Surgical navigation method and device, electronic device and storage medium

Abstract

The application provides a surgical navigation method and device, electronic equipment and storage medium, and relates to the technical field of navigation. The method comprises the following steps: before the operation, a first conversion matrix of a tracker coordinate system to an image space coordinate system is determined; the tracker coordinate system is the coordinate system of the tracker, the image space coordinate system is the coordinate system of the image space of a CT device, and the tracker is fixed to the CT device; during the operation, a second conversion matrix of the tracker coordinate system to a real space coordinate system is obtained; the real space coordinate system is the coordinate system of a real space positioning device; a third conversion matrix of the real space coordinate system to the image space coordinate system is determined based on the second conversion matrix and the first conversion matrix; and surgical navigation is performed based on the third conversion matrix. The application can effectively improve the coordinate registration efficiency of the real space and the image space, thereby improving the operation efficiency.

Description

Technical Field

[0001] This application relates to the field of navigation technology, and in particular to a surgical navigation method, device, electronic device, and storage medium. Background Technology

[0002] Surgical navigation requires mapping the positional information of the patient's lesion area and surgical instruments in real space to the medical imaging space, thereby achieving intraoperative positioning in the imaging space. In related technologies, it is usually necessary to manually select corresponding anatomical feature points in both the medical imaging space and real space to complete coordinate registration between the real and imaging spaces. This method tends to result in low efficiency in coordinate registration, thus affecting surgical efficiency. Summary of the Invention

[0003] The purpose of this application is to provide a surgical navigation method, device, electronic device, and storage medium to solve the above-mentioned technical problems.

[0004] Firstly, a surgical navigation method is provided, including: Before the operation, a first transformation matrix is ​​determined from the tracker coordinate system to the image space coordinate system; wherein, the tracker coordinate system is the coordinate system of the tracker, the image space coordinate system is the coordinate system of the image space of the CT equipment, and the tracker is fixed to the CT equipment; During the surgery, a second transformation matrix is ​​obtained from the tracker coordinate system to the real space coordinate system; wherein, the real space coordinate system is the coordinate system of the real space positioning device; Based on the second transformation matrix and the first transformation matrix, a third transformation matrix is ​​determined from the real space coordinate system to the image space coordinate system; Surgical navigation is performed based on the third transformation matrix.

[0005] In some embodiments, calibrating the first transformation matrix from the tracker coordinate system to the image space coordinate system before surgery includes: Before the surgery, obtain the fourth transformation matrix from the tracker coordinate system to the real space coordinate system; Before the operation, a fifth transformation matrix from the calibration block coordinate system to the real space coordinate system is obtained, and a sixth transformation matrix from the calibration block coordinate system to the image space coordinate system is obtained; wherein, the calibration block coordinate system is the coordinate system of the calibration block; The first transformation matrix is ​​determined based on the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix.

[0006] In some embodiments, determining the first transformation matrix based on the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix includes: Based on the fourth and fifth transformation matrices, a seventh transformation matrix is ​​determined from the tracker coordinate system to the calibration block coordinate system; The first transformation matrix is ​​determined based on the seventh transformation matrix and the sixth transformation matrix.

[0007] In some embodiments, the calibration block is provided with three non-collinear tracking spheres, and obtaining the sixth transformation matrix from the calibration block coordinate system to the image space coordinate system includes: The CT device is used to acquire a three-dimensional image of the calibration block; Traverse the three-dimensional image of the calibration block, identify pixels with values ​​greater than a preset threshold as tracking ball pixels, and determine each tracking ball pixel region based on the tracking ball pixels; The coordinates of the center pixel of each tracking ball pixel region in the image space coordinate system are determined as the first coordinates of the corresponding tracking ball; The sixth transformation matrix is ​​determined based on the pre-calibrated second coordinates of each of the tracking balls in the calibration block coordinate system, and the first coordinates of each of the tracking balls.

[0008] In some embodiments, the surgical navigation based on the third transformation matrix includes: Point cloud registration is performed on the preoperative and intraoperative three-dimensional images of each bone obtained by the CT device to obtain the eighth transformation matrix corresponding to each bone. During the surgery, the ninth transformation matrix between the tracking pin coordinate system and the real space coordinate system is obtained in real time through the real space positioning device; the tracking pin coordinate system is the coordinate system of the tracking pin, and the tracking pin is fixed to the patient's bone; Surgical navigation is performed based on the ninth transformation matrix, the third transformation matrix, and the eighth transformation matrix corresponding to each bone.

[0009] In some embodiments, the real-space positioning device is an optical camera, and the tracking pin is equipped with an electromagnetic sensor; The step of acquiring the ninth transformation matrix from the tracking pin coordinate system to the real-space coordinate system in real time through the real-space positioning device includes: Obtain the tenth transformation matrix from the electromagnetic coordinate system to the real space coordinate system; the electromagnetic coordinate system is the coordinate system of the electromagnetic generator. Obtain the eleventh transformation matrix from the tracking pin coordinate system to the electromagnetic coordinate system; The ninth transformation matrix is ​​determined using the tenth and eleventh transformation matrices.

