Magnetic resonance-compatible optical positioning system

Abstract

The present disclosure relates to a magnetic resonance-compatible optical positioning system, comprising: a plurality of multi-modal positioning markers, a magnetically compatible optical imaging subsystem, and a positioning subsystem. The plurality of multi-modal positioning markers are respectively arranged on a diseased site corresponding to a target patient and on a target medical robot, and the magnetically compatible optical imaging subsystem and the target medical robot are arranged in the same magnetic resonance environment. The magnetically compatible optical imaging subsystem is used for separately determining real-time image data corresponding to each multi-modal positioning marker. The positioning subsystem is used for determining, according to the real-time image data corresponding to each multi-modal positioning marker, first real-time pose data corresponding to the target patient and second real-time pose data corresponding to the target medical robot. The optical positioning system in embodiments of the present disclosure has a high anti-electromagnetic interference capability, can be arranged in a magnetic resonance environment, has a good observation field of view, can accurately focus on the target patient, and can perform real-time positioning of the target patient and the target medical robot.

Description

A magnetic resonance compatible optical positioning system

[0001] The present application claims priority to the Chinese patent application No. 202410788800.8, filed on June 18, 2024, and entitled "A magnetic resonance compatible optical positioning system", the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the field of magnetic resonance medical technology, and in particular, to a magnetic resonance compatible optical positioning system. BACKGROUND

[0003] Precise real-time positioning in a magnetic resonance environment is the basis for using medical robots to carry out surgery in a magnetic resonance environment. In the prior art, optical positioning methods are usually used to realize real-time positioning of medical robots based on optical positioning devices independent of magnetic resonance imaging devices. However, the optical positioning devices commonly used in the prior art are usually arranged outside the magnetic resonance environment.

[0004] SUMMARY

[0005] In view of the above, the present disclosure provides a technical solution of a magnetic resonance compatible optical positioning system.

[0006] According to an aspect of the present disclosure, a magnetic resonance compatible optical positioning system is provided, comprising: a plurality of multi-modal positioning markers, a magnetic compatible optical imaging subsystem, and a positioning subsystem, wherein the plurality of multi-modal positioning markers are respectively arranged on a target patient corresponding to a patient part and a target medical robot, and the magnetic compatible optical imaging subsystem is arranged in the same magnetic resonance environment as the target medical robot; the magnetic compatible optical imaging subsystem is configured to determine real-time image data corresponding to each multi-modal positioning marker; and the positioning subsystem is configured to determine first real-time pose data corresponding to the target patient and second real-time pose data corresponding to the target medical robot based on the real-time image data corresponding to each multi-modal positioning marker.

[0007] In one possible implementation, the multi-modal positioning marker comprises a surface light-reflecting coating and a positioning spike; the surface light-reflecting coating is configured to indicate the magnetic compatible optical imaging subsystem to perform image acquisition on the multi-modal positioning marker; and the positioning spike is provided with a thread for fixing the multi-modal positioning marker.

[0008] In a possible implementation, the magnetic-compatible optical imaging subsystem comprises: a magnetic resonance-compatible camera, a data transmission module, and a power supply module; the magnetic resonance-compatible camera is configured to determine real-time image data corresponding to each multi-modal positioning marker respectively; the data transmission module is configured to transmit the real-time image data corresponding to each multi-modal positioning marker to the positioning subsystem; and the power supply module is configured to supply power for the magnetic-compatible optical imaging subsystem.

[0009] In a possible implementation, the real-time image data corresponding to any one multi-modal positioning marker comprises first-view image data and second-view image data corresponding to the multi-modal positioning marker; the magnetic resonance-compatible camera comprises a binocular camera and a magnetic shielding shell; the binocular camera is configured to determine the first-view image data and the second-view image data corresponding to each multi-modal positioning marker respectively; and the magnetic shielding shell is configured to shield electromagnetic interference of the magnetic resonance environment on the binocular camera.

[0010] In a possible implementation, the power supply module comprises a power supply, a power supply filter, a waveguide, and a power supply cable arranged in the waveguide.

[0011] In a possible implementation, the data transmission module comprises an optical fiber, a gigabit Ethernet communication interface converter, and an Ethernet cable; the optical fiber is connected to the gigabit Ethernet communication interface converter and the magnetic resonance-compatible camera respectively; and the Ethernet cable is connected to the gigabit Ethernet communication interface converter and the positioning subsystem respectively.

[0012] In a possible implementation, the positioning subsystem is configured to: for any one multi-modal positioning marker, perform binocular vision positioning according to the first-view image data and the second-view image data corresponding to the multi-modal positioning marker, to determine first real-time position data corresponding to the multi-modal positioning marker; and determine the first real-time pose data and the second real-time pose data according to the first real-time position data corresponding to each multi-modal positioning marker, and a relative position relationship among the target medical robot, the magnetic-compatible optical imaging subsystem, and the target patient.

[0013] In a possible implementation, the multi-modal positioning marker further comprises a high-density CT imaging developing material and a magnetic resonance imaging phantom liquid.

[0014] In a possible implementation, the positioning subsystem is further configured to: determine a CT image corresponding to each multi-modal positioning marker respectively; determine a magnetic resonance image corresponding to each multi-modal positioning marker respectively; and determine the relative position relationship according to the CT image, the magnetic resonance image, and the first real-time position data corresponding to each multi-modal positioning marker.

[0015] In a possible implementation, the positioning subsystem is further configured to: for any one multi-modal positioning marker, determine second real-time position data of the multi-modal positioning marker according to a CT image corresponding to the multi-modal positioning marker; for any one multi-modal positioning marker, determine third real-time position data of the multi-modal positioning marker according to a magnetic resonance image corresponding to the multi-modal positioning marker; and determine the relative position relationship according to the first real-time position data, the second real-time position data and the third real-time position data of each multi-modal positioning marker.

