of the instrument feature points on the patient's DR image; Comparing the movement path with a preset planned path to obtain the position deviation and direction deviation of the surgical instrument; Visually displaying the position deviation and direction deviation on the patient's DR image.

[0052] Specifically, the surgical instrument is tracked by an optical tracking system, and based on the real-time positions of the instrument feature points of the surgical instrument projected onto the projection points on the patient's DR image, the movement path of the projection points of the instrument feature points on the patient's DR image is obtained. Assume that the movement path of the projection points of the instrument feature points of the surgical instrument on the DR image is P 实际 ={(u1, v1), (u2, v2), …, (un, vn)}, where u1, u2, and un respectively represent the positions of the 1st projection point, the 2nd projection point, and the nth projection point, and v1, v2, and vn respectively represent the angles of the 1st projection point, the 2nd projection point, and the nth projection point. And assume that the preset planned path of the surgical instrument is P 规划 ={(u1′, v1′), (u2′, v2′), …, (un′, vn′)}, where u1′, u2′, and un′ respectively represent the positions of the 1st planned point, the 2nd planned point, and the nth planned point, and v1′, v2′, and vn′ respectively represent the angles of the 1st planned point, the 2nd planned point, and the nth planned point.

[0053] The coordinate position of the i-th projection point is expressed as (xi, yi), and the coordinate position of the i-th planned point is expressed as (xi′, yi′). Then, the position deviation di of the i-th point is calculated by the following formula: , Then, calculate the direction vectors between every two adjacent projection points in the movement path , and the direction vectors between every two adjacent planned points in the preset planned path , and then calculate the direction deviation by the following formula : .

[0054] Finally, the difference information including the position deviation and direction deviation is visually displayed on the patient's DR image by means such as arrows, color coding, numerical labels, etc. to implement a visual navigation feedback mechanism.

[0055] In the above embodiments, by feeding back the difference between the planned path and the actual movement path of the instrument in the image, the doctor can timely correct the direction and depth, avoid surgical risks such as misplacement, deviation, and penetration, and ensure the accuracy of the implant position.

[0056] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the navigation method of the surgical instrument of the present application. Based on this technical concept, more forms of simple transformation are within the protection scope of the present application.

[0057] The present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the navigation method of the surgical instrument in the first embodiment above.

[0058] Next, refer to Figure 5 , which shows a schematic structural diagram of an electronic device suitable for implementing the embodiments of the present application. The electronic device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present application.

[0059] As Figure 5As shown, the electronic device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the electronic device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the electronic device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows an electronic device having various systems, it should be understood that it is not required to implement or have all the shown systems. Instead, more or fewer systems may be implemented or had.

[0060] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 10, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0061] The electronic device provided in the present application adopts the navigation method of the surgical instrument in the above embodiment. Compared with the prior art, the beneficial effects of the electronic device provided in the present application are the same as those of the navigation method of the surgical instrument provided in the above embodiment, and other technical features in the electronic device are the same as those disclosed in the method of the previous embodiment, and will not be elaborated here.

[0062] It should be understood that the various parts disclosed in the present application may be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0063] As described above, this is only the specific implementation of the present application. However, the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims described above.

[0064] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the navigation method of the surgical instrument in the above embodiments.

[0065] The computer-readable storage medium provided by the present application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, device, or device. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0066] The above computer-readable storage medium can be included in an electronic device; or it can exist alone without being assembled into the electronic device.

[0067] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, by connecting through an Internet service provider using the Internet).

[0068] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and this module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0069] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0070] The readable storage medium provided by this application is a computer-readable storage medium, and the computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned navigation method of the surgical instrument. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the navigation method of the surgical instrument provided by the above embodiments, and will not be elaborated here.

[0071] The present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the navigation method of the surgical instrument as described above.

[0072] Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the navigation method of the surgical instrument provided by the above embodiments, and will not be elaborated herein.

[0073] The above are only partial embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A navigation method for a surgical instrument, characterized in that, Including: Obtaining a calibration module DR image and a calibration module optical image, where the calibration module DR image is a DR image of the calibration module captured by a DR imaging device, the calibration module optical image is an image of the calibration module captured by an optical tracking system, and fiducial points are arranged on the calibration module; Based on the imaging positions of the fiducial points in the calibration module DR image and the imaging positions of the fiducial points in the calibration module optical image, determining a transformation matrix between the optical tracking system coordinate system and the DR imaging plane coordinate system, and denoting it as the first transformation matrix; Tracking a surgical instrument through the optical tracking system, and projecting the instrument feature points of the surgical instrument onto a patient DR image based on the first transformation matrix.

