Method for guiding positioning of image equipment through navigation system, electronic equipment, corresponding navigation system and medical system

Abstract

The invention relates to a method for guiding the positioning of an imaging device (1) by means of a navigation system, to a corresponding computer-readable storage medium, to a computer program product, and to a control device, to an electronic device for guiding the positioning of an imaging device by means of a navigation system, to a corresponding navigation system, and to a medical system. The method comprises: a light source position acquisition step of acquiring a current position of an X-ray light source (1) in a navigation system; a mark point position acquisition step of acquiring a current position of a mark point (2) arranged on the patient under the navigation system; a projection position acquisition step of acquiring a first projection position of a mark point under the light source (1); and a display step of displaying the model of the field of view of the light source and displaying the model (3) of the mark point according to the first projection position. The position of the image equipment can be guided and adjusted in a visual mode, invalid shooting is reduced, radiation is reduced, and the difficulty of recognizing a target object such as a vertebral body is lowered.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment technology, in particular to medical imaging equipment, and more specifically to a method for guiding position adjustment of medical imaging equipment, i.e., guiding positioning of medical imaging equipment, as well as a navigation system and a medical system for executing the method. Background Art

[0002] Medical imaging devices, such as two-dimensional C-arm machines, are used to capture images of patients. These medical imaging devices are particularly used to capture images of a patient's treatment area during surgery, for example, for registration and / or navigation.

[0003] For example, when using a spinal surgical navigation system or robotic system, intraoperative spinal X-ray images are required for registration and navigation. Currently, intraoperative X-ray images are primarily captured using a C-arm, with the C-arm operator relying on experience to position the C-arm. To obtain accurate and high-quality X-ray images, C-arm operators typically face two challenges:

[0004] 1. The C-arm has a small shooting range. To position the patient's desired image, for example, the desired vertebrae to be photographed in the middle of the X-ray image, the C-arm position often needs to be adjusted multiple times to obtain an ideal vertebral image.

[0005] 2. The vertebrae of the spine are highly similar. If there are no obvious anatomical features within the range of the C-arm image, it is difficult for doctors to determine which segment of the vertebra is being photographed.

[0006] If the above problems cannot be properly solved, the following adverse consequences may occur clinically:

[0007] 1. Excessive C-arm adjustments increase surgical time and the risk of infection for patients;

[0008] 2. Unnecessary X-ray images were taken, increasing the radiation dose to patients and medical staff;

[0009] 3. If the vertebral segment is misjudged, it will cause registration failure or incorrect registration results, which may pose a threat to the patient's safety. Summary of the Invention

[0010] The object of the present invention is to solve at least one of the above problems and defects in the prior art as well as other technical problems.

[0011] In one aspect, the present invention provides a method for guiding the positioning of an imaging device using a navigation system, wherein the imaging device includes an X-ray source and is suitable for mounting an image adapter. The method comprises the following steps:

[0012] Light source position acquisition step: In this step, the image adapter is mounted on the imaging device, and the current position of the image adapter under the navigation system is acquired. Then, the current position of the light source under the navigation system is obtained based on the positional relationship of the light source relative to the image adapter, wherein the positional relationship is acquired by a first image captured by the imaging device;

[0013] Marker point position acquisition step: acquiring the current position of the marker set on the patient under the navigation system;

[0014] Projection position acquisition step: acquiring a first projection position of the marker point under the light source at the current position of the imaging device according to the position of the light source acquired in the light source position acquisition step and the position of the marker point acquired in the marker point position acquisition step;

[0015] Display step: display a model of the field of view of the light source (for example, using the first image as the model of the field of view for display, or not using the first image, for example, drawing a box to represent the field of view of the imaging device), and displaying a model of the marking point according to the first projection position to intuitively indicate the relative position of the marking point and the field of view, so as to guide the positioning of the imaging device.

