CN105852979A - Medical image space localization device and method - Google Patents
Medical image space localization device and method Download PDFInfo
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- CN105852979A CN105852979A CN201610168331.5A CN201610168331A CN105852979A CN 105852979 A CN105852979 A CN 105852979A CN 201610168331 A CN201610168331 A CN 201610168331A CN 105852979 A CN105852979 A CN 105852979A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000004807 localization Effects 0.000 title claims abstract description 18
- 239000011159 matrix material Substances 0.000 claims abstract description 25
- 230000009466 transformation Effects 0.000 claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims abstract description 14
- 238000002372 labelling Methods 0.000 claims description 92
- 238000001356 surgical procedure Methods 0.000 claims description 15
- 239000000919 ceramic Substances 0.000 claims description 9
- 239000003814 drug Substances 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000000338 in vitro Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 230000001131 transforming effect Effects 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000013170 computed tomography imaging Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Abstract
According to the embodiment, the invention provides a medical image space localization device and a medical image space localization method. The device comprises an optical localization unit, first mark points and second mark points, wherein the first mark points are arranged on a target operation position of a patient; the second mark points are arranged on the target position of the patient in accordance with the first mark point units; a coordinate relation between the first mark points and the second mark points in a world coordinate system is described by virtue of a transformation matrix; the optical localization unit is used for identifying the first mark points, so that coordinates of the first mark points in the world coordinate system are obtained; in accordance with the coordinates of the first mark points in the world coordinate system as well as the transformation matrix, coordinates of the second in vitro mark points in the world coordinate system are obtained; and in accordance with the coordinates of the second mark points in an image space, automatic localization of a medical image space is achieved in a natural visible light environment; therefore, by virtue of the localization device and the localization method, the automatic localization of the medical image space is achieved in the natural visible light environment.
Description
Technical field
The present embodiments relate to medical robot technical field, particularly relate to a kind of medical image space
Positioner and method.
Background technology
The automation equipments such as robot are applied widely at industrial circle, operating flexibility,
Stability and accuracy aspect show clear superiority.In order to solve the precision that surgical operation exists not enough,
The problems such as irradiated many, otch relatively big, operation fatigue, people start to inquire into and how to draw in surgical operation
Enter robotic method, by the unique advantage of the new and high technology such as robot, sensor, carry for surgeon
For brand-new Therapeutic Method and system, solve the problems referred to above, improve surgical effect, i.e. by medical machine
People realizes surgical operation, including nerve, head etc..
In order to realize operation, it is necessary to solve the location in medical image space.In prior art, medical image
Space-location method have manual positioning and be automatically positioned.Manual positioning includes: utilize traditional mechanical arm
The method manually tapping patient's such as head mark point；Or manually click on and determine the method for labelling point on image.
It is automatically positioned based on devices such as infrared, ultrasonic, electromagnetism.
For manual positioning, the arm of operator would generally be shaken, deviation etc., is easily caused
The precision of location is inadequate；And for being automatically positioned, the most special owing to must be based on specific technology
Light source and sound source etc., it is achieved relatively costly.
It would therefore be highly desirable to provide a kind of cost relatively low and have the medical image space orientation technique side of accuracy guarantee
Case.
Summary of the invention
The purpose of the embodiment of the present invention is to provide positioner and the method in a kind of medical image space, uses
To solve above-mentioned technical problem in prior art.
The technical scheme that the embodiment of the present invention uses is as follows:
The embodiment of the present invention provides the positioner in a kind of medical image space, comprising: optical alignment list
Unit, the first labelling point, the second labelling point, described first labelling point is arranged on corrective surgery target location,
Described second labelling point is arranged on the target location of patient with reference to described first labelling dot element, uses one
Transformation matrix is described in world coordinate system coordinate relation between the first labelling point and the second labelling point, described
Described first labelling point is identified setting up described first labelling point at world coordinates by optical alignment unit
Coordinate in system, according to described first labelling point coordinate in world coordinate system and described transformation matrix,
Obtain in world coordinate system the coordinate of the second external punctuate, with according to the second labelling point in image space
Coordinate complete to realize the location of automated medicine image space in natural visible light environment.
The embodiment of the present invention provides the localization method in a kind of medical image space, comprising:
It is identified the first labelling point being arranged on corrective surgery target location setting up described first mark
Note point coordinate in world coordinate system；
According to described first labelling point coordinate in world coordinate system and describe described first labelling point with
The transformation matrix of position relationship between second labelling point, it is thus achieved that the second external punctuate in world coordinate system
Coordinate, to complete in natural visible light environment real according to second labelling point coordinate in image space
The location of existing automated medicine image space.
