Image measurement and registration methods

Abstract

To provide a method of measuring and registering positions and directions of a physical space and an image space.SOLUTION: A tracking tool 1 includes a component 6. The component includes a position and / or direction part 2. The position and direction are measured with a measurement part on the basis of a coordinate frame of the tracking tool. The measurement part has a measurement surface for measurement and does not need to perform calibration in advance by using the tracking tool in a tracking system. The component is placed on a human body to perform scan. A relative tracking tool is placed on the human body. In the registration time, data of the relative tracking tool and data of the tracking tool adhering to the component are simultaneously recorded. The tracking tool is placed on a meter. In the post-registration time, the data of the tracking tool placed on the meter and the data of the relative tracking tool are simultaneously recorded. The converted position and / or direction of the tracking tool in the image space are calculated.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates generally to the technical field of image space and physical space registration, and more particularly to a convenient survey preparation method and a rapid registration method. [Background technology]

[0002] When using a surgical navigation system to assist minimally invasive surgery, the images of a patient's body parts from CT / MR scans need to be transformed or mapped in both image space and physical space. Registration obtains a transformation that corresponds a position in physical space to a position in image space. This transformation is used to convert a position in physical space to a position in image space. Then, during the surgical procedure assisted by the navigation system, medical instruments with their physical space positions tracked by the tracking system can be virtually transformed and displayed in the image space of the scanned patient image.

[0003] During the surgical procedure, the registration step usually requires additional time and effort for the surgeon to identify the position / orientation in the physical space and the corresponding position / orientation in the scanned image space. Thus, with existing registration methods, the registration process is not only inconvenient but also time-consuming. Summary of the Invention [Problem to be solved by the invention]

[0004] The technical problem to be solved by the present invention is to provide an image measurement and registration method for the above-mentioned prior art deficiencies of the prior art. [Means for solving the problem]

[0005] The technical solution adopted by the present invention to solve the technical problem, on the other hand, provides a method for measuring and registering position and orientation in physical space and image space. The method includes the following steps: providing a component including a tracking tool; the component includes a position component and / or an orientation component; its position and available orientation are measured using a measurement component based on the coordinate frame of the tracking tool; the measurement component has a measurement surface, and the position and / or orientation of the component are measured without the need for prior calibration using a tracking tool in the tracking system; placing the component on a human body and performing an image scan; placing a so-called relative tracking tool on or inside the human body; and simultaneously recording data from two tracking tools at registration time: data from the relative tracking tool and data from the tracking tool attached to the component; placing the tracking tool on an instrument; and recording data from the tracking tool placed on the instrument and data from the relative tracking tool at so-called post-registration time. The position and / or available orientation of the instrument-attached tracking tool in the transformed image space are calculated. [Effects of the Invention]

[0006] In some embodiments, there is a method for measuring and registering the position and orientation of a physical space and an image space. This method includes the following content. a) Provide a component having six degrees of freedom of position and orientation and a tracking tool. Among them, the component includes at least four non-coplanar position parts, or at least one position part and at least three orthogonal direction parts. All of the above parts are rigidly arranged on the component. The tracking tool is removably and rigidly fixed to the component so that the position and orientation of the part and the tracking tool are relatively fixed to each other. Measure the three-dimensional position and available orientation of the part from the coordinate frame of the tracking tool. Also, the part can be scanned by an imaging system, and the three-dimensional position and available orientation of the part in the scanned image space can be obtained. b) Rigidly arrange the component on an object and perform an image scan using an imaging system. Through the scanned image, the three-dimensional position and available orientation of the part in the scanned image space can be obtained. c) Calculate a transformation for converting the position and orientation from the physical space to the image space based on the position and available orientation of the part in the physical space measured with respect to the frame of the tracking tool in step a) and the position and available orientation of the part in the image space obtained in step b). d) Place a relative tracking tool with six degrees of freedom on or inside the human body. Use a tracking system to simultaneously record the six degrees of freedom of direction and position data of the relative tracking tool and the tracking tool attached to the component based on the coordinate frame of the tracking system at the same time (this time is called the registration time). e) Place a tracking tool on the instrument to follow the posture of the instrument. Use a tracking system to record the position and available direction data of the tracking tool attached to the instrument and the six degrees of freedom of direction and position data of the relative tracking tool based on the coordinate frame of the tracking system at the same time (this time is called the post-registration time).f) Combine the transformation obtained in step c), the two tracking tool data recorded at the registration time in step d), and the two tracking tool data recorded at the post-registration time in step e) to calculate the position and available direction of the tracking tool attached to the instrument in the transformed image space.

[0007] In some embodiments, the transformation is represented as T and satisfies the following relationship.

[0008]

Equation

[0009] Here, OBJECTM1 i T is the transpose matrix of OBJECTM1 i and OBJECTM1 i represents (x, y, x, 1), where (x, y, z) represents a position in the image space. OBJECTW1 i T is the transpose matrix of OBJECTW1 i and OBJECTW1 i represents (x, y, z, 1), where (x, y, z) represents the position of the physical space in the tracking tool frame, and the tracking tool is removable and rigidly attached to the component. i represents the i-th position of the component, i ≥ 4, and the form of the 4 x 4 transformation matrix T is as follows.

[0010]

Equation

[0011] Here, R is a 3×3 rotation matrix, x, y, and z are respectively the translations of the coordinates, and T is calculated by solving a system of simultaneous equations of at least four relationships (1) of at least four non-coplanar positions.

[0012] In some embodiments, the transformation is denoted as T and satisfies the following relationship:

[0013]

number

[0014] where OBJECTM2i is a 4 x 4 matrix, as follows:

[0015]

number

[0016] TIFF0007716073000005.tif46166

[0017] OBJECTW2 i is a 4 x 4 matrix, as follows:

[0018]

number

[0019] TIFF0007716073000007.tif721664 x 4 The format of the transformation matrix T is as follows:

[0020]

number

[0021] where R is a 3x3 rotation matrix and x, y, z are the translation components. T is obtained by solving at least one equation (2) involving at least one position (x, y, z) and three orthogonal directions A, B, C.

[0022] R can also be obtained by solving the following equation:

[0023]

number

[0024] where M is the following 3x3 matrix:

[0025]

number

[0026] W is the following 3x3 matrix:

[0027]

number

[0028] In some embodiments, the positions and orientations of the tracking tool attached to the component and the relative tracking tool recorded during the registration time may be represented as 4x4 matrices B and A, respectively. The positions and available orientations of the tracking tool attached to the instrument recorded during the post-registration time may be represented as 4x4 matrix D. The positions and available orientations of the relative tracking tool recorded during the post-registration time may be represented as 4x4 matrix E. The positions and available orientations of the tracking tool attached to the instrument in image space, transformed from physical space, may be represented as 4x4 matrix F, satisfying the following relationships:

[0029]

number

[0030] where T is the transformation calculated by converting positions and orientations from physical space to image space. The 4 x 4 transformation matrix T has the form:

[0031]

number

[0032] R is a 3x3 rotation matrix, and x, y, z are the translation coordinates. The 4x4 matrices for B, A, E, D, and F are:

[0033]

number

[0034] R is a 3 x 3 rotation matrix, and x, y, and z are the component positions. Using equation (4), the position data (x, y, z) in the physical space of the instrument tracking tool relative to the coordinate frame of the tracking system can be used to calculate the corresponding position in image space. Using equation (4), the orientation data (x, y, z) in the physical space of the instrument tracking tool relative to the coordinate frame of the tracking system can be used to calculate the corresponding orientation in image space.