[0016] In the above scheme, the first projection position of a marker on the patient's body under the light source in the current position of the imaging device is obtained. The relative position of a model of the marker and a model of the light source's current field of view (represented by a first image) is then virtually displayed on a display device. This allows the operator to intuitively observe the relative position between the operator and the desired imaging position, determine whether the desired imaging position can be captured, and accordingly determine how to adjust the imaging device to position it. The approximate position of the desired imaging position, such as a vertebra, in the image can be determined before imaging. Therefore, the frequent "shoot-and-determine whether the desired imaging position has been captured" cycle to obtain appropriate images of the patient is no longer necessary. This effectively reduces the number of fluoroscopy procedures, improving surgical efficiency and user experience. Furthermore, the above scheme utilizes a virtual display, and no imaging of the patient is performed until the imaging device is positioned. For radioactive imaging devices, this reduces their use frequency, lowers the radiation dose for medical staff and patients, and mitigates health risks caused by radiation. Furthermore, because this method guides the adjustment of the imaging device in real time, the imaging device's imaging positioning is more reasonable, resulting in better imaging results, which facilitates accurate diagnosis and treatment. Moreover, intraoperative imaging equipment can shorten the operation time, improve the smoothness of the operation, reduce the risk of surgery, and facilitate more precise surgical registration, planning and navigation as needed.

[0017] Moreover, this method fully utilizes the navigation system and the high precision and reliability of the optical tracking system. It does not require any additional hardware other than markers for identifying marking points, and does not increase the hardware complexity of the system, but can provide intuitive positioning assistance for imaging equipment.

[0018] According to one example, the method also includes a marker point position identification step after the imaging device has been positioned and a second image of the patient has been taken. In this marker point position identification step, the second image is displayed and a model of the marker point is displayed in the second image according to the second projection position under the current posture of the imaging device.

[0019] In this exemplary solution, the model of the marked point is intuitively displayed on the second image at the desired shooting position, i.e., the X-ray image required for the surgical process, such as registration, to help the operator identify the marked position, such as a certain vertebral segment, and effectively avoid situations such as registration failure or incorrect registration results due to incorrect judgment of the vertebral segment, which may pose a threat to the patient's safety.

[0020] According to an example, a first tracer fixed relative to the image adapter is installed on the imaging device, wherein in the light source position acquisition step, the position of the image adapter under the navigation system is acquired via the first tracer.

[0021] According to one example, the marked point is identified by a marker configured to be tracked by the navigation system.

[0022] According to one example, the method further includes a prompting step, in which, when the model of the marker point is within a predetermined area of ​​the model in the field of view, a prompt is given to enable capture. This method can proactively prompt the operator to capture, making it more operator-friendly. The predetermined area can be, for example, an area within a certain radius from the center point of the model in the field of view, or a frame of a predetermined position.

[0023] According to one example, the method further includes an automatic positioning step, in which the imaging device is instructed to move if the model of the marker point is outside a predetermined area of ​​the model of the field of view. For automatically controlled imaging devices, this example can reduce operator effort, improve operational accuracy, and reduce the operator's adjustment time for the imaging device. Descriptions of imaging device movement control are already available in the prior art and will not be repeated here.

[0024] According to one example, the method further includes an automatic shooting step, in which the imaging device is instructed to shoot when the model of the marker point is located in a predetermined area of ​​the model of the field of view. This example can also save operator effort.

[0025] According to an example, the positioning and / or photographing of the imaging device is performed manually by an operator.

[0026] According to one example, the first image can be captured and stored before the light source position acquisition step, or it can be captured during the light source position acquisition step, i.e., the first image is captured only when the method for guiding imaging device positioning is executed. Accordingly, image processing of the first image to determine the positional relationship of the light source relative to the image adapter can be performed in advance and stored, or it can be performed only when the method for guiding imaging device positioning is executed.

[0027] According to one example, the first image is a blank image without a target object, such as a patient. This reduces interference from external objects on the image, facilitates image processing to determine the position of the X-ray light source relative to the image adapter, and, because the patient is not imaged, reduces the number of patient images and radiation exposures.

[0028] According to an example, the model of the marking point displayed in the displaying step is a highlighted point to more clearly indicate the operator.

[0029] According to another aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the above methods are executed.