Preferably, in any of the above-described positioner of the present invention or arbitrary localization method embodiment, described
Second labelling point includes Ceramic Balls.
Preferably, in any of the above-described positioner of the present invention or arbitrary localization method embodiment, suffering from
Periphery, person's surgical target position arranges 3 described first labelling points.
Preferably, in any of the above-described positioner of the present invention or arbitrary localization method embodiment, reference
Described first labelling dot element arranges 4 described second labelling points in the target location of patient.
Preferably, in any of the above-described positioner of the present invention or arbitrary localization method embodiment, described
Transformation matrix is a rigid body translation matrix.
Preferably, in any of the above-described positioner of the present invention or arbitrary localization method embodiment, described
Corrective surgery target location includes head.
The technical scheme of the embodiment of the present invention has the advantage that
Owing to described first labelling point is arranged on corrective surgery target location, described second labelling point is with reference to institute
State the first labelling dot element and be arranged on the target location of patient, use a transformation matrix to be described in the world and sit
Coordinate relation between first labelling point and the second labelling point in mark system, described optical alignment unit is to described the
Labelling point is identified the coordinate setting up described first labelling point in world coordinate system, according to described
First labelling point coordinate in world coordinate system and described transformation matrix, it is thus achieved that in world coordinate system
The coordinate of the second external punctuate, to complete naturally according to second labelling point coordinate in image space
Visible light environment realizes the location of automated medicine image space, it is achieved thereby that automated medicine image space
Location and can realize in natural visible light environment, the equipment such as light source that need not be special.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that under,
Accompanying drawing during face describes is some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the positioner configuration diagram in the embodiment of the present invention one medical image space；
Fig. 2 is the localization method schematic flow sheet in the embodiment of the present invention two medical image space；
Fig. 3 is the positioning system structure schematic diagram in the embodiment of the present invention three medical image space.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this
Accompanying drawing in bright embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention,
Obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on
Embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise
The every other embodiment obtained, broadly falls into the scope of protection of the invention.
In following embodiment, illustrate as a example by described corrective surgery target location includes head, but
It is readily adaptable for use in the scene of other medical robot surgeries, such as.
Fig. 1 is the positioner configuration diagram in the embodiment of the present invention one medical image space；Such as Fig. 1 institute
Show, in the present embodiment, illustrate as a example by brain 100 Minimally Invasive Surgery, specifically comprising: optics
Positioning unit (not shown), first labelling point the 101, second labelling point 102, described first labelling
Point 101 is arranged on corrective surgery target location, and described second labelling point 102 is with reference to described first labelling point
Unit 101 are arranged on the target location of patient, use a transformation matrix to be described in world coordinate system
Coordinate relation between 1 labelling point 101 and the second labelling point 102, described optical alignment unit is to described
Labelling point 101 is identified the coordinate setting up described first labelling point 101 in world coordinate system,
According to the described first labelling point 101 coordinate in world coordinate system and described transformation matrix, it is thus achieved that
The coordinate of the second external punctuate in world coordinate system, with according to the second labelling point 102 in image space
Coordinate completes to realize the location of automated medicine image space in natural visible light environment.
In the present embodiment, the second labelling point 102 coordinate in image space can be by image recognition
CT image or MRI image are identified etc. being identified by reason, thus obtain the second labelling point 102
At the coordinate that image is aerial.
The first labelling point in the present embodiment can be arranged on a wearable overhead shelf, or,
Arranged by hang, repeat no more in detail.
In the present embodiment, described first labelling point 101 specifically includes Pasting on surgical target position
Paster, described paster is arranged can the pattern of the most described optical alignment unit identification.Specifically, in one side
Arranging described pattern on the surface of plate, panel can be soft base, in general operation, it usually needs
Including multiple labels, it is separately positioned on the position of patient's different directions, operation process i.e. uses one
Set label.Relation is supported the use between different labels and these labels in order to distinguish, thus
Avoid being used in mixed way with the label of illegal Matching Relationship, give to each label carry an identification code such as C1,
C2, C3, and the Matching Relationship C1C2C3 of three's time, and by the identification code of each label and
Matching Relationship is stored in an electronic tag during producing, and is combined with panel by this electronic tag
The most embedding in the panel.
Electronic tag can also store the production information of labelling point, Sales Channel information, checking information,
And any one in labelling point geometry dimension information or multiple combination.Production information can include raw
Producing manufacturer, date of manufacture, Sales Channel information includes having the sale information for hospital selling qualification, including
The information for hospital of legal use label；Checking information includes label stated accuracy grade, sells hospital
Information can include selling the regional information such as postcode described in hospital.These inhomogeneity additional informations ensure
Label quality, takes precautions against label simultaneously and is copied.