[0010] In some embodiments, the tenth transformation matrix is ​​calibrated by an integrated optical-magnetic reference frame, which is fixed to the patient's bones and is equipped with an electromagnetic sensor and three non-collinear optical markers.

[0011] Secondly, a surgical navigation device is also provided, comprising: The first determining module is used to determine a first transformation matrix from the tracker coordinate system to the image space coordinate system before surgery; wherein, the tracker coordinate system is the coordinate system of the tracker, the image space coordinate system is the coordinate system of the image space of the CT equipment, and the tracker is fixed to the CT equipment; The acquisition module is used to acquire, during surgery, a second transformation matrix from the tracker coordinate system to the real space coordinate system; wherein, the real space coordinate system is the coordinate system of the real space positioning device; The second determining module is used to determine a third transformation matrix from the real space coordinate system to the image space coordinate system based on the second transformation matrix and the first transformation matrix; The navigation module is used for surgical navigation based on the third transformation matrix. In some embodiments, the first determining module is specifically used for: Before the surgery, obtain the fourth transformation matrix from the tracker coordinate system to the real space coordinate system; Before the operation, a fifth transformation matrix from the calibration block coordinate system to the real space coordinate system is obtained, and a sixth transformation matrix from the calibration block coordinate system to the image space coordinate system is obtained; wherein, the calibration block coordinate system is the coordinate system of the calibration block; The first transformation matrix is ​​determined based on the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix.

[0012] In some embodiments, the first determining module is further configured to: Based on the fourth and fifth transformation matrices, a seventh transformation matrix is ​​determined from the tracker coordinate system to the calibration block coordinate system; The first transformation matrix is ​​determined based on the seventh transformation matrix and the sixth transformation matrix.

[0013] In some embodiments, the calibration block is provided with three non-collinear tracking balls. The first determining module is further configured to: The CT device is used to acquire a three-dimensional image of the calibration block; Traverse the three-dimensional image of the calibration block, identify pixels with values ​​greater than a preset threshold as tracking ball pixels, and determine each tracking ball pixel region based on the tracking ball pixels; The coordinates of the center pixel of each tracking ball pixel region in the image space coordinate system are determined as the first coordinates of the corresponding tracking ball; The sixth transformation matrix is ​​determined based on the pre-calibrated second coordinates of each of the tracking balls in the calibration block coordinate system, and the first coordinates of each of the tracking balls.

[0014] In some embodiments, the navigation module is specifically used for: Point cloud registration is performed on the preoperative and intraoperative three-dimensional images of each bone obtained by the CT device to obtain the eighth transformation matrix corresponding to each bone. During the surgery, the ninth transformation matrix between the tracking pin coordinate system and the real space coordinate system is obtained in real time through the real space positioning device; the tracking pin coordinate system is the coordinate system of the tracking pin, and the tracking pin is fixed to the patient's bone; Surgical navigation is performed based on the ninth transformation matrix, the third transformation matrix, and the eighth transformation matrix corresponding to each bone.

[0015] In some embodiments, the real-space positioning device is an optical camera, and the tracking pin is equipped with an electromagnetic sensor; The navigation module is also specifically used for: Obtain the tenth transformation matrix from the electromagnetic coordinate system to the real space coordinate system; the electromagnetic coordinate system is the coordinate system of the electromagnetic generator. Obtain the eleventh transformation matrix from the tracking pin coordinate system to the electromagnetic coordinate system; The ninth transformation matrix is ​​determined using the tenth and eleventh transformation matrices.

[0016] In some embodiments, the tenth transformation matrix is ​​calibrated by an integrated optical-magnetic reference frame, which is fixed to the patient's bones and is equipped with an electromagnetic sensor and three non-collinear optical markers.

[0017] Thirdly, an electronic device is also provided, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement any of the methods described above.

[0018] Fourthly, a computer-readable storage medium is also provided, the computer-readable storage medium storing a computer program that, when executed by at least one processor, implements the method as described above.

[0019] In this embodiment, the first transformation matrix from the tracker coordinate system to the image space coordinate system is used as the reference. Since the tracker is fixedly installed on the CT equipment, there is no relative displacement between the two. Therefore, during the operation, only the second transformation matrix from the tracker coordinate system to the real space coordinate system needs to be obtained. The third transformation matrix from the real space coordinate system to the image space coordinate system can then be calculated using the first and second transformation matrices, eliminating the need for manual selection of anatomical feature points throughout the process. Furthermore, in scenarios where the CT equipment shifts, only the current second transformation matrix needs to be re-obtained, without repeating the manual point selection operation. Thus, this embodiment simplifies the coordinate registration process, effectively improves the efficiency of coordinate registration between real space and image space, thereby enhancing surgical efficiency. Moreover, obtaining the second transformation matrix during the operation allows for adaptation to changes in the spatial position of the CT equipment, improving the positioning accuracy and reliability of surgical navigation. Attached Figure Description

[0020] Figure 1 A flowchart illustrating a surgical navigation method provided in this application embodiment; Figure 2 A structural diagram of a surgical navigation system provided in this application embodiment. Figure 3 A structural diagram of a surgical navigation device provided in an embodiment of this application; Figure 4 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0022] The terms "first" and "second" in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising" and any variations thereof are intended to cover non-exclusive protection. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. The term "multiple" in this application can mean at least two, for example, two, three, or more, and the embodiments of this application do not impose limitations.

