Registration system and method for biomagnetic imaging

Abstract

The invention provides a registration system and method for biological magnetic imaging. The system comprises a sensor identification and positioning module, a body identification and positioning module, a medical image scanning module, a magnetic measurement module, an optical information acquisition module, a medical image processing module and an information processing module. The medical image scanning module is used for performing medical image scanning on the to-be-detected object pasted with the at least one body recognition and positioning module to obtain medical image data; the magnetic measurement module is used for performing biological magnetic signal measurement on the to-be-measured object pasted with the body recognition and positioning module to obtain biological magnetic signal data; the optical information acquisition module is used for performing optical scanning on a scene for biological magnetic signal measurement to obtain scene information; the medical image processing module is used for reconstructing according to the medical image data to obtain first position information of the body recognition and positioning module; and the information processing module is used for performing point cloud matching according to the scene information, the first position information and modeling of the sensor identification and positioning module to obtain a position relationship of the sensor identification and positioning module relative to the to-be-detected object, and performing registration on the medical image data and the biological magnetic signal data according to the position relationship. According to the invention, the body identification and positioning module participates in medical image scanning, and spatial registration is carried out by using the position information of the body identification and positioning module in a medical image, the optical contour information of the sensor identification and positioning module and the body identification and positioning module in the use process, and modeling of the sensor identification and positioning module; the compatibility is good, the experience feeling is good, and the efficiency is high.

Description

Technical Field

[0001] This invention relates to the field of medical technology, and in particular to a registration system and method for biomagnetic imaging. Background Technology

[0002] Biomagnetic field measurement technology is a technique used to detect and measure weak magnetic field signals generated within living organisms. These magnetic field signals are mainly produced by physiological processes within the organism, such as neural activity, heartbeat, and muscle contraction. Because its detection process is non-invasive and non-radioactive, and it has the ability to acquire information about internal biological activities in real time and accurately, biomagnetic field measurement technology is of great significance to the biomedical field.

[0003] Source localization analysis in biological electrophysiology using magnetic signal imaging requires medical imaging structures and multimodal registration to unify the coordinate systems of different devices. Current mainstream magnetic signal registration techniques rely on attaching markers to the torso surface during magnetic signal imaging and medical imaging. These markers are relatively large and often placed in locations such as the chest, waist, and abdomen, making them highly susceptible to influences from respiration and spinal curvature. Existing techniques often use excessively large or distributed markers to improve accuracy, which can lead to a poor patient experience.

[0004] Furthermore, existing biomarkers are mostly adapted to a single MRI or CT image modality, lacking compatibility with multiple medical imaging methods and equipment, which affects the convenience of clinical and research use, and also lacks technology for accurately locating biomarkers from medical images. At the same time, the slow registration process also increases errors and patient discomfort.

[0005] In summary, existing technologies suffer from poor compatibility, poor user experience, and low efficiency. Summary of the Invention

[0006] This invention provides a registration system and method for biomagnetic imaging to overcome the shortcomings of poor compatibility, poor user experience, and low efficiency in the prior art, and to achieve biomagnetic imaging registration with good compatibility, good user experience, and high efficiency.

[0007] This invention provides a registration system for biomagnetic imaging, including a sensor identification and positioning module, a body identification and positioning module, a medical image scanning module, a magnetic measurement module, an optical information acquisition module, a medical image processing module, and an information processing module; The medical image scanning module is used to perform medical image scanning on the test object with at least one of the body recognition and positioning modules attached, and to obtain medical image data. The magnetic measurement module is used to measure the biomagnetic signal of the test object to which the body recognition and positioning module is attached, and to obtain biomagnetic signal data. The magnetic measurement module is equipped with at least one of the sensor recognition and positioning modules. The optical information acquisition module is used to perform optical scanning on the scene of the biomagnetic signal measurement to obtain scene information; The medical image processing module is used to reconstruct the first location information of the body recognition and positioning module based on the medical image data. The information processing module is used to perform point cloud matching based on the scene information, the first location information, and the modeling of the sensor identification and positioning module to obtain the positional relationship of the sensor identification and positioning module relative to the object to be measured, and to register the medical image data and the biomagnetic signal data according to the positional relationship.

