Source: https://patents.google.com/patent/CN105658167A/en
Timestamp: 2020-02-20 01:09:40
Document Index: 40478835

Matched Legal Cases: ['art 500', 'art 550', 'art 600', 'art 700', 'art 800', 'art.\n13', 'art.\n16', 'art.\n17', 'art.\n19']

CN105658167A - Computer-implemented technique for determining a coordinate transformation for surgical navigation - Google Patents
Computer-implemented technique for determining a coordinate transformation for surgical navigation Download PDF
CN105658167A
CN105658167A CN201380079051.1A CN201380079051A CN105658167A CN 105658167 A CN105658167 A CN 105658167A CN 201380079051 A CN201380079051 A CN 201380079051A CN 105658167 A CN105658167 A CN 105658167A
CN201380079051.1A
CN105658167B (en
约亨·布赖萨克尔
让·斯塔维亚斯基
托比亚斯·赖夫
斯瑞克欧洲控股I公司
2013-08-23 Application filed by 斯瑞克欧洲控股I公司 filed Critical 斯瑞克欧洲控股I公司
2013-08-23 Priority to PCT/EP2013/067529 priority Critical patent/WO2015024600A1/en
2016-06-08 Publication of CN105658167A publication Critical patent/CN105658167A/en
2018-05-04 Publication of CN105658167B publication Critical patent/CN105658167B/en
A technique for determining a transformation between a navigation reference coordinate system (302) for navigation of a surgical device (150) relative to patient image data and an image coordinate system (304) in which the patient image data define a shape of a patient surface is provided. A computer-implemented method implementation of that technique comprises receiving multiple data sets that have been taken from different perspectives of the patient surface. Feature coordinates of multiple features (170) identifiable in the picture data sets are determined from the picture data sets and in the navigation reference coordinate system (302). From the feature coordinates, a shape model of the patient surface in the navigation reference coordinate system (302) is determined. Then, surface matching between the shape model and the shape of the patient surface defined by the patient image data is applied to determine the transformation (T1) between the navigation reference coordinate system (302) and the image coordinate system (304).
Be used for the Coordinate Conversion for surgical navigational to carry out definite computer realization technology
The disclosure relates in general to computer assisted surgery. Particularly, introduced for determining navigation reference frame and figureThe technology of the conversion between picture coordinate system. Described technology can be implemented as method, computer program, equipment or system.
In the past decade, sharply increase at the number of assisting the lower operation technique of carrying out of operation guiding system. this increasingAdd and can part on using and building, become more uncomplicated this fact owing to operation guiding system.
Conventionally for example, based on patient image data (, computer X that obtain or that obtain in the time that operation is carried out before operationRay tomography (or CT) scanning) execution surgical navigational. For the operation of image guiding, surgical apparatus is worked as with respect to patient'sFront position is superimposed on patient's image, and is visualized. This overlapping requirement (is carried with respect to image coordinate system in this systemFor patient image data) carry out registration navigation reference frame and (in this coordinate system, follow the tracks of relative between surgical apparatus and patientMobile). From the angle of mathematics, this registration relates to the conversion of calculating between navigation reference frame and image coordinate system.
After successful registration, relatively moving between the surgical apparatus navigating and patient can be tracked, and by visualChange. Carry out tracking with the tracking camera that is configured to detect the one or more tracking equipments in its visual field. Conventionally patient,The two is associated with special tracking equipment separately with surgical apparatus. Can be for example from the patent US8 of Stryker company, 457,719B2 learns such navigation scheme. US8,457,719B2 discloses and has comprised separately multiple points of light emitting diode (LED) formThe instrument tracking equipment of the trace point separating and patient's tracking equipment. Patient's tracking equipment comprises flexible block (patch), this flexibilityPiece has viscous layer will be attached to patient's side with it, makes the trace point providing on the opposite side of piece fit in patient's tableFace.
Trace point on trace point on patient's tracking equipment and instrument tracking equipment is that tracking camera is detectable, and this is followedTrack camera is made up of three independent charge-coupled image sensors (CCD) camera array. Tracking camera is installed in go-cart, operating roomOn wall or on operating room lamp.
In order to carry out registration, structure will paste patient's tracking equipment the model on patient surface thereon. Build surface modesType requires by following the tracks of the trace point on camera position patient tracking equipment. About this point, registration routine instruction surgeonPatient is moved to one or many, until have enough trace points in the visual field of following the tracks of camera. Should be understood that surface modelQuality greatly depends on the number of the trace point that can accurately detect.
Once build reliable surface modes according to the trace point detecting, this surface model be registrated to CT scanThe patient image data of form. Useful surface matching technology is carried out this registration. If can be in predictive error grade registrationThe patient's image and the shape that scan, registration routine is confirmed registration process success. The success of registration process is subject to surface modesThe very big impact of the quality of type. The quality of surface model depends on the number of following the tracks of the trace point that accurately detects of camera then.
Also there is such navigation scheme: only follow the tracks of patient, and the use priori relevant with tracking camera with surgical apparatusKnowledge is calculated the position of surgical apparatus with respect to patient's tracking equipment. About this, the US2008/ of Activiews Co., Ltd0208041A1 has instructed the operation guiding system with patient's tracking equipment, and this patient's tracking equipment has and is configured to be applied toThe form of patient's abundant smooth piece. This piece comprises that trace point that can optical detection arranges and arrange to have with this trace pointThe additional not saturating wireless benchmark of known spatial relationship is arranged. By thoroughly not wireless by what identify in CT scanBenchmark arrange with the tracking camera calibration that attaches to surgical apparatus to trace point layout mated to obtain before operationCT scan and patient between registration. During surgical navigational, the tracking camera of installing on equipment is arranged and is carried out trace pointFollow the tracks of, and based on having with the physical dimension of surgical apparatus, the physical dimension that trace point is arranged and the imaging characteristic of following the tracks of cameraThe knowledge of closing is calculated the position that surgical apparatus is arranged with respect to trace point. Thus, do not need independent instrument tracking equipment.