[0023] In related technologies, it is usually necessary to manually select corresponding anatomical feature points in both medical image space and real space to achieve coordinate registration between the real space and image space. Specifically, 3-15 anatomical feature points need to be manually selected using a mouse to obtain their coordinates in image space. Then, a registration probe is used to sequentially select these 3-15 anatomical feature points on the scanned entity, and their coordinates in real space are obtained through a tracking device. Thus, the coordinates of the same set of anatomical feature points on the same object in two different coordinate systems can be obtained. Using these two sets of coordinates as input for a rigid transformation (from real space to image space), the transformation matrix between real space and image space can be calculated.

[0024] However, relying entirely on manual selection of anatomical feature points is cumbersome, and when the computed tomography (CT) equipment shifts, the manual point selection operation still needs to be repeated, resulting in low efficiency in coordinate registration between the real space and the medical image space.

[0025] This application provides a surgical navigation method, device, electronic device, and storage medium to improve the efficiency of coordinate registration between real space and image space.

[0026] The surgical navigation method of this application embodiment will be described in detail below.

[0027] See Figure 1 , Figure 1 This is a flowchart of a surgical navigation method provided in this application, such as... Figure 1 As shown, the method includes: Step 101: Before the operation, determine the first transformation matrix from the tracker coordinate system to the image space coordinate system.

[0028] In this context, the tracker coordinate system is the coordinate system of the tracker, the image space coordinate system is the coordinate system of the image space of the CT equipment, and the tracker is fixed to the CT equipment.

[0029] The tracker is fixed to the CT equipment, and there is no relative displacement between the tracker and the CT equipment. The first transformation matrix between the tracker coordinate system and the image space coordinate system will not change as the CT equipment moves.

[0030] Step 102: During the surgery, obtain the second transformation matrix from the tracker coordinate system to the real space coordinate system.

[0031] The real-space coordinate system refers to the coordinate system of the real-space positioning device. The real-space positioning device may include an optical camera or an electromagnetic generator.

[0032] Because the CT equipment may move during surgery relative to its preoperative position, the coordinate transformation relationship between the tracker coordinate system and the real-world coordinate system will change. Therefore, obtaining the aforementioned second transformation matrix during surgery is beneficial for improving the registration accuracy between the tracker coordinate system and the real-world coordinate system.

[0033] Step 103: Based on the second transformation matrix and the first transformation matrix, determine the third transformation matrix from the real space coordinate system to the image space coordinate system.

[0034] For example, the formula for the third transformation matrix is ​​as follows: ; in, This is the third transformation matrix. This is the first transformation matrix. This is the second transformation matrix.

[0035] Step 104: Perform surgical navigation based on the third transformation matrix.

[0036] The aforementioned third transformation matrix can convert the poses of surgical tools and patients in real space to the image space, thereby enabling precise positioning and navigation of surgical tools and patient lesion areas in the image space.

[0037] In this embodiment, the first transformation matrix from the tracker coordinate system to the image space coordinate system is used as the reference. Since the tracker is fixedly installed on the CT equipment, there is no relative displacement between the two. Therefore, during the operation, only the second transformation matrix from the tracker coordinate system to the real space coordinate system needs to be obtained. The third transformation matrix from the real space coordinate system to the image space coordinate system can then be calculated using the first and second transformation matrices, eliminating the need for manual selection of anatomical feature points throughout the process. Furthermore, in scenarios where the CT equipment shifts, only the current second transformation matrix needs to be re-obtained, without repeating the manual point selection operation. Thus, this embodiment simplifies the coordinate registration process, effectively improves the efficiency of coordinate registration between real space and image space, thereby enhancing surgical efficiency. Moreover, obtaining the second transformation matrix during the operation allows for adaptation to changes in the spatial position of the CT equipment, improving the positioning accuracy and reliability of surgical navigation.

[0038] In some embodiments, calibrating the first transformation matrix from the tracker coordinate system to the image space coordinate system includes: Before the surgery, obtain the fourth transformation matrix from the tracker coordinate system to the real space coordinate system; Before the operation, the fifth transformation matrix from the calibration block coordinate system to the real space coordinate system and the sixth transformation matrix from the calibration block coordinate system to the image space coordinate system are obtained; where the calibration block coordinate system is the coordinate system of the calibration block. The first transformation matrix is ​​determined based on the fourth, fifth, and sixth transformation matrices.