[0035] In some embodiments, there are two or more of the components, and / or there are two or more tracking tools detachably attached to the components, and / or there are two or more relative tracking tools on or in the body, and / or relative tracking tools on or in the body are combined with tracking tools attached to the components.

[0036] In some embodiments, the six degree of freedom position and orientation tracking tool comprises a plurality of tracking tools with less than six degrees of freedom.

[0037] In some embodiments, the third orthogonal direction is derived from the two orthogonal directions.

[0038] In some embodiments, the tracking system is an electromagnetic tracking system or an optical tracking system.

[0039] In some embodiments, a method for measuring the position of a part included in a component based on the coordinate frame of the tracking tool attached to the component includes the following steps: a) providing the part with a protruding measurement surface that is a part or all of a sphere, so that the center of the protruding measurement surface substantially corresponds to the position of the part to be measured; b) providing a measurement part having a concave measurement surface that substantially coincides with the convex measurement surface of the part; c) rigidly fixing a six-degree-of-freedom tracking tool to the measurement part; d) maintaining seamless contact between the concave measurement surface of the measurement part and the convex measurement surface of the part, while simultaneously moving the measurement part to different positions without changing the center of the concave measurement surface; applying a tracking system to record orientation and position data of at least two different positions of the tracking tool attached to the measurement part based on the coordinate frame of the tracking system, and also recording orientation and position data of the tracking tool attached to the component based on the coordinate frame of the tracking system; and e) using the recorded data in step d) to calculate the unchanged position of the center of the concave measurement surface of the measurement part or the corresponding unchanged position of the part based on the coordinate frame of the tracking tool attached to the component.

[0040] In some embodiments, the component includes a first portion and a second portion. The first portion has a spherical shape and is located substantially at the center of the spherical member. The second portion is located on the outer layer of the spherical member, and the core center of the second portion is also located substantially overlapping with the core center of the first portion. The first portion and the second portion have different material compositions and can generate relatively weaker or stronger signals relative to each other when diagnostic imaging is performed by an image scanner. Therefore, during scan imaging, the image location of the center of the first portion of the component can be easily and accurately identified and measured by distinguishing the displayed speckles.

[0041] In some embodiments, the recorded data of a tracking tool attached to a measured part can be expressed as a 4x4 matrix Bi. The recorded data of a tracking tool attached to the component can be expressed as a 4x4 matrix Ai. Based on the coordinate frame of the tracking tool attached to the component, the pose of the tracking tool attached to the measured part can be expressed as a 4x4 matrix Ci, which satisfies the following relationship:

[0042]

number

[0043] 4 x 4 transformation matrix A i , B i and C i The format is as follows:

[0044]

number

[0045] where R is a 3x3 rotation matrix, x, y, z are the component positions, i is the ith position, i>=2.

[0046] Based on the coordinate frame of the tracking tool attached to the component, the invariant position of the surface center of the concave measurement of the measurement part is expressed as XS, YS, ZS, which satisfy the following relationship:

[0047]

number

[0048] X O , Y O、 Z O is the offset distance from the center of the measurement tracking tool to the center of the core on the concave measurement surface. C i (m,n) is the matrix C i is the rotation element of XB i , Y.B.i , ZB i is the X, Y, Z position of matrix C i . Solve at least two sets of equations (6) for i >= 2 to obtain the measurement position (XS, YS, ZS) of the core center of the concave measurement surface or the center of the part. This position is based on the coordinate frame of the tracking tool attached to the component.

[0049] In some embodiments, based on the coordinate frame of the tracking system, the data of the tracking tool attached to the recorded measurement part may be represented as a 4x4 matrix Bi. Based on the coordinate frame of the tracking system, the data of the tracking tool attached to the recorded component may be represented as a 4x4 matrix Ai.

[0050] 4 x 4 transformation matrix A i and B i are in the following form.

[0051] [Number]

[0052] Here, R is a 3x3 rotation matrix, x, y, z are component positions, i is the i-th position, representing i >= 2. Based on the coordinate frame of the tracking system, the invariant position of the surface center of the concave measurement of the measurement part is X S , Y S , Z S and satisfies the following relationship.

[0053] [Number]

[0054] XO, YO, ZO are the offset distances from the center of the measurement tracking tool to the core center of the concave measurement surface. B i (m, n) are the rotation elements of matrix B i XBi , Y.B. i、 ZB i is Matrix B i For X, Y, Z positions of i>=2, solve at least two sets of equations (7) to obtain the measured position (XS, YS, ZS) of the center of the concave measurement surface or the center of the part based on the coordinate frame of the tracking system.

[0055] AA is Group A i The inverse matrix of the mean values of or one of them, A i represents the inverse matrix of (X' S ,Y' S ,Z' S ) is the center of the concave measurement surface or the center of the part. , The center is the measured position and is based on the coordinate frame of the tracking tool attached to the component. (X' S ,Y' S ,Z' S ) is obtained based on the following:

[0056]

number

[0057] AA(m,n) is the rotation element of the matrix AA, and X B , Y B、 Z B are the X,Y,Z positions of matrix AA.

[0058] In some embodiments, a method for measuring the direction of the direction component included in the component based on the coordinate frame of the tracking tool attached to the component includes the following steps. a. Provide the directional component with a measuring surface of a partial or entire cylindrical convex body or other elongated measuring surface, including at least a first partial or entire circular cross-section and a second partial or entire circular cross-section, such that the axis of the convex groove bar or elongated component coincides with the direction of the direction component. b. Provide a measuring component having a groove or a partial or entire cylindrical cavity measuring surface, including at least two concave-shaped partial or entire circular cross-sections, which substantially coincides with the convex measuring surface of the orientation component. c. Rigidly attach at least a tracking tool for direction tracking to the measuring component. d. Keep the concave measuring surface of the measuring component in seamless contact with the convex measuring surface of the component, without changing the axial direction of the concave measuring surface, and at the same time rotate the measuring component at different rotation angles. Apply a tracking system to simultaneously record the direction data of at least two different rotation angles of the tracking tool attached to the measuring component and the direction and position data of the tracking tool attached to the component based on the coordinate frame of the tracking system. e. Use the data recorded in step d to calculate the invariant direction of the axis of the concave-shaped measuring surface of the measuring component or the axis of the component based on the coordinate frame of the tracking tool attached to the component.

[0059] In some embodiments, the direction component includes a first part and a second part. The first part has an elongated shape and is arranged such that its axis coincides with the axis of the direction component. The second part is located on the outer layer of the component and is arranged such that the axis of the second part also substantially coincides with the axis of the first part. And the first part and the second part have different material components, and by diagnosing an image scanner, relatively weak or strong signals can be generated with respect to each other. Therefore, in the formation of a scanned image, the image direction of the first part of the component can be easily and accurately determined and measured by distinguishing the displayed lines.

[0060] In some embodiments, the recorded data of the tracking tool attached to the measurement component based on the coordinate frame of the tracking system can be represented by a 4×4 matrix B i The recorded data of the tracking tool attached to the component based on the coordinate frame of the tracking system can be represented by a 4×4 matrix A i and can be expressed as follows.

[0061] Here, the 4×4 transformation matrix A i and B i are in the following form.

[0062]

Number

[0063] R is a 3×3 rotation matrix, x, y, z are component positions, i represents the i-th position, and i >= 2.

[0064] In the frame of the tracking system, the non-changing directions of the axes of the concave measurement surface of the measurement component can be represented by δx, δy, and δz, and satisfy the following relationship.

[0065]

Number

[0066] TIFF0007716073000023.tif74166

[0067] TIFF0007716073000024.tif69166

[0068]

Number

[0069] Here, AA(m,n) is the rotation element of the matrix AA.

