CN1326092C - Multimodel type medical image registration method based on standard mask in operation guiding - Google Patents

Multimodel type medical image registration method based on standard mask in operation guiding Download PDF

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CN1326092C
CN1326092C CNB2005100307665A CN200510030766A CN1326092C CN 1326092 C CN1326092 C CN 1326092C CN B2005100307665 A CNB2005100307665 A CN B2005100307665A CN 200510030766 A CN200510030766 A CN 200510030766A CN 1326092 C CN1326092 C CN 1326092C
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membrane used
basic membrane
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registration
image
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CN1794301A (en
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秦斌杰
庄天戈
殷善开
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Shanghai Jiaotong University
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Abstract

The present invention relates to a multi-model medical image registration method based on a reference surface film in operation guiding, which belongs to the technical field of a computer application technology. The present invention comprises following steps: (1) at first a multi-model reference surface film is prepared; (2) with the image restoration method of the reference surface film, preoperative multi-model image registration is carried out; (3) by using the collecting method of the outer surface of the reference surface film in the operation, the space position information that points at the outer surface of the reference surface film are collected in the operation is collected; (4) finally by using real-time preoperative and intraoperative reference surface film registration and fusion methods, the relationship between the registration and the fusion of preoperative multi-model medical image space and intraoperative patient coordinate space is obtained. The present invention enhances preoperative image and intraoperative image registration precision in the image treatments of operation guiding, etc., and convenient and high precision registration is carried out for the multi-mode medical imaging information of a patient.

Description

In the surgical navigational based on basic membrane used multimode medical figure registration method
Technical field
The present invention relates to the method in a kind of Computer Applied Technology field, specifically is based on basic membrane used multimode medical figure registration method in a kind of surgical navigational.
Background technology
In the image orientation computer-assisted surgery, for can be, need set up in the art Medical image registration relation before the patient and art based on the navigation that undergos surgery of medical image scanning information before the art.For setting up this registration relation, the LandmarX system of world-renowned operation guiding system manufacturer Medtronic company, the registration arrangement of Cai Yonging is clinically: be stained with the reference mark point that can develop in medical imaging in patient's skin surface, by orienting reference mark point three-dimensional position under the coordinate space and in patient's art respectively, set up the patient's in the art of medical image before the art position registration relation in the medical image space.Adopt this configuration-system, reference mark point location error reduces, reference mark is counted out increase, and target area registration error (TRE) can reduce.Count out but increase reference mark, can increase the time and the trouble of gathering in the art; Make the monumented point displacement easily with these monumented points of location such as probe clinically; If in surgical navigational, adopt and the fixed reference mark point of skull riveting,, still patient there is injury though that registration accuracy can reach is best.The InstaTrak of GE company operation guiding system also adopts monumented point is distributed on the headstock, again the headstock is fixed on method on the head clinically, but this method is because will be at the fastening good headstock of patient head, and remain to operation carries out always, this tends to bring the uncomfortable of health to patient, and generally all will avoid using fixed mount to be fixed tightly in body part in the image orientation treatment.In surgical navigational, also adopt method for registering based on figuratrix, this method reconstructs operative site three-dimensional surface information with CT before the art or MRI formation method, utilizes method such as laser scanning to collect the target surface point set of patient in the art in art again.But this method is bigger with the reconstruction error of CT imaging reconstruction human body three-dimensional surface characteristics point set.Though utilize the MRI formation method more clearly to reconstruct skin surface information, the MRI formation method can not carry out imaging to bone sex organization.
Find through literature search prior art, Chinese patent publication number CN1445690A, open day is 2003.10.1, patent name is: indicate some identification and localization method automatically in the surgical navigation systems, this patent readme is: " at first make positioning pointer unique with contacting of expression point by the tapered sign point design of incircle; Adopt three-dimensional partitioning algorithm automatically again, the combination of promptly high cap algorithm and form field restoring method realizes indicating the automatic identification of point, obtains the accurate recognition result according to the sign point filtration method of promptly knowing condition; Last three-dimensional location algorithm automatically promptly adopts the field center of gravity localization method based on the gray-scale value weighting, obtains accurate in locating." its deficiency is: this method is carried out the registration of image space and operative space based on limited reference mark point, and its registration accuracy is restricted; Reference mark point station acquisition is pointed to probe in the art, causes reference mark point position to produce displacement easily under operative space, and gathers the also very time-consuming trouble of reference mark point one by one with surgical probe in the art; This method can not be finished the registration in patient coordinate space in preceding medical image of multi-mode art and the art.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of surgical navigational method for registering based on basic membrane used figuratrix point set is proposed, make it in images such as surgical navigational treatments, improve before the art image registration accuracy in the image and art, accomplish patient's multi-mode medical image-forming information is carried out convenient, high-precision registration.
