Operation image navigation system, coordinate transmission method thereof and storage medium

Abstract

The invention discloses a surgical image navigation system, a coordinate transmission method thereof and a storage medium. The system comprises an image system, a navigation system and an image tracer fixed on the image system. The method is characterized in that in the scanning process of an image system, a position request is sent to a navigation system according to a specific opportunity; and the navigation system responds to the request, obtains a real-time navigation coordinate position based on the image tracer, and feeds back or records the real-time navigation coordinate position. Multi-point coordinate calibration and fitting are realized through multiple request feedbacks, or navigation data is directly used to replace internal sensor data for image reconstruction. According to the method, traditional single-point and static calibration is innovated into a dynamic and multi-point interaction process, and the problems of single-point calibration errors, rack deformation errors and communication delay are effectively solved. Through collaborative innovation of software and hardware levels, the precision of coordinate registration and three-dimensional reconstruction is remarkably improved, meanwhile, operation is simplified through system integrated design, space is saved, and more accurate and reliable navigation support is provided for surgical operations.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical image navigation scheme design, in particular to a surgical image navigation system, a coordinate transmission method thereof and a storage medium. BACKGROUND

[0002] The surgical image navigation system is a key device in modern precision medicine, which can display the position of surgical instruments relative to the patient's internal anatomical structure in real time during the operation, guide the doctor to perform precise operation, and effectively reduce surgical trauma and improve surgical success rate. The core function of the system is to realize the visualization of surgical instruments, that is, the spatial position of the instruments in the patient's body can be clearly observed on the display screen without a large incision. To achieve this function, the navigation system must display the medical image obtained before or during the operation as the background and the real-time tracked tool position. This inevitably requires the image coordinate system recording the anatomical structure to be unified with the navigation coordinate system tracking the tool motion, and the key to achieving this unification is to accurately obtain the spatial conversion relationship between the two coordinate systems. The surgical navigation system widely used in clinical practice is usually composed of an image device and a navigation device, which are often from different manufacturers. The image device is not pre-installed with a tracer for optical navigation when it is shipped, so the navigation device manufacturer needs to install an optical tracer for it, so that the navigation system can recognize and track the spatial pose of the image device. The traditional coordinate system calibration method usually synchronizes and calibrates the single-point position of the devices at a specific moment in the scanning process through communication between the devices, and uses it as the only coordinate system conversion basis for the entire system during the entire surgical process. This method has significant inherent defects: Firstly, single-point calibration fixes all measurement errors at that moment as systematic errors of the entire system, which cannot be corrected by subsequent data; Secondly, the mechanical structure of the image device will inevitably deform during the scanning motion, and the single-point calibration based on the rigidity assumption cannot compensate for the coordinate drift caused by this deformation; Furthermore, the two independent systems rely on network protocols for communication, and the inherent delay and uncertainty will further reduce the accuracy of data synchronization at the calibration moment.

[0003] These factors together cause the navigation accuracy of the existing technology to have an insurmountable ceiling, which restricts its application in higher requirement surgical scenarios.

[0004] Therefore, the prior art still needs further development. SUMMARY

[0005] The present application aims to overcome the above technical deficiencies and provide a surgical image navigation system, a coordinate transmission method thereof and a storage medium to solve the problems existing in the prior art.

[0006] To achieve the above technical purposes, according to a first aspect of the present application, the present application provides a surgical image navigation system, comprising: an image system configured to acquire image data of a target object; a navigation system configured to spatially position a surgical tool; the image system and the navigation system are communicatively connected; wherein, during the scanning process of the image system, the navigation system is configured to send or record real-time position information of the image system in a navigation coordinate system to the image system, the real-time position information being determined based on an image tracker arranged on the image system.

[0007] Specifically, the image system is configured to send a position request to the navigation system at a preset period or based on a scanning event during the scanning process.

[0008] Specifically, the scanning event is generated when the image system acquires each frame of projection image.

[0009] Specifically, the navigation system is configured to feed back the real-time position information to the image system in real time.

[0010] Specifically, the navigation system is configured to record the corresponding request identifier and real-time position information when receiving the position request, and send the recorded real-time position information to the image system after the scanning is completed.

[0011] Specifically, the position request is sent through a software protocol signal.

[0012] Specifically, the position request is sent through a hardware trigger signal.

[0013] Specifically, the image system is further configured to calculate the conversion relationship between the image coordinate system and the navigation coordinate system based on the plurality of real-time position information obtained from the navigation system.

[0014] Specifically, the image system is configured to calculate the conversion relationship using a multi-point fitting algorithm.

[0015] Specifically, the image system is further configured to perform three-dimensional image reconstruction based on the plurality of real-time position information obtained from the navigation system.

[0016] Specifically, the real-time position information is used as the projection angle information for three-dimensional reconstruction.

[0017] Specifically, the image system and the navigation system are integrated in the same device.

[0018] Specifically, the same device includes a shared computer that runs software that integrates image acquisition and navigation functions.

[0019] Specifically, the information transmission between the imaging system and the navigation system is achieved through internal program calls within the software.

[0020] Specifically, the visual positioning unit of the navigation system is integrated into the rack of the imaging system.

[0021] Specifically, the visual positioning unit is a binocular camera.

[0022] According to a second aspect of the present invention, a navigation system is provided for surgical image navigation, the navigation system being configured to communicate with an imaging system, wherein, during scanning of the imaging system, the navigation system is configured to provide the imaging system with real-time position information of the imaging system in a navigation coordinate system, the real-time position information being determined based on an image tracer disposed on the imaging system.

[0023] According to a third aspect of the present invention, an imaging system is provided for surgical image navigation, the imaging system being configured to communicate with a navigation system, wherein, during scanning by the imaging system, the imaging system is configured to acquire real-time position information of the imaging system in a navigation coordinate system from the navigation system, the real-time position information being determined based on an image tracer disposed on the imaging system.

[0024] According to a fourth aspect of the present invention, a coordinate transfer method for surgical image navigation is provided, comprising: During the scanning process of the imaging system, the navigation system determines the real-time position information of the imaging system in the navigation coordinate system based on the image tracer; The real-time location information is transmitted to the imaging system.

[0025] Specifically, the method includes: S100. During the scanning process of the imaging system, the imaging system sends a location request to the navigation system. S200: In response to a location request, the navigation system obtains the real-time location information of the image system in the navigation coordinate system, and the real-time location information is determined based on an image tracer set on the image system. S300, the navigation system feeds back the real-time location information to the imaging system or records it.