[0008] According to the biomagnetic imaging registration system provided by the present invention, point cloud matching is performed based on the scene information, the first position information, and the modeling of the sensor identification and positioning module to obtain the positional relationship of the sensor identification and positioning module relative to the object under test, specifically including: Point cloud matching is performed based on the modeling of the sensor identification and positioning module and the scene information to obtain the conversion relationship from the sensor array modeling scene to the optical scanning scene; The first location information and the scene information are matched using point cloud to obtain the conversion relationship from optical scanning scene to medical imaging scene; The positional relationship of the sensor identification and positioning module relative to the object under test is obtained based on the conversion relationship between the sensor array modeling scene and the optical scanning scene, as well as the conversion relationship between the optical scanning scene and the medical imaging scene.

[0009] According to a biomagnetic imaging registration system provided by the present invention, the sensor identification and positioning module is made of non-magnetic material and includes multiple positioning reference objects and a clamping device; the clamping device is used to fix the sensor in the magnetic measurement module.

[0010] According to the registration system for biomagnetic imaging provided by the present invention, the positioning reference object is composed of multiple irregular curved surfaces spliced ​​together, including at least two protruding structures.

[0011] According to a biomagnetic imaging registration system provided by the present invention, the body recognition and positioning module includes a plurality of asymmetrically arranged recognition units, each recognition unit including an internally hollow shell and a solvent filled within the shell, the shell and the solvent being capable of imaging in the medical imaging scanning module.

[0012] According to a biomagnetic imaging registration system provided by the present invention, the body recognition and positioning module is attached to the target position on the torso of the object to be tested; The target location includes the suprasternal notch.

[0013] This invention also provides a registration method for biomagnetic imaging, comprising: A medical image scan is performed on the test object with at least one of the aforementioned body recognition and positioning modules affixed to it, and medical image data is obtained. A magnetic measurement module equipped with at least one sensor identification and positioning module is used to measure the biomagnetic signal of the test object on which the body identification and positioning module is attached, and biomagnetic signal data is obtained. Optical scanning is performed on the scene where the biomagnetic signal is measured to obtain scene information; The first location information of the body recognition and positioning module is reconstructed based on the medical image data; Point cloud matching is performed based on the scene information, the first location information, and the modeling of the sensor identification and positioning module to obtain the positional relationship of the sensor identification and positioning module relative to the object to be measured. The medical image data and the biomagnetic signal data are then registered based on the positional relationship.

[0014] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the biomagnetic imaging registration method as described above.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the biomagnetic imaging registration method as described above.

[0016] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the biomagnetic imaging registration method as described above.

[0017] The present invention provides a biomagnetic imaging registration system and method. The system includes a sensor identification and positioning module, a body identification and positioning module, a medical image scanning module, a magnetic measurement module, an optical information acquisition module, a medical image processing module, and an information processing module. The medical image scanning module is used to perform medical image scanning on a test object with at least one of the body identification and positioning modules attached, to obtain medical image data. The magnetic measurement module is used to perform biomagnetic signal measurement on the test object with the body identification and positioning modules attached, to obtain biomagnetic signal data. The magnetic measurement module is equipped with at least one of the sensor identification and positioning modules. The optical information acquisition module is used to perform optical scanning on the scene of the biomagnetic signal measurement, to obtain scene information. The medical image processing module is used to reconstruct first position information of the body identification and positioning module based on the medical image data. The information processing module is used to perform point cloud matching based on the scene information, the first position information, and the modeling of the sensor identification and positioning module to obtain the positional relationship of the sensor identification and positioning module relative to the test object, and to register the medical image data and the biomagnetic signal data according to the positional relationship. This invention uses a body recognition and positioning module to participate in medical image scanning. It utilizes the position information of the body recognition and positioning module in the medical image, the optical contour information of the sensor recognition and positioning module during use, and the modeling of the sensor recognition and positioning module to perform spatial registration. It has good compatibility, good user experience, and high efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is one of the structural schematic diagrams of the biomagnetic imaging registration system provided by the present invention.

[0020] Figure 2 This is the second schematic diagram of the registration system for biomagnetic imaging provided by the present invention.

[0021] Figure 3 This is a schematic diagram of the positioning reference object for the sensor identification and positioning module of the biomagnetic imaging registration system provided by the present invention.

[0022] Figure 4 This is a schematic diagram of the body recognition and positioning module of the biomagnetic imaging registration system provided by the present invention.

[0023] Figure 5This is a schematic flowchart of the biomagnetic imaging registration method provided by the present invention.