The present invention is achieved by the following technical solutions, the present invention includes following steps:
(1) it is basic membrane used at first to prepare multi-mode, basic membrane usedly in the multi-mode medical imaging, can show with high-brightness signal, in art, utilize CCD (optical coupling device) imaging to carry out the three-dimensional reconstruction on surface for ease of basic membrane used surface, basic membrane used surface-coated be beneficial to multicolour pattern striped or the photochromics that the accurate three-dimensional Model Reconstruction is carried out in the CCD imaging;
(2) again by basic membrane used image recovery method, promptly based on the deconvolution image recovery method of known object physical dimension constraint, high precision is rebuild the basic membrane used surface position information in the multi-mode medical imaging.Here use , wherein The basic membrane used medical image of expression medical scanning apparatus output, by obtaining after basic membrane used own f (x) and p (x) convolutional calculation, p (x) is the scanning device point spread function, and wherein this functional form can be made as three-dimensional Gaussian function, the thickness of known reference facial mask f (x), from
Figure C20051003076600063
Can high precision recover basic membrane used surface profile position.The basic membrane used image of multi-mode that high precision is rebuild carries out basic membrane used edge contour and detects again, carries out multi-modality image registration before the art based on the surface profile information of above extraction;
(3) utilize basic membrane used outside surface acquisition method in the art, by CCD imaging reconstruction three-dimensional surface technology or utilize LRS (laser ranging scanning system) to generate the method for range image, gather the positional information of basic membrane used outside surface point set at operative site at operative space;
(4) adopt real-time art at last before, basic membrane used registration fusion method in the art, at first based on the method for registering images of feature point set, promptly the feature point set of the basic membrane used outer surface profile that extracts before the art as reference surface three dimension point set R (x), the basic membrane used outer surface profile of gathering in the art as the three-dimensional point set F (x) of floating surface, utilize the distance between least square method coupling F (x) and the R (x), obtain before the art the accurate registration relation of basic membrane used outer surface profile in the basic membrane used and art, and and then obtain before the art registration syncretic relation in patient coordinate space in the multi-mode medical image space and art.
Below the inventive method is further described, particular content is as follows:
1, the preparation multi-mode is basic membrane used
For can be in the multi-mode medical imaging, can both high brightness show basic membrane used, and and then by the reconstructing restored technology of high precision image, reconstruct basic membrane used surface profile information as art before the registration of image with reference to point set.Basic membrane used material is selected merge can be in the multi-mode medical imaging, as the developing materials of high brightness demonstration among CT, the MRI.For guaranteeing the basic membrane used focus patient's skin surface all around that firmly is attached at, further guarantee correctly to reconstruct basic membrane used information simultaneously from image simultaneously, the selection of basic membrane used thickness also should have certain limitation.Be implemented as follows:
A) basic membrane used material by the MRI imaging or (with) the visible developing materials of high brightness are formed in the CT imaging, as visible iodate in the MRI imaging or gadolinium base material, the visible aluminium of imaging-chromate dopant etc. in CT.
B) according to multi-mode medical imaging resolution index, set basic membrane used thickness and be image slices pixel resolution level about 2 times, set this thickness, can restore original imaging object more exactly by imaging signal, and then under the medical image space coordinates, can accurately orient the positional information of basic membrane used superficies.Basic membrane used thickness can not be blocked up, otherwise basic membrane used the contact with the large tracts of land attaching of skin just can not be firm.
C) according to the different materials type of selecting and facial mask thickness as input information, it is basic membrane used to prepare multi-mode with Metal Substrate composite material thin film fabrication technology, in order accurately promptly to utilize CCD to gather basic membrane used three-dimensional information in the art, this basic membrane used surface-coated be beneficial to multicolour pattern striped or the photochromics that the accurate three-dimensional Model Reconstruction is carried out in the CCD imaging.