[0026] Specifically, the sending of the position request from the imaging system to the navigation system comprises sending the position request from the imaging system to the navigation system once per frame of projection image collected.

[0027] Specifically, the feeding back of the real-time position information from the navigation system to the imaging system or the recording comprises feeding back the corresponding real-time position information from the navigation system to the imaging system in real time once per position request received.

[0028] Specifically, the feeding back of the real-time position information from the navigation system to the imaging system or the recording comprises recording the corresponding request identification and real-time position information from the navigation system once per position request received; and feeding back all the recorded real-time position information from the navigation system to the imaging system after the scanning of the imaging system is completed.

[0029] Specifically, the method further comprises receiving, by the imaging system, a plurality of real-time position information from the navigation system; and calculating, by the imaging system, the conversion relationship between the imaging coordinate system and the navigation coordinate system based on the plurality of real-time position information.

[0030] Specifically, the calculating of the conversion relationship between the imaging coordinate system and the navigation coordinate system comprises using a multi-point fitting algorithm.

[0031] Specifically, the method further comprises receiving, by the imaging system, a plurality of real-time position information from the navigation system; and performing, by the imaging system, three-dimensional image reconstruction of the target object based on the plurality of real-time position information.

[0032] Specifically, the performing of the three-dimensional image reconstruction of the target object based on the plurality of real-time position information comprises inputting the real-time position information as projection angle information into a reconstruction algorithm.

[0033] Specifically, the imaging system and the navigation system are integrated in the same device, the position request is triggered by a hardware signal, and the real-time position information is processed by an internal program.

[0034] According to a fifth aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the method according to any one of the above aspects.

[0035] Advantages: The surgical image navigation system and the coordinate transmission method thereof and the storage medium provided by the present application can produce a series of significant beneficial effects compared with the prior art. First, the present application realizes coordinate system calibration and fitting based on multiple points by designing a mechanism for multiple position information requests and feedbacks during the scanning process, thereby effectively smoothing random errors and compensating for system errors caused by rack deformation, ultimately greatly improving the registration accuracy of the image coordinate system and the navigation coordinate system, and providing a more reliable spatial basis for surgical navigation. Secondly, the present application proposes a method of directly using high-precision spatial pose data measured by the navigation system to replace the sensor data of the image device itself for three-dimensional image reconstruction, which fundamentally avoids the process of coordinate system conversion and completely eliminates all errors introduced by this link, so that the reconstructed three-dimensional image has better geometric reality and greatly improves the accuracy of navigation display. Thirdly, the present application replaces part or all of the network protocol communication by using a hardware signal triggering method, which greatly reduces the delay and timing uncertainty in the data interaction process, ensures that each frame of projection image can be associated with an accurate synchronous spatial position, and further guarantees the overall accuracy of the system. Finally, by deeply integrating the image system and the navigation system into an integrated or split integrated device, the connection and communication process between the systems is simplified, the reliability and stability of the system are improved, the occupation of the valuable operating room space is significantly reduced, the operation process of medical staff is simplified, and the operation efficiency is improved. In summary, the present application solves the core pain points of the prior art from the aspects of method, system and application, and improves the accuracy, reliability and ease of use of the surgical image navigation system. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is the system connection schematic diagram of the prior art, scheme 1 and scheme 2 provided in the embodiment of the present application; Figure 2 is the coordinate position interaction process schematic diagram of the prior art image system and navigation system provided in the embodiment of the present application; Figure 3 is the error effect schematic diagram of single-point calibration between coordinate systems provided in the embodiment of the present application; Figure 4 is the scanning information transmission process of scheme 1 provided in the embodiment of the present application; Figure 5 is the scanning information transmission process of scheme 2 provided in the embodiment of the present application; Figure 6 is the system connection schematic diagram of scheme 3 provided in the embodiment of the present application; Figure 7 is the scanning information transmission process schematic diagram of scheme 3 provided in the embodiment of the present application; Figure 8is a system connection schematic diagram of scheme 4 provided in specific embodiments of the present application; Figure 9 is a system connection schematic diagram of scheme 5 provided in specific embodiments of the present application; Figure 10 is a flowchart of a coordinate transfer method of a surgical image navigation system provided in specific embodiments of the present application. DETAILED DESCRIPTION

[0037] In order for those skilled in the art to better understand the technical solutions of the present application, the technical solutions of the present application will be described clearly and completely below in combination with the drawings of the present application. Based on the embodiments in the present application, other similar embodiments obtained by those skilled in the art without making creative efforts should all belong to the scope of protection of the present application. In addition, the directional words mentioned in the following embodiments, such as “up”, “down”, “left”, “right”, etc. are only the directions of the drawings, therefore, the directional words used are used for illustration and not for limiting the present application.

[0038] First of all, it needs to be pointed out that the main components of the intraoperative imaging device, the commonly seen mobile C-arm X-ray machine (hereinafter referred to as C-arm machine) or mobile O-arm X-ray machine (hereinafter referred to as O-arm machine), include an X-ray generator, a detector, a motion device, an image computer, a display, etc. When working, the X-ray generator emits X-rays, the detector receives the X-rays that have passed through the human body, generates an image and transmits the image data to the image computer, the image computer processes the data and generates an image that is displayed on the display for the doctor to view.

[0039] When the C-arm machine or the O-arm machine is installed with an electric device in a certain rotating direction, it can be rotated while exposing, i.e. “scanning” operation, to generate multi-angle images. By using these multi-angle images, a three-dimensional image of the “field of view (FOV)” in the scanned region can be reconstructed after scanning by CBCT algorithm, and the pixel value of each point in the three-dimensional image represents the attenuation coefficient of the point to X-rays, so that a cross-sectional image similar to a CT image can be obtained. The coordinate system of this three-dimensional image is usually established by the C-arm machine or the O-arm machine in its pre-performed geometric calibration. Hereinafter, this coordinate system is referred to as “image coordinate system”. The image coordinate system is usually generated by calculating the rigid frame and the sensor such as encoder, linear potentiometer, etc. that follow the rotation motor.

[0040] The surgical navigation system usually works in cooperation with the double-eye camera and the matching tracer. The double-eye camera can identify the tracer and obtain the spatial position of the origin of the tracer in its own coordinate. Hereinafter, this coordinate system is referred to as “navigation coordinate system”.

[0041] When some surgical tools are equipped with trackers and calibrated, these tools can be displayed on the navigation system in real time, so that the surgeon can see the position of the tools in space on the display screen without large openings, thereby achieving minimally invasive surgery. This function is the visualization of tools during surgery.