[0030] According to yet another aspect of the present invention, a computer program product is provided, comprising a computer program, and when the computer program is executed by a processor, the above methods are implemented.

[0031] According to another aspect of the present invention, a control device is provided, which includes a processor, a display device, and a memory, wherein the memory is used to store executable instructions of the processor, and the processor is configured to execute the executable instructions to implement the above methods.

[0032] According to another aspect of the present invention, an electronic device for guiding the positioning of an imaging device using a navigation system is provided, the electronic device comprising a processor and a display device, the processor having a data interface, the data interface being connectable to the imaging device so as to obtain a first image taken by the imaging device, and the data interface being connectable to a tracking device of the navigation system so as to obtain the position of a marker point set on the patient; wherein when the processor is running, the display device displays a model of the first image and the marker point to intuitively indicate the relative position of the marker point to the first image, so as to guide the positioning of the imaging device.

[0033] According to an example, the processor is further configured to enable the display device to display a second image of the patient taken after the imaging device has been positioned and the model of the marker point.

[0034] According to an example, the processor is further configured to enable the display device to display a prompt that photography can be performed.

[0035] According to another aspect of the present invention, a navigation system is provided. The system includes a tracking device, a processor, and a display device. The tracking device is capable of tracking a first tracer disposed on an imaging device and a marker disposed on a patient. The processor is connectable to the tracking device and the imaging device, wherein the processor is configured to execute the aforementioned method during operation and to display the aforementioned method via the display device.

[0036] According to another aspect of the present invention, a navigation system is provided, comprising a tracking device and the aforementioned electronic device. The tracking device is capable of tracking a first tracer provided on an imaging device and a marker provided on a patient; and a processor in the electronic device is capable of connecting to the tracking device and the imaging device.

[0037] According to yet another aspect of the present invention, a medical system is provided, which includes an imaging device and the above-mentioned navigation system.

[0038] According to one example, the imaging device is a two-dimensional C-arm machine or a three-dimensional C-arm machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention is described in detail below by way of exemplary embodiments with reference to the accompanying drawings.

[0040] Figure 1 A schematic diagram of a medical system according to an exemplary embodiment of the present invention is shown in a simplified schematic manner.

[0041] Figure 2 A navigation image displayed on a display device is shown as an example, in which the relative positions of the first image and the model of the marker point are visible.

[0042] Figure 3 The position marking displayed on the display device is shown as an example, from which the position of the model of the marking point in the second image, ie the target image, can be seen.

[0043] Figure 4 A detailed flow chart showing an exemplary method for guiding the positioning of an imaging device.

[0044] It should be noted that the drawings are schematic only. They only show those parts necessary to illustrate the present invention, while other parts may be omitted or only briefly mentioned. In addition to the components shown in the drawings, the present invention may also include other components. DETAILED DESCRIPTION

[0045] The following examples and accompanying drawings further illustrate the technical solution of the present invention. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall concept of the present invention and should not be construed as limiting the present invention.

[0046] In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. However, it will be apparent that one or more embodiments may be practiced without these specific details.

[0047] Imaging equipment, such as a two-dimensional C-arm machine, a three-dimensional C-arm machine (for example, when used to take two-dimensional light films), etc., can be used during surgery, or can be used before surgery or for non-surgical purposes to take images of patients. The imaging area of ​​the imaging equipment is usually fixed and related to the model of the equipment. For example, the imaging area of ​​a two-dimensional C-arm is a cone or a pyramid. For example, Figure 1 The figure shows an example of a conical imaging area of ​​a C-arm. When the imaging area covers the desired patient area, such as the treatment area or anatomical area, images that meet the doctor's requirements can be obtained. However, if the imaging device is improperly positioned, the imaging area will completely or partially deviate from the desired shooting position on the patient, and therefore, it will not be possible to obtain an image that meets the requirements. In this case, the positioning of the imaging device needs to be adjusted, such as adjusting the position of the C-arm relative to the patient, the height and / or angle of the C-arm relative to the patient, etc.