[0070] In some embodiments, the tracking tool attached to the measurement part records data in a 4×4 matrix B i The data recorded by the tracking tool attached to the component can be expressed as a 4x4 matrix A i The pose of the tracking tool attached to the measurement part can be expressed as a 4x4 matrix C in the coordinate frame of the tracking tool attached to the component. i and satisfies the following relationship:

[0071]

number

[0072] 4 x 4 transformation matrix A i , B i and C i The format is as follows:

[0073]

number

[0074] where R is a 3x3 rotation matrix, x, y, z are the component positions, i is the ith position, i >= 2. In the frame of the tracking tool attached to the component, the axis of the concave measurement surface of the measurement part or the axis of said part is oriented as (δ ’ x,δ ’ y,δ ’ z), which satisfies the following relationship:

[0075]

number

[0076] X off , Y off , Z off is the component direction offset / calibration parameter between the direction of the tracking tool attached to the measurement part and the axial direction of the concave measurement surface of the measurement part, and C i(m,n) is the rotation element of matrix C i is a rotation element of i . For i >= 2, at least two sets of equations are solved in (12) to obtain the axis of the concave measurement surface of the measurement part or the measurement direction of the axis of the direction part. This direction is based on the coordinate frame of the tracking tool attached to the component.

[0077] Implementing the image measurement and registration method of the present invention has the following beneficial effects. It is convenient and fast.

Brief Description of the Drawings

[0078] The present invention will be further described below in connection with the accompanying drawings and embodiments. [Figure 1] It is a schematic diagram of registration using the tracking system in the present invention. [Figure 2] It is a spherical part with a convex measurement surface in the present invention. [Figure 3] It is a measurement part for position measurement equipped with a tracking tool in the present invention. [Figure 4] It is a schematic diagram of measuring the position using the tracking system in the present invention. [Figure 5A] It is a cross-sectional view of a part including two components having a spherical shape in the present invention. [Figure 5B] It is a cross-sectional view of the part including two components having a non-spherical shape in the present invention. [Figure 6] It is an elongated part of an embodiment of the present invention. [Figure 7] It is a measurement part for direction measurement with a concave measurement surface and equipped with a tracking tool in the present invention. [Figure 8] It is a schematic diagram of the measurement direction using the tracking system in the present invention. [Figure 9A] It is the part including two components having a cylindrical surface in the present invention. [Figure 9B] It is the part including two components having a partial cylindrical shape in the present invention. [Figure 10] It is a schematic diagram of a post-registration tracking device in the present invention. [Figure 11A] It is the first part of a flowchart of the positions and directions of the registered physical space and image space in the present invention. [Figure 11B] It is the second part of a flowchart of the positions and directions of the registered physical space and image space in the present invention.

Embodiments for Carrying Out the Invention

[0079] In order to more clearly understand the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0080] FIG. 1 is a schematic diagram of registration using a tracking system. As shown in the figure, the tracking tool 4 is attached to the human body 5 of the patient, can be included on the surface of the patient's body or inside the patient's body, and is regarded as a relative reference tracking tool. The registration component 6 includes the attached tracking tool 1 and special parts. The special parts include at least four non-coplanar position parts, or at least one position part and at least three orthogonal direction parts. The special parts may be in the shape of a point, a sphere, a line, a curve, etc. These shapes include at least four non-coplanar position parts, or at least one position part and at least three orthogonal direction parts 2. Each part 2 has, mathematically and ideally, a unique three-dimensional position and / or a unique direction in the physical space.

[0081] The tracking tool 1 is regarded as a registered tracking tool. The registration component 6 is rigid so as to fix the relative positions and directions of the tracking tool 1 and the part 2. The position and available direction of the part 2 can be measured in various ways based on the coordinate frame of the registration tracking tool 1. This measurement process is considered as a preparation for using the registration component 6.

[0082] The special component is composed of at least four non-coplanar position components 2, or at least one position component and at least three orthogonal direction components 2. They can be imaged by a CT / MR system or other devices. The component 2 has a known three-dimensional position and available direction and can be displayed in the scanned image.

[0083] As shown in FIG. 1, both the reference tracking tool 4 and the registration tracking tool 1 can be associated with the tracking device in both wireless or wired manners. Then, the tracking device / system acquires data including the position and direction of six degrees of freedom respectively. The data is based on the coordinate frame of the tracking device (for example, the coordinate frame of the transmitter 3).

[0084] In the following chapter, the preliminary measurement of the component 6 and the registration processes of the tracking tools 1 and 4 will be described.

[0085] S1. Preliminary measurement of the component Based on the coordinate frame of the tracking tool attached to the component, it is necessary to measure two parameters of the position and direction of the component 2.

[0086] S1.1. Position measurement The position of the component 2 can be measured by some known methods, such as an electromagnetic tracking system. Place the registration component 6 in the trackable area. Use a registration pen, and the position of the pen tip is known to the tracking system. Touch each component 2 with this pen tip to obtain the position of each component 2 in the coordinate frame of the tracking system. At the same time, record the attitude data of the registration tracking tool 1 with respect to the tracking system frame. Then, calculate and transform the position of each component 2 from the position with respect to the tracking system frame to the position with respect to the registration tool 1 frame.

[0087] This disclosure describes a position measurement method that does not require measuring the pen tip position.

[0088] An electromagnetic tracking system typically includes multiple tracking tools and a transmitter 3. The transmitter 3 is used to generate an electromagnetic field. The tracking tool typically includes an induction coil, which generates an induced voltage in the electromagnetic field. The tracking system also includes an electronic unit that combines the induction coil and the transmitter, and calculates the position and orientation data of the tracking tool based on the induced voltage generated in the sensing coil.

[0089] The measuring part 2 includes, in one embodiment, the following, based on the position of the frame of the tracking tool 1 attached to said component: a) The part has a raised measurement surface that is in the form of part or all of a sphere, so that the centre of the raised measurement surface substantially corresponds to the location of the part being measured. As shown in FIG. 2, part 100 has a convex measuring surface 100A, the radius of the spherical part is r1, and the center of the convex measuring surface is O. b) Providing a measurement part having a concave measurement surface, which substantially mates with a convex measurement surface of said part. c) A six degree of freedom tracking tool is rigidly attached to the measurement part.

[0090] 3, measurement part 211 has a concave measurement surface 211 B. Tracking tool 221 is attached to measurement part 211. Concave measurement surface 211 B has a radius r2, which is substantially the same as the radius r1 of the convex sphere of part 100.

[0091] d) maintaining seamless contact between the concave measuring surface of the measurement part and the convex measuring surface of the component, without changing the center of the concave measuring surface, and simultaneously moving the measurement part to different positions, and applying a tracking system to record orientation and position data of at least two different positions of a tracking tool attached to the measurement part based on the coordinate frame of the tracking system, and to record orientation and position data of a tracking tool attached to the component based on the coordinate frame of the tracking system.

[0092] 4, data of the tracking tool 221 attached to the measurement part 211 and data of the tracking tool 1 attached to the component are recorded simultaneously, while keeping the concave measurement surface 211B of the measurement part in seamless contact with the convex measurement surface of the part 100 and the moving measurement part 211 at different positions. The transmitter 3 is configured to generate an electromagnetic field.

[0093] e) Using the recorded data from step d, calculate the unaltered position of the center of the concave measurement surface of the measurement part or the corresponding unaltered position of said part based on the coordinate frame of a tracking tool attached to the component.

[0094] In some embodiments, the component includes a first portion and a second portion. The first portion has a spherical shape and is located substantially at the core center of the spherical component. The second portion is located on the outer layer of the spherical component, and the core center of the second portion is also located substantially overlapping with the core center of the first portion. The first portion and the second portion have different material compositions and can generate relatively weak or strong signals relative to each other by diagnostic image scanners. Therefore, in scan imaging, the image location of the center of the first portion of the component can be easily and accurately identified and measured by distinguishing the displayed speckles.