2. The navigation method of the surgical instrument according to claim 1, characterized in that, The calibration module includes a first calibration module and a second calibration module. At least one first fiducial point is arranged on the first calibration module, at least one second fiducial point is arranged on the second calibration module. The calibration module DR image includes a first calibration module DR image and a second calibration module DR image, and the calibration module optical image includes a second calibration module optical image; The determining, based on the imaging positions of the fiducial points in the calibration module DR image and the imaging positions of the fiducial points in the calibration module optical image, a transformation matrix between the optical tracking system coordinate system and the DR imaging plane coordinate system includes: Based on the imaging positions of the first fiducial points in the first calibration module DR image, determining the internal parameters of the DR imaging device; Based on the imaging positions of the second fiducial points in the second calibration module DR image and the imaging positions of the second fiducial points in the second calibration module optical image, determining the external parameters of the DR imaging device, where the external parameters are used to characterize the transformation relationship between the optical tracking coordinate system and the DR imaging device coordinate system; Based on the internal parameters and the external parameters, determining a transformation matrix between the optical tracking system coordinate system and the DR imaging plane coordinate system.

3. The navigation method of the surgical instrument according to claim 2, characterized in that, The first fiducial points include a first type of first fiducial points and a second type of first fiducial points; the determining, based on the imaging positions of the first fiducial points in the first calibration module DR image, the internal parameters of the DR imaging device includes: Based on the coordinates of the first type of first fiducial points in the first calibration module coordinate system determined in advance and the imaging positions of the first type of first fiducial points in the first calibration module DR image, determining a transformation matrix between the first calibration module coordinate system and the DR imaging plane coordinate system, and denoting it as the second transformation matrix; Based on the second transformation matrix, transforming the second type of first fiducial points in the first calibration module coordinate system into the DR imaging plane coordinate system to obtain the projection points of the second type of first fiducial points in the DR imaging plane coordinate system; Connecting the second type of first fiducial points and the corresponding projection points in the DR imaging plane coordinate system to obtain multiple groups of connecting lines; Calculating the coordinates of the intersection points of the multiple groups of connecting lines to obtain the coordinates of the DR imaging light source of the DR imaging device in the DR imaging plane coordinate system. Determine the internal parameters of the DR imaging device based on the coordinates of the DR imaging light source in the DR imaging plane coordinate system.

4. The navigation method of the surgical instrument according to claim 1, wherein, The projecting the instrument feature points of the surgical instrument onto the patient's DR image based on the first transformation matrix includes: Based on the first transformation matrix and the transformation matrix between the pre-determined optical tracking system coordinate system and the patient reference coordinate system, determine the position of the patient DR image captured by the DR imaging device in the patient reference coordinate system and the position of the DR imaging light source of the DR imaging device in the patient reference coordinate system; Based on the pre-determined transformation matrix between the instrument reference coordinate system and the patient reference coordinate system, calculate the projection point of the instrument feature points of the surgical instrument in the patient reference coordinate system, and denote it as the first instrument projection point; Based on the position of the DR imaging light source in the patient reference coordinate system, project the first instrument projection point onto the patient DR image in the patient reference coordinate system.

5. The navigation method of the surgical instrument according to claim 4, characterized in that The projecting the first instrument projection point onto the patient DR image in the patient reference coordinate system based on the position of the DR imaging light source in the patient reference coordinate system includes: In the patient reference coordinate system, construct a ray starting from the position point of the DR image light source and emitting towards the first instrument projection point; Calculate the intersection point of the ray and the patient DR image in the patient reference coordinate system to obtain the projection point of the first instrument projection point on the patient DR image, and denote it as the second instrument projection point; Render the second instrument projection point onto the patient DR image in the patient reference coordinate system.

6. The navigation method of the surgical instrument according to claim 1, wherein The method further includes: Calculate the movement path of the projection point of the instrument feature points on the patient DR image; Compare the movement path with a preset planned path to obtain the position deviation and direction deviation of the surgical instrument; Visually display the position deviation and the direction deviation on the patient DR image.

7. The navigation method of the surgical instrument according to claim 3, characterized in that, The DR imaging device is a C-arm, the first calibration module is an image calibrator, and a plurality of metal balls are arranged on the image calibrator as the first fiducial points, and the second calibration module is a calibration plate, and a plurality of metal balls are arranged on the calibration plate as the second fiducial points.

8. An electronic device, characterized in that, The device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the navigation method of the surgical instrument according to any one of claims 1 to 7.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by the processor, it implements the steps of the navigation method of the surgical instrument according to any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product includes a computer program, and when the computer program is executed by the processor, it implements the steps of the navigation method of the surgical instrument according to any one of claims 1 to 7.

Images