[0039] The aforementioned calibration block is placed in the common acquisition area of ​​the CT equipment and the real-space positioning equipment, and its pose remains unchanged during the acquisition process of the two types of equipment.

[0040] In this embodiment, the calibration block serves as an intermediary, enabling stable calibration of the first transformation matrix and laying the foundation for real-time intraoperative coordinate transformation and high-precision surgical navigation.

[0041] In some embodiments, determining the first transformation matrix based on the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix includes: Based on the fourth and fifth transformation matrices, determine the seventh transformation matrix from the tracker coordinate system to the calibration block coordinate system; The first transformation matrix is ​​determined based on the seventh and sixth transformation matrices.

[0042] For example, the formula for determining the first transformation matrix is ​​as follows: ; in, This represents the fourth transformation matrix. This represents the fifth transformation matrix. This represents the sixth transformation matrix. Denotes the first transformation matrix. This represents the seventh transformation matrix.

[0043] In some embodiments, the calibration block is provided with three non-collinear tracking spheres, and the sixth transformation matrix from the calibration block coordinate system to the image space coordinate system is obtained, including: Three-dimensional images of the calibration block are obtained using CT equipment; Traverse the 3D image of the calibration block, identify pixels with values ​​greater than a preset threshold as tracking ball pixels, and determine the tracking ball pixel region based on the tracking ball pixels; The coordinates of the center pixel of each tracking ball pixel region in the image space coordinate system are determined as the first coordinates of the corresponding tracking ball; The sixth transformation matrix is ​​determined based on the second coordinate of each tracking ball in the calibration block coordinate system, which is pre-calibrated, and the first coordinate of each tracking ball.

[0044] The aforementioned tracking ball is a ball that can be scanned by a CT scanner. For example, the tracking ball can be an aluminum ball.

[0045] In this embodiment, pixels with pixel values ​​greater than a preset threshold are identified as tracking ball pixels, thereby achieving automatic identification and region division of the tracking ball in the image; the first coordinate is determined based on the center pixel of each tracking ball pixel region, reducing the impact of individual pixel fluctuations on the positioning results; the sixth transformation matrix is ​​determined by using the pre-calibrated correspondence between the second coordinate and the first coordinate, establishing the transformation relationship from the calibration block coordinate system to the image space coordinate system.

[0046] In some embodiments, surgical navigation based on a third transformation matrix includes: Point cloud registration was performed on the preoperative and intraoperative three-dimensional images of each bone obtained by CT equipment to obtain the eighth transformation matrix corresponding to each bone. During the surgery, the ninth transformation matrix between the tracking pin coordinate system and the real space coordinate system is obtained in real time through a real space positioning device; the tracking pin coordinate system is the coordinate system of the tracking pin, which is fixed to the patient's bone; Surgical navigation is performed based on the ninth transformation matrix, the third transformation matrix, and the eighth transformation matrix corresponding to each bone.

[0047] In this embodiment, the CT equipment described above can be used to capture images of the patient's complete target skeleton before surgery and during surgery. Then, image segmentation technology can be used to segment multiple independent bones from the complete target skeleton image to obtain preoperative and intraoperative three-dimensional images of each bone.

[0048] The eighth transformation matrix can be used to register the preoperative 3D images of each segmented bone to the pose of the intraoperative 3D images. Since the preoperative 3D images are clearer and have more complete bone detail representation, registering them to the real-time intraoperative pose can retain the high-resolution advantage of the preoperative images while ensuring pose synchronization, which is beneficial to improving the reliability of intraoperative bone localization and surgical area identification.

[0049] The tip of the tracking pin is rigidly fixed to the patient's bone and can move synchronously with the bone to monitor the spatial pose of the bone in real time.

[0050] In this implementation, surgical navigation is performed based on the ninth transformation matrix, the third transformation matrix, and the eighth transformation matrix corresponding to each bone. This allows the surgical area to be precisely mapped onto the preoperative three-dimensional images of each bone and displayed in real time. This adapts to changes in patient positioning and the movement of surgical instruments, automatically adjusting the image display content, providing intuitive feedback on surgical progress and the location of the target site, and assisting surgeons in performing precise operations in complex surgical environments.

[0051] In some embodiments, the real-space positioning device is an optical camera, and the tracking pin is equipped with an electromagnetic sensor; The ninth transformation matrix from the tracking pin coordinate system to the real-world coordinate system is obtained in real time through a real-world positioning device, including: Obtain the tenth transformation matrix from the electromagnetic coordinate system to the real space coordinate system; the electromagnetic coordinate system is the coordinate system of the electromagnetic generator; Obtain the eleventh transformation matrix from the tracking pin coordinate system to the electromagnetic coordinate system; The ninth transformation matrix is ​​determined using the tenth and eleventh transformation matrices.

[0052] In this embodiment, an electromagnetic generator is used to generate an electromagnetic field, and an electromagnetic sensor is provided on the tracking pin to sense the electromagnetic field and output a sensor signal. The navigation host can achieve electromagnetic positioning through the sensor signal output by the electromagnetic sensor, and thus determine the aforementioned eleventh transformation matrix.