[0016] The magnetic resonance compatible optical positioning system in the embodiments of the present disclosure includes a plurality of multi-modal positioning markers, a magnetic compatible optical imaging subsystem and a positioning subsystem. The plurality of multi-modal positioning markers are respectively arranged on a target patient and a target medical robot, which can facilitate the magnetic compatible optical imaging subsystem to quickly position the target patient and the target medical robot, and improve the response speed of the optical positioning system. The magnetic compatible optical imaging subsystem can be arranged in the same magnetic resonance environment as the target medical robot, so that the magnetic compatible optical imaging subsystem has a better observation field of view, can accurately focus on the target patient, and reduces the possibility that the magnetic compatible optical imaging subsystem is blocked by the target medical robot or other medical equipment, thereby improving the effectiveness and reliability of optical positioning. The magnetic compatible optical imaging subsystem can be used to determine real-time image data corresponding to each multi-modal positioning marker. The positioning subsystem can be used to determine first real-time pose data corresponding to the target patient and second real-time pose data corresponding to the target medical robot according to the real-time image data corresponding to each multi-modal positioning marker, to realize real-time positioning of the target patient and the target medical robot at the same time, thereby improving the accuracy of the target medical robot in performing medical operations on the target patient and ensuring the safety of the target patient.

[0017] Other features and aspects of the present disclosure will become apparent from the following detailed description of example embodiments, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate example embodiments, features, and aspects of the present disclosure and serve to explain the principles of the present disclosure.

[0019] FIG. 1 shows a block diagram of a magnetic resonance compatible optical positioning system according to an embodiment of the present disclosure;

[0020] FIG. 2 shows a structural schematic diagram of a multi-modal positioning marker according to an embodiment of the present disclosure;

[0021] FIG. 3 shows a structural schematic diagram of a magnetic resonance compatible optical positioning system according to an embodiment of the present disclosure;

[0022] FIG. 4 shows a structural schematic diagram of a magnetic resonance compatible camera according to an embodiment of the present disclosure;

[0023] FIG. 5 shows a schematic diagram of binocular vision positioning according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the drawings represent elements or components having the same function or similar functions. Although various aspects of the embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0025] The term "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0026] The term "and / or" used herein only means an association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of the plurality or any combination of at least two of the plurality, for example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0027] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the specific embodiments below. Those skilled in the art should understand that the present disclosure can also be implemented without some specific details. In some examples, methods, means, elements and circuits that are well known to those skilled in the art are not described in detail in order to highlight the main idea of the present disclosure.

[0028] Precise real-time positioning in a magnetic resonance environment is the basis for using medical robots to carry out surgery in a magnetic resonance environment. In the prior art, an optical positioning device independent of a magnetic resonance imaging device is usually used to track a marker fixed on a medical robot by an optical positioning method, and the spatial position corresponding to the marker is solved through spatial geometric relationship, and then the real-time positioning of the medical robot is realized.

[0029] However, the magnetic resonance environment usually causes electromagnetic interference to the optical positioning device, affecting the normal operation of the optical positioning device. Therefore, the optical positioning device commonly used in the prior art is usually arranged outside the magnetic resonance environment, which makes it difficult for the optical positioning device to focus on the surgical area, and the optical positioning device is easily blocked by the medical robot, resulting in low accuracy and reliability of the optical positioning device.

[0030] In the prior art, some optical motion tracking devices based on structured light are proposed, which can be integrated in an optical probe with small volume, thereby improving the electromagnetic compatibility performance and having a good observation field of view. However, these optical motion tracking devices based on structured light only have good motion detection performance for part of the patient positions, such as the patient's head and the like, lack performance verification for other patient positions, and cannot simultaneously perform real-time positioning for the patient and the medical robot.

[0031] Therefore, the disclosed magnetic resonance compatible optical positioning system has high anti-electromagnetic interference capability, can ensure the normal operation of the magnetic compatible optical imaging subsystem when the magnetic compatible optical imaging subsystem and the target medical robot are arranged in the same magnetic resonance environment, makes the magnetic compatible optical imaging subsystem have a good observation field of view, can accurately focus on the target patient, and can simultaneously accurately and reliably perform real-time positioning for the target patient and the target medical robot. The magnetic resonance compatible optical positioning system of the present disclosure will be described in detail below.

[0032] FIG. 1 shows a block diagram of a magnetic resonance compatible optical positioning system according to an embodiment of the present disclosure. As shown in FIG. 1, the system 100 includes a plurality of multi-modal positioning markers 101, a magnetic compatible optical imaging subsystem 102, and a positioning subsystem 103, wherein the plurality of multi-modal positioning markers 101 are respectively arranged on the corresponding patient positions of the target patient and the target medical robot, and the magnetic compatible optical imaging subsystem 102 and the target medical robot are arranged in the same magnetic resonance environment. The magnetic compatible optical imaging subsystem 102 is configured to determine real-time image data corresponding to each multi-modal positioning marker 101, and the positioning subsystem 103 is configured to determine first real-time pose data corresponding to the target patient and second real-time pose data corresponding to the target medical robot according to the real-time image data corresponding to each multi-modal positioning marker 101.

[0033] The target patient herein can represent a patient who needs to undergo a medical process such as diagnosis or surgery in a magnetic resonance environment. The target medical robot can represent at least one intelligent medical device that needs to be used in the medical process of the target patient. The specific form of the target medical robot can be flexibly set according to actual use requirements, for example, it can be a puncture robot, and the present disclosure does not make specific limitations thereto; the specific number of the target medical robot can be flexibly set according to actual use requirements, which depends on the surgical needs of the target patient, and the present disclosure does not make specific limitations thereto.