Target of the present disclosure is to improve registration performance.
According to a scheme, offer the meter of the conversion between a kind of definite navigation reference frame and image coordinate systemThe method that calculation machine is realized, described navigation reference frame is for carrying out navigating surgery equipment with respect to patient image data, describedIn image coordinate system, the shape on described patient image data definition patient surface. The method comprises the multiple image data collection of reception,Wherein, described image data collection is to obtain from the different visual angles on described patient surface. The method also comprises: according to described pictureData set also determines that in described navigation reference frame described image data concentrates the feature of the multiple features that can identify to sitMark, determines the shape on patient surface described in described navigation reference frame according to described characteristic coordinates, and uses instituteSurface matching between the shape on the patient surface of stating shape and defined by described patient image data is led described in determiningConversion between boat reference frame and described image coordinate system.
Can during the registration flow process before actual flow of navigation, carry out the method. Should be understood that can be to joining of producingStandard is upgraded or is verified, the method for introducing herein also can be implemented with flow of navigation simultaneously.
Can be carried out by computer equipment the step of the method for introducing herein. System for computer assisted surgery can be wrappedContaining this computer equipment. Particularly, one of at least carry out manner of execution step with nextport hardware component NextPort and component software. For example, can be byHardware and software interface one of is at least carried out receiving step, and can be by the one or more processor (examples that are couple to interfaceAs, under software control) execution determining step.
Can receive described image data collection from first camera. Described first camera can be can in the time obtaining image data collectionMove with respect to patient. In a modification, first camera is video camera. Under these circumstances, can pass through video countsForm according to stream (for example,, as frame of video) receives image data collection from first camera. First camera can be non-third dimension phaseMachine (for example, it can provide single image data collection for some preset time from single visual angle).
First camera can be handheld camera. Alternatively or additionally, first camera can be to attach to surgical apparatus. Surgical apparatus can be handheld device. For example, surgical apparatus can adopt the form of operation tool, for example, and operation pointer, handPin for art (for example, biopsy needle) or operation power instrument (surgicalpowertool).
Can concentrate discernible feature to divide into groups to image data, to form one or more feature groups. For eachFeature group, can cause at least one in position and orientation. Can exist with the relevant priori of dividing into groups (for example, about:Know feature coding scheme aspect, which feature group of which characterizing definition). Should be noted that, can again feature group be considered as to it certainlyThe feature with special characteristic coordinate (for example, the feature of feature group switching centre) of body.
According to a realization, use motion structure (SfM) technology, locate and shine upon (SLAM) technology and attitude is estimated simultaneouslyOne or more at least one of determining in characteristic coordinates and shape in technology. For example, SLAM can be applied to spyLevy group. For example, SfM builds for concentrating discernible each feature (not necessarily feature at image data from different visual anglesGroup) signature tracking. Triangulation based on different (camera) visual angles can be applied to each signature tracking. TriangulationCan contribute to (for example,, in navigation reference frame) reconstruct in three dimensions also to optimize alternatively characteristic coordinates.
Can determine shape by the form being positioned at or define surperficial some cloud. Point cloud can comprise 20 or more point(for example, exceeding 30 or more point). Can for example, show by (, feature key points or feature group switching centre) coordinate of featureShow each point.
Generally speaking, navigation reference frame for example can be intended to, for (, carrying out successfully with respect to image coordinate systemAfter registration) coordinate system of the navigation of intra-operative surgical apparatus. For example, navigation reference frame can be to follow the tracks of thereinThe coordinate system of patient's tracking equipment so that surgical apparatus is navigated. In one implementation, can additionally use special instrumentTracking equipment is followed the tracks of surgical apparatus in navigation reference frame. In another example, instrument tracking equipment can not usedIn situation, in navigation reference frame, calculate surgical apparatus or its a part of position.
Can be based on concentrate at least some features in the feature identifying to determine navigation reference frame at image data. ?In a modification, for example, some features in (, during running time) feature that selective recognition goes out define navigation with reference to sittingMark system. In another modification, below priori be available: concentrate some features in the feature that identifies at image dataBe arranged to definition (or measure (span)) navigation reference frame. In these two modification, the feature identifying (is for example passed throughSuitable coding) can be distinct from each other, but whether must be like this. In this way, can improve this definite ShandongRod.
Can determine feature for one or more tracker features of the patient's tracking equipment using during surgical navigationalCoordinate, wherein, it is discernible at least partly that patient's tracking equipment is concentrated at image data, and has fixed bit with respect to patientPut. Patient's tracking equipment can adopt various forms, for example headset equipment, the rigidity that can attach to patient surface or flexibilityPiece, maybe can attach to the equipment of bone. Patient's tracking equipment can comprise tracker feature placement. In the side that implements to introduce hereinWhen method, for example, about geometric properties (, the relative position between each tracker feature) and/or the layout of tracker feature placementThe priori of (for example, coding) characteristic of each interior tracker feature is available.
Tracker feature can define navigation reference frame at least in part. About this point, with how by tracker spyIt can be available levying the relevant priori of definition navigation reference frame. This priori can allow according to following of identifyingTrack device feature position and/or its (coding) characteristic in space determined (for example, building) navigation reference frame. At someIn embodiment, as substituting of one or more tracker features, or additional as one or more tracker features, pictureDiscernible one or more other features of data centralization can be used to definition navigation reference frame.