[0042] But to achieve the visualization of tools in the patient's body during surgery, it is necessary to integrate images as a background in the navigation system, so that the surgeon can know the real-time position of the tools in the patient's body in real time. This requires the image coordinate system to be integrated with the navigation coordinate system, and the conversion relationship between the image coordinate system and the navigation coordinate system needs to be known. Only when the coordinate system conversion is accurate, can the navigation reach the required accuracy. In the prior art, the positioning accuracy that can be achieved is usually 1.0-2.0mm.

[0043] How to accurately realize the conversion between the image coordinate system and the navigation coordinate system is the key to the cooperative work of the two systems.

[0044] In the prior art, the image device and the navigation device are usually not produced by the same manufacturer. The image device is not installed with a tracker when it is shipped. The common coordinate system conversion scheme is to install a tracker for the image device by the navigation manufacturer to obtain the spatial coordinates of the image device in the navigation coordinate system. This tracker is referred to as an "image tracker". At a certain moment during the scanning process (usually before the scanning starts), the image device informs the navigation device through communication that the image device is at a certain angle during the scanning (usually the starting point of the scanning). The navigation device also records the spatial position of the image tracker at this moment, so that the navigation device can obtain the conversion relationship between the image coordinate system and the navigation coordinate system through this calibration point.

[0045] Due to the different cooperation capabilities between different manufacturers and the complexity of the communication protocol, the above coordinate conversion is usually performed at one point, and all subsequent conversion calculations depend on this conversion. This leads to a very high accuracy requirement for the coordinate conversion point of the system. Once the conversion calibration point has an error, it will become a systematic error of the entire device, which will eventually lead to an increase in the accuracy error of the navigation.

[0046] The core concept of this invention is to design a real-time position transfer and image analysis method during the scanning process. The imaging device can send its image coordinate system position to the navigation system at certain time or angle intervals during scanning, and simultaneously request the real-time navigation coordinate system position of the current image tracer. The navigation system can obtain the position of the image tracer in the image coordinate system in real time throughout the scanning process, and upon receiving a request from the imaging device, feed back the position of the image tracer in the navigation coordinate system to the imaging system. Because both the imaging device and the navigation device can obtain the real-time position of the image tracer in both coordinate systems, coordinate system transformation relationships can be generated and verified at multiple location points, reducing the probability of errors. Furthermore, multi-point fitting can obtain more accurate multi-point calibration coordinate system transformation relationships than single-point calibration.

[0047] Furthermore, when the imaging system and navigation system are integrated into a single device that possesses both imaging and navigation capabilities, communication protocols can be simplified through process and software integration, resulting in higher real-time accuracy of location data.

[0048] Furthermore, navigation coordinates can be used to replace the real-time scanning position obtained by the built-in sensors in the original imaging device for reconstruction calculations. This avoids coordinate transformation and matching processes, making the navigation function more accurate.

[0049] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0050] Please see Figures 1-10 The present invention provides a surgical image navigation system, comprising: Imaging system 1 is used to acquire image data of the target object; Navigation system 3 is used for spatial positioning of surgical instruments; The imaging system 1 is communicatively connected to the navigation system 3; During the scanning process of the imaging system 1, the navigation system 3 is configured to send or record the real-time position information of the imaging system 1 in the navigation coordinate system. The real-time position information is determined based on the image tracer 2 installed on the imaging system 1.

[0051] Preferably, during the scanning process of the imaging system 1, the imaging system 1 is configured to send a location request to the navigation system 3, and the navigation system 3 is configured to respond to the location request by feeding back the real-time location information of the imaging system 1 in the navigation coordinate system to the imaging system 1 or recording it, wherein the real-time location information is determined based on the image tracer 2 set on the imaging system 1.

[0052] It needs to be further explained that the embodiment describes a basic architecture of a surgical image navigation system. The system mainly includes an image system 1 for collecting X-ray projection images of a target object such as a surgical site of a patient, which is usually a mobile C-arm X-ray machine. The system also includes a navigation system 3 for optically tracking and positioning a surgical tool, which core includes a visual positioning unit 4, such as a binocular camera. A key component is an image tracker 2, which is fixedly installed on the C-arm of the image system 1, and which is provided with a plurality of marker balls that can be recognized and tracked by the optical camera of the navigation system 3. The image system 1 and the navigation system 3 are connected through a network communication, such as Ethernet, for data exchange.

[0053] The core of its workflow is the cooperation in the scanning process: when the image system 1 rotates around the target object during scanning, it actively sends a position request signal to the navigation system 3. After receiving the request, the navigation system 3 immediately captures and solves the high-precision spatial position information of the image tracker 2 in the navigation coordinate system at the current time, i.e. real-time position information, through its visual positioning unit 4. Then, the navigation system 3 feeds back the real-time position information to the image system 1.

[0054] It can be understood that by establishing such a mechanism of active request and feedback during scanning, the invention breaks the traditional single-point calibration mode, provides a data basis for subsequent implementation of multi-point, high-precision coordinate system registration or direct replacement of the angle sensor of the image system itself, and fundamentally creates conditions for solving the coordinate system conversion error problem.

[0055] Specifically, the image system 1 is configured to send a position request to the navigation system 3 at a preset period or based on a scanning event during scanning.

[0056] Specifically, the scanning event is generated when the image system 1 collects each frame of projection image.

[0057] It needs to be further explained that the invention details the sending timing of the position request. The control software of the image system 1 is configured to trigger the position request according to a preset logic. One way is to send a request once every certain milliseconds according to a preset period, to ensure the uniformity of data sampling. Another more optimal way is based on a scanning event, i.e. closely coupled with the image acquisition process. Specifically, the control unit of the image system 1 will generate a trigger signal at the moment when the X-ray generator of the image system 1 pulses and successfully collects a frame of projection image, which drives the system to send a position request to the navigation system 3 once.

[0058] It can be understood that the above scheme synchronizes the acquisition of position information with the acquisition time of each frame of projection image, ensures that each projection angle corresponds to accurate spatial position data, provides a pair of completely matched data at a time point for subsequent image reconstruction or coordinate conversion, and greatly improves the accuracy and reliability of data.

[0059] Specifically, the navigation system 3 is configured to feed back the real-time position information to the image system 1 in real time.

[0060] It should be further explained that during the scanning process, as soon as the navigation system 3 receives a position request from the image system 1, the internal processor thereof immediately processes the latest image data of the visual positioning unit 4, calculates the real-time position information of the image tracker 2, and immediately sends the real-time position information back to the image system 1 through the network connection. The receiving module of the image system 1 buffers or parses the continuously transmitted position data.