D) the basic membrane used perilesional patient's skin surface of target that is attached at, according to the physical relationship formula of target area registration error ⟨ TRE 2 ( r ) ⟩ = ⟨ FLE 2 ⟩ ( 1 N + 1 3 Σ k = 1 3 d k 2 f k 2 ) 。Here＜FLE 2Being the positioning error of system's reference mark point, k represents space three-dimensional major axes orientation, f kBe the root-mean-square distance value of reference mark point set with respect to the three-dimensional main shaft of reference mark point set; R is the target area vector with respect to reference mark point set origin position; d kBe the distance of target area with respect to each reference mark point main shaft; N is that reference mark is counted out, and following principle is followed in the operation of basic membrane used attaching: 1) increase basic membrane used area of attachment as far as possible, can effectively increase reference mark like this and count out; 2) layout of basic membrane used sign point set avoids being close to the configuration of conllinear; 3) the location barycenter of the basic membrane used sign point set of assurance is positioned as close to target focus zone.
2, basic membrane used image recovery method
Described basic membrane used image recovery method, be based on object thickness and be of a size of known conditions constraint high-definition picture recovery algorithm down, adopt the image Deconvolution Technique under the known object dimension constraint in the image restoration, promptly according to conditions such as the known and imaging device point spread function form of imaging thing gauge are known, global optimization restores the basic membrane used surface profile positional information in the multi-mode medical image, and adopt the method for second-order differential filter detection zero crossing to extract basic membrane used marginal surface, reconstruct the preceding basic membrane used surface profile of medical image of multi-mode art.
3, multi-modality image method for registering before the art
Adopt in a kind of imaging pattern basic membrane used internal layer and outermost contour point set as the reference surface point, basic membrane used internal layer and outermost contour point set are as the floating surface point set of registration in the another kind of imaging pattern, utilize respective distances between two groups of point sets of least-squares algorithm search matched to be hour geometric transformation relation, as multimode medical figure registration conversion before the art.
4, basic membrane used outside surface acquisition method in the art
Principle based on computer stereo vision 3 d objects reconstruction surface, utilize LRS (laser ranging scanning system) to generate range image or CCD tri-dimensional photographing measuring technique (utilize CCD imaging technique to surface-coated the basic membrane used accurate reconstruction of carrying out three-dimensional surface of multicolour pattern striped or photochromics), under the operative space coordinate system, accurate reconstruction goes out the positional information of basic membrane used superficies point set.
5, in real time before the art basic membrane used registration fusion method in the art,
This algorithm is divided into two steps: patient coordinate space fusion steps in space registration and preceding image of multi-mode art and the art in preceding image of art and the art; The space step of registration is surperficial as reference the basic membrane used outside surface point set that image space before art extracts in preceding image of art and the art, the floating surface of the basic membrane used superficies point set of the extraction of acquisition module from basic membrane used outside surface art as registration, specifically based on ICP searching algorithm (iterative closest point method), registration is carried out on two surfaces, obtain the registration transformational relation of monotype image space and patient's operative space, before the multi-mode art in image and the art patient coordinate space merge registration transformational relation in conjunction with multi-mode medical image before the art, multi-mode medical image information all merge with art under the unified coordinate system in patient coordinate space.
Method of the present invention by design preparation can high brightness shows in the multi-mode medical imaging multi-mode basic membrane used, accurate reconstruction and be positioned at before the art patient coordinate space basic membrane used outside surface point set down in the multi-mode medical image space and art realizes before the multi-mode art that the accurate registration of coordinate space concerns in the medical image space and patient's art.This method has realized convenient, the accurate registration of coordinate space in the preceding multi-mode medical image space of art and the patient's art in general, guaranteed before the doctor is based on art the multi-mode medical image information accuracy of navigation that undergos surgery, guarantee accurate, the Wicresoft's excision focus of image orientation operation energy, do not damage normal surrounding tissue, thereby reduced the generation of operation risk and postoperative complication, and then can reduce about the 50%-60% of patient's postoperative rehabilitation medical treatment cost, improved patient's result of treatment and quality of life.
Description of drawings
Fig. 1 is the process flow diagram of the inventive method.