[0095] 5A is a cross-sectional view of a two-part component. As shown, component 100 is a substantially spherical component with a radius r1. First component 110 has a spherical sub-shape and is located substantially at the core center of spherical component 100 (i.e., the core center of first component 110 substantially overlaps the core center of spherical component 100). Second component 120 is located on the outer layer of spherical component 100 and is positioned such that the core center of second component 120 also substantially overlaps the core center of first component 110.

[0096] FIG. 5B shows a cross-sectional view of a non-spherical part 100 according to some other embodiments. Similar to the part embodiment shown in FIG. 5A, part 100 also includes a ball-shaped first portion 110 embedded in a second portion 120. Second portion 120 includes a convex surface 120A (as indicated by the arrow in FIG. 5B) and is positioned as a portion of a sphere of radius r1. First portion 110 is configured to be located substantially at the core center of convex surface 120A of second portion 120 (i.e., the core center of convex surface 120A of second portion 120 is substantially the core center of the sphere to which convex surface 120A belongs).

[0097] In addition to arranging the first portion 110 and the second portion 120 on the part 100, other configurations are possible, as shown in Figures 5A and 5B. For example, the first portion 110 may be located on the surface of the second portion 120. As long as the first portion is still a small sphere, it will be located substantially at the core center of the convex surface 120A of the second portion 120.

[0098] In some embodiments, the recorded data of the tracking tool attached to the measurement part can be expressed as a 4×4 matrix Bi. As shown in FIG. 4, the recorded data of the tracking tool attached to the component can be expressed as a 4×4 matrix A i Based on the coordinate frame of the tracking tool attached to the component, the pose of the tracking tool attached to the measurement part is expressed as a 4 × 4 matrix C i and the following relationship is satisfied:

[0099] [Number]

[0100] 4x4 transformation matrix A i , B i and C i are in the following forms.

[0101] [Number]

[0102] Here, R is a 3x3 rotation matrix, x, y, z are component positions, i is the i-th position, representing i >= 2.

[0103] Based on the coordinate frame of the tracking tool attached to the component, the invariant position of the surface center of the concave measurement of the measured part is represented by XS, YS, ZS, and satisfies the following relationship.

[0104] [Number]

[0105] XO, YO, ZO are the offset distances from the center of the tracking tool to the center of the concave measurement surface. Ci(m,n) is the rotation element of matrix Ci. XBi, YBi, ZBi are the X, Y, Z positions of matrix Ci. When i >= 2, solve at least two sets of equations (2) to obtain the measurement position (XS, YS, ZS) of the core center of the concave measurement surface or the center of the part in the coordinate frame of the tracking tool attached to the component.

[0106] In some embodiments, the data of the tracking tool attached to the recorded measurement component may be represented as a 4×4 matrix Bi with respect to the coordinate frame of the tracking system. The data of the tracking tool attached to the recorded component may be represented as a 4×4 matrix Ai as shown in FIG. 4 with respect to the coordinate frame of the tracking system.

[0107] 4 x 4 transformation matrix A i and B i are in the following form.

[0108]

Number

[0109] Here, R is a 3×3 rotation matrix, x, y, z are component positions, i is the i-th position, and i>=2.

[0110] In the coordinate frame of the tracking system, the invariant position of the surface center of the concave measurement of the measurement component is represented by XS, YS, ZS, and satisfies the following relationship.

[0111]

Number

[0112] XO, YO, ZO are the offset distances from the center of the tracking tool to the center of the concave measurement surface. Bi(m,n) is the rotation element of matrix Bi. XBi, YBi, ZBi are the X, Y, Z positions of matrix Bi. When i>=2, at least two sets of equations (3) are solved to obtain the measurement positions (XS, YS, ZS) of the surface center of the concave measurement or the center of the component in the tracking system coordinate frame.

[0113] Assume that MA is the average value of the Ai group or one of the Ais. Set AA as the inverse matrix representing MA. The set (X'S, Y'S, Z'S) represents the center of the concave measurement surface or the center measurement position of the component in the tracking tool frame attached to the component, and (X'S, Y'S, Z'S) can be calculated by the following formula.

[0114]

Number

[0115] AA(m,n) is the rotation element of the matrix AA. XB, YB, and ZB are the X, Y, and Z positions of the matrix AA.

[0116] In some embodiments, the position component has a concave-shaped measurement surface, while the measurement component has a convex-shaped measurement surface, and the two measurement surfaces are seamlessly fitted.

[0117] S1.2, Direction Measurement Examples of measuring the direction of the direction component 2 with respect to the coordinate frame of the tracking tool 1 attached to the component include the following content.

[0118] a) The directional component has a partially or fully cylindrical measurement surface or other elongated measurement surface, including at least a first part or full circular cross-section and a second part or full circular cross-section, such that the axis of the groove bar or elongated component coincides with the direction of the direction component.

[0119] As shown in FIG. 6, the component 100 has a convex measurement surface 100A, the radius of the cylindrical component is r1, and the axis of the protrusion measurement surface of the groove bar is AX.

[0120] In some embodiments, the first and second cross-sections have different radii, and the axis of the convex groove or elongated component still coincides with the direction of the direction component.

[0121] a) Provide a measuring part having a groove or a partial or full cylindrical cavity measuring surface, including at least two concave-shaped parts or full circular cross-sections, and substantially coinciding with the convex measuring surface of the orienting part.

[0122] c) Rigidly attach at least a tracking tool for direction tracking to the measuring part.

[0123] As shown in FIG. 7, the measuring part 211 has a concave measuring table 211B. The tracking tool 221 is attached to the measuring part 211. The concave-shaped measuring surface 211B has a radius r2, which is substantially the same as the radius r1 of the cylindrical convex surface of the part 100.

[0124] d) Keep the concave measuring surface of the measuring part in seamless contact with the convex measuring surface of the part, without changing the axial direction of the concave measuring surface, and at the same time rotate the measuring part at different rotation angles. Apply a tracking system to record simultaneously, based on the coordinate frame of the tracking system, the direction data of at least two different rotation angles of the tracking tool attached to the measuring part and the direction and position data of the tracking tool attached to the component.

[0125] As shown in FIG. 8, while simultaneously recording the direction data of the tracking tool 221 attached to the measuring part 211 and the direction and position data of the tracking tool 1 attached to the component 6, the concave-shaped measuring surface 211B of the measuring part is brought into seamless contact with the convex measuring surface of the part 100, and the measuring part 211 is rotated at different rotation angles. The transmitter 3 is configured to generate an electromagnetic field.

[0126] e) Using the recorded data in step d), calculate the invariant direction of the axis of the concave measuring surface of the measuring part or the axis of the part based on the coordinate frame of the tracking tool attached to the component.

[0127] In some embodiments, the directional component includes a first portion and a second portion. The first portion has an elongated shape and is positioned such that its axis coincides with the axis of the directional component. The second portion is located on the outer layer of the component, and is positioned such that its axis also substantially coincides with the axis of the first portion. The first and second portions have different material compositions and can generate relatively weak or strong signals relative to each other by diagnostic image scanners. Therefore, in scan imaging, the image orientation of the first portion of the component can be easily and accurately determined and measured by distinguishing the displayed lines.

[0128] 9 illustrates the part 100, which includes two components. As shown, part 100 has a portion 110 and a portion 120. First portion 110 has an elongated shape and is positioned such that its axis coincides with the axis of the elongated part. Second portion 120 is located on the outer layer of elongated part 100, and is positioned such that the axis of second portion 120 also substantially coincides with the axis of first portion 110.