[0061] It can be understood that the present application realizes instant interaction of data, and the image system 1 can obtain its pose in space in near real time, which makes it possible for some application scenarios that need to monitor the scanning trajectory in real time.

[0062] Specifically, the navigation system 3 is configured to record the corresponding request identifier and real-time position information when receiving a position request, and send the recorded real-time position information to the image system 1 after the scanning is completed.

[0063] It should be further explained that the present embodiment describes another feedback scheme, in which a data recording module is arranged in the navigation system 3. When receiving a position request, it does not immediately reply, but packs the current timestamp or request number and the real-time position information calculated at this moment into a data packet, and stores the data packet in a cache queue for recording. After the entire scanning process is completed, the management software of the navigation system 3 instructs the communication module thereof to send all the data packets recorded in the cache queue to the image system 1 in batch according to the serial numbers.

[0064] It can be understood that this batch transmission mode can reduce the number and load of network communication, avoid the interference of uncertainty problems such as delay and packet loss in real-time network transmission on the data acquisition process, and ensure the integrity and correctness of the sequence of data.

[0065] Specifically, the position request is sent through a software protocol signal.

[0066] Specifically, the position request is sent through a hardware trigger signal.

[0067] It is further noted that the "position request" signal in the above embodiments can be sent in different forms. One is through a software protocol signal, such as encapsulating a custom application layer packet on a TCP / IP protocol, which contains the request instruction. Another is through a hardware trigger signal, i.e. a physical cable is drawn from the control box of the imaging system 1 to trigger a request hard connection line directly connected to the hardware interface of the navigation system 3. Each time a frame of image is acquired, an electric pulse signal is generated through this cable to send to the navigation system 3.

[0068] It is understood that the present application provides two different levels of implementation. The software protocol mode is flexible and easy to implement on existing equipment; the hardware trigger mode is extremely fast, with extremely low and stable delay, completely eliminating the delay and jitter that may be caused by the software protocol stack and network scheduling, and is particularly suitable for high-speed acquisition scenarios, and can ensure the synchronization of the position and the image acquisition time with the highest precision.

[0069] Specifically, the imaging system 1 is further configured to calculate the conversion relationship between the imaging coordinate system and the navigation coordinate system based on the plurality of real-time position information obtained from the navigation system 3.

[0070] Specifically, the imaging system 1 is configured to calculate the conversion relationship by using a multi-point fitting algorithm.

[0071] It is further noted that the present embodiment focuses on the application of the plurality of position information obtained by the imaging system 1. The computer of the imaging system 1 is built-in with a coordinate processing algorithm. After the scanning is completed, it obtains a series of data points from the navigation system 3, each of which contains a projection time or a projection image ID and its corresponding position and pose of the imaging tracker 2 in the navigation coordinate system. Since the relationship between the imaging tracker 2 and the imaging coordinate system is known through pre-calibration, each such data point actually provides a conversion relationship sample from the imaging coordinate system to the navigation coordinate system. The system uses a multi-point fitting algorithm such as the least squares method to calculate all the samples, and obtains an optimal coordinate system conversion relationship with the smallest average error.

[0072] It is understood that through multi-point fitting, random errors that may exist in single measurement can be effectively smoothed, and system errors caused by the deformation of the gantry can be partially compensated, so that a coordinate system conversion relationship that is much more accurate and stable than the traditional single-point calibration is finally obtained, thereby significantly improving the overall accuracy of surgical navigation.

[0073] Specifically, the imaging system 1 is further configured to perform three-dimensional image reconstruction based on the plurality of real-time position information obtained from the navigation system 3.

[0074] Specifically, the real-time position information is used as the projection angle information for the three-dimensional reconstruction.

[0075] It is further noted that the present embodiment discloses a more advanced application of the present application. In this scheme, the three-dimensional image reconstruction algorithm of the imaging system 1 is reconfigured. Instead of relying on the mechanical rotation angle measured by its own encoder for reconstruction, it directly uses a series of real-time position information obtained from the navigation system 3. Specifically, each position information data packet contains the accurate spatial pose of the imaging system 1 when collecting the corresponding projection image, and this pose data can be directly extracted as the projection angle information required by the reconstruction algorithm. The reconstruction algorithm uses these high-precision angle information from the external navigation system to replace the angle information of the internal sensor for three-dimensional reconstruction operation.

[0076] It can be understood that it completely bypasses the traditional step of "coordinate system conversion". It not only avoids the precision loss in the conversion process, but more importantly, it uses the spatial pose directly measured by the navigation system to replace the mechanical encoder reading which may have errors due to the deformation of the arm, eliminating a major source of system error from the source, making the reconstructed three-dimensional image have unprecedented geometric precision, providing a more accurate background map for navigation.

[0077] Specifically, the imaging system 1 and the navigation system 3 are integrated in the same device.

[0078] Specifically, the same device includes a shared computer, and the computer runs software integrated with image acquisition functions and navigation functions.

[0079] Specifically, the information transmission between the imaging system 1 and the navigation system 3 is realized through internal program calling of the software.

[0080] Specifically, the visual positioning unit 4 of the navigation system 3 is integrated into the gantry of the imaging system 1.

[0081] Specifically, the visual positioning unit 4 is a binocular camera.

[0082] It needs to be further explained that the embodiment describes an implementation scheme of deeply integrating two systems. Here, the image system 1 and the navigation system 3 are integrated in the same device. They share a computer on which a unified software integrating image acquisition control and navigation core functions is run. The visual positioning unit 4 such as a binocular camera of the navigation system 3 is directly integrated on the rack of the image system 1. The information transmission inside the system is no longer network communication, but is realized through function module calling or memory sharing inside the software, which is extremely efficient. During scanning, each frame trigger signal generated by the image acquisition hardware is directly sent to the navigation positioning module through the internal hardware bus to drive it to record the current pose.

[0083] It can be understood that the above scheme has the beneficial effects that: 1. Simplify the process: without complex network configuration and protocol docking, the user operation process is greatly simplified.

[0084] 2. Save space: combining two independent devices into one significantly reduces the floor space in the valuable operating room space.

[0085] 3. Improve reliability: reduce external connection lines and interfaces, reduce the overall complexity and failure rate of the system.

[0086] Please continue to refer to Figures 1-10 , the present application provides another embodiment, which provides a navigation system for surgical image navigation, the navigation system 3 is configured to be in communication connection with an image system 1, wherein during the scanning process of the image system 1, the navigation system 3 is configured to provide real-time position information of the image system 1 in the navigation coordinate system to the image system 1, and the real-time position information is determined based on an image tracker 2 arranged on the image system 1.