[0024] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] Magnetocardiography (MCG) and magnetoencephalography (MEG) systems, developed based on biomagnetic field measurement technology, have been widely used in neuroscience, cardiovascular and cerebrovascular diseases, and biomagnetic field imaging, providing strong support for the development of the biomedical field. However, many current magnetocardiography systems are built based on superconducting quantum interference devices (SQUIDs), and their use is limited by the need for liquid helium to maintain cryogenic operating conditions, resulting in high maintenance costs and poor equipment flexibility. To solve this problem, emerging optically pumped magnetometers (OPMs) have developed rapidly. They can operate at room temperature, have lower maintenance costs and better flexibility, and have been used in the development of various magnetocardiograms. In the existing technology, SQUIDs have several registration methods, but OPMs have a shorter development history, fewer registration techniques, and existing SQUID and OPM registration methods lack universality.

[0027] Based on this, the present invention proposes a registration system and method for biomagnetic imaging.

[0028] The following is combined Figures 1-4 The biomagnetic imaging registration system of the present invention is described. Figure 1 This is one of the structural schematic diagrams of the biomagnetic imaging registration system provided by the present invention, such as... Figure 1 As shown, the system includes a sensor identification and positioning module 110, a body identification and positioning module 120, a medical image scanning module 130, a magnetic measurement module 140, an optical information acquisition module 150, a medical image processing module 160, and an information processing module 170.

[0029] The medical image scanning module 130 is used to perform medical image scanning on the test object with at least one of the body recognition and positioning modules 120 attached thereon, and to obtain medical image data.

[0030] It should be noted that the body recognition and positioning module 120 is attached to the target location on the torso of the subject to be tested. The target location is preset and includes locations that are not greatly affected by individual differences such as breathing and spinal curvature, resulting in a good user experience.

[0031] In some embodiments, the body recognition and positioning module 120 is attached to the target location on the torso of the object to be tested; The target location includes the suprasternal notch.

[0032] It should be noted that the present invention does not limit the test object, which can be any organism, including but not limited to mammals such as humans, dogs, and pigs, as well as non-human primates such as monkeys.

[0033] This invention does not limit the equipment and methods of the medical image scanning module 130. In some embodiments, the medical image scanning module 130 employs any one of magnetic resonance imaging (MRI), computed tomography (CT), echocardiography (EC), or a combination thereof.

[0034] In actual operation, such as Figure 2 As shown, the body recognition and positioning module 120 is attached to a fixed position on the torso of the subject to be tested. The medical image scanning module 130 is used to perform medical image scanning on the subject to obtain medical image data including body anatomical structure data and the position information of the body recognition and positioning module 120.

[0035] The magnetic measurement module 140 is used to measure the biomagnetic signal of the test object to which the body recognition and positioning module 120 is attached, and to obtain biomagnetic signal data. The magnetic measurement module 140 is equipped with at least one of the sensor recognition and positioning modules 110.

[0036] It should be emphasized that during the biomagnetic signal measurement process, the body recognition and positioning module 120 is still attached to the object being tested.

[0037] Specifically, in actual operation, after the medical image scan is completed, the subject remains in the attached state of the body recognition and positioning module 120 for biomagnetic signal measurement. In some embodiments, the subject lies on the magnetic signal measurement bed, the magnetic measurement module 140 with the sensor recognition and positioning module 110 installed is placed over the torso surface, and after the magnetic measurement module 140 and the measurement bed are fixed, the subject is placed inside the magnetic shielding tank for biomagnetic signal measurement.

[0038] The present invention does not limit the equipment and methods of the magnetic measurement module 140. In some embodiments, the magnetic measurement module 140 adopts any one of the following: a magnetocardiometer based on a superconducting quantum interference device (SQUID), an optical pumping magnetometer (OPM) array, or an atomic magnetometry (AM) array.

[0039] Furthermore, it should be emphasized that during the biomagnetic signal measurement process, at least one sensor identification and positioning module 110 is mounted on the magnetic measurement module 140. The sensor identification and positioning module 110 provided by this invention is applicable to magnetic measurement modules 140 of all rigid or semi-rigid structural arrays.

[0040] The present invention does not limit the connection method between the sensor identification and positioning module 110 and the magnetic measurement module 140. The sensor identification and positioning module 110 and the magnetic measurement module 140 can be integrally formed, or the sensor identification and positioning module 110 and the magnetic measurement module 140 can be rigidly connected.