[0129] In some embodiments, the tracking tool records data attached to the measurement part in a 4×4 matrix B based on the coordinate frame of the tracking system. i Based on the coordinate frame of the tracking system, the recorded data of the tracking tool attached to the component can be expressed as a 4×4 matrix A as shown in FIG.

[0130] The 4 x 4 transformation matrices Ai and Bi have the form:

[0131]

number

[0132] R is a 3x3 rotation matrix. x, y, z are the component positions. i represents the ith position, i>=2.

[0133] In the frame of the tracking system, the directions in which the axes of the concave measurement surfaces of the measurement parts do not change can be represented by δx, δy, and δz, and satisfy the following relationships.

[0134]

Number

[0135] TIFF0007716073000037.tif79166

[0136] TIFF0007716073000038.tif76166

[0137]

Number

[0138] Here, AA(m,n) is the rotation element of matrix AA.

[0139] In some embodiments, the recorded data of the tracking tool attached to the measurement part may be represented as a 4×4 matrix B i and may be expressed as the 4×4 matrix A as shown in the figure. The recorded data of the tracking tool attached to the component i and may be expressed as the 4×4 matrix A as shown in the figure. The attitude of the tracking tool attached to the measurement part is, in the coordinate frame of the tracking tool attached to the component, a 4×4 matrix C i and is represented as and satisfies the following relationship.

[0140]

Number

[0141] The forms of the 4×4 transformation matrices Ai, Bi, and Ci are as follows.

[0142]

Number

[0143] Here, R is a 3×3 rotation matrix, x, y, z are component positions, i represents the i-th position, and i >= 2.

[0144] In the frame of the tracking tool attached to the component, the invariant direction of the axis of the concave measurement surface of the measurement component or the axis of the said component may be represented by (δ ’ x, δ ’ y, δ ’ z) and satisfies the following relationship.

[0145]

Equation

[0146] X off 、Y off 、Z off are the offset / calibration parameters of the component direction between the direction of the tracking tool attached to the measurement component and the axis direction of the concave-shaped measurement surface of the measurement component. C i (m,n) is the rotation element of the matrix C i By solving at least two sets of equations with i >= 2 in (12), the measurement direction of the axis of the concave-shaped measurement surface of the measurement component or the axis of the said component direction is obtained. The said direction is based on the coordinate frame of the tracking tool attached to the component.

[0147] In some embodiments, the said component has a concave groove or a part or a whole cylindrical cavity measurement surface, while the measurement component has a measurement surface of a part or a whole cylindrical convex groove, and the two measurement surfaces are seamlessly fitted.

[0148] S 2, register with the tracking tool Before the surgery, the operation of preparing the registration component 6 has nothing to do with the patient or the surgeon. It can be known by measuring the fixed position and the available direction of the three-dimensional physical space of the component 2 with respect to the coordinate frame of the tracking tool 1'. The registered tracking tool 1 is removable.

[0149] When the surgical procedure begins, the registration component 6 is rigidly attached to the patient, fixing the relative position and orientation between the registration component 6 and the patient (more specifically, the region of the patient's body involved in the procedure). The registration component 6 is then brought into the scanner together with the patient to acquire images including the patient and the part 2, and some image processing is performed to obtain the position and available orientation of the part 2. In some embodiments, part 2 includes at least four non-coplanar locations. The locations of part 2 in physical space may be represented as OBJECTWi(x, y, z) and the locations in image space may be represented as OBJECTMi(x, y, z), where i>=4. Using the known OBJECTM and OBJECTW, the transformation T can be calculated using the following formula:

[0150]

number

[0151] where T is a 4x4 matrix, OBJECTM1i T is the transpose matrix of (x, y, z, 1) or (OBJECTMi, 1), and OBJECTW1i T is the transpose matrix of (x, y, z, 1) or (OBJECTWi, 1), where i represents the ith position for i>=4.

[0152] There are at least four equations (9)s, where i>=4. By solving the simultaneous equations (9)s, T is obtained. In this step, there is no need to register the position and orientation parameters of tracking tool 1 and relative reference tracking tool 4.

[0153] In some embodiments, the object 2 comprises at least one position (x, y, z) and at least three orthogonal directions A, B, C. The transformation is denoted as T and satisfies the following relationship:

[0154]

number

[0155] Here, OBJECTM2 i is a 4 x 4 matrix and is as follows.

[0156]

Number

[0157] TIFF0007716073000046.tif50166

[0158]

Number

[0159] TIFF0007716073000048.tif20166 are the x, y, and z cosine components in the direction C in. x W , y W and z W are the position components in physical space. The position and direction in the physical space here are in the coordinate frame of the tracking tool attached to the component. i represents the i-th position and direction of component 2, where i >= 1.

[0160] The form of the 4 x 4 transformation matrix T is as follows.

[0161]

Number

[0162] R is a 3×3 rotation matrix, and x, y, and z are the translations of the components.

[0163] T is obtained by solving at least one equation (10) for at least one position (x, y, z) and at least three orthogonal directions A, B, and C.

[0164] R can also be obtained by solving the following equation.

[0165]

Number

[0166] Here, M is a 3×3 matrix and is as follows.

[0167]

Number

[0168] W is a 3×3 matrix and is as follows.

[0169]

Number

[0170] In this step, it is not necessary to register the position and orientation parameters of the tracking tool 1 and the relative reference tracking tool 4.

[0171] The following steps are related to timing and positioning and are considered as registration times. Here, the relative reference tracking tool 4 is activated and placed on or inside the patient's body. And the registration tracking tool 1 is actively attached to the original position of the component 6. Among them, the position and available orientation in the three-dimensional physical space of the component 2 are known by previous measurements with respect to the registration tracking tool 1. The word "active" means that the tracking tool (1 or 4) is related to the tracking system and obtains the position and orientation parameters of six degrees of freedom.

[0172] The relative reference tracking tool 4 is fixedly attached to or within the patient's body during the aforementioned registration period and later during the surgical procedure. At the same time, the registration component 6 is maintained in its original position, i.e., the position during the imaging scan is maintained (in other words, the relative position and orientation between the registration component 6 and the patient remain fixed). The six-degree-of-freedom position and orientation parameters of the tracking tool 1 and the related reference tracking tool 4 with respect to the coordinate frame of the tracking system are recorded and represented by a 4×4 transformation matrix B and a 4×4 transformation matrix A, respectively, as shown in FIG. 1. The forms of the 4 x 4 transformation matrices A and B are as follows.

[0173]

Number

[0174] R is a 3×3 rotation matrix. x, y, and z are the coordinates of the position of the tracking tool within the frame of the tracking system. With respect to the coordinate frame of the tracking tool 1, the six-degree-of-freedom position and orientation parameters of the relative reference tracking tool 4 can be further expressed as follows.

[0175]

Number

[0176] Here, B -1 is the inverse matrix of the matrix B of the registration tracking tool 1, and C is a 4×4 matrix. Next, a new TT can be defined and calculated.

[0177]

Number

[0178] Here, TT is a fixed 4×4 matrix, regarded as a registered transformation matrix, reflecting a specific relationship between the patient's physical space and the scan image space. The registered transformation matrix TT transforms the relative reference tracking tool 4 from its pose with respect to the coordinate frame of the tracking system into the image space. The specific relationship indicated by the matrix TT is locked and calculated during the registration time.