[0087] It needs to be further explained that the navigation system is designed to cooperate with the external image system to actively or responsively provide real-time position information during the image system scanning process. The embodiment emphasizes the working mode of the navigation system in a non-integrated environment, and ensures the accuracy and low delay of the position information through the combination of hardware triggering and software protocol.

[0088] Further, the system composition of the embodiment includes: Navigation system 3: including a visual positioning unit 4 (such as a binocular camera), a processing unit and a communication interface. The visual positioning unit is fixed on an independent rack and is used for tracking the image tracker 2; Image system 1: an external device such as a mobile C-arm X-ray machine, on which an image tracker 2 is fixed; Specifically, the navigation system and the image system are in communication connection through Ethernet, and a hardware trigger line can be optionally added for synchronous signal transmission.

[0089] It should be further noted that the workflow of the embodiment includes: 1. Initialization phase: After the navigation system is started, it establishes a connection with the imaging system through the communication interface and calibrates the visual positioning unit to ensure tracking accuracy.

[0090] 2. Scan trigger: The imaging system starts scanning, and sends a position request signal to the navigation system through a hardware trigger line or a software protocol every time a frame of projection image is collected.

[0091] 3. Position acquisition and feedback: After receiving the request, the navigation system immediately captures the image of the image tracker by the visual positioning unit, and the processing unit calculates the real-time position information (including position and attitude) in the navigation coordinate system. Subsequently, the navigation system feeds back the information to the imaging system in real time through the network, or records it first and then sends it in batches.

[0092] 4. Data application: The imaging system uses multiple position information for coordinate system conversion or three-dimensional reconstruction.

[0093] It can be understood that the advantages of the embodiment include: Improved accuracy: Through multi-point position feedback, the data provided by the navigation system can be used for error compensation of the imaging system, avoiding single-point calibration error; High flexibility: As an independent system, it can cooperate with imaging devices from different manufacturers and adapt to various surgical scenarios; Low latency: The hardware trigger mechanism reduces the influence of network latency, ensuring that the position and image acquisition are synchronized.

[0094] Please continue to refer to Figures 1-10 The present application provides another embodiment, which provides an imaging system for surgical image navigation, the imaging system 1 is configured to be in communication connection with a navigation system 3, wherein during the scanning process of the imaging system 1, the imaging system 1 is configured to obtain real-time position information of the imaging system 1 in the navigation coordinate system from the navigation system 3, and the real-time position information is determined based on an image tracker 2 arranged on the imaging system 1.

[0095] It should be further noted that the imaging system is designed to cooperate with an external navigation system to actively obtain real-time position information to improve navigation accuracy. This embodiment emphasizes the leading role of the imaging system in the scanning process, and obtains data from the navigation system in a periodic or event-driven manner.

[0096] Further, the system composition of the embodiment includes: Imaging system 1: including X-ray generator, detector, control unit and communication interface. The image tracker 2 is fixed on the C-arm.

[0097] Navigation system 3: external device, such as a standalone optical navigation system, equipped with a visual positioning unit 4.

[0098] Connection method: connection through network protocol (such as TCP / IP), optional software protocol or hardware trigger signal.

[0099] It should be further explained that the workflow of the embodiment includes: 1. Scan start: the image system starts rotating scanning, and the control unit actively sends a position request to the navigation system at a preset period (such as every 100 ms) or based on a scanning event (such as every time a projection image is acquired).

[0100] 2. Request processing: the navigation system responds to the request, acquires the real-time navigation coordinates of the image tracer through the visual positioning unit, and feeds back to the image system. The feedback method can be real-time sending or recording and batch sending.

[0101] 3. Data integration: after receiving multiple position information, the image system uses its calculation of the conversion relationship between the image coordinate system and the navigation coordinate system (using a multi-point fitting algorithm), or directly uses it for three-dimensional image reconstruction (position information as projection angle input).

[0102] 4. Navigation support: the reconstructed three-dimensional image is shared with the navigation system to realize the visualization of the surgical tool.

[0103] It can be understood that the advantages of the embodiment include: Strong autonomy: the image system leads the data request process, reduces the dependence on the navigation system protocol, and improves the system stability; Precision optimization: direct use of high-precision position information of the navigation system avoids internal sensor errors and improves the geometric reality of three-dimensional reconstruction; Good compatibility: can be adapted to various navigation systems, reducing hospital procurement and maintenance costs.

[0104] Please refer to Figure 2 , the present application provides another embodiment, which provides a coordinate transfer method of a surgical image navigation system, comprising: During the scanning process of the image system 1, the real-time position information of the image system 1 in the navigation coordinate system is determined by the navigation system 3 based on the image tracer 2.

[0105] Specifically, the coordinate transfer method of the surgical image navigation system specifically comprises: S100, during the scanning process of the image system 1, the image system 1 sends a position request to the navigation system 3; S200, acquiring, by the navigation system 3, real-time position information of the image system 1 in a navigation coordinate system in response to a position request, the real-time position information being determined based on an image tracker 2 arranged on the image system 1; S300, feeding back, by the navigation system 3, the real-time position information to the image system 1 or recording.

[0106] It needs to be further explained that the embodiment describes a basic method for coordinate transfer in a surgical image navigation system. The method is applied to a system including an image system 1 and a navigation system 3, and the core steps include: The first step is that, during the scanning process of the image system 1, a position request signal is sent to the communication interface of the navigation system 3 by a control software or a hardware trigger mechanism of the image system 1; The second step is that, in response to the received position request, the processing unit of the navigation system 3 immediately controls the visual positioning unit 4 to perform image acquisition and analysis on the image tracker 2 fixed on the image system 1, so as to acquire and calculate the spatial pose data of the image tracker 2 in the navigation coordinate system at the current time, which is the real-time position information; The third step is that the feedback or recording operation is performed by the communication module of the navigation system 3, that is, the calculated real-time position information is sent back to the image system 1 through the network, or it is bound with a request identifier and stored in the internal cache for recording.

[0107] It can be understood that the application provides a dynamic and multiple coordinate information interaction method basis, which replaces the traditional static single-point calibration and lays a methodological foundation for subsequent improvement of navigation accuracy.

[0108] Specifically, the sending of the position request from the image system 1 to the navigation system 3 includes that the image system 1 sends a position request to the navigation system 3 once for each acquisition of a projection image.