[0041] The optical information acquisition module 150 is used to perform optical scanning on the scene of the biomagnetic signal measurement to obtain scene information.

[0042] Understandably, the optical information acquisition module 150 is used to acquire optical information from the sensor identification and positioning module 110 and the body identification and positioning module 120 in the current scene after the biomagnetic signal measurement is completed, thereby determining the position information of the sensor identification and positioning module 110 and the body identification and positioning module 120 and saving it as digital information. It is important to note that the optical information acquisition module 150 is characterized by acquiring the shape of the target object through laser scanning. Scanning can be performed manually or automatically, and the surface structure shape data of the target can be obtained after scanning. Manual scanning involves the operator continuously moving the optical scanner, using the scanner's viewfinder to image the scanned area from different angles and positions, obtaining the three-dimensional point cloud information of the scanned area. Alternatively, an automatic scanning device can be used, which uses a movable clamping device to replace the human arm, achieving multi-angle optical information acquisition.

[0043] In order to obtain clearer scene information, in some embodiments, the spatial resolution of the optical information acquisition module 150 is not less than 1 mm.

[0044] The medical image processing module 160 is used to reconstruct the first location information of the body recognition and positioning module 120 based on the medical image data.

[0045] After obtaining the medical image data, the medical image processing module 160 is used to obtain accurate position information of the body recognition and positioning module 120 from the medical image data.

[0046] It should be noted that, since the medical image data acquired by the medical image scanning module 130 may be distorted, the present invention uses medical image data to reconstruct the position information of the body recognition and positioning module 120 to increase accuracy.

[0047] In one specific embodiment, the reconstruction steps include: locating and identifying the image region where the body recognition and positioning module 120 is located from medical image data through methods such as image thresholding, voxel clustering size filtering, and point cloud matching filtering; then converting the 3D information of the image region into a 3D model using 3D image processing software; and then performing lossless information reconstruction on the 3D model through methods such as point cloud matching reconstruction to obtain lossless body positioning module positioning information (i.e., the first position information of the body recognition and positioning module 120).

[0048] The information processing module 170 is used to perform point cloud matching based on the scene information, the first location information, and the modeling of the sensor identification and positioning module 110 to obtain the positional relationship of the sensor identification and positioning module 110 relative to the object to be measured, and to register the medical image data and the biomagnetic signal data according to the positional relationship.

[0049] It should be noted that, such as Figure 2 As shown, the information processing module 170 processes the point cloud digital information acquired by the optical information acquisition module 150, including but not limited to identifying and locating the sensor recognition and positioning module 110 and the body recognition and positioning module 120 from the scene information scanned by optical scanning through color recognition, voxel recognition, and point cloud recognition. Then, it matches them with the corresponding information in the modeling of the sensor recognition and positioning module 110 and the medical image data through the point cloud processing registration algorithm, thereby obtaining the positional relationship between the sensor marked by the sensor recognition and positioning module 110 and the body of the test object.

[0050] Furthermore, after obtaining the medical imaging data, the process also includes extracting anatomical structures from the medical imaging data for source imaging. These anatomical structures include the human torso, lungs, and the heart structure to be diagnosed or studied.

[0051] The biomagnetic imaging registration system provided by this invention is compatible with various detection modules (including but not limited to optically pumped magnetometers (OPM) and superconducting quantum interference devices (SQUID)) for biomagnetic imaging and medical imaging (including but not limited to CT and MRI). It is suitable for multi-dimensional (including but not limited to two-dimensional, three-dimensional, and four-dimensional) biomagnetic imaging and has good compatibility. During implementation, optical scanning is used throughout for spatial information recording. Only prior knowledge of the spatial relationship between the marker module and the sensor is required to achieve three-dimensional matching between the sensor and the torso, as well as the structures of multiple organs within it. Excluding the medical imaging scan and magnetocardiography (MCC) program execution, the entire registration operation takes 30-60 seconds, using only the area including the torso of the subject and the sensor identification and positioning module 110, and achieving a final registration accuracy of 0.1-1 mm, demonstrating high efficiency.