In operation process, patient, operation relevant information can be obtained, and patient information also is stored in
In above-mentioned electronic tag, with the production information of other information such as labelling point, Sales Channel information, inspection letter
Cease, and labelling point geometry dimension information is bound.Patient information (name, age, disease type),
Operating time information, operation implements information for hospital, implement in Surgery Surgery doctor any one or multiple
Combination.
In the present embodiment, above-mentioned first labelling point there is black and white registration pattern, between black and white registration pattern
There is intersection point, by the identification of this angle point is positioned, thus obtain the first labelling point in world coordinate system
Coordinate.
In above-described embodiment, world coordinate system is as the frame of reference of whole system, such that it is able to location
Go out the coordinate of any object in surgical environments, such as optical alignment unit, mechanical arm etc..World coordinates
In system, Z axis can be with the optical axis coincidence of optical alignment unit, in X-axis, Y-axis and bidimensional image space
The most parallel.
In the present embodiment, the also direct imaging on imaged image due to Ceramic Balls, therefore, described second mark
Note point 102 employing Ceramic Balls.It should be noted that the second labelling point 102 is not limited to Ceramic Balls, also
Other can the material of imaging is made on imaged image shape can to use metal ball etc..
In the present embodiment, 3 described first labelling points 101 are set in periphery, corrective surgery target location.
It should be noted that the first labelling point 101 is not limited to 3, it would however also be possible to employ 1.
In the present embodiment, with reference to described first labelling point 101,4 institutes are set in the target location of patient
State the second labelling point 102.It should be noted that the second labelling point 102 is not limited to 4, it is also possible to 3
Individual.
In the present embodiment, described transformation matrix is a rigid body translation matrix, utilizes this rigid body translation matrix to have
Body realizes the rotation peace in-migration of coordinate thus realizes the location of image space coordinate system.
Fig. 2 is the localization method schematic flow sheet in the embodiment of the present invention two medical image space；Such as Fig. 2 institute
Showing, the present embodiment can apply to brain Minimally Invasive Surgery, it is also possible to is applied to the operation of other medical robots；
It specifically may include that
S201, the first labelling point being arranged on corrective surgery target location is identified to set up described
First labelling point coordinate in world coordinate system；
In the present embodiment, step S101 specifically may include that
Utilize optical alignment unit that Pasting paster on surgical target position is identified, described patch
Arrange on sheet can the pattern of the most described optical alignment unit identification, be provided with the paster of pattern as above-mentioned the
Labelling point；But, in addition to can being attached to the paster of patients head, the probe being provided with pattern can also
As the first labelling point.
It should be noted that the present embodiment inspire under, it is also possible to sound wave of the prior art, laser,
Electromagnetic location etc. carry out similar improvement, repeat no more in detail.
In the present embodiment, it is preferable that 3 described first labellings are set in periphery, corrective surgery target location
Point.
S202, according to described first labelling point coordinate in world coordinate system and describe described first mark
The transformation matrix of position relationship between note point and the second labelling point, it is thus achieved that second is external in world coordinate system
The coordinate of punctuate；
In the present embodiment, described second labelling point includes Ceramic Balls, mainly due to Ceramic Balls.Except pottery
Ball can also use other labels such as metal ball.
In the present embodiment, it is preferable that set in the target location of patient with reference to described first labelling dot element
Put 4 described second labelling point such as Ceramic Balls, can imaging in CT imaging, it is also possible to be other metals
Thing
In the present embodiment, described transformation matrix is a rigid body translation matrix, especially by coordinate rotation and
Translation realizes.
S203, complete at nature according to second labelling point coordinate in image space and world coordinate system
Visible light environment in realize the location of automated medicine image space.
Being such as through a Ceramic Balls according to axle each in coordinate system, three axis congruences are poly-a little to be determined for principle
Image space coordinate system.
It should be noted that in above-described embodiment, the first labelling point can also be one.Second labelling point
Can also there be three.
Fig. 3 is the positioning system structure schematic diagram in the embodiment of the present invention three medical image space；Such as Fig. 4 institute
Showing, figure includes: optical alignment unit Cam501, mechanical arm 502, patient 503, medical image 504,
Img represents that image space, Pat represent patient space,CamTImgRepresent that transforming to the world from image space sits
The rigid body translation matrix of mark system,CamTPatRepresent the rigid body translation transforming to world coordinate system from patient space
Matrix,RobTCamRepresent the rigid body translation matrix transforming to robot from world coordinate system.