[0048] For the convenience of description, as a particularly specific embodiment, the medical system that may be involved in the method of guiding the positioning of an imaging device using a navigation system of the present invention is first described. Figure 1 As shown, in this specific embodiment, the medical system may include a navigation system and an imaging device 1. In this specific embodiment, the imaging device 1 is a C-arm. The navigation system may include a tracking device 6, which may be an optical imaging camera (e.g., an NDI navigator). A first tracer 13 (described below) may be provided on the imaging device 1, and a second tracer 7 may be provided on the patient as a reference position. These tracers can be identified and tracked in real time by the tracking device 6.

[0049] The navigation system also includes an electronic device / control device, which can be a general-purpose computer, a special-purpose computer, an embedded processor, or any other appropriate programmable data processing device such as a single-chip microcomputer or a chip. The control device may include a processor 4, a memory for storing programs, and a display device 5, but it may also include only a processor, in which case the processor can be attached to the memory for storing programs. In other words, the control device includes at least a processor. The processor 4 and the display device 5 can be integrated into one or can be provided separately. The processor has a data interface, which may include a data interface that can be connected to an imaging device so that the processor can obtain data obtained by the imaging device scanning the patient's physiological structure (for example, obtaining a first image and a second image taken by the imaging device, such as an X-ray film). The data interface may also include an interface connected to the tracking device 6 of the navigation system to obtain the position information of each tracer. As an example, the first tracer 13 and / or the second tracer 7 can also be considered as part of the medical system of the present invention. The navigation system may include one, two or more display devices 5 to facilitate observation by the doctor.

[0050] In this specific embodiment, Figure 1 As shown, the imaging device 1 includes a light source 11, and a flat-plate receiver (not shown) may be provided at the end of the C-arm opposite to the light source 11 for imaging. The imaging device 1 is suitable for installing an image adapter 12, which is, for example, provided below the receiver. The image adapter is often installed on a C-arm machine for use therewith, for example, to correct the distortion of the imaging of the C-arm machine or to establish a coordinate relationship in navigation. The image adapter usually includes two layers of plates that can be penetrated by radiation, on which are arranged developing elements (such as developing balls, which are formed after imaging as shown in FIG. Figure 2 (Indicated by reference numeral 8 in the figure). The image adapter 12 is conventional technology and will not be described in detail here. It should be noted that the image adapter is only required to be installed on the imaging device during the light source position acquisition step described below. In other cases, the image adapter is not necessarily installed on the imaging device. For example, when capturing the second image, the image adapter can be installed if distortion correction is required, but it does not need to be installed otherwise.

[0051] In this embodiment, the first tracer 13 is mounted on the image adapter 12. However, those skilled in the art will appreciate that the first tracer 13 can also be positioned elsewhere, as long as it is fixed relative to the image adapter 12, i.e., the two have a fixed positional relationship. After the C-arm, with the image adapter 12, captures a blank film (i.e., the first image described below), the image can be analyzed and processed, for example, using the position of the developing ball to calculate the position of the C-arm's X-ray light source relative to the image adapter 12 through an algorithm (although the position of the light source relative to the image adapter 12 is fixed, the position of the light source within the C-arm is unknown and needs to be determined in this manner, for example). The above is the premise for the method of guiding the positioning of the imaging device 1 to assist in capturing X-ray images at the desired imaging position.

[0052] Next, an exemplary specific method for guiding the positioning of the imaging device 1 using the navigation system of this embodiment is described. Figure 4 Flowchart of the process.

[0053] Light source position acquisition step: The imaging device is moved to a roughly corresponding imaging position for the patient's target imaging area. The position of the first tracer 13 is acquired via the navigation system's tracking device 6. Since the first tracer 13 is fixed relative to the image adapter 12, the position of the image adapter 12 under the navigation system is correspondingly acquired. Furthermore, based on the positional relationship of the light source 11 relative to the image adapter 12, the current position of the light source 11 under the navigation system (i.e., the current position of the light source 11 under the navigation system in the current position of the imaging device 1) is acquired. As previously described, the positional relationship of the light source 11 relative to the image adapter 12 can be acquired by processing the first image (preferably a blank image) captured by the imaging device 1. This process can be performed prior to the positional relationship determination step. That is, the method of this embodiment may also include a positional relationship determination step, wherein the positional relationship of the light source 11 relative to the image adapter 12 is acquired by processing the first image captured by the imaging device 1.