[0053] Optical positioning offers high accuracy, but requires a direct line of sight, and tracking can be interrupted by instruments during surgery. Electromagnetic positioning is not limited by line of sight and can maintain tracking in scenarios such as obstruction or cavity, but it is susceptible to interference from metal.

[0054] Considering that the tracking pins are easily obstructed by tissues and instruments during surgery, making it difficult to continuously meet the direct visualization requirements of optical positioning, this application embodiment sets an electromagnetic sensor on the tracking pin to ensure the continuity and stability of tracking pin pose acquisition through electromagnetic positioning; at the same time, an optical camera is used as a reference real space positioning device to uniformly convert the electromagnetic positioning results to the real space coordinate system corresponding to the optical camera.

[0055] Surgical instruments requiring intraoperative positioning can be flexibly positioned using optical or electromagnetic methods depending on the actual scenario. The poses obtained by both modes can be unified to the same real-world coordinate system, ensuring the consistency and universality of pose data.

[0056] In some embodiments, the tenth transformation matrix is ​​calibrated via an integrated optical-magnetic reference frame, which is fixed to the patient's bones and is equipped with an electromagnetic sensor and three non-collinear optical markers.

[0057] In this embodiment, an integrated optical-magnetic reference frame is rigidly fixed to the patient's bones, and simultaneously integrates an electromagnetic sensor and three non-collinear optical markers (which can be implemented using reflective spheres or light-emitting diodes, etc.). The optical markers are used for optical camera positioning, and the electromagnetic sensor is used to cooperate with an electromagnetic generator to achieve pose acquisition. A stable correspondence between the real-world coordinate system corresponding to the optical camera and the electromagnetic coordinate system can be established through the integrated optical-magnetic reference frame, thereby obtaining the tenth transformation matrix, providing a benchmark for the subsequent unified transformation of electromagnetic positioning results to the optical-based real-world coordinate system.

[0058] To better understand the technical solutions of the embodiments of this application, the surgical navigation process is described below by way of example.

[0059] a. Before the operation, a three-dimensional image of the patient's complete target skeleton is taken using a CT scanner, and the image is segmented to divide the three-dimensional image of the complete target skeleton into multiple preoperative three-dimensional images corresponding to independent bones.

[0060] b. Preoperative calibration of the first transformation matrix mentioned above : b1. Install one of the aforementioned trackers (CArm-Tracker) on a CT scanner. Use the CT scanner to scan the calibration block to obtain a three-dimensional image of the calibration block; wherein, both the tracker and the calibration block are equipped with three non-collinear optical markers for optical camera tracking.

[0061] b2. Keeping the CT equipment and calibration block stationary, obtain the tracker's pose in real space using the aforementioned NDI-based optical camera. (i.e., the fourth transformation matrix) and the pose of the calibration block in real space (i.e., the fifth transformation matrix).

[0062] b3. Import the 3D image of the calibration block into the calibration software, traverse the 3D image, determine the center pixel of each tracking ball in the image space, and determine the pose of the calibration block in the image space based on the first coordinate of the center pixel of each tracking ball and the pre-calibrated second coordinate of each tracking ball in the calibration block coordinate system, i.e., the sixth transformation matrix. .

[0063] b4. Calculate the first transformation matrix using the following formula. : .

[0064] c. During the surgery, the tracking pin is rigidly connected to the patient's bone. Using the same CT equipment used in the first transformation matrix calibration process, and ensuring no relative displacement between the tracker and the CT equipment, the lesion site of the patient is scanned to obtain a complete three-dimensional image of the target bone during the operation. The corresponding three-dimensional images of each bone are then obtained through image segmentation technology.

[0065] d. Keeping the CT equipment and patient stationary, obtain the pose of the tracker in real space using an NDI-based optical camera, i.e., the second transformation matrix. .

[0066] The third transformation matrix is ​​calculated using the following formula. : .

[0067] e. Intraoperative Image Navigation. The intraoperative 3D images corresponding to each bone obtained in the previous step are loaded into the surgical navigation system. The CT equipment is removed, and the stereolithography (STL) data of various surgical instruments is loaded to begin intraoperative image navigation. Intraoperative image navigation includes: intraoperative image registration with preoperative images; importing the preoperative and intraoperative 3D images of each segmented bone; calculating the eighth transformation matrix corresponding to each bone through point cloud registration; and then registering the 3D images of each preoperatively segmented bone to the pose of the intraoperative 3D image; dynamic tracking navigation, using the ninth transformation matrix from the tracking pin coordinate system to the real space coordinate system, the third transformation matrix from the real space coordinate system to the image space coordinate system, and the eighth transformation matrix from the intraoperative 3D image to the preoperative 3D image for each bone, to track the relative position and orientation of the tracking pins and surgical instruments in the preoperative 3D image in real time.