[0179] Several factors are locked during the registration time. The first is that the relative tracking tool 4 is fixedly attached to the patient or within the patient's body. (More specifically, the area of interest for the patient's surgery). In other words, during the registration time (and during subsequent surgery), the relative position and orientation between the relative reference tracking tool 4 and the area of interest of the patient are fixed. The placement of the relative reference tracking tool 4 is fixed with respect to the patient, but the relative reference tracking tool 4 is removable and can be returned to its original position after removal. The second factor for locking is that the registered tracking tool 1 is fixedly placed in the registration component 6 at its original registered position, in which the three-dimensional physical space position and available orientation of the component 2 with respect to the registered tracking tool 1 have been measured in advance. The third locking factor is that the registration component 6 is in its original position during the imaging scan, in which the relative position and orientation between the registration component 6 and the patient are fixed. The fourth locking factor is the area of interest where the patient undergoes surgery, and the pose relationship between the registered tracking tool 1 and the relative reference tracking tool 4 is rigid. In other words, in the area of interest for the patient's surgery, there is no change in the relative position and orientation between the registered tracking tool 1 and the relative reference tracking tool 4.

[0180] After the registration conversion matrix is determined, the surgical navigation system operates to assist in the surgical operation, and the registration component 6 that registered the registration tracking tool 1 does not necessarily exist. Or, it can move away from the patient. As shown in FIG. 10, surgical instruments (needles, ultrasonic probes) can be tracked by the attached tracking tool 7. The posture of the surgical instrument is represented by the posture of the tracking tool 7. For example, after calibration is performed between the tip of the needle-like instrument and the origin zero position of the tracking tool 7, the tip of the needle-like instrument can be known by the tracking tool 7. The posture of the tracking tool 7 is obtained by the tracking system, and the coordinate frame of the tracking system is expressed as a 4×4 transformation matrix D. This can be expressed as E-1*D with respect to the posture of the coordinate frame of the relative reference tracking tool 4 attached to the patient's body surface or inside. Here, the posture of the tracking tool 4 is represented as a 4×4 matrix E with respect to the coordinate frame of the tracking system. The forms of the 4 x 4 transformation matrices D and E are as follows.

[0181] [Number]

[0182] R is a 3×3 rotation matrix. x, y, and z are the coordinates of the position within the frame of the tracking system of the tracking tool.

[0183] Note that matrix E is not necessarily the same as matrix A. This is because the patient's body can move from its original position. Since the registration conversion matrix TT is determined, the posture of the tracking tool 7 for converting from the physical space to the image space can be further shown as follows.

[0184] [Number]

[0185] If the tracking tool 7 is in terms of its position in the coordinate frame of the tracking system, the fourth column from D, represented by OBJECTW(x,y,z), then its position in image space, represented by OBJECTM(x,y,z), can be obtained from the fourth column of F. If the tracking tool 7 only has three position data, rather than six degrees of freedom data including rotation information, its corresponding image position can be calculated by equation (14).

[0186] Similarly, if the tracking tool 7 only has orientation data and not position data, the corresponding orientation in image space can also be calculated with equation (14) by considering the first three rows and the previous three columns of the matrix.

[0187] 11A and 11B show a flow chart of an embodiment of registering position and orientation in physical and image space.

[0188] In some embodiments, the six degree of freedom position and orientation tracking tool comprises a plurality of tracking tools with less than six degrees of freedom.

[0189] In some embodiments, a third orthogonal direction can be derived from the two orthogonal directions. In some embodiments, for example, there are two or more of the components and / or two or more detachable tracking tools attached to the components. In some embodiments, there are multiple relative reference tracking tools on or within the patient's body. In some embodiments, relative tracking tools on or within the body are combined with tracking tools attached to the components. The more components that are integrated, the more accurate the registration and navigation.

[0190] The following description will demonstrate the clear advantages of the measurement and registration method of the present disclosure.

[0191] Since the registered component 6 includes components in known positions and available directions for registration, the doctor does not need to handle and register each component. For example, the registration task of the conventional method is to attach each component to the patient, obtain its physical spatial position, and map it to the corresponding image. The registration method of the present disclosure avoids such tasks.

[0192] A measuring component is used to easily measure the position and available direction of the components on the component. For the tracking tool attached thereto, the tip or direction of the measuring instrument does not require calibration. According to the present invention, the measuring component can directly measure the position and available direction of the components on the component without the need for prior calibration.

[0193] Image scanning is convenient. There is no need to scan the tracking tool. It is only necessary to scan the component 6 and the patient's body. During the image scan, there is no need to scan the tracking tool attached to the component in the plan. During the image scan, there is no need to scan the relative tracking tool arranged on the patient's body in the plan. This is an important advantage when performing MR imaging. Some tracking tools have metal components. It is recommended not to use metal when performing MR imaging.

[0194] The relative tracking tool 4 can be freely placed on or within the patient's body without considering the placement of the component 6 and the attached tracking tool 1. At registration time, after recording the posture parameters of the relative tracking tool 4 and the tracking tool 1 attached to the component 6, the patient can move to a different bed or go to a different operating room as long as the original position of the relative reference tracking tool 4 is maintained. In some embodiments, a small base / bracket is fixedly attached to the patient so that the relative reference tracking tool 4 can return the base / bracket to its original position. The patient can move around while the base / bracket is fixed to the body. In some embodiments, a mark is made on the patient's body with a position pen so that the relative reference tracking tool 4 can be returned to its original position.

[0195] Because the reference system is based on the patient (the surface of the patient's body or some anatomical organ inside the patient's body), when the patient / some organ moves, the relative position and orientation of the patient and surgical instrument displayed in the image navigation still match accurately. In some embodiments, the relative reference tracking tool 4 or its stent can be inserted into the patient's organ. When the organ moves due to breathing or other reasons, the navigation of the image display is not affected and remains accurate. The relative reference tracking tool 4 and its stent can be small enough to be attached to the patient or inserted into the patient's body.

[0196] Registration is simple and fast. Simply attach the relative reference tracking tool 4 to the patient and have the tracking system record the instantaneous six-degree-of-freedom pose parameters of the relative reference tracking tool 4 and the tracking tool 1. In some embodiments, the surgeon simply presses a button. After recording the pose parameters, the registration component 6 can be separated from the patient.

[0197] The tracking system can employ one or more different types of positioning methods and devices, such as an electromagnetic tracking system, an optical tracking system, a radio frequency (RF) tracking system, an ultrasonic tracking system, etc.

[0198] The examples provided above are for illustration and exemplification purposes. It is not intended to cover or limit the present invention in this form. Each element or feature of a particular embodiment is not normally limited to this particular embodiment and is interchangeable where applicable, and may be used in the selected embodiment even without illustration or description, and can be varied in various ways as well. These changes should not be regarded as departing from the present invention, and it is determined that all these modifications are included within the scope of the present invention.

[0199] Those of ordinary skill in the art will recognize that the functional blocks, methods, units, devices, and systems described in this disclosure may be integrated or divided into different combinations of systems, units, devices, and functional blocks. The routines of a particular embodiment may be implemented using any suitable programming language and programming techniques. Different programming techniques such as procedural or object-oriented can be used. The routines may be executed on a single processor or multiple processors. Steps, operations, or calculations can be presented in a specific order, but the order may be changed in different specific embodiments. In some examples, in this disclosure, multiple steps shown as being executed in sequence may be executed simultaneously.

[0200] In some embodiments, software or program code is provided to implement the above method.

[0201] It should be understood that the above embodiments only represent the preferred embodiments of the present invention, and the description thereof is more specific and detailed, but it should not be construed as a limitation of the scope of the patent of the present invention. For those of ordinary skill in the art, on the premise of not departing from the concept of the present invention, the above technical features may be freely combined, and some modifications and improvements are possible, and it should be pointed out that these belong to the protection scope of the present invention. Therefore, all equivalent conversions and modifications made within the scope of the claims of the present invention should belong to the scope of the claims of the present invention.