[0034] The multi-modal positioning marker 101 can be used as an indication marker for image acquisition of the magnetic-compatible optical imaging subsystem 102, so that the magnetic-compatible optical imaging subsystem 102 can quickly locate the target patient and the target medical robot in the scene, thereby improving the speed of optical positioning of the system 100 and improving the real-time and accuracy of positioning. The specific number of multi-modal positioning markers 101 can be flexibly set according to actual use requirements. For example, at least one multi-modal positioning marker 101 can be arranged on the patient position corresponding to the target patient, and at least one multi-modal positioning marker 101 can be arranged on the target medical robot. The present disclosure does not make specific limitations on this.

[0035] The specific parameters of the multi-modal positioning marker 101, including size, shape, material and structure, etc., can be flexibly set according to actual use requirements, and the present disclosure does not make specific limitations on this.

[0036] The multi-modal positioning marker 101 will be described in detail in the following in combination with possible implementation manners of the present disclosure, and will not be described here.

[0037] The magnetic-compatible optical imaging subsystem 102 can be used to determine the real-time image data corresponding to each multi-modal positioning marker 101. By arranging the magnetic-compatible optical imaging subsystem 102 and the target medical robot in the same magnetic resonance environment, the magnetic-compatible optical imaging subsystem 102 can have a better observation field of view, can accurately focus on the target patient, and can reduce the probability of the magnetic-compatible optical imaging subsystem 102 being blocked by the target medical robot and other objects, thereby improving the positioning accuracy and reliability of the system 100. The magnetic resonance environment here can represent the magnetic field generated in space by the magnetic resonance imaging device used when performing magnetic resonance imaging (MRI) on the target patient.

[0038] The specific position of the magnetic-compatible optical imaging subsystem 102 can be flexibly set according to actual use requirements, and the present disclosure does not make specific limitations on this.

[0039] The magnetic-compatible optical imaging subsystem 102 will be described in detail in the following in combination with possible implementation manners of the present disclosure, and will not be described here.

[0040] The magnetically compatible optical imaging subsystem 102 can be connected in signal with the positioning subsystem 103 to transmit real-time image data corresponding to each multi-modal positioning marker 101 to the positioning subsystem 103. Here, the connection in signal can mean that the magnetically compatible optical imaging subsystem 102 is electrically connected with the positioning subsystem 103 and can perform data transmission. The specific manner of data transmission can be flexibly set according to actual use requirements, and the present disclosure does not make a specific limitation thereon. The specific form of the positioning subsystem 103 can refer to the implementation manner in the related art, for example, can be executed by an electronic device such as a terminal device or a server. The terminal device can be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, and the like, and the present disclosure does not make a specific limitation thereon. Optionally, the positioning subsystem 103 is arranged outside the magnetic resonance environment to ensure the stability and safety of the operation of the positioning subsystem 103.

[0041] The positioning subsystem 103 can determine first real-time pose data corresponding to the target patient and second real-time pose data corresponding to the target medical robot according to the real-time image data corresponding to each multi-modal positioning marker 101.

[0042] The first real-time pose data can be used to indicate the real-time position and attitude of the target patient. The specific form and content of the first real-time pose data can be flexibly set according to actual use requirements, and the present disclosure does not make a specific limitation thereon. For example, the spatial coordinates of the target patient in a preset spatial coordinate system, the spatial coordinates of a patient part corresponding to the target patient in the preset spatial coordinate system, and the like.

[0043] The second real-time pose data can be used to indicate the real-time position and attitude of the target medical robot. The specific form and content of the second real-time pose data can be flexibly set according to actual use requirements, and the present disclosure does not make a specific limitation thereon. For example, the spatial coordinates of the target medical robot in a preset spatial coordinate system, and the like.

[0044] The specific manner in which the positioning subsystem 103 determines the first pose data and the second pose data can refer to the implementation manner in the related art, and the present disclosure does not make a specific limitation thereon.

[0045] The positioning subsystem 103 will be described in detail below in combination with possible implementation manners of the present disclosure, and thus no further description is given herein.

[0046] The magnetic resonance compatible optical positioning system of the embodiments of the present disclosure comprises a plurality of multi-modal positioning markers, a magnetic compatible optical imaging subsystem and a positioning subsystem. The multi-modal positioning markers are respectively arranged on the target patient and the target medical robot, which can facilitate the magnetic compatible optical imaging subsystem to quickly locate the target patient and the target medical robot, and improve the response speed of the optical positioning system. The magnetic compatible optical imaging subsystem can be arranged in the same magnetic resonance environment as the target medical robot, so that the magnetic compatible optical imaging subsystem has a better observation field of view, can accurately focus on the target patient, and reduces the possibility of the magnetic compatible optical imaging subsystem being blocked by the target medical robot or other medical equipment, thereby improving the effectiveness and reliability of optical positioning. The magnetic compatible optical imaging subsystem can be used to determine the real-time image data corresponding to each multi-modal positioning marker. The positioning subsystem can be used to determine the first real-time pose data corresponding to the target patient and the second real-time pose data corresponding to the target medical robot according to the real-time image data corresponding to each multi-modal positioning marker, to realize real-time positioning of the target patient and the target medical robot at the same time, thereby improving the accuracy of the target medical robot in performing medical operations on the target patient and ensuring the safety of the target patient.

[0047] In a possible implementation, the multi-modal positioning marker 101 comprises a surface reflective coating and a positioning spike. The surface reflective coating is used to indicate the magnetic compatible optical imaging subsystem 102 to perform image acquisition on the multi-modal positioning marker 101. The positioning spike is provided with a thread for fixing the multi-modal positioning marker 101.

[0048] FIG. 2 shows a structural schematic diagram of a multi-modal positioning marker according to an embodiment of the present disclosure. As shown in FIG. 2, the multi-modal positioning marker 101 comprises a surface reflective coating 201 and a positioning spike 202.