Embodiment
Provide following example in conjunction with summary of the invention:
As shown in Figure 1, be example with registration in image and the art before the head surgical navigational art, the concrete steps of the inventive method are described as follows:
1. at first prepare basic membrane used that high brightness shows in CT, MRI medical imaging, and facial mask is attached at focus patient's skin surface all around.Face-mask material is all visible gadolinium base and an aluminium composite material in CT and the MRI imaging.According to CT, MRI imaging resolution, select facial mask thickness about 0.9mm.Prepare the basic membrane used focus skin of head surface all around that is attached at, the location barycenter that guarantees basic membrane used sign point set is positioned as close to target focus zone, can guarantee so basic membrane usedly to hold down, the target registration error in target focus zone placed in the middle is as much as possible little, sticked facial mask patient carried out multi-mode CT and the scanning of MRI medical imaging.The imaging data amount all is 512 * 512 * 120;
2. it is known adopting based on the facial mask gauge, and CT, MRI imaging device point spread function form are image deconvolution, the deblurring operation under the Gaussian function condition, strengthen basic membrane used image reconstruction resolution.Restore the image of handling from having carried out high precision image, adopt the method for second-order differential filter detection zero crossing to extract the edge contour on basic membrane used surface, reconstruct the preceding basic membrane used surface profile of medical image of multi-mode art;
3. CT, MRI image before the art are carried out handling based on the image registration of basic membrane used surface profile, promptly adopt in the CT imaging pattern basic membrane used internal layer and outermost contour point set as the reference surface point, basic membrane used internal layer and outermost contour point set are as the floating surface point set of registration in the MRI imaging pattern, utilize respective distances between two groups of point sets of least-squares algorithm search matched to be hour geometric transformation relation, get access to the Rigid Registration transformation parameter of multi-mode medical image before the art;
4. utilize many CCD,, collect the basic membrane used outer surface profile information under the patient coordinate space in the art based on the tri-dimensional photographing measuring technique of computer stereo vision three-dimensional reconstruction principle;
With basic membrane used outside surface point set in the art that gets access to as the floating surface point set, with benchmark outer surface profile point set in the medical image before the art of rebuilding as the reference surface point, utilize iterative closest point algorithms (ICP) to carry out before the art of basic membrane used outside surface the registration of feature point set in the feature point set and art, set up the geometric transformation relation of above two groups of point sets, in conjunction with the registration transformational relation of multi-mode medical image before the art that has obtained, multi-mode medical image information all merge with art under the unified coordinate space in patient coordinate space.
Implementation result: this example design basic membrane used can guarantee that basic membrane used point set is before art in the multi-mode medical image, show with high brightness, cooperation is an image restoration technology under the known conditions constraint based on facial mask thickness, the bearing accuracy of reference mark point set image space before art will be greatly improved, in conjunction with the raising of bearing accuracy under the coordinate system in patient's art of basic membrane used surface point, with respect to method for registering images based on limited reference mark point, the present invention influences the target registration error by increasing on the implementation method root ⟨ TRE 2 ( r ) ⟩ = ⟨ FLE 2 ⟩ ( 1 N + 1 3 Σ k = 1 3 d k 2 f k 2 ) The reference point number N, reduce the approach of reference mark point location error FLE, fundamentally guaranteed the minimizing of target registration error.And this method can accomplish to gather in real time art before, basic membrane used surface point in the art, do not gather the reference mark point by the probe contact, can reduce the time of gathering reference point on the one hand, can reduce equally because the reference mark point location moves the positioning error of initiation, therefore the present invention is on ultimate principle and methodology, guaranteed in the surgical navigational before the art that the precision and the speed of coordinate space registration are greatly improved in the multi-mode medical image and patient's art.

Claims (7)

  1. In the surgical navigational based on basic membrane used multimode medical figure registration method, it is characterized in that, may further comprise the steps:
    (1) it is basic membrane used at first to prepare multi-mode, basic membrane usedly in the multi-mode medical imaging, can show with high-brightness signal, in art, utilize the CCD imaging to carry out the three-dimensional reconstruction on surface for ease of basic membrane used surface, basic membrane used surface-coated be beneficial to multicolour pattern striped or the photochromics that the accurate three-dimensional Model Reconstruction is carried out in the CCD imaging;
    (2) again by basic membrane used image recovery method, high precision is rebuild the basic membrane used surface position information in the multi-mode medical imaging, the basic membrane used image of multi-mode that high precision is rebuild again, carry out basic membrane used edge contour and detect, carry out multi-modality image registration before the art based on the surface profile information of above extraction;
    (3) utilize basic membrane used outside surface acquisition method in the art, by CCD imaging reconstruction three-dimensional surface technology or utilize the laser ranging scanning system to generate the method for range image, gather the positional information of basic membrane used outside surface point set at operative space at operative site;
    (4) adopt before the real-time art at last, basic membrane used registration fusion method in the art, the feature point set of the basic membrane used surface profile that extracts before the art as the reference surface information, the basic membrane used outer surface profile of gathering in the art as the floating surface characteristic information, the basic membrane used outer surface profile that image space and operative space are extracted carries out accurate registration, and and then obtains before the art registration syncretic relation in patient coordinate space in the multi-mode medical image space and art.