According toCamTImg, and the described first labelling point 101 coordinate in world coordinate system, second sit
Punctuate is at image space coordinate, thus completes world coordinates and be tied to location or the registration of image space.
Device embodiment described above is only schematically, wherein said illustrates as separating component
Unit can be or may not be physically separate, the parts shown as unit can be or
Person may not be physical location, i.e. may be located at a place, or can also be distributed to multiple network
On unit.Some or all of module therein can be selected according to the actual needs to realize the present embodiment
The purpose of scheme.Those of ordinary skill in the art are not in the case of paying performing creative labour, the most permissible
Understand and implement.
Through the above description of the embodiments, those skilled in the art is it can be understood that arrive each reality
The mode of executing can add the mode of required general hardware platform by software and realize, naturally it is also possible to by firmly
Part.Based on such understanding, the portion that prior art is contributed by technique scheme the most in other words
Dividing and can embody with the form of software product, this computer software product can be stored in computer can
Read in storage medium, such as ROM/RAM, magnetic disc, CD etc., including some instructions with so that one
Computer equipment (can be personal computer, server, or the network equipment etc.) performs each to be implemented
The method described in some part of example or embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, rather than to it
Limit；Although the present invention being described in detail with reference to previous embodiment, the ordinary skill of this area
Personnel it is understood that the technical scheme described in foregoing embodiments still can be modified by it, or
Person carries out equivalent to wherein portion of techniques feature；And these amendments or replacement, do not make corresponding skill
The essence of art scheme departs from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (8)
1. the positioner in a medical image space, it is characterised in that including: optical alignment unit,
First labelling point, the second labelling point, described first labelling point is arranged on corrective surgery target location, described
Second labelling point is arranged on the target location of patient with reference to described first labelling dot element, uses a conversion
Matrix description coordinate relation, described optics between the first labelling point and the second labelling point in world coordinate system
Described first labelling point is identified setting up described first labelling point in world coordinate system by positioning unit
Coordinate, obtain according to described first labelling point coordinate in world coordinate system and described transformation matrix
The coordinate of the second external punctuate in world coordinate system, with according to second labelling point seat in image space
Mark the location realizing automated medicine image space in natural visible light environment.
2. the localization method in a medical image space, it is characterised in that including:
It is identified the first labelling point being arranged on corrective surgery target location setting up described first mark
Note point coordinate in world coordinate system；
According to described first labelling point coordinate in world coordinate system and describe described first labelling point with
The transformation matrix of position relationship between second labelling point, it is thus achieved that the second external punctuate in world coordinate system
Coordinate, to complete in natural visible light environment real according to second labelling point coordinate in image space
The location of existing automated medicine image space.
Device the most according to claim 1, or the method described in 2, it is characterised in that described
Labelling point includes Pasting paster on surgical target position, and described paster is arranged can the most described light
Learn the pattern of positioning unit identification.
Device the most according to claim 1, or the method described in 2, it is characterised in that described
2 labelling points include Ceramic Balls.
Device the most according to claim 1, or the method described in 2, it is characterised in that patient
Periphery, surgical target position arranges at least 1 described first labelling point.
Device the most according to claim 1, or the method described in 2, it is characterised in that with reference to institute
State the first labelling dot element and at least 3 described second labelling points are set in the target location of patient.
Device the most according to claim 1, or the method described in 2, described transformation matrix is one firm
Body transformation matrix.
Device the most according to claim 1, or the method described in 2, described corrective surgery target position
Put and include head.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610168331.5A CN105852979A (en) | 2016-03-23 | 2016-03-23 | Medical image space localization device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610168331.5A CN105852979A (en) | 2016-03-23 | 2016-03-23 | Medical image space localization device and method |
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| CN201610168331.5A Pending CN105852979A (en) | 2016-03-23 | 2016-03-23 | Medical image space localization device and method |
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Cited By (4)
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| TWI730242B (en) * | 2017-12-27 | 2021-06-11 | 醫百科技股份有限公司 | Surgical instrument positioning system and positioning method thereof |
| CN113616350A (en) * | 2021-07-16 | 2021-11-09 | 元化智能科技(深圳)有限公司 | Verification method and device for selected positions of marking points, terminal equipment and storage medium |
| CN114176773A (en) * | 2021-12-20 | 2022-03-15 | 北京诺亦腾科技有限公司 | Precision detection method, device, equipment and medium of fracture reduction system |
| CN114521962A (en) * | 2022-04-24 | 2022-05-24 | 杭州柳叶刀机器人有限公司 | Trajectory tracking method and device for surgical robot, robot and storage medium |
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