Additionally, or as alternative, can be for concentrating discernible one or more dissection patient characteristics at image data(comprising skin characteristic) determines characteristic coordinates. Should be understood that as the additional of recognition and tracking device feature or substitute, can identify oneOr the characteristic coordinates of multiple dissection patient characteristics. Can use the world knowledge relevant with anatomical features (for example, to expect about itDegree, position and/or shape) carry out image data concentrate identification one or more dissection patient characteristics.
Can determine at least in part navigation reference frame according to dissecting patient characteristic. About this point, can use oneIndividual or multiple dissection patient characteristics that identify are measured navigation reference frame. Can measure separately by dissecting patient characteristicNavigation reference frame, or for example, by dissecting (, one or many of concentrated other feature that identify of patient characteristic and image dataIndividual tracker feature) combination measure navigation reference frame.
In a modification, determine at least in part shape according to dissecting patient characteristic. Under these circumstances, tableFace coupling can comprise that the patient surface being defined by patient image data is fixed with the relative position by the dissection patient characteristic identifyingCoupling between the surface of justice. Certainly, also can concentrate discernible additional or alternative features to determine shape according to image dataModel.
In one implementation, for being coated to patient and concentrating at image data the characteristic block that can identify at least in partOne or more block features are determined characteristic coordinates. Characteristic block can comprise substrate, and this substrate has the outward appearance of substantially flat, or alternativeGround is flexible, with the patient surface of fitting. Alternatively, can characteristic block be drawn on patient's skin simply, and therefore featureThe piece patient surface of will fitting. Can determine at least in part shape according to block feature. Also can be according to one or more spiesLevy with the combination of one or more dissection patient characteristics and determine shape.
Generally speaking, characteristic block can adopt the form of the skin veil that is coated to patient. Skin veil can have withLower form (or exterior contour): be cut into skin veil and intend region (for example, the forehead of the patient's anatomical features being coated toOr in cheekbone region). In this way, optionally feature is coated to and is particularly suitable for surface matching (for example, tableShow the surface of feature) anatomic region.
In addition, can determine at least in part navigation reference frame according to block feature. For example, can be true separately according to block featureSurely the reference frame that navigates, or concentrate discernible one or more other spies according to one or more block features and image dataLevy the combination of (for example, one or more tracker features and/or one or more dissection patient characteristic) and determine navigation referenceCoordinate system. In order to determine navigation reference frame, for example can exist, with relative position and/or (, coding) characteristic of block feature and haveThe priori of closing.
Determining of navigation reference frame can be based on zoom factor. In one implementation, can derive contracting according to surface matchingPut the factor. For example, can mating surface coupling use the scalability information providing together with patient's image to carry out leading-out needle to navigation referenceThe zoom factor of coordinate system. Additionally, or alternatively, can utilize image data to concentrate the zoom feature of discernible scaled referenceDetermine the zoom factor for navigation reference frame.
Generally speaking the technology of, introducing herein also comprises: during navigating, follow the tracks of or calculate surgical apparatus or one portionDivide the position with respect to one or more features, described navigation reference frame is determined according to above-mentioned one or more features.About this point, surgical apparatus can be associated with the detectable instrument tracking equipment of tracking camera. Alternatively, can be by trackingCamera is installed on surgical apparatus, and can calculate surgical apparatus or its a part of position (for example,, based on one side surgical apparatusOr environment division and the priori of the geometrical relationship between camera on the other hand).
At least one or more (artificially) based on one or more dissection patient characteristics and patient's tracking equipment followOne of at least carrying out in track device feature followed the tracks of or calculated. Generally speaking, can use at least four kinds of features for this reason. About trackingDevice feature, patient's tracking equipment can be different from the characteristic block that is coated to patient, particularly, has the characteristic block of flexible substrate.
Can surgical apparatus or its part be carried out visual with respect to patient's image. Can (comprise according to following the tracks of or calculatingEstimate) surgical apparatus come with respect to the position of one or more features adaptive so visual, wherein, according to described featureIn one or morely determined navigation reference frame. The coordinate of these features is known in navigation reference frame.
Generally speaking, can receive described image data collection from first camera, and can be based on by being different from of first cameraThe pictorial information that two cameras provide is carried out and is followed the tracks of or calculate. First camera can be configured to can be at hand in the time obtaining image data collectionArt is indoor for example, with respect to patient's (, freely) mobile. At intra-operative, second camera can be maintained in operating room substantially fixingPosition. For example, second camera can be arranged on operating room wall, on operating room lamp or in substantially fixing go-cart.
In alternative realization, receive for determining turning between navigation reference frame and image coordinate system from first cameraThe image data collection changing, and the also execution of the image data collection based on receiving from first camera tracking or calculating during navigating.
Image data concentrates discernible feature can adopt various forms. For example, feature can adopt said three-dimensional body or two dimensionObject form. The feature identifying can be distinguished from each other, or can not be differentiable. In the first situation, can be according to predeterminedEncoding scheme, to concentrate discernible two or more features to encode (or sign) at image data, makes described featureConcentrate and can be distinguished from each other out at image data. Encoding scheme can be Color scheme or more complicated scheme, for example, ring fastShould (QR) type of code scheme. Under latter event, feature also can be overlapping particularly.