  2. 2. based on basic membrane used multimode medical figure registration method, it is characterized in that in the surgical navigational according to claim 1 that described preparation multi-mode is basic membrane used, is implemented as follows:
    A) basic membrane used material by in the MRI imaging or/and the developing materials that high brightness shows in the CT imaging form;
    B) according to multi-mode medical imaging resolution index, set basic membrane used thickness and be image slices pixel resolution level 2 times;
    C) according to the material type of selecting and facial mask thickness as input information, it is basic membrane used to prepare multi-mode with Metal Substrate composite material thin film fabrication technology, this basic membrane used surface is integrated is beneficial to the CCD imaging and carries out the color of accurate three-dimensional Model Reconstruction, stripe information;
    D) the basic membrane used perilesional patient's skin surface of target that is attached at, according to the physical relationship formula of target area registration error ⟨ TRE 2 ( r ) ⟩ = ⟨ FLE 2 ⟩ ( 1 N + 1 3 Σ k = 1 3 d k 2 f k 2 ) , Here＜FLE 2Being the positioning error of system's reference mark point, k represents space three-dimensional major axes orientation, f kBe the root-mean-square distance value of reference mark point set with respect to the three-dimensional main shaft of reference mark point set; R is the target area vector with respect to reference mark point set origin position; d kBe the distance of target area with respect to each reference mark point main shaft; N is that reference mark is counted out.
  3. 3. based on basic membrane used multimode medical figure registration method, it is characterized in that in the surgical navigational according to claim 2 that the operation of basic membrane used attaching is followed: 1) increase basic membrane used area of attachment, reference mark can effectively be increased like this and count out; 2) layout of basic membrane used sign point set is avoided conllinear; 3) guarantee that the location barycenter of basic membrane used sign point set is near target focus zone.
  4. 4. in the surgical navigational according to claim 1 based on basic membrane used multimode medical figure registration method, it is characterized in that, described basic membrane used image recovery method, be meant: the high-definition picture that is of a size of under the known conditions constraint based on object thickness restores algorithm, adopt the image Deconvolution Technique under the known object dimension constraint in the image restoration, promptly according to the known and imaging device point spread function form known conditions of imaging thing gauge, global optimization restores the basic membrane used surface profile positional information in the multi-mode medical image, and adopt the method for second-order differential filter detection zero crossing to extract basic membrane used marginal surface, reconstruct the preceding basic membrane used surface profile of medical image of multi-mode art.
  5. 5. in the surgical navigational as claimed in claim 1 based on basic membrane used multimode medical figure registration method, it is characterized in that, multi-modality image registration before the described art, be meant: adopt in a kind of imaging pattern basic membrane used internal layer and outermost contour point set as the reference surface point, basic membrane used internal layer and outermost contour point set are as the floating surface point set of registration in the another kind of imaging pattern, utilize respective distances between two groups of point sets of least-squares algorithm search matched to be hour geometric transformation relation, as multimode medical figure registration conversion before the art.
  6. 6. in the surgical navigational as claimed in claim 1 based on basic membrane used multimode medical figure registration method, it is characterized in that, basic membrane used outside surface acquisition method in the described art, be meant: based on the principle on computer stereo vision 3 d objects reconstruction surface, utilize the laser ranging scanning system to generate range image or CCD tri-dimensional photographing measuring technique, under the operative space coordinate system, accurate reconstruction goes out the positional information of basic membrane used superficies point set.
  7. 7. in the surgical navigational as claimed in claim 1 based on basic membrane used multimode medical figure registration method, it is characterized in that, before the described real-time art, basic membrane used registration fusion method in the art, be divided into two steps: patient coordinate space fusion steps in space step of registration and preceding image of multi-mode art and the art in preceding image of art and the art, wherein the space step of registration is surperficial as reference the basic membrane used outside surface point set that image space before art extracts in preceding image of art and the art, the floating surface of the basic membrane used superficies point set of the extraction of acquisition module from basic membrane used outside surface art as registration, specifically based on the ICP searching algorithm, registration is carried out on two surfaces, obtain the registration transformational relation of monotype image space and patient's operative space; Before the multi-mode art in image and the art patient coordinate space fusion steps in conjunction with art before the registration transformational relation of multi-mode medical image, multi-mode medical image information all merge with art under the unified coordinate system in patient coordinate space.
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