[0049] The surface reflective coating 201 can be used to improve the visibility of the multi-modal positioning marker 101, so as to facilitate the magnetic compatible optical imaging subsystem 102 to quickly and accurately determine each multi-modal positioning marker 101 in the environment and perform image acquisition. Further, the surface reflective coating 201 can improve the clarity of the multi-modal positioning marker 101 in the real-time image data, thereby improving the positioning accuracy.

[0050] The specific parameters of the surface reflective coating 201, such as material and color, can refer to the implementation in the related art, and the present disclosure does not make specific limitations thereto.

[0051] The positioning nail 202 can be used to fix the multi-modal positioning marker 101. Specifically, one end of the positioning nail 202 can be a connecting end, and a thread can be arranged on the connecting end to connect the multi-modal positioning marker 101; the other end of the positioning nail 202 can be a fixed end, and the fixed end can be fixed to the target patient and / or the target medical robot. The actual use requirement can be flexibly set, and the present disclosure does not make a specific limitation in this regard.

[0052] Taking the above FIG. 2 as an example, as shown in FIG. 2, in the case where the multi-modal positioning marker 101 needs to be fixed to the corresponding patient part of the target patient, the positioning nail 202 can be arranged in a nail structure.

[0053] In one possible implementation, the magnetically compatible optical imaging subsystem 102 includes a magnetic resonance compatible camera, a data transmission module, and a power supply module; the magnetic resonance compatible camera is configured to determine real-time image data corresponding to each multi-modal positioning marker; the data transmission module is configured to transmit the real-time image data corresponding to each multi-modal positioning marker to the positioning subsystem 103; and the power supply module is configured to supply power to the magnetically compatible optical imaging subsystem 102.

[0054] FIG. 3 shows a structural schematic diagram of a magnetic resonance compatible optical positioning system according to an embodiment of the present disclosure. As shown in FIG. 3, the magnetically compatible optical imaging subsystem 102 includes a magnetic resonance compatible camera 301, a data transmission module 302, and a power supply module 303.

[0055] The magnetic resonance compatible camera 301 can be arranged in the same magnetic resonance environment as the target medical robot to determine real-time image data corresponding to each multi-modal positioning marker. The specific structure of the magnetic resonance compatible camera 301 can be flexibly set according to the actual use requirement, and the present disclosure does not make a specific limitation in this regard.

[0056] In one possible implementation, the real-time image data corresponding to any one multi-modal positioning marker 101 includes first-view image data and second-view image data corresponding to the multi-modal positioning marker; the magnetic resonance compatible camera includes a binocular camera and a magnetic shielding shell; the binocular camera is configured to determine the first-view image data and the second-view image data corresponding to each multi-modal positioning marker; and the magnetic shielding shell is configured to shield electromagnetic interference of the magnetic resonance environment on the binocular camera.

[0057] FIG. 4 shows a structural schematic diagram of a magnetic resonance compatible camera according to an embodiment of the present disclosure. As shown in FIG. 4, the magnetic resonance compatible camera 301 includes a binocular camera 401 and a magnetic shielding shell 402.

[0058] The first-view image data and the second-view image data corresponding to each multi-modal positioning marker can be quickly determined by the binocular camera 401. For any multi-modal positioning marker, the multi-modal positioning marker 101 can be positioned by using the image data of different views, which can improve the accuracy and reliability of positioning. The specific method of positioning by using the first-view image data and the second-view image data can be determined according to the embodiments in the related art, for example, binocular positioning can be performed according to the first-view image data and the second-view image data, or cross verification can be performed according to the positioning of the image data of different views, and the present disclosure does not make specific limitations hereon.

[0059] The specific form of the binocular camera 401 can be referred to the embodiments in the related art, and the present disclosure does not make specific limitations hereon.

[0060] For example, as shown in FIG. 4, the binocular camera 401 can include a power supply unit 4011, an LED lamp 4012, a first image acquisition unit 4013, a second image acquisition unit 4014, and a calculation unit 4015.

[0061] The power supply unit 4011 can be electrically connected with the power supply module 303, and is configured to process the input voltage of the power supply module 303 to supply power to the binocular camera 401. The specific structure of the power supply unit 4011 can be referred to the embodiments in the related art, and the present disclosure does not make specific limitations hereon.

[0062] In an example, the power supply unit 4011 can include a power supply filter, a power supply chip, a voltage controller, and a power converter, etc.

[0063] The LED lamp 4012 can be used to output illumination light to irradiate the surface reflective coating 201 corresponding to the multi-modal positioning marker 101, so that the clarity of the multi-modal positioning marker 101 in the real-time image data can be improved, and thus the accuracy of positioning can be improved. The specific form of the LED lamp 4012 can be referred to the embodiments in the related art, and the present disclosure does not make specific limitations hereon.

[0064] The first image acquisition unit 4013 and the second image acquisition unit 4014 can be used to acquire images of each multi-modal positioning marker 101 from different views to determine the first-view image data and the second-view image data corresponding to each multi-modal positioning marker 101, respectively. The specific form of the first image acquisition unit 4013 and the second image acquisition unit 4014 can be referred to the embodiments in the related art, and the present disclosure does not make specific limitations hereon.

[0065] The operation unit 4015 can be connected to the data transmission module 302, and can be configured to locally store the first-view image data and the second-view image data, and transmit the real-time image data to the data transmission module 302. The specific form of the operation unit 4015 can refer to the related art, and the present disclosure does not make a specific limitation hereon.

[0066] In an example, the operation unit 4015 can include at least one flash, a central processing unit (CPU), a neural network processing unit (NPU), and the like.