[0068] The surgical navigation method in this application embodiment can be executed by a surgical navigation system, as described below. Figure 2 An example of a surgical navigation system is provided.

[0069] See Figure 2 The surgical navigation system consists of an electromagnetic generator 1, a navigation host 2, an optical camera 3, an integrated optical-magnetic reference frame 4, a tracking pin 5, and navigation software.

[0070] Optical camera 3 and electromagnetic generator 1 are connected to navigation host 2 via network cable. Navigation software is deployed inside navigation host 2. Optical-magnetic integrated reference frame 4 integrates optical markers and electromagnetic sensors and is rigidly connected to the patient's bones during surgery. The tip of tracking nail 5 is rigidly connected to the patient's bones, and the tail end is connected to navigation host 2 via network cable.

[0071] The following provides a detailed description of each component of the surgical navigation system.

[0072] Optical Camera 3: Utilizes optical tracking technology to capture and calculate the precise pose of surgical instruments and patients in the real-world coordinate system in real time, achieving high-precision positioning in three-dimensional space.

[0073] Electromagnetic generator 1: Used to generate electromagnetic fields.

[0074] Optical-magnetic integrated reference frame 4: Through integrated optical markers and electromagnetic sensors, a real-time, stable electromagnetic coordinate system and the optical real-space coordinate system are constructed to establish a transformation relationship.

[0075] Tracking pin 5 is equipped with an electromagnetic sensor to detect electromagnetic fields, and can upload the detected electromagnetic field signals to the navigation host for electromagnetic positioning. Tracking pin 5 is fixed to the patient's bones, ensuring that the tracking pin 5 moves synchronously with the bones in real time, enabling the navigation system to accurately track the position and posture of the surgical site.

[0076] The navigation host 2, as the core processing unit, is responsible for receiving, processing, and integrating data from various optical cameras 3 and electromagnetic sensors, calculating the relative position of surgical instruments and the patient in real time. In conjunction with navigation software, the navigation host 2 converts this real-time position information into images or indicators, providing them to the surgeon to ensure precise positioning of surgical instruments in three-dimensional space. The navigation host 2 also manages the communication between various modules, ensuring efficient system operation and thus improving the precision, operability, and safety of the surgery.

[0077] Navigation software generates and updates a 3D digital model of the patient in real time, dynamically adjusting it during surgery to precisely display the relative positions of surgical instruments and the patient. By integrating positioning data from devices such as optical cameras or electromagnetic sensors, it tracks changes in the instruments and patient's anatomy in real time and presents this information to the surgeon in intuitive images. The navigation software provides the surgeon with a clear surgical view, enhances spatial awareness, helps the surgeon precisely guide the surgical procedure, and responds to any real-time changes during the operation, ensuring the safety and precision of the surgery.

[0078] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart above may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0079] Based on the same inventive concept, please refer to Figure 3 As shown, this embodiment provides a surgical navigation device, including: a first determining module 301, used to determine a first transformation matrix from a tracker coordinate system to an image space coordinate system before surgery; wherein the tracker coordinate system is the coordinate system of the tracker, the image space coordinate system is the coordinate system of the image space of the CT equipment, and the tracker is fixed to the CT equipment; an acquiring module 302, used to acquire a second transformation matrix from the tracker coordinate system to a real space coordinate system during surgery; wherein the real space coordinate system is the coordinate system of a real space positioning device; a second determining module 303, used to determine a third transformation matrix from the real space coordinate system to the image space coordinate system based on the second transformation matrix and the first transformation matrix; and a navigation module 304, used to perform surgical navigation based on the third transformation matrix. In some embodiments, the first determining module 301 is specifically configured to: before surgery, obtain a fourth transformation matrix from the tracker coordinate system to the real space coordinate system; before surgery, obtain a fifth transformation matrix from the calibration block coordinate system to the real space coordinate system, and obtain a sixth transformation matrix from the calibration block coordinate system to the image space coordinate system; wherein, the calibration block coordinate system is the coordinate system of the calibration block; and determine the first transformation matrix based on the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix.

[0080] In some embodiments, the first determining module 301 is further configured to: determine a seventh transformation matrix from the tracker coordinate system to the calibration block coordinate system based on the fourth transformation matrix and the fifth transformation matrix; and determine the first transformation matrix based on the seventh transformation matrix and the sixth transformation matrix.

[0081] In some embodiments, the calibration block is provided with three non-collinear tracking spheres, and the first determining module is further configured to: acquire a three-dimensional image of the calibration block through the CT device; traverse the three-dimensional image of the calibration block, determine pixels with pixel values ​​greater than a preset threshold as tracking sphere pixels, and determine each tracking sphere pixel region based on the tracking sphere pixels; determine the coordinates of the center pixel of each tracking sphere pixel region in the image space coordinate system as the first coordinates of the corresponding tracking sphere; and determine the sixth transformation matrix based on the pre-calibrated second coordinates of each tracking sphere in the calibration block coordinate system and the first coordinates of each tracking sphere.