By feature configuration be preferably make they can with space in a single point (for example, as navigation reference coordinateCoordinate in system) be associated or be reduced to a single point in space, and with the view angle-independent that obtains image data collection. For this reason, canExecution key point is estimated. Then, characteristic coordinates can be expressed as to the coordinate of feature key points, or derive from multiple feature key points(for example,, the in the situation that of feature group) characteristic coordinates.
Useful mode identification technology is carried out (for example,, based on priori) identification (for example, location) image data and is concentrated oneIndividual or multiple features. Mode identification technology also makes the feature identifying to be distinguished from each other. Also can use herein priori to knowKnow.
In one implementation, the method for introducing herein also comprises the view data that receives the patient who is imaged. Patient figureCan be provided as two dimension or three-dimensional as data. Three-dimensional patient's image also can be called as image volume (imagevolume). PreferablyGround provides view data in image coordinate system.
The method also can comprise the step of the shape of extracting patient surface from view data. About this, can be by picture numberAccording in the patient's that comprises predetermined portions or arbitrary portion for shape extracting. Shape extracting can obtain the point on definition patient surfaceCloud.
View data can adopt various forms. For example, view data can be provided as to ultrasound data, or with CT scanThe form of the form of form, magnetic resonance tomography (MRT) scanning or positron emission tomography (PET) scanning provides. Picture numberAccording to going back definable image coordinate system.
Patient image data may not illustrate that any register mark (for example, arrange by not saturating wireless benchmark(fiducials)). In other words,, in some modification, can eliminate for inciting somebody to action before image data acquisition with surface matchingThe needs that register mark is associated with patient. The patient image data front generation of can performing the operation. Alternatively, or additionally, can useThe view data providing at intra-operative.
Can before navigation, determine registration conversion. In addition, during navigating, this conversion can be redefined or is adjusted oneInferior or repeatedly (for example, with verify or proofread and correct navigation before definite conversion. ). In this way, registration can be repeated onceOr repeatedly, to increase navigation precision. In one implementation, the each image data collection based on receiving during navigating weighsNew definite conversion. About this point, can carry out filtering scheme. for example, can determine conversion according to the image data collection of predetermined number,The image data collection of this predetermined number is included in the up-to-date image data collection receiving during navigation all the time.
Also provide a kind of computer program that comprises program code part, object computer on by computing equipmentWhen program product, program code part is carried out any one step of method disclosed herein and method scheme. Computer programProduct can be stored on computer readable recording medium storing program for performing, for example hard disk, CD-ROM, DVD or semiconductor memory. In addition, canSo that computer program to be provided, to connect and to download via network.
According to another program, offer a kind of for determining the conversion between navigation reference frame and image coordinate systemEquipment, described navigation reference frame is for carrying out navigating surgery equipment with respect to patient image data, in described image coordinateIn system, the shape on described patient image data definition patient surface. This equipment comprises: be suitable for receiving multiple image data collectionInterface, wherein, described image data collection is to obtain from the different visual angles on patient surface. This equipment also comprises processor, instituteStating processor is suitable for: determine the concentrated energy of described image data according to described image data collection and in described navigation reference frameThe characteristic coordinates of multiple features of enough identification; Determine the table of patient described in described navigation reference frame according to described characteristic coordinatesThe shape of face; And use described shape and the shape on the patient surface that defined by described patient image data betweenSurface matching determine the conversion between described navigation reference frame and described image coordinate system.
System for computer assisted surgery is provided in addition. This system comprises equipment and the camera introduced herein.Camera can be configured to move with respect to patient, and is configured to provide image data collection.
By reference to the accompanying drawings, according to the following description to exemplary embodiment, other aspects of the present disclosure, details and advantage will becomeObtain obviously, in the accompanying drawings:
Figure 1A schematically shows the embodiment of review of computer aided surgery system, and this review of computer aided surgery system canDetermine the conversion between navigation reference frame and image coordinate system;
Figure 1B is the arborescence of explaining available various feature embodiment in the system embodiment of Figure 1A;
Fig. 2 is the flow chart that the embodiment of the method for the technology of introducing is herein shown;
Registration and the navigation scenarios of the system embodiment of the schematically illustrated use Figure 1A of Fig. 3;
Characteristic block and the surface of the schematically illustrated patient's tracking equipment that can use in conjunction with the scene of Fig. 3 of Fig. 4 A, Fig. 4 B;
Fig. 4 C-4E schematically shows feature key points and concept that can tracking characteristics group;
Fig. 5 A-8B illustrates the registration of system embodiment and other embodiment of navigation scenarios of using Figure 1A;
In the description of exemplary embodiment below, for explanatory instead of restrictive object, in order to provide thisThe complete understanding of the technology shown in literary composition, has set forth detail (for example concrete grammar, function and flow process). To art technology peopleMember it is evident that, can in other embodiment that departs from these details, put into practice this technology. For example,, although will be mainRegistration and navigation scenarios based on relevant with neurosurgery with ENT (ear nose larynx) operation are described following embodiment, Jiang HuixianAnd easily see, the technology of introducing herein also can for example, realize about other regions of patient body (, spinal operation).
In addition those skilled in the art will recognize that: method, function and the step explained herein can be used software functionRealize in conjunction with programming microprocessor, special IC (ASIC), digital signal processor (DSP) or all-purpose computer. AlsoTo will be appreciated that, although by the embodiment below mainly describing under the context of method, system and equipment, the disclosure also canBe embodied in computer program, this computer program can be loaded, with comprise one or more processors andTake in the computing equipment of one or more memories of memory device or distributed computing system and move, wherein, this orMultiple memories are configured to storage and control this one or more processors and carry out method disclosed herein, function and stepOne or more computer programs.