[0067] The data transmission module 302 can be connected to the magnetic resonance compatible camera 301 and the positioning subsystem 103, respectively, and can be configured to transmit the real-time image data corresponding to each multi-modal positioning marker to the positioning subsystem 103. The specific structure of the data transmission module 302 can be flexibly set according to actual use requirements, and the present disclosure does not make a specific limitation hereon.

[0068] In a possible implementation, the data transmission module includes an optical fiber, a gigabit Ethernet communication interface converter, and an Ethernet cable; the optical fiber is connected to the gigabit Ethernet communication interface converter and the magnetic resonance compatible camera, respectively; and the Ethernet cable is connected to the gigabit Ethernet communication interface converter and the positioning subsystem 103, respectively.

[0069] Taking the above FIG. 3 as an example, as shown in FIG. 3, the data transmission module 302 includes an optical fiber 3021, a gigabit Ethernet communication interface (GIGE) converter 3022, and an Ethernet cable 3023.

[0070] The optical fiber 3021 can be connected to the magnetic resonance compatible camera 301 and the GIGE converter 3022, respectively, and can be configured to transmit the real-time image data acquired by the magnetic resonance compatible camera 301 to the GIGE converter 3022. Since the optical fiber has the advantages of wide frequency band, low transmission loss, and strong anti-interference ability, etc., the data transmission between the magnetic resonance compatible camera 301 and the data transmission module 302 can be realized through the optical fiber 3021, which can reduce the influence of the magnetic resonance environment on the data transmission process, and improve the reliability and stability of the system 100. The specific type of the optical fiber 3021 can be flexibly set according to actual use requirements, for example, it can be set as a multi-mode optical fiber, a single-mode optical fiber, and the like, and the present disclosure does not make a specific limitation hereon.

[0071] The GIGE is a camera interface standard developed based on a gigabit Ethernet communication protocol. The GIGE converter 3022 can realize long-distance fast image data transmission and has high hardware and software compatibility, thereby improving the versatility of the data transmission module 302. The specific form of the GIGE converter 3022 can refer to the implementation manner in the related art, and the present disclosure does not make a specific limitation hereon.

[0072] The Ethernet cable 3023 is connected with the GIGE converter 3022 and the positioning subsystem 103, respectively, and can transmit real-time image data to the positioning subsystem 103. The specific type of the Ethernet cable 3023 can be flexibly set according to actual use requirements, and the present disclosure does not make a specific limitation hereon.

[0073] The power module 303 can be electrically connected with the magnetic resonance compatible camera 301 and the data transmission module 302, respectively, and is used for powering the magnetic compatible optical imaging subsystem 102. The specific structure of the power module 303 can be flexibly set according to actual use requirements, and the present disclosure does not make a specific limitation hereon.

[0074] In a possible implementation manner, the power module includes a power supply, a power supply filter, a waveguide tube, and a power supply cable arranged in the waveguide tube.

[0075] Taking the above FIG. 3 as an example, as shown in FIG. 3, the power module 303 includes a power supply 3031, a power supply filter 3032, a waveguide tube 3033, and a power supply cable 3034 arranged in the waveguide tube 3033.

[0076] The power supply filter 3032 can be used to reduce the electromagnetic interference of the magnetic resonance environment on the power supply 3031, reduce the noise signal in the electrical signal input to the magnetic resonance compatible camera 301, and ensure the normal work of the power supply 3031 and the magnetic resonance compatible camera 301, thereby improving the stability and reliability of the system 100. The specific form of the power supply filter 3032 can refer to the implementation manner in the related art, and the present disclosure does not make a specific limitation hereon.

[0077] The waveguide tube 3033 can be used to suppress the magnetic resonance radio frequency in the electrical signal transmission process and attenuate the gradient signal of a preset cutoff frequency, thereby reducing the influence of electromagnetic interference on the electrical signal transmission, and improving the stability and reliability of the system 100. The specific form of the waveguide tube 303 can be flexibly set according to actual use requirements, for example, can be a copper waveguide tube, and the present disclosure does not make a specific limitation hereon. The preset cutoff frequency corresponding to the waveguide tube 303 can be flexibly set according to actual use requirements, for example, can be set to 90 dB, and the present disclosure does not make a specific limitation hereon.

[0078] In a possible implementation, the positioning subsystem 103 is configured to: for any one multi-modal positioning marker 101, perform binocular vision positioning according to the first-view image data and the second-view image data corresponding to the multi-modal positioning marker 101, to determine first real-time position data corresponding to the multi-modal positioning marker 101; and determine the first real-time pose data and the second real-time pose data according to the first real-time position data corresponding to each multi-modal positioning marker 101 and a relative positional relationship among the target medical robot, the magnetically compatible optical imaging subsystem 102, and the target patient.

[0079] For any one multi-modal positioning marker 101, the positioning subsystem 103 can perform binocular vision positioning according to the first-view image data and the second-view image data corresponding to the multi-modal positioning marker 101, to determine first real-time position data corresponding to the multi-modal positioning marker 101. The first real-time position data corresponding to any one multi-modal positioning marker 101 can represent a real-time position of the multi-modal positioning marker 101 relative to the magnetically compatible optical imaging subsystem 102. The specific content of the first real-time position data can be flexibly set according to actual use requirements, for example, can include a spatial coordinate of the multi-modal positioning marker 101 in a spatial coordinate system constructed with the magnetically compatible optical imaging subsystem 102 as the origin, and the like, which is not limited in the embodiments of the present disclosure.

[0080] The specific manner in which the positioning subsystem 103 performs binocular vision positioning can refer to the implementation in the related art, which is not limited in the present disclosure.

[0081] Taking the above-described magnetically compatible camera 301 including a binocular camera 401, the binocular camera 401 including a first image acquisition unit 4013 and a second image acquisition unit 4014 as an example. A planar rectangular coordinate system can be constructed with the geometric center corresponding to the first image acquisition unit 4013 as the origin and the direction of the line connecting the geometric center corresponding to the first image acquisition unit 4013 and the geometric center corresponding to the second image acquisition unit 4014 as the x-axis direction.