Claims

1. A method for measuring and registering the positions and orientations of a physical space and an image space, comprising: a) providing a component including parts having positions and orientations with six degrees of freedom and a tracking tool, wherein the component includes at least four non-coplanar position parts, or at least one position part and at least three orthogonal direction parts, all of the parts are rigidly arranged on the component, the tracking tool is detachably and rigidly fixed to the component such that the positions and orientations of the parts and the tracking tool are relatively fixed to each other, measuring the three-dimensional position and available orientation of the physical space of the parts by the coordinate frame of the tracking tool, using an imaging system to scan these parts, and obtaining their three-dimensional positions and available orientations in the scanned image space, b) placing the component with the tracking tool rigidly fixed thereon on a human body, performing an image scan using an imaging system, and obtaining the three-dimensional position and available orientation of the parts in the scanned image space through the scanned image, c) performing a calculation to convert the positions and orientations from the physical space to the image space based on the positions and available orientations of the parts in the physical space measured in the coordinate frame of the tracking tool in step a) and the positions and available orientations of the parts in the image space obtained in step b), d) using a relative tracking tool with six degrees of freedom placed on the human body, using a tracking system to record the direction and position data between the relative tracking tool and the tracking tool attached to the component based on the coordinate frame of the tracking system while registering time, e) further placing the tracking tool on a tracking instrument to track the posture of the tracking instrument, using a tracking system to simultaneously record the position and available orientation data of the tracking tool attached to the tracking instrument and the six-degree-of-freedom direction and position data of the relative tracking tool based on the coordinate frame of the tracking system at a post-registration time which is a time after the registered time. f) recording the transformation obtained in step c), the data of the relative tracking tool recorded at the registration time in step d), and the data of both the relative tracking tool and the tracking tool attached to the component at the post-registration time in step e), and after conversion, calculating the position and available direction of the tracking tool attached to the tracking instrument in the image space A method for measuring and registering the position and orientation of a physical space and an image space, characterized in that **Claim 2** The transformation is represented as T and is characterized by satisfying the following relationship 【Number 1】 where OBJECTM1 ｉ Ｔ is the transposed matrix of OBJECTM1 ｉ where OBJECTM1 ｉ represents (x, y, x, 1), where (x, y, z) represents a position in the image space, and OBJECTW1 ｉ Ｔ is the transposed matrix of OBJECTW1 ｉ where OBJECTW1 ｉ represents (x, y, z, 1), where (x, y, z) represents a position in the physical space in the tracking tool frame, the tracking tool is removable and rigidly attached to the component, i represents the i-th position of the component, i ≥ 4; the form of the 4x4 transformation matrix T is as follows 【Number 2】 where R is a 3×3 rotation matrix, and x, y, z are respectively translations of coordinates T is calculated by solving a system of equations of at least four relationships (1) of at least four non-coplanar positions The method for measuring and registering the position and orientation of a physical space and an image space according to claim 1 **Claim 3** The transformation is represented as T and is characterized by satisfying the following relationship [Number 3] where OBJECTM2 ｉ is a 4 x 4 matrix and is as follows: 【Number 4】 (Ax Ｍ , Ay Ｍ , Az Ｍ ) are the cosine components of x, y, and z of direction A in the image space, (Bx Ｍ , By Ｍ , Bz Ｍ ) are the cosine components of x, y, and z of direction B in the image space, (Cx Ｍ , Cy Ｍ , Cz Ｍ ) are the cosine components of x, y, and z of direction C in the image space, and x, y, and z are the position components in the image space. OBJECTW2 ｉ is a 4 x 4 matrix and is as follows: 【Number 5】 (Ax Ｗ , Ay Ｗ , Az Ｗ ) are the cosine components of x, y, and z of direction A in physical space, (Bx Ｗ , By Ｗ , Bz Ｗ ) are the cosine components of x, y, and z of direction B in physical space, (Cx Ｗ , Cy Ｗ , Cz Ｗ ) are the cosine components of x, y, and z of direction C in physical space, x, y, and z are position components in physical space, wherein the position and direction in physical space are based on the tracking tool coordinate frame, the tracking tool is detachable and rigidly attached to the said components, i represents the i-th position of the said part, i ≥ 1, The form of the 4×4 transformation matrix T is as follows 【Number 6】 where R is a 3×3 rotation matrix, and x, y, z are the translation components of x, y, z T is obtained by solving at least one equation (2) including at least one position (x, y, z) and three orthogonal directions A, B, C R is also obtained by solving the following equation 【Number 7】 where M is the following 3×3 matrix 【Number 8】 W is the following 3×3 matrix 【Number 9】 The method for measuring and registering the position and orientation of a physical space and an image space according to claim 1 **Claim 4** During the registration time recording 4×4 matrices B and A, each representing the position and orientation of the tracking tool attached to the component and the relative tracking tool, during the post-registration time, recording 4×4 matrix D, which represents the position and available direction of the tracking tool attached to the tracking instrument, during the post-registration time, recording 4×4 matrix E, which represents the position and orientation of the relative tracking tool, and 4×4 matrix F represents the position and available direction of the tracking tool attached to the tracking instrument in the image space converted from the physical space, and satisfies the following relationship 【Number 10】 Here, T is a transformation calculated by transforming the position and direction from the physical space to the image space, and the format of the 4x4 transformation matrix T is as follows: 【Number 11】 R is a 3x3 rotation matrix, and x, y, and z are coordinate translations. The 4x4 matrices of B, A, E, D, and F are as follows: 【Number 12】 R is a 3x3 rotation matrix, and x, y, and z are component positions. By such an equation (4), using the position data (x, y, z) of the tracking tool with respect to the coordinate frame of the tracking system in the physical space, the corresponding position in the image space can be calculated. According to equation (4), using the direction data of the tracking tool with respect to the coordinate frame of the tracking system in the physical space, the corresponding direction in the image space can be calculated. The method for measuring and registering the position and direction of the physical space and the image space according to claim 1.

5. There are two or more of the above components, and / or there are two or more tracking tools detachably attached to the components, and / or there are two or more relative tracking tools on the human body, and / or the relative tracking tools on the human body are combined with the tracking tools attached to the components. The method for measuring and registering the position and direction of the physical space and the image space according to claim 1.

6. The tracking tool for the position and direction having the six degrees of freedom is composed of a plurality of tracking tools with less than six degrees of freedom. The method for measuring and registering the position and direction of the physical space and the image space according to claim 1.

7. The tracking system is an electromagnetic tracking system or an optical tracking system. The method for measuring and registering the position and direction of the physical space and the image space according to claim 1.

8. Based on the coordinate frame of the tracking tool attached to the component, measuring the position of the position component included in the component, and the measurement method includes the following steps: a. By providing a part or all of the protruding measurement surface of a sphere on the part, making the center of the protruding measurement surface substantially correspond to the position of the part to be measured. b. Providing a measurement part having a concave measurement surface that substantially coincides with the convex measurement surface of the part. c. rigidly fixing the six-degree-of-freedom tracking tool to the measurement component; d. holding the concave measurement surface of the measurement component, seamlessly contacting the convex measurement surface of the component, moving the measurement component to different positions without changing the center of the concave measurement surface, applying a tracking system, and recording the direction and position data of at least two different positions of the tracking tool attached to the measurement component based on the coordinate frame of the tracking system, and recording the direction and position data of the tracking tool attached to the component based on the coordinate frame of the tracking system; e. using the recorded data in step d to calculate the unchanged position of the center of the concave-shaped measurement surface of the measurement component or the corresponding unchanged position of the component based on the coordinate frame of the tracking tool attached to the component; The method for measuring and registering the position and orientation of the physical space and the image space according to claim 1.