Figure 1A shows the embodiment for the system 100 of computer assisted surgery. As shown in Figure 1A, system 100 is wrappedDraw together computing equipment 110 (for example, personal computer, tablet PC or laptop computer), display device 120 (for example, touchScreen or computer monitor) and External memory equipment 130 (for example, provide therein the hard of database or other data systemsDish or semiconductor memory). System 100 also comprises and is configured to obtain the two dimension in patient region or the imaging of 3 d image dataEquipment 140. Generally speaking, imaging device 140 can be holding-free operation equipment, mechanical guiding equipment or be completely fixedEquipment. For example, imaging device 140 can be CT equipment, MRT equipment, PET equipment or ultrasonic equipment. Imaging device 140 is joinedBe set to according to medical digital imagery and provide to computing equipment 110 with communicate by letter (DICOM) form or any other patient's picture formatPatient image data (for example,, by the data medium such as CD-ROM or wireless or wire link). Alternatively, computing equipment110 or the computing equipment different from it can be configured to the patient who imaging device 140 is obtained according to any patient's picture formatView data formats.
System 100 also can comprise that at least one user-operable for generating (or triggering generation) user interactions signal is defeatedEnter equipment, for example one or more buttons, keyboard, mouse or trace ball (not shown). User interactions signal can control system 100Operation. Input equipment and display device 12 (can be integrated in touch-screen. Touch-screen can be one of tablet PC thenPart.
System 100 is also included in the surgical apparatus 150 (for example, operation tool) using in surgical procedure. As institute hereinUnderstand, patient's diagnosis and treatment are processed and are also considered to form surgical procedure. Surgical apparatus 150 can comprise input equipment (exampleAs, the form of one or more buttons).
Surgical apparatus 150 can be hand-free operating equipment or directed equipment. In a rear situation, surgical apparatus 150Can for example, by operating robot (, automatically or semi-automatically) operation. In other modification, can occur being retrained by surgeonThe mechanical guiding of the movement of surgical apparatus 150. In some embodiment in following examples, surgical apparatus 150 is configured toBiopsy needle, or be configured on endoscope.
Display device 120 is configured to make patient image data visual. Before surgical procedure or in the surgical procedure phaseBetween obtain patient image data by imaging device 140. Display device 120 be also configured to by for respect to patient to operationThe computer assisted pilot that equipment 150 navigates is visual. This visual comprising surgical apparatus 150 or its partCurrent location (alternatively, comprising orientation) overlap according to view data derive patient's image on. Should be noted that, can lead toCross acoustics or tactile feedback and carry out the guiding that additionally or alternatively provides such.
As shown in Figure 1A, system 100 also comprises multiple features of at least one camera 160 and defined feature collection 170.Camera 160 is configured to obtain from two or more different visual angles patient's image data collection, makes each image data collectionAt least comprise at least some features of feature set 170. Camera 160 can be that be configured to can be relative in the time obtaining image data collectionThe handheld camera moving freely in patient. For example, camera 160 can be embodied as and can provide continuous video data stream (for example, to doFor frame of video) video camera of the image data collection of form.
In a modification, camera 160 is installed to surgical apparatus 150 rigidly, make camera 160 can with surgical apparatus150 move together. In another modification, can be independent of surgical apparatus 150 and operate camera 160. In such modification, can be byCamera 160 is incorporated in smart phone, tablet PC or any other mobile subscriber equipment.
Alternatively, can provide at least one other cameras 160A. In one implementation, by this other camera 160A rigidlyBe installed to surgical apparatus 150, for the tracking during surgical navigational (for example,, as described in US2008/0208041A1), and can, in conjunction with the registration flow process of determining as described herein coordinate system conversion, be independent of surgical apparatus 150 and handle separatelyOne camera 160. In another is realized, camera 160 is installed to surgical apparatus 150 rigidly, and for registration object and navigation(, follow the tracks of) object the two. In another is realized, the two is all installed to surgical apparatus 150, wherein camera camera 160,160A160 for registration object, and camera 160A is used for being guided navigation purpose. In another realization, camera 160A leads for operationTracking between the voyage schedule, and attach on operating room wall, on operating room lamp or in go-cart (not shown in Figure 1A). Go-cart can be configuredFor transporting at least computing equipment 110 and display device 120.
In the time being installed to surgical apparatus 150, any in camera 160,160A can have 150 of the surgical apparatuses of comprisingFor the visual field on patient surface. For example, in the time that surgical apparatus 150 uses the longitudinal axis that points to patient, the visual field can be established along operationStandby 150 the longitudinal axis extends.
Feature set 170 comprises that at least the image data obtaining at camera 160 (and alternatively, camera 160A) concentrates and can identifyMultiple features. For identifying purpose, can be by computing equipment 110 recognition capability that supplies a pattern. About this, system 100 can haveOr can not there is the priori of layout, coding or other characteristics of the feature to detecting. One or more in feature canFor example, being to have source marking (emitted radiation that, be detected by camera 160). In addition, or in alternative, in feature orMultiple can be passive marker. passive marker can have reflection or non-reflective character. Can for example, in any rigidity (, smooth) orFor example, in flexible substrate (, any in patient and instrument tracking equipment), realize passive marker (for example, by printing), maybe can be byPassive marker spreads upon on patient skin. Can come in realization character one or many by characteristic anatomy patient characteristicIndividual, this characteristic anatomy patient characteristic can comprise any additional marking, but is not to comprise.