[0082] FIG. 5 shows a schematic diagram of binocular vision positioning according to an embodiment of the present disclosure. As shown in FIG. 5, point O1 represents the geometric center corresponding to the first image acquisition unit 4013; point O2 represents the geometric center corresponding to the second image acquisition unit 4014. Point P represents the geometric center corresponding to any one multi-modal positioning marker 101; point P1 represents the position of the geometric center corresponding to the multi-modal positioning marker 1014 in the first-view image data corresponding to the first image acquisition unit 4013; and point P2 represents the position of the geometric center corresponding to the multi-modal positioning marker 1014 in the second-view image data corresponding to the second image acquisition unit 4014.

[0083] The geometric relationship between the point P1 and the first image acquisition unit 4013 can be expressed as formula (1):

[0084] wherein X L represents the horizontal coordinate of the point P1 in a plane rectangular coordinate system with the point O1 as the origin and the line direction of the points O1 and O2 as the x-axis direction; Y L represents the vertical coordinate of the point P1 in the aforementioned plane rectangular coordinate system; X1 represents the row resolution corresponding to the first image acquisition unit 4013; Y1 represents the column resolution corresponding to the first image acquisition unit 4013; f1 represents the focal length corresponding to the first image acquisition unit 4013; x p represents the horizontal coordinate of the point P in a preset space coordinate system; y p represents the vertical coordinate of the point P in the preset space coordinate system; z p represents the vertical coordinate of the point P in the preset space coordinate system.

[0085] The geometric relationship between the point P2 and the second image acquisition unit 4014 can be expressed as formula (2):

[0086] wherein X R represents the horizontal coordinate of the point P2 in the aforementioned plane rectangular coordinate system; Y R represents the vertical coordinate of the point P2 in the aforementioned plane rectangular coordinate system; X2 represents the row resolution corresponding to the second image acquisition unit 4014; Y2 represents the column resolution corresponding to the second image acquisition unit 40134; f2 represents the focal length corresponding to the second image acquisition unit 4014.

[0087] According to the simultaneous solution of formula (1) and formula (2), the space coordinate corresponding to the point P can be expressed as formula (3):

[0088] wherein B represents the distance between the geometric center corresponding to the first image acquisition unit 4013 and the geometric center corresponding to the second image acquisition unit 4014.

[0089] Through the above process, the space coordinate of any one multi-modal positioning marker 101 in the preset space coordinate system can be realized, which is used as the first real-time position data corresponding to the multi-modal positioning marker 101.

[0090] In a possible implementation, the multi-modal positioning marker 101 further comprises a high-density CT imaging developing material and a magnetic resonance imaging phantom liquid.

[0091] Taking FIG. 2 as an example, as shown in FIG. 2, the multi-modal positioning marker 101 further includes a high-density CT imaging developing material 203 and a magnetic resonance imaging phantom liquid 204. The high-density CT imaging developing material 203 can be used to perform CT imaging of the multi-modal positioning marker 101 to reflect the position of the multi-modal positioning marker 101 in a CT image. The specific material of the high-density CT imaging developing material 203 can refer to the implementation in the related art, and the present disclosure does not make a specific limitation hereon.

[0092] The magnetic resonance imaging phantom liquid 204 can be used to perform magnetic resonance imaging of the multi-modal positioning marker 101 to reflect the position of the multi-modal positioning marker 101 in a magnetic resonance image. The specific material of the magnetic resonance imaging phantom liquid 204 can refer to the implementation in the related art, and the present disclosure does not make a specific limitation hereon.

[0093] Through the high-density CT imaging developing material 203 and the magnetic resonance imaging phantom liquid 204, the multi-modal positioning marker 101 can be displayed in the CT image and the magnetic resonance image, so that the user can determine the position of the multi-modal positioning marker 101 in the images of different modalities, and the versatility of the system 100 can be improved. On the other hand, by positioning the multi-modal positioning marker 101 in the images of different modalities respectively, multi-modal positioning can be achieved, and the positioning results corresponding to the images of different modalities can be cross-calibrated and verified, so that the accuracy of positioning can be improved.

[0094] In a possible implementation, the positioning subsystem 103 is further configured to: determine a CT image corresponding to each multi-modal positioning marker 101 respectively; determine a magnetic resonance image corresponding to each multi-modal positioning marker 101 respectively; and determine the relative positional relationship according to the CT image, the magnetic resonance image and the first real-time position data corresponding to each multi-modal positioning marker 101.

[0095] In order to accurately determine the first real-time pose data corresponding to the target patient and the second real-time pose data corresponding to the target medical robot, and correctly guide the target medical robot to perform medical intervention on the target patient during the medical process, it is necessary to accurately construct the relative positional relationship among the target patient, the target medical robot, the magnetic compatible optical imaging subsystem 102 and other medical devices that can be used. The specific form of the relative positional relationship can be flexibly set according to actual use requirements, and the present disclosure does not make a specific limitation hereon.

[0096] In the prior art, the relative positional relationship among the target patient, the target medical robot and the optical positioning device is usually manually calibrated before the medical process on the target patient. However, for some medical robots with special structures and purposes, such as a puncture robot that needs to run in a nuclear magnetic magnet hole corresponding to a magnetic resonance device, it is difficult to manually mark.

[0097] Therefore, in the embodiments of the present disclosure, the relative positional relationship between the target patient, the target medical robot and the magnetically compatible optical imaging subsystem 102 can be automatically calibrated according to the images of each multi-modal positioning marker 101 in different modal imaging systems, without manual operation, which can simplify the workflow of calibrating the relative positional relationship, improve the calibration efficiency, and also has good adaptability to medical robots with special structures and purposes.