[0082] In some embodiments, the navigation module 304 is specifically used to: perform point cloud registration on the preoperative three-dimensional images and intraoperative three-dimensional images of each bone obtained by the CT device to obtain the eighth transformation matrix corresponding to each bone; during the operation, acquire the ninth transformation matrix between the tracking pin coordinate system and the real space coordinate system in real time through the real space positioning device; the tracking pin coordinate system is the coordinate system of the tracking pin, and the tracking pin is fixed to the patient's bone; and perform surgical navigation based on the ninth transformation matrix, the third transformation matrix, and the eighth transformation matrix corresponding to each bone.

[0083] In some embodiments, the real-space positioning device is an optical camera, and the tracking pin is equipped with an electromagnetic sensor; the navigation module 304 is further configured to: obtain the tenth transformation matrix from the electromagnetic coordinate system to the real-space coordinate system; the electromagnetic coordinate system is the coordinate system of the electromagnetic generator; obtain the eleventh transformation matrix from the tracking pin coordinate system to the electromagnetic coordinate system; and determine the ninth transformation matrix through the tenth transformation matrix and the eleventh transformation matrix.

[0084] In some embodiments, the tenth transformation matrix is ​​calibrated by an integrated optical-magnetic reference frame, which is fixed to the patient's bones and is equipped with an electromagnetic sensor and three non-collinear optical markers.

[0085] It should be understood that, for the sake of brevity, some of the content described in the previous embodiments will not be repeated in this embodiment.

[0086] Based on the same inventive concept, embodiments of this application provide a computer device, which may be a server, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a text classification method.

[0087] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0088] Based on the same inventive concept, embodiments of this application provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: Before surgery, determining a first transformation matrix from the tracker coordinate system to the image space coordinate system; wherein, the tracker coordinate system is the coordinate system of the tracker, the image space coordinate system is the coordinate system of the image space of the CT device, and the tracker is fixed to the CT device; During surgery, obtaining a second transformation matrix from the tracker coordinate system to the real space coordinate system; wherein, the real space coordinate system is the coordinate system of the real space positioning device; Based on the second transformation matrix and the first transformation matrix, determining a third transformation matrix from the real space coordinate system to the image space coordinate system; Performing surgical navigation based on the third transformation matrix.

[0089] In some embodiments, when the processor executes a computer program, it performs the following steps: before surgery, obtaining a fourth transformation matrix from the tracker coordinate system to the real space coordinate system; before surgery, obtaining a fifth transformation matrix from the calibration block coordinate system to the real space coordinate system, and obtaining a sixth transformation matrix from the calibration block coordinate system to the image space coordinate system; wherein, the calibration block coordinate system is the coordinate system of the calibration block; and determining the first transformation matrix based on the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix.

[0090] In some embodiments, when the processor executes a computer program, it performs the following steps: determining a seventh transformation matrix from the tracker coordinate system to the calibration block coordinate system based on the fourth transformation matrix and the fifth transformation matrix; and determining the first transformation matrix based on the seventh transformation matrix and the sixth transformation matrix.

[0091] In some embodiments, the calibration block is provided with three non-collinear tracking spheres. When the processor executes the computer program, it performs the following steps: acquiring a three-dimensional image of the calibration block through the CT device; traversing the three-dimensional image of the calibration block, identifying pixels with values ​​greater than a preset threshold as tracking sphere pixels, and determining each tracking sphere pixel region based on the tracking sphere pixels; determining the coordinates of the center pixel of each tracking sphere pixel region in the image space coordinate system as the first coordinates of the corresponding tracking sphere; and determining the sixth transformation matrix based on the pre-calibrated second coordinates of each tracking sphere in the calibration block coordinate system and the first coordinates of each tracking sphere.

[0092] In some embodiments, when the processor executes the computer program, it performs the following steps: point cloud registration on the preoperative three-dimensional images and intraoperative three-dimensional images of each bone acquired by the CT device to obtain the eighth transformation matrix corresponding to each bone; during the operation, the ninth transformation matrix between the tracking pin coordinate system and the real space coordinate system is acquired in real time by the real space positioning device; the tracking pin coordinate system is the coordinate system of the tracking pin, and the tracking pin is fixed to the patient's bone; surgical navigation is performed based on the ninth transformation matrix, the third transformation matrix, and the eighth transformation matrix corresponding to each bone.

[0093] In some embodiments, the real-space positioning device is an optical camera, and the tracking pin is equipped with an electromagnetic sensor; in some embodiments, when the processor executes a computer program, it performs the following steps: obtaining the tenth transformation matrix from the electromagnetic coordinate system to the real-space coordinate system; the electromagnetic coordinate system is the coordinate system of the electromagnetic generator; obtaining the eleventh transformation matrix from the tracking pin coordinate system to the electromagnetic coordinate system; and determining the ninth transformation matrix through the tenth transformation matrix and the eleventh transformation matrix.