[0054] As previously mentioned, the first image is preferably a blank image, i.e., a blank image without the target object (e.g., a patient). This reduces interference from foreign objects on the image, facilitates image processing to determine the position of the X-ray source relative to the image adapter, and also reduces the number of patient images and radiation exposures.

[0055] Marker point position acquisition step: obtain the current position of the marker point 2 set on the patient (for example, at the desired shooting position, or a position suitable for setting the marker point near the desired shooting position) under the navigation system. The marker point 2 is identified by a marker that is constructed to be tracked by the navigation system (for example, a probe that can be tracked by a navigation camera), so that the position of the marker point under the navigation system can be known. The selection of the marker point 2 is performed by the operator, who uses a probe to take one (or more) marker points on the patient's body surface. The marker point is a part of the vertebra to be photographed that can be touched on the body surface (such as the top of the spinous process of the vertebra). Since the operator can see and touch the entire spine of the patient, it is easy to determine on which vertebral segment or segments the marker point is located.

[0056] Projection position acquisition step: Based on the position of the marker point acquired in the marker position acquisition step and the current position of the light source acquired in the light source position acquisition step, the first projection position of the marker point under the light source 11 in the current position of the imaging device 1 is acquired. Figure 1 As shown, the field of view of the light source 11 is a cone, and the first projection position of the marker point 2 under the light source 11 can be understood as the projection position on the imaging plane of the receiver of the imaging device 1. Therefore, in the display step to be described below, the first image can be used to represent the field of view of the light source 11, that is, the imaging range, and the first image can be used to represent the virtual imaging range. The position of the marker point within the imaging range of the light source 11, that is, the field of view, can be determined based on the first projection position.

[0057] Display step: Display the first image to represent the field of view of the light source 11, and display the model 3 of the marking point according to the first projection position (see Figure 2 ) to intuitively indicate the relative position of the marking point and the field of view of the imaging device 1, so as to guide the positioning of the imaging device.

[0058] At this time, the display device 5 can display the following Figure 2 The C-arm operator adjusts the position of the C-arm according to the display, and the position of the model 3 of the marker point on the displayed image will also change accordingly, until the projection position of the marker point is reasonable, for example, approximately in the center area of ​​the first image, indicating that the desired vertebra can be photographed. The model 3 of the displayed marker point can be a highlighted point, for example, in a conspicuous color (for example Figure 2 to be displayed in orange).

[0059] Preferably, the method further includes a prompting step, wherein when the model 3 of the marker point is located in a predetermined area in the first image (corresponding to the marker point 2 being located in a predetermined area in the field of view of the light source 11), a prompt is given to enable the image capture. This prompting can be implemented, for example, by popping up a dialog box or providing a graphical indication on a display device.

[0060] Preferably, for imaging devices that can be automatically controlled, the method may further include an automatic positioning step: when the model of the marker point is outside the predetermined area in the first image, the imaging device is instructed to move. The automatic positioning step may also be initiated after obtaining the adjustment instruction input by the operator, and the position of the imaging device relative to the patient is automatically adjusted according to the instruction. The automatic adjustment step controls the imaging device by obtaining the motion control instructions for the imaging device input by the operator through an input device such as a keyboard, a touch screen, etc., which can reduce the operator's operation and improve the operation accuracy. Of course, according to one example, the adjustment of the position of the imaging device can also be performed manually by the operator according to the instruction. This approach makes the method also applicable to non-automated imaging equipment.

[0061] Preferably, for an imaging device capable of automatic operation, the method may further include an automatic shooting step, in which the imaging device is instructed to shoot when the model of the marker point is located in a predetermined area in the first image.