[0098] Specifically, for any one multi-modal positioning marker 101, the CT image and the magnetic resonance image corresponding to the multi-modal positioning marker 101 can be determined based on the positioning subsystem 103. The specific manner in which the positioning subsystem 103 determines the CT image and the magnetic resonance image can refer to the implementation manner in the related art, and the present disclosure does not make a specific limitation thereto.

[0099] In an example, the positioning subsystem 103 can be signal-connected with the CT imaging device and the magnetic resonance imaging device respectively, and can perform data transmission with the CT imaging device and the magnetic resonance imaging device. Through the CT imaging device, the CT image corresponding to each multi-modal positioning marker 101 can be respectively acquired, and the CT image corresponding to each multi-modal positioning marker 101 can be transmitted to the positioning subsystem 103. Through the magnetic resonance imaging device, the magnetic resonance image corresponding to each multi-modal positioning marker 101 can be respectively acquired, and the magnetic resonance image corresponding to each multi-modal positioning marker 101 can be transmitted to the positioning subsystem 103.

[0100] According to the CT image, the magnetic resonance image and the first real-time position data corresponding to each multi-modal positioning marker 101, the target patient, the target medical robot and the magnetically compatible optical imaging subsystem 102 can be cross-calibrated based on CT imaging, nuclear magnetic imaging and optical imaging, and the relative positional relationship between the target patient, the target medical robot and the magnetically compatible optical imaging subsystem 102 can be determined. The specific manner of determining the relative positional relationship can refer to the implementation manner in the related art, and the present disclosure does not make a specific limitation thereto.

[0101] In a possible implementation manner, the positioning subsystem 103 is further configured to: for any one multi-modal positioning marker 101, determine the second real-time position data corresponding to the multi-modal positioning marker 101 according to the CT image corresponding to the multi-modal positioning marker 101; for any one multi-modal positioning marker 101, determine the third real-time position data corresponding to the multi-modal positioning marker 101 according to the magnetic resonance image corresponding to the multi-modal positioning marker 101; and determine the relative positional relationship according to the first real-time position data, the second real-time position data and the third real-time position data corresponding to each multi-modal positioning marker 101.

[0102] Specifically, for any one multi-modal positioning marker 101, the positioning subsystem 103 can determine the second real-time position data corresponding to the multi-modal positioning marker 101 according to the CT image corresponding to the multi-modal positioning marker 101. The second real-time position data corresponding to any one multi-modal positioning marker 101 can represent the real-time position of the multi-modal positioning marker 101 relative to the CT imaging device. The specific content of the second real-time position data can be flexibly set according to actual use requirements, for example, can include the spatial coordinates of the multi-modal positioning marker 101 in the spatial coordinate system constructed with the CT imaging device as the origin, and the like, which are not specifically limited by the embodiments of the present disclosure.

[0103] For any one multi-modal positioning marker 101, the positioning subsystem 103 can determine the third real-time position data corresponding to the multi-modal positioning marker 101 according to the magnetic resonance image corresponding to the multi-modal positioning marker 101. The third real-time position data corresponding to any one multi-modal positioning marker 101 can represent the real-time position of the multi-modal positioning marker 101 relative to the magnetic resonance imaging device. The specific content of the third real-time position data can be flexibly set according to actual use requirements, for example, can include the spatial coordinates of the multi-modal positioning marker 101 in the spatial coordinate system constructed with the magnetic resonance imaging device as the origin, and the like, which are not specifically limited by the embodiments of the present disclosure.

[0104] According to the first real-time position data, the second real-time position data and the third real-time position data corresponding to each multi-modal positioning marker 101, the relative position relationship can be determined.

[0105] Specifically, for any one multi-modal positioning marker 101, according to the first real-time position data, the second real-time position data and the third real-time position data corresponding to the multi-modal positioning marker 101, the first real-time position data, the second real-time position data and the third real-time position data of the multi-modal positioning marker 101 can be determined respectively.

[0106] In an example, for any one multi-modal positioning marker 101, the first real-time position data corresponding to the multi-modal positioning marker 101 can be determined as (x o , y o , z o ), and the third real-time position data as (x m , y m , z m ). The intersection calibration relationship between the first real-time position data and the second real-time position data can be represented by formula (4):

[0107] Wherein, TM mo represents a 4x4 motion matrix, and the specific manner of determining the motion matrix can refer to the implementation manner in the related art, which is not specifically limited by the present disclosure.

[0108] When the multi-modal positioning marker 101 moves in space, its corresponding position changes, and its corresponding first real-time position data can be represented as formula (5):

[0109] Wherein, M o represents the motion matrix of the multi-modal positioning marker 101 in the real-time image data.

[0110] Then the position change of the multi-modal positioning marker 101 in the magnetic resonance image can be represented as formula (6):

[0111] Wherein, M m represents the motion matrix of the multi-modal positioning marker 101 in the magnetic resonance image; represents the transpose of M o .

[0112] Through the above process, cross-calibration between different modal observation systems can be realized, cross-calibration relationship between the optical positioning system 100, the CT imaging device and the magnetic resonance imaging device can be determined, and the relative position relationship between the target patient, the target medical robot and the magnetic compatible optical imaging subsystem 102 can be described through the cross-calibration relationship between each system; and after determining the position change of any one multi-modal positioning marker 101 in any one observation system, the position change of the multi-modal positioning marker 101 in other observation systems can be determined according to the cross-calibration relationship, so as to correctly guide the target medical robot to perform medical intervention on the target patient in the medical process.