[0094] In some embodiments, the tenth transformation matrix is ​​calibrated by an integrated optical-magnetic reference frame, which is fixed to the patient's bones and is equipped with an electromagnetic sensor and three non-collinear optical markers.

[0095] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0096] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0097] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A surgical navigation method, characterized in that, The method includes: Before the operation, a first transformation matrix is ​​determined from the tracker coordinate system to the image space coordinate system; wherein, the tracker coordinate system is the coordinate system of the tracker, the image space coordinate system is the coordinate system of the image space of the CT equipment, and the tracker is fixed to the CT equipment; During the surgery, a second transformation matrix is ​​obtained from the tracker coordinate system to the real space coordinate system; wherein, the real space coordinate system is the coordinate system of the real space positioning device; Based on the second transformation matrix and the first transformation matrix, a third transformation matrix is ​​determined from the real space coordinate system to the image space coordinate system; Surgical navigation is performed based on the third transformation matrix.

2. The surgical navigation method according to claim 1, characterized in that, The first transformation matrix for calibrating the tracker coordinate system to the image space coordinate system before surgery includes: Before the surgery, obtain the fourth transformation matrix from the tracker coordinate system to the real space coordinate system; Before the operation, a fifth transformation matrix from the calibration block coordinate system to the real space coordinate system is obtained, and a sixth transformation matrix from the calibration block coordinate system to the image space coordinate system is obtained; wherein, the calibration block coordinate system is the coordinate system of the calibration block; The first transformation matrix is ​​determined based on the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix.

3. The surgical navigation method according to claim 2, characterized in that, Determining the first transformation matrix based on the fourth transformation matrix, the fifth transformation matrix, and the sixth transformation matrix includes: Based on the fourth and fifth transformation matrices, a seventh transformation matrix is ​​determined from the tracker coordinate system to the calibration block coordinate system; The first transformation matrix is ​​determined based on the seventh transformation matrix and the sixth transformation matrix.

4. The surgical navigation method according to claim 2, characterized in that, The calibration block is equipped with three non-collinear tracking spheres. The process of obtaining the sixth transformation matrix from the calibration block coordinate system to the image space coordinate system includes: The CT device is used to acquire a three-dimensional image of the calibration block; Traverse the three-dimensional image of the calibration block, identify pixels with values ​​greater than a preset threshold as tracking ball pixels, and determine each tracking ball pixel region based on the tracking ball pixels; The coordinates of the center pixel of each tracking ball pixel region in the image space coordinate system are determined as the first coordinates of the corresponding tracking ball; The sixth transformation matrix is ​​determined based on the pre-calibrated second coordinates of each of the tracking balls in the calibration block coordinate system, and the first coordinates of each of the tracking balls.

5. The surgical navigation method according to claim 1, characterized in that, The surgical navigation based on the third transformation matrix includes: Point cloud registration is performed on the preoperative and intraoperative three-dimensional images of each bone obtained by the CT device to obtain the eighth transformation matrix corresponding to each bone. During the surgery, the ninth transformation matrix between the tracking pin coordinate system and the real space coordinate system is obtained in real time through the real space positioning device; the tracking pin coordinate system is the coordinate system of the tracking pin, and the tracking pin is fixed to the patient's bone; Surgical navigation is performed based on the ninth transformation matrix, the third transformation matrix, and the eighth transformation matrix corresponding to each bone.

6. The surgical navigation method according to claim 5, characterized in that, The real-space positioning device is an optical camera, and the tracking pin is equipped with an electromagnetic sensor. The step of acquiring the ninth transformation matrix from the tracking pin coordinate system to the real-space coordinate system in real time through the real-space positioning device includes: Obtain the tenth transformation matrix from the electromagnetic coordinate system to the real space coordinate system; the electromagnetic coordinate system is the coordinate system of the electromagnetic generator. Obtain the eleventh transformation matrix from the tracking pin coordinate system to the electromagnetic coordinate system; The ninth transformation matrix is ​​determined using the tenth and eleventh transformation matrices.

7. The surgical navigation method according to claim 6, characterized in that, The tenth transformation matrix is ​​calibrated by an integrated optical-magnetic reference frame, which is fixed to the patient's bones and is equipped with an electromagnetic sensor and three non-collinear optical markers.

8. A surgical navigation device, characterized in that, The device includes: The first determining module is used to determine a first transformation matrix from the tracker coordinate system to the image space coordinate system before surgery; wherein, the tracker coordinate system is the coordinate system of the tracker, the image space coordinate system is the coordinate system of the image space of the CT equipment, and the tracker is fixed to the CT equipment; The acquisition module is used to acquire, during surgery, a second transformation matrix from the tracker coordinate system to the real space coordinate system; wherein, the real space coordinate system is the coordinate system of the real space positioning device; The second determining module is used to determine a third transformation matrix from the real space coordinate system to the image space coordinate system based on the second transformation matrix and the first transformation matrix; A navigation module is used for surgical navigation based on the third transformation matrix.

9. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by at least one processor, implements the method as described in any one of claims 1-7.

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