[0062] Preferably, the method of the present invention may further include a marker point position identification step after the imaging device 1 has been positioned and a second image at the desired imaging position (e.g., the vertebra where the marker point is located) has been captured. In the marker point position identification step, the second image is displayed and a model of the marker point is displayed in the second image according to the second projection position obtained under the current posture of the imaging device 1. That is, the navigation system automatically marks the second projection position of the marker point on the second image to help the operator determine the vertebral segment in the X-ray film, such as Figure 3 shown.

[0063] It should be noted that although the steps are listed and described sequentially in the claims and herein, this does not imply a specific order of precedence among the steps. For example, the light source position acquisition step can be performed before, after, or simultaneously with the marker position acquisition step.

[0064] Furthermore, it should be noted that the steps of the method for guiding the positioning of the imaging device 1 using the navigation system described herein and Figure 4 The steps shown are only for describing a particularly specific method, and do not mean that the method in the present invention must include some or certain of these steps.

[0065] In an exemplary embodiment of the present invention, a computer-readable storage medium is further provided, on which a computer program is stored, the program including executable instructions that, when executed by a processor, can implement the steps of the above-described method. In some possible implementations, various aspects of the present invention can also be implemented in the form of a program product, which includes a computer program that, when executed by a processor, causes the processor to perform the steps described in the method of the present invention according to various exemplary embodiments of the present invention.

[0066] In an exemplary embodiment of the present invention, a control device is further provided, which includes a processor 4, a display device 5, and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the executable instructions to implement the steps of the method of the present invention.

[0067] Although the exemplary medical system of the present invention is described above as a whole, the embodiment of the present invention also provides an electronic device (in Figure 1 In the embodiment of the present invention, it is a desktop computer. The electronic device includes a processor 4 and a display device 5. The processor 4 has a data interface that can be connected to the imaging device 1 and a data interface that can be connected to the tracking device 6 of the navigation system. These data interfaces can obtain images taken by the imaging device 1 and can obtain the positions of each tracer from the tracking device 6. When the processor is running, the first image and the model of the marker point can be displayed on the display device 5 to intuitively indicate the relative position of the marker point and the first image, so as to guide the positioning of the imaging device. The second image taken at the desired shooting position after the imaging device 1 has been positioned and the model of the marker point can also be displayed on the display device 4 to help the operator identify the vertebral stage in the X-ray film taken.

[0068] At the same time, the embodiment of the present invention actually also provides a navigation system. Figure 1 As shown, the navigation system includes a tracking device 6, a processor 4, and a display device 5. The processor is connected to the tracking device 6 and the imaging device 1. When the processor 4 is running, the steps of the method of the present invention are executed, and the display device 5 displays the steps of the method to guide the operator to adjust the position of the imaging device.

[0069] Those skilled in the art will appreciate that the medical system of the present invention is not limited to the navigation system and imaging device 1 described above, and may include other devices or systems, such as a surgical robot, a surgical path planning system, a coordinate system registration system, a robotic motion control system, etc., as needed. The medical system may be used, for example, for robot-assisted spinal surgery; however, it may also operate any type of instrument, implant, etc., and may be used in any appropriate surgery.

[0070] According to an embodiment of the present invention, a program product for implementing the above method can be a portable compact disc read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0071] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0072] The computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein the readable program code is carried. The data signal propagated may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or component. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0073] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0074] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Therefore, various aspects of the present invention may be implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits," "modules," or "systems."

[0075] Although certain embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the claims and their equivalents.

Claims

1. A method for guiding the positioning of an imaging device (1) by a navigation system, wherein the imaging device (1) comprises an X-ray source (11) and an image adapter (12) is mounted on the imaging device (1); characterized in that: The method comprises the following steps: Light source position acquisition step: In this step, the image adapter (12) is installed on the imaging device (1), and the current position of the image adapter under the navigation system is acquired, and then the current position of the light source (11) under the navigation system is obtained based on the positional relationship of the light source relative to the image adapter, wherein the positional relationship is acquired through a first image captured by the imaging device; Mark point position acquisition step: acquiring the current position of the marker point (2) set on the patient under the navigation system; Projection position acquisition step: acquiring a first projection position of the marker point under the light source (11) at the current position of the imaging device (1) based on the position of the light source acquired in the light source position acquisition step and the position of the marker point acquired in the marker point position acquisition step; Display step: displaying a model of the field of view of the light source (11), and displaying a model (3) of the marking point according to the first projection position, so as to intuitively indicate the relative position of the marking point and the field of view, so as to guide the positioning of the imaging device.