[0113] The magnetic resonance compatible optical positioning system of the embodiments of the present disclosure comprises a plurality of multi-modal positioning markers, a magnetic compatible optical imaging subsystem and a positioning subsystem. The plurality of multi-modal positioning markers are respectively arranged on the target patient and the target medical robot, which can facilitate the magnetic compatible optical imaging subsystem to quickly locate the target patient and the target medical robot, and improve the response speed of the optical positioning system. On the other hand, the multi-modal positioning markers can be used to obtain the positions in different modal images, so as to cross-calibrate the target patient, the target medical robot and the magnetic compatible optical imaging subsystem, and determine the relative positional relationship among the target patient, the target medical robot and the magnetic compatible optical imaging subsystem. The magnetic compatible optical imaging subsystem can be arranged in the same magnetic resonance environment as the target medical robot, so that the magnetic compatible optical imaging subsystem has a better observation field of view, can accurately focus on the target patient, and reduces the possibility of the magnetic compatible optical imaging subsystem being blocked by the target medical robot or other medical equipment, thereby improving the effectiveness and reliability of optical positioning. The magnetic compatible optical imaging subsystem can be used to determine the real-time image data corresponding to each multi-modal positioning marker respectively; the positioning subsystem can be used to determine the first real-time pose data corresponding to the target patient and the second real-time pose data corresponding to the target medical robot according to the real-time image data corresponding to each multi-modal positioning marker, and realize real-time positioning of the target patient and the target medical robot at the same time, thereby improving the accuracy of the target medical robot in performing medical operations on the target patient and ensuring the safety of the target patient.

[0114] It should be noted that although the magnetic resonance compatible optical positioning system is described above by taking FIG. 1, FIG. 2, FIG. 3 and FIG. 4 as examples, those skilled in the art can understand that the present disclosure should not be limited thereto. In fact, the user can completely flexibly set the specific structure of the magnetic resonance compatible optical positioning system according to personal preferences and / or actual application scenarios, as long as the real-time positioning of the target patient and the target medical robot in the magnetic resonance environment can be realized based on the above process.

[0115] The above has described the embodiments of the present disclosure, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles, practical applications or technical improvements in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A magnetic resonance-compatible optical positioning system, characterized in that, include: The system includes multiple multimodal positioning markers, a magnetically compatible optical imaging subsystem, and a positioning subsystem. The multiple multimodal positioning markers are respectively set on the lesion site corresponding to the target patient and on the target medical robot. The magnetically compatible optical imaging subsystem and the target medical robot are set in the same magnetic resonance environment. The magnetically compatible optical imaging subsystem is used to determine the real-time image data corresponding to each multimodal positioning marker. The positioning subsystem is used to determine the first real-time pose data corresponding to the target patient and the second real-time pose data corresponding to the target medical robot based on the real-time image data corresponding to each multimodal positioning marker.

2. The system according to claim 1, characterized in that, The multimodal positioning marker includes a reflective coating and positioning pins; The reflective coating on the surface is used to instruct the magnetically compatible optical imaging subsystem to acquire images of the multimodal positioning marker; The positioning pin is threaded to fix the multimodal positioning mark.

3. The system according to claim 1 or 2, characterized in that, The magnetically compatible optical imaging subsystem includes: a magnetic resonance compatible camera, a data transmission module, and a power supply module; The magnetic resonance-compatible camera is used to determine the real-time image data corresponding to each multimodal positioning marker. The data transmission module is used to transmit the real-time image data corresponding to each multimodal positioning marker to the positioning subsystem; The power module is used to supply power to the magnetically compatible optical imaging subsystem.

4. The system according to claim 3, characterized in that, Real-time image data corresponding to any multimodal positioning marker, including first-view image data and second-view image data corresponding to the multimodal positioning marker; The magnetic resonance compatible camera includes a binocular camera and a magnetically shielded housing; The binocular camera is used to determine the first-view image data and the second-view image data corresponding to each multimodal positioning marker, respectively. The magnetic shielding shell is used to shield the magnetic resonance environment from electromagnetic interference to the binocular camera.

5. The system according to claim 3, characterized in that, The power module includes a power supply, a power filter, a waveguide, and a power supply cable disposed within the waveguide.

6. The system according to claim 3, characterized in that, The data transmission module includes optical fiber, gigabit Ethernet communication interface converter, and Ethernet cable; The optical fiber is connected to the gigabit Ethernet communication interface converter and the magnetic resonance compatible camera signal, respectively, and the Ethernet cable is connected to the gigabit Ethernet communication interface converter and the positioning subsystem signal, respectively.

7. The system according to claim 1 or 2, characterized in that, The positioning subsystem is used for: For any multimodal localization marker, based on the first-view image data corresponding to that multimodal localization marker and Second-view image data is used for binocular visual positioning to determine the first real-time position data corresponding to the multimodal positioning marker; Based on the first real-time position data corresponding to each multimodal positioning marker, and the relative positional relationship between the target medical robot, the magnetically compatible optical imaging subsystem, and the target patient, the first real-time pose data and the second real-time pose data are determined.

8. The system according to claim 7, characterized in that, The multimodal positioning markers also include high-density CT imaging imaging materials and magnetic resonance imaging biomimetic fluid.

9. The system according to claim 8, characterized in that, The positioning subsystem is also used for: Determine the CT image corresponding to each multimodal localization marker; Determine the magnetic resonance image corresponding to each multimodal localization marker; The relative positional relationship is determined based on the CT image, MRI image, and first real-time position data corresponding to each multimodal positioning marker.

10. The system according to claim 9, characterized in that, The positioning subsystem is also used for: For any multimodal positioning marker, the second real-time position data corresponding to the multimodal positioning marker is determined based on the CT image corresponding to the multimodal positioning marker. For any multimodal positioning marker, the third real-time position data corresponding to the multimodal positioning marker is determined based on the magnetic resonance image corresponding to the multimodal positioning marker. The relative positional relationship is determined based on the first real-time position data, the second real-time position data, and the third real-time position data corresponding to each multimodal positioning marker.

Images