[0052] The following will further explain how the positional relationship of the sensor identification and positioning module 110 relative to the object under test is obtained. In some embodiments, point cloud matching is performed based on the scene information, the first position information, and the modeling of the sensor identification and positioning module to obtain the positional relationship of the sensor identification and positioning module relative to the object under test, specifically including: Point cloud matching is performed based on the modeling of the sensor identification and positioning module and the scene information to obtain the conversion relationship from the sensor array modeling scene to the optical scanning scene; The first location information and the scene information are matched using point cloud to obtain the conversion relationship from optical scanning scene to medical imaging scene; The positional relationship of the sensor identification and positioning module relative to the object under test is obtained based on the conversion relationship between the sensor array modeling scene and the optical scanning scene, as well as the conversion relationship between the optical scanning scene and the medical imaging scene.

[0053] Specifically, the scene information is processed, including but not limited to identifying and locating the sensor recognition and positioning module 110 and the body recognition and positioning module 120 through color recognition, voxel recognition, and point cloud recognition. The modeling of the recognition module (sensor recognition and positioning module 110) is used as the matching source, and the recognition module extracted from the medical image is used as the matching target. A point cloud processing registration algorithm is run to perform the first matching, thereby obtaining the transformation relationship from the sensor array modeling scene to the optical scanning scene. and It should be noted that the present invention does not limit the modeling of the sensor identification and positioning module 110. In one specific embodiment, the sensor array of the magnetic measurement module 140, which includes the sensor identification and positioning module 110, is directly generated by the design software after the three-dimensional design of the sensor array is completed.

[0054] Then, the localization module (body recognition localization module 120) extracted from the medical image is used as the matching source, and the localization module (body recognition localization module 120) obtained from the optical scan is used as the matching target. A point cloud processing registration algorithm is run to perform a second matching, thereby obtaining the transformation relationship from the optical scan scene to the medical image scene. and

[0055] Through the final transformation relationship The sensor's position p and angle o relative to the human body are obtained, and the conversion method is as follows: .

[0056] in, This represents the position of each sensor in the sensor array modeling space. The orientation of each sensor in the sensor array modeling space.

[0057] Furthermore, the sensor identification and positioning module 110 will be further described below. The sensor identification and positioning module is made of non-magnetic material and includes multiple positioning reference objects and a clamping device; the clamping device is used to fix the sensor in the magnetic measurement module.

[0058] Specifically, the sensor identification and positioning module 110 is used to position and register the magnetic measurement module 140. Its design includes a positioning reference made of non-magnetic material and a matching sensor clamping device. The clamping device is a rigid structure.

[0059] In one specific embodiment, the clamping device is a movable panel with a slot for mounting an MCG measurement probe. At the same time, a sensor positioning module integrally manufactured with the clamping device is designed on the exposed surface of the clamping device to achieve a rigid connection between the sensor identification and positioning module 110 and the magnetic measurement module 140.

[0060] Furthermore, the present invention does not impose specific limitations on the size of the positioning reference object. In one specific embodiment, the size of the positioning reference object is set to any value from 5mm to 50mm. The positioning reference object design of the embodiments of the present invention is more compact and convenient than existing related designs, reducing scanning time and scanning difficulty.

[0061] Furthermore, the present invention does not impose specific limitations on the shape of the positioning reference object, and the shape includes, but is not limited to, circles and squares.

[0062] Based on the above embodiments, in one specific embodiment, the size of the positioning reference object is set to 25mm, and its shape is a combination of cylindrical and square.

[0063] Furthermore, based on the above embodiments, the positioning reference object is composed of multiple irregular curved surfaces spliced ​​together, including at least two protruding structures.

[0064] Specifically, the positioning reference object is composed of multiple irregular curved surfaces and contains two or more protruding structures.

[0065] In one specific embodiment, the multiple curved surfaces of the positioning reference object are shaped like mountain peaks, such as... Figure 3 As shown.

[0066] The embodiments of the present invention reduce misidentification by using positioning reference objects made of irregular curved surfaces, achieving high positioning accuracy while occupying a small volume and being easy to wear.

[0067] The body recognition and positioning module 120 is further described below. In some embodiments, the body recognition and positioning module includes a plurality of asymmetrically arranged recognition units, each recognition unit including an internally hollow shell and a solvent filled within the shell, the shell and the solvent being capable of imaging in the medical imaging scanning module.

[0068] Specifically, the body recognition and positioning module 120 is used for positioning in medical images. It is based on a solvent-containing shell, in which multiple recognition units are arranged asymmetrically. Both the shell and the solvent can be imaged in the medical image scanning module.