[0109] It needs to be further explained that the step of sending the position request from the image system 1 to the navigation system 3 is specifically performed as follows: a trigger event is generated by the image acquisition card or the host computer of the image system 1 at a specific time when the X-ray generator completes a pulse exposure and the image detector successfully acquires and generates a two-dimensional projection image. The event drives the communication interface of the system to send a data packet containing a specific instruction to the navigation system 3, that is, the position request.

[0110] It can be understood that the method ensures that each acquisition of position information strictly corresponds in time to each frame of original image data available for reconstruction, forming accurate "image-position" data pairs, and providing a necessary prerequisite for high-precision reconstruction or registration.

[0111] Specifically, the step of feeding back the real-time position information to the image system 1 or recording by the navigation system 3 includes: feeding back the corresponding real-time position information to the image system 1 in real time by the navigation system 3 each time a position request is received.

[0112] It should be further explained that the step of feeding back the real-time position information to the image system 1 by the navigation system 3 is specifically implemented as follows: within the navigation system 3, the processing unit does not perform any delay or buffering after calculating the real-time position information, but immediately encapsulates the real-time position information into a data packet and sends it back to the image system 1 that issued the request in real time and synchronously through a network interface. The image system 1 opens a data receiving thread to continuously listen to and receive the position data packets that are continuously transmitted.

[0113] It can be understood that the present application provides a low-delay data stream method, so that the image system can almost in real time perceive its own spatial motion trajectory, meeting the needs of some application scenarios that have high real-time requirements.

[0114] Specifically, the step of feeding back the real-time position information to the image system 1 or recording by the navigation system 3 includes: feeding back the corresponding real-time position information to the image system 1 in real time by the navigation system 3 each time a position request is received.

[0115] It should be further explained that the step of recording by the navigation system 3 and the subsequent feedback step are specifically implemented as follows: after the navigation system 3 calculates the real-time position information each time, it binds the real-time position information to a serial number request identification contained in the received request or generated locally to form a data record unit, and sequentially appends and stores the data record unit in a dedicated memory or a temporary file buffer queue. When the navigation system 3 detects a signal indicating the end of scanning, such as receiving a scan termination instruction or a timeout, a data management module sorts all data record units in the buffer queue according to the serial numbers, packages them into a file or data stream, and sends them to the image system 1 at one time.

[0116] It can be understood that this method converts high-frequency data transmission into batch transmission, greatly reduces the instantaneous pressure on the network communication channel, effectively avoids the problem of data packet loss or delay jitter caused by network congestion, and guarantees the integrity and timing of the data.

[0117] Specifically, the method further comprises: receiving, by the image system 1, a plurality of real-time position information from the navigation system 3; and calculating, by the image system 1, a conversion relationship between the image coordinate system and the navigation coordinate system based on the plurality of real-time position information.

[0118] Specifically, the calculation of the conversion relationship between the image coordinate system and the navigation coordinate system comprises using a multi-point fitting algorithm.

[0119] It needs to be further explained that the embodiment describes the application method of the image system 1 to the received position information. After the coordinate transfer method, the following steps are further included: receiving and analyzing, by a data analysis module of the image system 1, a plurality of real-time position information data packets obtained from the navigation system 3. Then, based on the fact that each data represents a pose point in a known navigation coordinate system, and in combination with the fixed conversion relationship between the image tracker 2 and the image coordinate system, which has been previously calibrated, a multi-point fitting algorithm such as a least square method for calculating an optimal rotation matrix and a translation vector is used for calculation, and finally a globally optimal conversion relationship matrix from the image coordinate system to the navigation coordinate system is solved.

[0120] It can be understood that this method effectively eliminates the random error in single-point measurement through mathematical fitting optimization, and has a certain compensation effect on systematic mechanical deformation error, so that a more accurate and more robust coordinate system conversion relationship than traditional single-point calibration is obtained.

[0121] Specifically, the method further comprises: receiving, by the image system 1, a plurality of real-time position information from the navigation system 3; and performing, by the image system 1, three-dimensional image reconstruction of a target object based on the plurality of real-time position information.

[0122] Specifically, the three-dimensional image reconstruction of the target object based on the plurality of real-time position information comprises: inputting the real-time position information as projection angle information into a reconstruction algorithm.

[0123] It needs to be further explained that the embodiment describes another advanced application method. After the coordinate transfer method, the following steps are further included: receiving and extracting, by a data preprocessing module of the image system 1, a plurality of real-time position information fed back from the navigation system 3. The key is that the spatial pose parameters of the image system 1 contained in these position information are directly used by a three-dimensional image reconstruction module as projection angle information necessary for a CT or CBCT reconstruction algorithm. The reconstruction algorithm uses the accurate angle information provided externally as an input parameter to replace the angle value provided by the internal mechanical encoder to execute a filtered back projection FBP or iterative reconstruction algorithm, and generates three-dimensional volume data.

[0124] It can be understood that the method innovatively bypasses the coordinate system conversion step, directly uses high-precision external measurement data, fundamentally eliminates the errors introduced in the conversion process and internal sensor errors, significantly improves the geometric accuracy of the three-dimensional reconstruction image, and provides a more reliable anatomical background for surgical navigation.

[0125] Specifically, the image system 1 and the navigation system 3 are integrated in the same device, the position request is triggered by a hardware signal, and the real-time position information is processed by an internal program.

[0126] It should be further explained that the embodiment describes the method implementation in a highly integrated system environment. The method is applied to a hardware environment in which the image system 1 and the navigation system 3 are integrated in the same device and share a computer. The step of “sending a position request” is realized by sending an electrical pulse trigger signal through an internal hardware signal line. The step of “obtaining real-time position information” is synchronized by calling the drive interface of the visual positioning unit 4 by the navigation function module in the unified software platform. The step of “feedback or recording” is completed through memory sharing or inter-process communication (IPC) mechanism in the software, completely avoiding external network transmission.

[0127] It should be further explained that the embodiment summarizes the workflow of the above-mentioned system from the perspective of the method. A coordinate transfer method of a surgical image navigation system is applied to any of the above-mentioned system embodiments and mainly includes the following steps: first, during the scanning process of the image system, the image system sends a position request to the navigation system. Then, the navigation system responds to the request and obtains its own real-time navigation coordinate position information by tracking the image tracer. Finally, the navigation system feeds back the position information to the image system or records it first. The sending time of the request can occur every time a projection image is collected. The feedback can be real-time sending or batch sending after scanning. The request can be triggered by software or hardware signals. After receiving multiple position information, the image system can use it to calculate the coordinate conversion relationship, adopt a multi-point fitting algorithm to improve the accuracy, or directly use it as projection angle information for three-dimensional image reconstruction, thereby eliminating the conversion step and further improving the accuracy. When the system is an integrated device, this method is efficiently completed internally through program calling and hardware triggering.