Figure 1B shows arborescence example feature and realizes. As shown in the figure, feature can be characteristic of human nature or anatomy spyLevy. System 100 can have for example, priori to characteristic of human nature's (, having the form of so-called calibration information), or can not haveThis knowledge. This priori can relate to one or more in feature coding scheme and feature position relative to each other. KnownThe characteristic of human nature of priori can be for example the passive marker of affixing one's seal on substrate or printing, or alternatively has source marking (in Figure 1BNot shown). Can be by smear at random to realize the characteristic of human nature of unknown priori on patient skin.
About anatomical features, system 100 generally will not have special priori, but can come with universal modelIdentification anatomical features. For example, for anatomical features, can mention (two dimension conventionally) skin characteristic, for example spot, birthmark andPore. Other (common three-dimensional) anatomical features comprise for example patient's eyes or nose.
Forward now Figure 1A to, computing equipment 110 comprises at least one data-interface 112, at least one processor 114 (exampleAs, CPU (CPU)) and internal storage device 116 (for example, for store data and program code hard disk orSemiconductor memory). In a modification, data-interface 112 is configured to input/output interface. Generally speaking, data-interface112 can be used to computing equipment 110 on the one hand with display device 120, External memory equipment 130 on the other hand, becomeFor example, as one in equipment 140, camera 160 and 160A and computer network 180 (, LAN (LAN) and/or internet)Or between multiple, set up wired or wireless communication. Data-interface 112 can be implemented as one or more nextport hardware component NextPorts, one or manyThe form of individual component software or its combination. For example, data-interface can be implemented as and comprise one or more USBs(USB) interface. Data-interface 112 for example can alternatively or additionally be implemented as, for reading data carriers (, CD-ROM or SDCard) equipment.
The two can be configured to internal storage device 116 or External memory equipment 130 or its store imaging device 140 and obtainThe view data of patient's image. Alternatively or additionally, also can receive via computer network 180 (for example, downloading) like thisView data. External memory equipment 130 can for example be at least partially implemented in imaging device 140, to be read by computing equipment 110Get.
In addition, internal storage device 116 or External memory equipment 130 or its two can be configured to store calibration dataEvery. The priori of such correction data constructing system 100, and will describe in more detail each correction data below and showExample. The priori that should be understood that system 100 can alternatively or additionally comprise other items of information.
The two can additionally be configured to storage from camera 160 internal storage device 116 or External memory equipment 130 or itsThe image data collection that (and if exist, from camera 160A) receives. As mentioned above, can receive this by the form of video data streamA little image data collection, it is stored at least provisionally, to be processed by processor 114. Such processing can for example comprise mouldFormula identification, the concentrated one or more features of image data that for example, receive to identify (, location and alternatively decoding).
Discuss the exemplary mode of operation of the system 100 shown in Figure 1A below, in more detail with reference to remaining figure. ShouldThis is noticed, also can in the system with the configuration different from the configuration shown in Figure 1A, realize the operation of discussing hereinPattern. To represent same or analogous assembly with identical Reference numeral.
The system 100 of general operation Figure 1A provides area of computer aided during surgical procedure. Area of computer aided can compriseComputer assisted pilot, computer assisted pilot is for respect to being obtained by imaging device 140 and visual on display device 120The patient image data of changing comes navigating surgery equipment 150 or its part. As previously mentioned, such navigation requires preposition conventionallyStep of registration is determined between navigation reference frame on the one hand and image coordinate system on the other hand in this step of registrationConversion. Navigation reference frame can be generally patient's health coordinate system or have the patient with respect to patient's fixed positionThe tracker coordinate system of tracking equipment. Patient's tracking equipment can for example adopt the tracker feature placement that attaches to rigidly patientForm. Conventionally the view data providing at imaging device 140 is inherently concentrated definition image coordinate system.
Fig. 2 shows the flow process Figure 200 that represents computer implemented method embodiment, and this computer implemented method embodiment usesThe reference frame and the patient's image that provides imaging device 140 to obtain therein of the navigation of surgical apparatus 150 are providedConversion between the image coordinate system of data.
As shown in flow process Figure 200, embodiment of the method comprises first step 202, in first step 202, and computing equipment110 receive multiple image data collection via interface 112 from one of the camera 160 shown in Figure 1A and camera 160A. Receive like thisTo image data collection can be stored in internal storage device 116 at least temporarily, to be processed by processor 114. As above instituteState, when one or two in camera 160,160A moves with respect to interested patient region, can be by continuous videos numberAccording to stream form or receive discontinuously image data collection. In memory device 116, the image data collection of storage is therefore from patientTwo or more different visual angles on surface obtain.
In step 204 below, processor 114 is processed the image data collection in memory device 116. Use pattern-recognitionTechnology, first processor 114 identifies multiple features that (for example, location) image data is concentrated, and determines that it is navigating with reference to sittingCoordinate in the mark system form of its key point coordinate (for example, with). About this, processor 114 also can identify based on multipleFeature is determined navigation reference frame. Processor 114 can have to be concentrated and measures (span) navigation reference coordinate image dataThe priori of specific features of system, or can specify simply or feature that selective recognition goes out in feature to measure navigation referenceSystem.
In another step 206, processor 114 is determined the shape on patient surface in navigation reference frame according to characteristic coordinatesShape model. Can represent shape by the defined some cloud of characteristic coordinates that is positioned at the feature on patient skin by hypothesis.The point cloud of definition shape can comprise 30 above points conventionally, and can comprise in certain embodiments a hundreds of point.