2. The method according to claim 1, characterized in that The method further comprises a marker point position identification step after the imaging device (1) has been positioned and a second image of the patient has been taken, in which the second image is displayed and a model of the marker point is displayed in the second image according to a second projection position obtained in the current posture of the imaging device (1).

3. The method according to claim 1 or 2, characterized in that The imaging device (1) is equipped with a first tracer (13) fixed in position relative to the image adapter (12), wherein the position of the image adapter under the navigation system is obtained via the first tracer (13) in the light source position acquisition step.

4. The method according to claim 1 or 2, characterized in that The marker point (2) is identified by a marker configured to be tracked by the navigation system.

5. The method according to claim 1 or 2, characterized in that The method further includes a prompting step of prompting that the image capture can be performed when the model of the marker point is located in a predetermined area in the model of the field of view.

6. The method according to claim 1 or 2, characterized in that The method further comprises an automatic positioning step in which the imaging device is instructed to move if the model of the marker point is outside a predetermined area in the model of the field of view.

7. The method according to claim 1 or 2, characterized in that The method further includes an automatic photographing step, in which the imaging device is instructed to photograph when the model of the marker point is located in a predetermined area in the model of the field of view.

8. The method according to claim 1 or 2, characterized in that The positioning and / or shooting of the imaging device is performed manually by an operator.

9. The method according to claim 1 or 2, characterized in that In the display step, the first image is displayed as a model of the field of view. The first image can be captured and stored in advance before the light source position acquisition step, or captured during the light source position acquisition step.

10. The method according to claim 1 or 2, characterized in that The first image is a blank image without a target object.

11. The method according to claim 1 or 2, characterized in that The model of the marked point displayed in the display step is a highlighted point.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are executed.

13. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 11.

14. A control device, characterized in that: include: a processor (4) and a display device (5); as well as a memory for storing executable instructions of the processor; The processor is configured to execute the executable instructions to implement the method according to any one of claims 1 to 11.

15. An electronic device for guiding the positioning of an imaging device (1) using a navigation system, the electronic device comprising a processor (4) and a display device (5), characterized in that: The processor has a data interface, The data interface can be connected to the imaging device (1) so as to obtain a first image captured by the imaging device (1), and The data interface can be connected to a tracking device (6) of a navigation system so as to be able to acquire the position of a marker (2) provided on the patient; The processor is configured to enable the display device (5) to display the first image and the model of the marking point to intuitively indicate the relative position of the marking point and the first image, so as to guide the positioning of the imaging device.

16. The electronic device according to claim 15, characterized in that The processor is further configured to cause the display device (4) to display a second image of the patient taken after the imaging device (1) has been positioned and the model of the marker point.

17. The electronic device according to claim 15 or 16, characterized in that: The processor is further configured to enable the display device to display a prompt indicating that photography is possible.

18. A navigation system, characterized in that: The navigation system includes: A tracking device (6) capable of tracking a first tracer (13) provided on an imaging device and a marker point (2) provided on a patient; and A processor (4) and a display device (5), wherein the processor is connectable to the tracking device (6) and the imaging device, wherein the processor is configured to execute the method according to any one of claims 1 to 11 during operation and to realize corresponding display in the method through the display device (5).

19. A navigation system, characterized in that: The navigation system includes: A tracking device (6) capable of tracking a first tracer (13) provided on an imaging device and a marker point (2) provided on a patient; and The electronic device according to any one of claims 15 to 17, wherein the processor in the electronic device is connectable to the tracking device (6) and the imaging device.

20. A medical system, characterized in that The medical system comprises an imaging device (1) and a navigation system according to claim 18 or 19.

21. The medical system according to claim 20, wherein: The imaging device is a two-dimensional C-arm machine or a three-dimensional C-arm machine.

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