9. The component includes a first part and a second part. The first part has a spherical shape and is located substantially at the center of the spherical member. The second part is located on the outer layer of the spherical member, and the core center of the second part is also arranged to substantially overlap the core center of the first part. The first part and the second part have different material components, and by diagnosing the image scanner, relatively weak or strong signals can be generated with respect to each other. Therefore, in the formation of the scanned image, the image position of the center of the first part of the component can be easily and accurately identified and measured by distinguishing the displayed speckles. The method for measuring and registering the position and orientation of the physical space and the image space according to claim 8.

10. The data of the tracking tool can be represented by a 4×4 matrix Bi, the data of the tracking tool attached to the recorded component can be represented by a 4×4 matrix Ai, and based on the coordinate frame of the tracking tool attached to the component, the attitude of the tracking tool attached to the measurement component can be represented as a 4×4 matrix Ci, satisfying the following relationship: 【Number 13】 The forms of the 4x4 transformation matrices Ai, Bi, and Ci are as follows: 【Number 14】 Here, R is a 3×3 rotation matrix, x, y, z are component positions, i is the i-th position, representing i>=2. Based on the coordinate frame of the tracking tool attached to the component, the invariant position of the surface center of the concave measurement of the measurement component is expressed as XS, YS, ZS, and satisfies the following relationship: 【Number 15】 X Ｏ , Y Ｏ , Z Ｏ is the offset distance from the center of the measurement tracking tool to the core center of the concave measurement surface, and Ci(m, n) is the rotation element of matrix C ｉ . XB ｉ , YB ｉ , ZB ｉ are the X, Y, Z positions of matrix C ｉ . Solve at least two sets of equations (6) with i >= 2 to obtain the measurement position (XS, YS, ZS) of the core center of the concave measurement surface or the center of the component, and this position is based on the coordinate frame of the tracking tool attached to the component The method for measuring and registering the position and orientation of the physical space and the image space according to claim 8.

11. Based on the coordinate frame of the tracking system, the data of the tracking tool attached to the recorded measurement component may be represented as a 4×4 matrix Bi. Based on the coordinate frame of the tracking system, the data of the tracking tool attached to the recorded component may be represented as a 4×4 matrix Ai. The forms of the 4x4 transformation matrices Ai and Bi are as follows: 【Number 16】 Here, R is a 3×3 rotation matrix, x, y, z are component positions, i is the i-th position, and i >= 2. Based on the coordinate frame of the tracking system, the invariant position of the surface center of the concave measurement of the measurement component is expressed as XS, YS, ZS, and satisfies the following relationship: 【Number 17】 XO, YO, and ZO are the offset distances from the center of the measurement tracking tool to the core center of the concave measurement surface, Bi(m, n) is the rotation element of matrix Bi, XB ｉ , YB ｉ , ZB ｉ are the X, Y, and Z positions of matrix B ｉ . When i >= 2, solve at least two sets of equations (7) to obtain the measured position (XS, YS, ZS) of the center of the concave measurement surface or the center of the part based on the coordinate frame of the tracking system. AA represents the inverse matrix of the mean values of the group Ai or the inverse matrix of one Ai therein, and (X' Ｓ , Y′ Ｓ , Z′ Ｓ ) is the center of the concave measurement surface or the center of the part, and the center is the measured position based on the coordinate frame of the tracking tool attached to the component, (X' Ｓ , Y' Ｓ , Z' Ｓ ) is obtained based on the following: 【Number 18】 AA(m, n) is the rotation element of matrix AA, and X Ｂ , Y Ｂ , Z Ｂ are the X, Y, Z positions of matrix AA The method for measuring and registering the position and orientation of the physical space and the image space according to claim 8.

12. Characterized by measuring the direction of the direction component included in the component based on the coordinate frame of the tracking tool attached to the component, the measurement method includes the following steps: a. When the directional component has a partial or entire cylindrical measurement surface or other elongated measurement surface, and includes at least a first partial or entire circular cross-section and a second partial or entire circular cross-section, and the axis of the groove bar or elongated component is made to coincide with the direction of the direction component. b. Providing a measurement component having a groove or a partial or entire cylindrical cavity measurement surface, including at least two concave partial or entire circular cross-sections, and substantially coinciding with the convex measurement surface of the orientation component. c. Rigidly attaching at least a tracking tool for direction tracking to the measurement component. d. Keeping the concave measurement surface of the measurement component in seamless contact with the convex measurement surface of the component, rotating the measurement component at different rotation angles without changing the axial direction of the concave measurement surface, applying a tracking system, and simultaneously recording the direction data of at least two different rotation angles of the tracking tool attached to the measurement component and the direction and position data of the tracking tool attached to the component based on the coordinate frame of the tracking system. e. Using the recorded data in step d, calculate the invariant direction of the axis of the concave measurement surface of the measurement part or the axis of the part based on the coordinate frame of the tracking tool attached to the component. The method for measuring and registering the position and orientation of the physical space and the image space according to claim 1.

13. The direction component is characterized by including a first part and a second part. The first part has an elongated shape and is arranged such that its axis coincides with the axis of the direction component. The second part is located on the outer layer of the component, and the axis of the second part is also arranged to substantially coincide with the axis of the first part. The first part and the second part have different material components, and by diagnosing the image scanner, relatively weak or strong signals can be generated with respect to each other. Therefore, in the formation of the scanned image, the image direction of the first part of the component can be easily and accurately determined and measured by distinguishing the displayed lines. The method for measuring and registering the position and orientation of the physical space and the image space according to claim 12.

14. Based on the coordinate frame of the tracking system, the data of the tracking tool attached to the measurement part can be represented as a 4×4 matrix Bi, and based on the coordinate frame of the tracking system, the data of the tracking tool attached to the component can be represented as a 4×4 matrix Ai. Here, the forms of the 4×4 transformation matrices Ai and Bi are as follows: 【Number 19】 R is a 3×3 rotation matrix, x, y, z are component positions, i is the i-th position, and i >= 2. In the frame of the tracking system, the unchanging direction of the axis of the concave measurement surface of the measurement part can be represented by δx, δy, δz, and satisfies the following relationship: 【Number 20】 【Number】 【Number】 【Number 21】 Here, AA(m, n) is the rotation element of the matrix AA. The method for measuring and registering the position and orientation of the physical space and the image space according to claim 12.

15. The recorded data of the tracking tool attached to the measurement part may be represented as a 4×4 matrix Bi, the recorded data of the tracking tool attached to the component may be represented as a 4×4 matrix Ai, and the posture of the tracking tool attached to the measurement part is represented as a 4×4 matrix Ci in the coordinate frame of the tracking tool attached to the component, and satisfies the following relationship: 【Number 22】 4x4 transformation matrix A ｉ , B ｉ and C ｉ are in the following forms: 【Number 23】 Here, R is a 3×3 rotation matrix, x, y, z are component positions, i represents the i-th position, and i >= 2. 【Number】 [Number 24] X ｏｆｆ , Y ｏｆｆ , Z ｏｆｆ are offset / calibration parameters in the component direction between the direction of the tracking tool attached to the measurement component and the axial direction of the concave-shaped measurement surface of the measurement component, and C ｉ (m, n) is the rotation element of the matrix C ｉ Solve at least two sets of equations with i >= 2 to obtain (12) the measurement direction of the axis of the concave-shaped measurement surface of the measurement component or the axis of the direction component, and this direction is based on the coordinate frame of the tracking tool attached to the component The method for measuring and registering the positions and orientations of the physical space and the image space according to claim 12.

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