Then, in step 208, the conversion that processor 114 is determined between navigation reference frame and image coordinate system(, conversion parameter collection). This conversion is to use surface matching technology to determine, and is definite shape in step 206 on the one handShape model (for example, surface point cloud) is shown with the defined patient of patient image data who is obtained by imaging device 140 on the other handConversion between the shape of face. For this reason, for example, from internal storage device 116 and External memory equipment 130 anyAfter retrieving patient image data, processor 114 is schemed from patient in step or parallel step before can be unshowned in Fig. 2Picture data are extracted the shape on patient surface. Once determine coordinate system conversion in step 208, can come relatively with this conversionIn navigation reference frame suitably registration patient image data, in navigation reference frame, patient can be followed the tracks of and operation is establishedIn standby 150 one or its two, to provide image guiding auxiliary to the operation that surgical apparatus 150 is navigated.
Fig. 3 shows the conversion obtaining in step 208 graphically, is expressed as T1. As shown in Figure 3, conversion T1 sets upContacting between navigation reference frame 302 (it also can be called as patient or tracker coordinate system) and image coordinate system 304. FigureBe three-dimensional system of coordinate in this case as coordinate system 304, obtain provided the operation of patient's head in this three-dimensional system of coordinate beforeView data or image volume.
In Fig. 3, also show have the camera coordinates being associated be 306 hand-held can move freely registration camera 160 andThere is the hand-held surgical apparatus 150 that can move freely of the device coordinate system 308 being associated. As shown in Figure 3, have and be associatedCamera coordinates is that 310 tracking camera 160A attaches to surgical apparatus 150 rigidly. In alternative, can be by basicFixing mode is arranged on tracking camera 160A in operating room. In such embodiments, independent instrument can be followed the tracks of and establishedStandby (not shown) attaches to surgical apparatus 150 rigidly.
The image data set that the step of registration 202 to 208 of discussing with reference to figure 2 is above obtained based on registration camera 160. AnotherAspect, the image data collection of the flow of navigation after (initially) registration flow process based on receiving from following the tracks of camera 160A. As mentioned above,In alternative, registration camera 160 also can or substitute tracking camera 160A together with following the tracks of camera 160A and attach in one's handsArt equipment 150. In a rear situation, registration camera 160 also can be used for navigation (, following the tracks of).
In Fig. 3, also showing, is the conversion of the conversion of second between 310 T2 by device coordinate system 308 and camera coordinatesParameter-definition is for example followed the tracks of, between camera 160A (or in alternative, camera 160) and surgical apparatus 150 (, its top)Position relationship. Can be during manufacture (for example, for one of surgical apparatus 150 and respective camera 160/160A or its twoFactory calibrated step in) or immediately before surgical procedure, (for example, use for carrying out general to any surgical apparatus 150Adaptive calibration on the spot), derive corresponding conversion parameter by calibration process.
(for example, being stored in the calculating shown in Figure 1A establishes the conversion parameter of the second conversion T2 can be stored as to calibration dataIn standby 110 internal storage device 116 or in the internal storage device of respective camera 160,160A), to use during navigating.Such calibration data also can describe between camera 160 image coordinate system associated with it and camera 160A associated with itImage coordinate system between the conversion parameter of other conversions. The correspondence that can be stored in equally in internal storage device 116 turnsChange the projection model that parameter can define respective camera 160,160A. This projection model can be used to determine respective camera 160,160A is with respect to the position of the concentrated one or more features that identify of the image data being provided by this respective camera 160,160APut (about this point, for example, referring to US2008/0208041A1). For example, can be in conjunction with the step 204 shown in Fig. 2 optionalGround navigates in conjunction with the image data set pair surgical apparatus 150 providing based on tracking camera 160A, and projection model is used for to registration.
Can or be provided the conversion parameter of concrete projection model bottom by the retail trader of system 100 by respective camera manufacturer.Also can utilize calibration fixture on the spot to estimate it, or carry out standardization for concrete camera type. Real at someIn existing, can control oneself and provide conversion parameter (for example, to depend on current selection by respective camera 160,160A via applicable interfaceZoom level provides in real time).
In the internal storage device 116 of the computing equipment 110 of for example Figure 1A, provide be used as calibration data also have withThe relevant information of feature set 170 shown in Fig. 3. Such information can comprise feature relative position and/or any appliedFeature coding scheme. For example, based on any captured image in (in the camera coordinates system, being associated) camera 160,160AIn known features relative position and (projection) feature relative position, can be by the image coordinate system from corresponding to providing therein(the perspective of perspective rear orientation projection of any frame of reference (for example, navigation reference frame 302) of characteristic coordinatesBack-projection) next (for example, in real time) determines the conversion parameter of another conversion. In Fig. 3, pass through for phase respectivelyThe 3rd conversion T3 and the T3A of machine 160 and 160A indicate this.
By solving following equation system for each single feature j, calculate the 3rd conversion T3 for camera 160Conversion parameter:
Wherein, Mj，160To there is the coordinate with respect to its image coordinate system in the picture of image data collection of camera 160Image conversion feature j (for example, frame of video), Mj，calBeing used as calibration data provides, and instruction has with respect to navigation reference coordinateBe the feature j (key point) of 302 coordinate, and the 4th conversion T4 specified camera 160 and the image that is associated with it are satConversion parameter between mark system.
By similar mode, can calculate the conversion parameter of changing T3 for following the tracks of camera 160A. Should be noted that, above-mentionedPerspective rear orientation projection be also sometimes referred to as camera attitude and estimate, or combining camera attitude is estimated to carry out.
In exemplary scenario shown in Figure 3, provide feature set 170 with the form of two character subsets, wherein, firstCharacter subset is associated with patient's tracking equipment 320, and Second Characteristic subset is associated with characteristic block 330. Additionally or alternativeGround, can provide Second Characteristic subset by the form of anatomy patient characteristic. In Fig. 3, carry out symbolically list by stainIndividual feature. Certainly, also can by by arbitrarily or the pattern of good blocks spread upon on patient's skin general characteristic block 330Change.