[0069] In some embodiments, the housing is a hollow structure made of non-magnetic material that can be imaged in CT, and the interior of the housing is filled with a solvent that can be imaged in MRI, with the solution being replaced by a removable sealing structure.

[0070] Furthermore, in other embodiments, the materials used for the casing and solvent are suitable for imaging in a variety of medical images, including but not limited to CT and MRI.

[0071] Furthermore, the present invention does not impose a specific limitation on the size of the body recognition and positioning module 120. In one specific embodiment, the size of the housing of the body recognition and positioning module 120 is set to any value from 5mm to 100mm. The positioning reference object design of the embodiments of the present invention is more compact and convenient than existing related designs, reducing scanning time and scanning difficulty.

[0072] Furthermore, the present invention does not impose specific limitations on the shape of the shell of the body recognition and positioning module 120, and the shape includes, but is not limited to, cylindrical and spherical.

[0073] Based on the above embodiments, in one specific embodiment, the outer shell is a cylinder with a size of 50mm, and its shape is a combination of cylindrical and spherical. Figure 4 As shown.

[0074] The body recognition and positioning module provided in this embodiment of the invention achieves a small footprint while ensuring stability and positioning accuracy, and can be used for imaging in a variety of medical images.

[0075] This design is more compact than existing related designs, reduces scanning time and difficulty, provides more stable positioning, improves the accuracy of human positioning, and can image in a variety of medical images.

[0076] Furthermore, in order to improve the efficiency of scene information processing, the housing of the recognition unit is designed to facilitate optical scanning recognition.

[0077] The sensor identification and positioning module 110 and body identification and positioning module 120 provided by this invention are ingeniously and stably designed, improving the subject's comfort while achieving shorter testing time (less than or equal to 5 minutes) and higher registration accuracy (up to 0.2 mm). The materials used are suitable for imaging in various medical imaging modalities, including but not limited to CT and MRI.

[0078] The biomagnetic imaging registration system provided by this invention includes a sensor identification and positioning module, a body identification and positioning module, a medical image scanning module, a magnetic measurement module, an optical information acquisition module, a medical image processing module, and an information processing module. The medical image scanning module performs medical image scanning on a test object with at least one of the body identification and positioning modules attached, obtaining medical image data. The magnetic measurement module performs biomagnetic signal measurement on the test object with the body identification and positioning modules attached, obtaining biomagnetic signal data. The magnetic measurement module is equipped with at least one of the sensor identification and positioning modules. The optical information acquisition module performs optical scanning on the scene of the biomagnetic signal measurement, obtaining scene information. The medical image processing module reconstructs first position information of the body identification and positioning module based on the medical image data. The information processing module performs point cloud matching based on the scene information, the first position information, and the modeling of the sensor identification and positioning module to obtain the positional relationship of the sensor identification and positioning module relative to the test object, and registers the medical image data and the biomagnetic signal data according to the positional relationship. This invention uses a body recognition and positioning module to participate in medical image scanning. It utilizes the position information of the body recognition and positioning module in the medical image, the optical contour information of the sensor recognition and positioning module during use, and the modeling of the sensor recognition and positioning module to perform spatial registration. It has good compatibility, good user experience, and high efficiency.

[0079] The registration method for biomagnetic imaging provided by this invention is described below. The biomagnetic imaging registration method described below can be referred to in correspondence with the biomagnetic imaging registration system described above. For example... Figure 5 As shown, the method includes: Step 510: Perform a medical image scan on the test object with at least one of the body recognition and positioning modules attached to it to obtain medical image data; Step 520: Use a magnetic measurement module equipped with at least one sensor identification and positioning module to measure the biomagnetic signal of the test object on which the body identification and positioning module is attached, and obtain biomagnetic signal data; Step 530: Perform an optical scan on the scene where the biomagnetic signal is measured to obtain scene information; Step 540: Reconstruct the first location information of the body recognition and positioning module based on the medical image data; Step 550: Perform point cloud matching based on the scene information, the first location information, and the modeling of the sensor identification and positioning module to obtain the positional relationship of the sensor identification and positioning module relative to the object to be measured, and register the medical image data and the biomagnetic signal data according to the positional relationship.