[0128] Please continue to refer to Figures 1-9 It can be understood that the present application provides schemes one to five: In scheme 1, the image system and the navigation system are still connected through a network, and the connection diagram is the same as Figure 1During the scanning process, the interaction is carried out through a software protocol, and the position information is sent multiple times. After the scanning is completed, the image system uses the multiple points to calibrate the position and segment fitting interpolation to obtain more accurate angle information. Then the three-dimensional image is reconstructed using the angle information, and is sent to the navigation system as a spatial background.

[0129] The system connection mode of scheme 2 is the same as that of scheme 1. The information interaction process of the image system and the navigation system is as shown in Figure 5 The difference between scheme 2 and scheme 1 is that, during the scanning process, the image system obtains a standby feedback from the navigation system every time a projection image is generated. The three-dimensional reconstruction is carried out using the angle information at the end of the scanning.

[0130] Scheme 3 is based on scheme 2, and a hardware trigger request connection line is added. During the scanning, the image system sends an angle request to the navigation system every time a projection image is generated. After receiving the request, the navigation system records the current request number and real-time angle value, but does not need to send the angle back to the image system in real time. After the scanning is completed, the navigation system sends all the recorded angle position information together with the request number back to the image system at one time. Then the navigation system carries out the three-dimensional reconstruction using the angle value.

[0131] In scheme 4, the image system and the navigation system are combined into one set of system, which is embodied as a split machine, and only one computer is included, and the software in the computer integrates the image function and the navigation function, and the information transmission is only carried out in the program. During the scanning, the image device hardware triggers the binocular camera to generate an angle position and record it every time a projection image is generated. At the end of the scanning, the three-dimensional reconstruction is directly carried out using the angles.

[0132] Scheme 5 is the one-machine form of scheme 4. The binocular camera is integrated into the image device, and the computer is also placed in the image device. In this way, the connection line between the two parts of the split machine is cancelled, and the system is further simplified, and the floor area is reduced.

[0133] It can be understood that the technical problems solved by the present application include: Problem one: in the prior art, the image system and the navigation system usually only carry out spatial position calibration at one point and generate a coordinate system conversion relationship. The two systems have their own errors in their own position calculation process. Since the deviations of the two coordinate systems at each point are not consistent, the calibration at only one point cannot accurately convert the two coordinate systems.

[0134] Problem two: in the prior art, the image system needs to make a rotating motion when scanning. Usually, the image coordinate system is generated under the assumption that the gantry is rigid, but in actual application, the gantry will inevitably deform. The deformation of the gantry will cause systematic errors to the image coordinate system. The position coordinates provided by the navigation system can correct the systematic errors to some extent, and even can replace the position generated by the image system itself. Thus, the coordinate systems of the two systems are unified, and the influence of the coordinate system conversion is removed.

[0135] Problem three: in the prior art, the communication between the image system and the navigation system is generally carried out through a network protocol, which usually has a delay of 10 ms and uncertainty. Generally, one three-dimensional scanning needs to pass through 200-400 projection angles, and is usually completed within 10-30 seconds, that is, 6-40 projections are needed per second, and the corresponding period is 25-150 ms. It can be seen that the network delay will have a great influence on the accuracy of the transmitted angle. The influence of the network delay can be avoided by changing the interface request from the image system to the navigation system to a hardware signal, and the navigation system first keeps the position in real time after receiving the request, and then sends it back to the image system after a delay.

[0136] Problem four: in the prior art, the image system and the navigation system are usually two independent devices, and need to transmit information through a network. The problems brought by this are that the transmission and interaction between the two systems are relatively complex, and the two systems occupy more space, which has a greater influence on the space occupation of the operating room. The two systems can be designed as a fusion system with image and navigation functions. The same computer and the same software are used, so that the network delay can be avoided, and the system complexity can be reduced.

[0137] It can be understood that the beneficial effects of the present application include: 1. The image navigation integrated system can eliminate the conversion process of the image coordinate and the navigation coordinate, reduce the error and risk, reduce the error transmission process, and improve the navigation accuracy.

[0138] 2. The image navigation integrated system can effectively reduce the space occupation of the operating room.

[0139] 3. When the image and navigation systems are still used in combination, the real-time position of the navigation system can be obtained for each projection image, so that the conversion process of the image coordinate and the navigation coordinate can be eliminated, the error and risk can be reduced, the error transmission process can be reduced, and the navigation accuracy can be improved.

[0140] 4. When the image and navigation systems are still used in combination, the multi-point position calibration method can improve the registration accuracy of the image coordinate system and the navigation coordinate system, so as to improve the navigation accuracy in the operation.

[0141] In the preferred embodiment, the application also provides a computer readable storage medium, which comprises: The computer device can be a server, a terminal, or any other electronic device having necessary computing and / or processing capabilities in a broad sense. In one embodiment, the computer device can include a processor, a memory, a network interface, a communication interface, and the like connected by a system bus. The processor of the computer device can be configured to provide necessary computing, processing, and / or control capabilities. The memory of the computer device can include a non-volatile storage medium and an internal memory. The non-volatile storage medium can store an operating system, a computer program, and the like therein or thereon. The internal memory can provide an environment for running the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be configured to connect and communicate with external devices through a network. The computer program, when executed by the processor, performs the steps of the method of the present application.

[0142] The present application can be implemented as a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the steps of the method of the embodiments of the present application to be performed. In one embodiment, the computer program is distributed over a plurality of computer devices or processors coupled by a network, such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed manner. A single method step / operation, or two or more method steps / operations, can be performed by a single computer device or processor, or by two or more computer devices or processors. One or more method steps / operations can be performed by one or more computer devices or processors, and one or more other method steps / operations can be performed by one or more other computer devices or processors. One or more computer devices or processors can perform a single method step / operation, or perform two or more method steps / operations.

[0143] It will be appreciated by those skilled in the art that the method steps of the present application can be instructed by a computer program to relevant hardware such as a computer device or a processor, which can be stored in a non-transitory computer readable storage medium, and which, when executed, causes the steps of the present application to be performed. Depending on the circumstances, any reference herein to a memory, storage, database, or other medium can include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tapes, floppy disks, magneto-optical data storage devices, optical data storage devices, hard disks, solid-state disks, and the like. Examples of volatile memory include random access memory (RAM), external cache memory, and the like.