[0080] According to a biomagnetic imaging registration method provided by the present invention, point cloud matching is performed based on the scene information, the first location information, and the modeling of the sensor identification and positioning module to obtain the positional relationship of the sensor identification and positioning module relative to the object under test, specifically including: Point cloud matching is performed based on the modeling of the sensor identification and positioning module and the scene information to obtain the conversion relationship from the sensor array modeling scene to the optical scanning scene; The first location information and the scene information are matched using point cloud to obtain the conversion relationship from optical scanning scene to medical imaging scene; The positional relationship of the sensor identification and positioning module relative to the object under test is obtained based on the conversion relationship between the sensor array modeling scene and the optical scanning scene, as well as the conversion relationship between the optical scanning scene and the medical imaging scene.

[0081] According to a biomagnetic imaging registration method provided by the present invention, the sensor identification and positioning module is made of non-magnetic material and includes multiple positioning reference objects and a clamping device; the clamping device is used to fix the sensor in the magnetic measurement module.

[0082] According to the registration method for biomagnetic imaging provided by the present invention, the positioning reference object is composed of multiple irregular curved surfaces spliced ​​together, including at least two protruding structures.

[0083] According to a biomagnetic imaging registration method provided by the present invention, the body recognition and positioning module includes a plurality of asymmetrically arranged recognition units, each recognition unit including an internally hollow shell and a solvent filled within the shell, the shell and the solvent being capable of imaging in the medical imaging scanning module.

[0084] According to a biomagnetic imaging registration method provided by the present invention, the body recognition and positioning module is attached to the target position on the torso of the object to be tested; The target location includes the suprasternal notch.

[0085] The biomagnetic imaging registration method provided by this invention involves: scanning a test object with at least one body recognition and positioning module attached to it using medical images to obtain medical image data; measuring the biomagnetic signal of the test object with the body recognition and positioning module attached using a magnetic measurement module equipped with at least one sensor recognition and positioning module to obtain biomagnetic signal data; optically scanning the scene of the biomagnetic signal measurement to obtain scene information; reconstructing the first position information of the body recognition and positioning module based on the medical image data; performing point cloud matching based on the scene information, the first position information, and the modeling of the sensor recognition and positioning module to obtain the positional relationship of the sensor recognition and positioning module relative to the test object; and registering the medical image data and the biomagnetic signal data based on the positional relationship. This invention utilizes the body recognition and positioning module in medical image scanning, leveraging the position information of the body recognition and positioning module in the medical image, the optical contour information of the sensor recognition and positioning module during use, and the modeling of the sensor recognition and positioning module for spatial registration. This method offers good compatibility, a superior user experience, and high efficiency.

[0086] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call logic instructions in the memory 630 to execute a biomagnetic imaging registration method, which includes: performing a medical image scan on a test object with at least one of the body recognition and positioning modules attached to it to obtain medical image data; using a magnetic measurement module equipped with at least one sensor recognition and positioning module to perform biomagnetic signal measurement on the test object with the body recognition and positioning module attached to it to obtain biomagnetic signal data; performing an optical scan on the scene of the biomagnetic signal measurement to obtain scene information; reconstructing a first position information of the body recognition and positioning module based on the medical image data; performing point cloud matching based on the scene information, the first position information, and the modeling of the sensor recognition and positioning module to obtain the positional relationship of the sensor recognition and positioning module relative to the test object; and registering the medical image data and the biomagnetic signal data based on the positional relationship.

[0087] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0088] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the biomagnetic imaging registration method provided by the above methods. The method includes: performing a medical image scan on a test object with at least one of the body recognition and positioning modules attached to it to obtain medical image data; using a magnetic measurement module equipped with at least one sensor recognition and positioning module to perform biomagnetic signal measurement on the test object with the body recognition and positioning module attached to it to obtain biomagnetic signal data; performing an optical scan on the scene of the biomagnetic signal measurement to obtain scene information; reconstructing a first position information of the body recognition and positioning module based on the medical image data; performing point cloud matching based on the scene information, the first position information, and the modeling of the sensor recognition and positioning module to obtain the positional relationship of the sensor recognition and positioning module relative to the test object; and registering the medical image data and the biomagnetic signal data based on the positional relationship.

[0089] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a biomagnetic imaging registration method provided by the methods described above. This method includes: performing a medical image scan on a test object with at least one of the body recognition and positioning modules attached thereto, to obtain medical image data; using a magnetic measurement module equipped with at least one sensor recognition and positioning module to perform biomagnetic signal measurement on the test object with the attached body recognition and positioning module, to obtain biomagnetic signal data; performing an optical scan on the scene of the biomagnetic signal measurement to obtain scene information; reconstructing first position information of the body recognition and positioning module based on the medical image data; performing point cloud matching based on the scene information, the first position information, and the modeling of the sensor recognition and positioning module to obtain the positional relationship of the sensor recognition and positioning module relative to the test object; and registering the medical image data and the biomagnetic signal data based on the positional relationship.

[0090] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0091] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A registration system for biomagnetic imaging, characterized in that, It includes a sensor identification and positioning module, a body identification and positioning module, a medical image scanning module, a magnetic measurement module, an optical information acquisition module, a medical image processing module, and an information processing module; The medical image scanning module is used to perform medical image scanning on the test object with at least one of the body recognition and positioning modules attached, and to obtain medical image data. The magnetic measurement module is used to measure the biomagnetic signal of the test object to which the body recognition and positioning module is attached, and to obtain biomagnetic signal data. The magnetic measurement module is equipped with at least one of the sensor recognition and positioning modules. The optical information acquisition module is used to perform optical scanning on the scene of the biomagnetic signal measurement to obtain scene information; The medical image processing module is used to reconstruct the first location information of the body recognition and positioning module based on the medical image data. The information processing module is used to perform point cloud matching based on the scene information, the first location information, and the modeling of the sensor identification and positioning module to obtain the positional relationship of the sensor identification and positioning module relative to the object to be measured, and to register the medical image data and the biomagnetic signal data according to the positional relationship.

2. The registration system for biomagnetic imaging according to claim 1, characterized in that, Based on the scene information, the first location information, and the modeling of the sensor identification and positioning module, point cloud matching is performed to obtain the positional relationship of the sensor identification and positioning module relative to the object to be measured, specifically including: Point cloud matching is performed based on the modeling of the sensor identification and positioning module and the scene information to obtain the transformation relationship from the sensor array modeling scene to the optical scanning scene; The first location information and the scene information are matched using point cloud to obtain the conversion relationship from optical scanning scene to medical imaging scene; The positional relationship of the sensor identification and positioning module relative to the object under test is obtained based on the conversion relationship between the sensor array modeling scene and the optical scanning scene, as well as the conversion relationship between the optical scanning scene and the medical imaging scene.

3. The registration system for biomagnetic imaging according to claim 1, characterized in that, The sensor identification and positioning module is made of non-magnetic material and includes multiple positioning reference objects and a clamping device; the clamping device is used to fix the sensor in the magnetic measurement module.

4. The registration system for biomagnetic imaging according to claim 3, characterized in that, The positioning reference object is composed of multiple irregular curved surfaces spliced ​​together, including at least two protruding structures.

5. The registration system for biomagnetic imaging according to claim 1, characterized in that, The body recognition and positioning module includes multiple asymmetrically arranged recognition units. Each recognition unit includes a hollow outer shell and a solvent filled within the outer shell. The outer shell and the solvent are capable of imaging in the medical imaging scanning module.

6. The registration system for biomagnetic imaging according to claim 1, characterized in that, The body recognition and positioning module is attached to the target location on the torso of the object to be tested. The target location includes the suprasternal notch.

7. A registration method for biomagnetic imaging, characterized in that, Applied to the system of claims 1-6, comprising: A medical image scan is performed on the test object with at least one of the aforementioned body recognition and positioning modules affixed to it, and medical image data is obtained. A magnetic measurement module equipped with at least one sensor identification and positioning module is used to measure the biomagnetic signal of the test object on which the body identification and positioning module is attached, and biomagnetic signal data is obtained. Optical scanning is performed on the scene where the biomagnetic signal is measured to obtain scene information; The first location information of the body recognition and positioning module is reconstructed based on the medical image data; Point cloud matching is performed based on the scene information, the first location information, and the modeling of the sensor identification and positioning module to obtain the positional relationship of the sensor identification and positioning module relative to the object to be measured. The medical image data and the biomagnetic signal data are then registered based on the positional relationship.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the biomagnetic imaging registration method as described in claim 7.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the biomagnetic imaging registration method as described in claim 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the biomagnetic imaging registration method as described in claim 7.

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