[0144] The technical features described above can be combined arbitrarily. Although all possible combinations of the technical features are not described, any combination of the technical features should be considered to be covered by the present specification, as long as there is no contradiction in such a combination.

[0145] The specific embodiments of the application described above are not to be construed as limiting the scope of the present application. Any other corresponding changes and modifications of the technical concept according to the present application should be included in the scope of the protection of the present application.

Claims

1. A surgical image navigation system, characterized in that, include: Imaging system (1), used to acquire image data of the target object; Navigation system (3) is used for spatial positioning of surgical instruments; The imaging system (1) is communicatively connected to the navigation system (3); During the scanning process of the image system (1), the navigation system (3) is configured to send the real-time position information of the image system (1) in the navigation coordinate system to the image system (1) or record it, and the real-time position information is determined based on the image tracer (2) set on the image system (1). The imaging system (1) is configured to send a location request to the navigation system (3) at a preset period or based on a scanning event during the scanning process; The imaging system (1) is also configured to calculate the transformation relationship between the image coordinate system and the navigation coordinate system based on multiple real-time location information obtained from the navigation system (3), or to use the real-time location information to reconstruct a three-dimensional image of the target object.

2. The surgical image navigation system according to claim 1, characterized in that, The scanning event is generated when the imaging system (1) acquires a frame of projected image.

3. The surgical image navigation system according to claim 1, characterized in that, The navigation system (3) is configured to feed back the real-time location information to the imaging system (1) in real time.

4. The surgical image navigation system according to claim 1, characterized in that, The navigation system (3) is configured to record the corresponding request identifier and real-time location information when a location request is received, and to send the recorded real-time location information to the imaging system (1) after the scanning is completed.

5. The surgical image navigation system according to any one of claims 1 to 4, characterized in that, Location requests are sent via software protocol signals.

6. The surgical image navigation system according to any one of claims 1 to 4, characterized in that, Location requests are sent via hardware trigger signals.

7. The surgical image navigation system according to claim 1, characterized in that, The imaging system (1) is configured to calculate the transformation relationship using a multi-point fitting algorithm.

8. The surgical image navigation system according to claim 1, characterized in that, The imaging system (1) is also configured to perform three-dimensional image reconstruction based on multiple real-time location information obtained from the navigation system (3).

9. The surgical image navigation system according to claim 8, characterized in that, The real-time location information is used as the projection angle information for 3D reconstruction.

10. The surgical image navigation system according to claim 1, characterized in that, The imaging system (1) and the navigation system (3) are integrated into the same device.

11. The surgical image navigation system according to claim 10, characterized in that, The same device includes a shared computer that runs software that integrates image acquisition and navigation functions.

12. The surgical image navigation system according to claim 11, characterized in that, Information transmission between the imaging system (1) and the navigation system (3) is achieved through internal program calls of the software.

13. The surgical image navigation system according to claim 10, characterized in that, The visual positioning unit (4) of the navigation system (3) is integrated into the frame of the imaging system (1).

14. The surgical image navigation system according to claim 13, characterized in that, The visual positioning unit (4) is a binocular camera.

15. A navigation system for use in the surgical image navigation system according to any one of claims 1-14, characterized in that, The navigation system (3) is configured to communicate with an image system (1), wherein, during the scanning process of the image system (1), the navigation system (3) is configured to provide the image system (1) with real-time position information of the image system (1) in the navigation coordinate system, the real-time position information being determined based on an image tracer (2) set on the image system (1).

16. An imaging system for use in the surgical image navigation system according to any one of claims 1-14, characterized in that, The imaging system (1) is configured to communicate with a navigation system (3), wherein, during the scanning process of the imaging system (1), the imaging system (1) is configured to obtain real-time position information of the imaging system (1) in the navigation coordinate system from the navigation system (3), and the real-time position information is determined based on an image tracer (2) set on the imaging system (1).

17. A coordinate transfer method for surgical image navigation, characterized in that, For the surgical image navigation system according to any one of claims 1-14, comprising: During the scanning process of the image system (1), the navigation system (3) determines the real-time position information of the image system (1) in the navigation coordinate system based on the image tracer (2); The real-time location information is transmitted to the imaging system (1).

18. The coordinate transfer method according to claim 17, characterized in that, The method specifically includes: S100. During the scanning process of the imaging system (1), the imaging system (1) sends a location request to the navigation system (3); S200, the navigation system (3) responds to the location request and obtains the real-time location information of the image system (1) in the navigation coordinate system, the real-time location information being determined based on the image tracer (2) set on the image system (1); S300, the navigation system (3) feeds back the real-time location information to the imaging system (1) or records it.

19. The coordinate transfer method according to claim 18, characterized in that, The step of sending a location request from the imaging system (1) to the navigation system (3) includes: the imaging system (1) sending a location request to the navigation system (3) once for each frame of projected image acquired.

20. The coordinate transfer method according to claim 18, characterized in that, The step of the navigation system (3) feeding back the real-time location information to the image system (1) or recording it includes: the navigation system (3) sending the corresponding real-time location information to the image system (1) in real time each time a location request is received.

21. The coordinate transfer method according to claim 18, characterized in that, The step of the navigation system (3) feeding back the real-time location information to the image system (1) or recording it includes: the navigation system (3) recording the corresponding request identifier and real-time location information each time a location request is received; and the navigation system (3) sending all the recorded real-time location information to the image system (1) after the scanning of the image system (1) is completed.

22. The coordinate transfer method according to any one of claims 18 to 21, characterized in that, The method further includes: receiving multiple real-time location information from the navigation system (3) by the image system (1); and calculating the transformation relationship between the image coordinate system and the navigation coordinate system based on the multiple real-time location information by the image system (1).

23. The coordinate transfer method according to claim 22, characterized in that, The transformation relationship between the computational image coordinate system and the navigation coordinate system includes the use of a multi-point fitting algorithm.

24. The coordinate transfer method according to any one of claims 18 to 21, characterized in that, The method further includes: receiving multiple real-time location information from the navigation system (3) by the imaging system (1); and reconstructing a three-dimensional image of the target object by the imaging system (1) based on the multiple real-time location information.

25. The coordinate transfer method according to claim 24, characterized in that, The three-dimensional image reconstruction of the target object based on the multiple real-time location information is performed by inputting the real-time location information as projection angle information into the reconstruction algorithm.

26. The coordinate transfer method according to claim 17, characterized in that, The imaging system (1) and the navigation system (3) are integrated into the same device. The location request is triggered by a hardware signal and the real-time location information is processed by an internal program.

27. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 17 to 26.

Images