Fig. 4 A shows the embodiment of the characteristic block 330 of Fig. 3, and characteristic block 330 is to have comprised multiple coding characteristics thereonThe form of many parts skin veil. Fig. 4 B shows two dimension (, the smooth) surface of patient's tracking equipment 320 of Fig. 3.
With reference to figure 4A, the skin veil of defined feature piece 330 comprises flexible substrate, in flexible substrate towards patient'sSide has binding, and in flexible substrate, has the print surface of the optical visible feature of definition robust. Each feature hasTwo-dimensional expansion, in the present embodiment, this two-dimensional expansion comprises unique expansion QR type coding (it allows the overlapping of each feature).
In Fig. 4 A, within single extension feature is shown as and is positioned at white ring on figure, wherein, Huan center has definedFeature key points. Generally speaking, such a specific key point of each extension feature definable (or center), this specific keyThe position (or coordinate) of some indicative character. In the visual angle of computer, term " feature " be also referred to as to around (, feature expandExhibition) description of key point.
The key point concept of extension feature in the exemplary form of the schematically illustrated ring of Fig. 4 C. Should be understood that this key pointConcept can easily be expanded to the characteristic type of Fig. 4 A.
Be to be further noted that the white ring in Fig. 4 A is only used to the object of signal, and do not have in actual characteristic block 330Occur. Also will will be appreciated that, in alternative, each feature by other means can define and encode. As example,Can use coloud coding ring or point.
As previously mentioned, the substrate of the characteristic block 330 shown in Fig. 4 A is flexible, the patient's that makes to fit surface, spyLevy piece 330 and be coated to patient surface by its adhesive layer. In some implementations, can be by each feature grouping on characteristic block 330In little region, can suppose that this little region forms flat (that is, smooth) surface, and not be subject to the shadow of any surface curvatureRing.
Can by the relative position of each feature with and encoding scheme (it makes to distinguish each feature) be stored as calibrationData (can be, that priori is known). In addition, also can be by the distance of each feature (or feature key points) and patient skin(, the thickness of characteristic block 330) is stored as calibration data.
Fig. 4 B shows two dimension (, the smooth) surface of patient's tracking equipment 320 of Fig. 3. In the present embodiment, patient followsTrack equipment 320 is configured to be seated in the headset equipment on patient's nose. Patient's tracking equipment 320 will be pasted rigidlyBe attached to patient, it will be moved together with patient. In this way, patient's tracking equipment 320 can detect any patient and movesMoving, relative for following the tracks of or calculate (comprising estimation) navigation reference frame 302 surgical apparatuses 150 or registration camera 160During the navigation of patient's position, this will be to need especially.
In the present embodiment, the feature providing in the two-dimensional surface by the patient's tracking equipment at Fig. 4 B is (with black and white regionCombination form) define (or measuring) navigation reference frame 302. Once this means arbitrary from camera 160,160AThe individual image data receiving concentrate identify and the surface of the patient's tracking equipment 320 of decoding alternatively on the tracker spy that definesLevy, can determine navigation reference frame 302 and the coordinate of these features in coordinate system 302. If the feature of characteristic block 330In navigation reference frame 302, be known, also can use it for this calculating.
Generally speaking, the relevant statement of the feature above and characteristic block 330 shown in Fig. 4 A is equally applicable to Fig. 4 B'sThe feature of patient's tracking equipment 320. For example, the system 100 of Figure 1A equally also will have and provide on patient's tracking equipment 320Relative position and the relevant priori (form of calibration data) of coding of feature.
To other embodiment that determine the conversion between navigation reference frame 302 and image coordinate system 304 be described below.These embodiment with some amendment that will discuss in further detail derive from the general scene shown in Fig. 3. WillCan see, can in the time that imaging device 140 obtains view data, not need not saturating wireless benchmark to arrange or other any marksRemember definite coordinate system conversion T1 in the situation that attaches to patient.
In the time preparing the following examples, concept and some meter of feature group (also referred to as " mini tracker ") will be discussedCalculation machine visual angle concept, for example attitude estimation, SLAM and SfM.
Fig. 4 D illustrates the mini tracker concept of abstract level. Mini tracker can be by four (or conventionally much more)One group of feature defines, and can be considered to form himself each feature (, can with unique three-dimensional feature coordinate set phaseAssociated). Four features in Fig. 4 D, are described. Each feature has some expansion (indicating by encircling) and encodes (by specificallyLine style is indicated). This coding makes four features to be distinguished from each other open. Should be understood that can use Fig. 4 A QR type coding orThe regional code of Fig. 4 B realizes the abstract mini tracker concept of Fig. 4 D.
The feature group that defines mini tracker makes can be by the point of good definition in space (and alternatively, orientation) and fanYou are associated by tracker. This illustrates by the coordinate system in Fig. 4 D, and wherein, the initial point of coordinate system (" mini tracker coordinate system ") refers toShow the point of good definition in space, and axle shows orientation. In the time feature group being arranged on the surface with known form, canSo that lip-deep to the initial point of coordinate system and this known point is associated. The feature (, its feature key points) of feature group is miniIn tracker coordinate system, describe, or in other words, mini tracker coordinate system can be sat from the key point of the feature of constitutive characteristic groupMark is derived. Can use the above attitude of discussing with reference to figure 3 to estimate that (perspective rear orientation projection) determines these key point coordinates. ShouldNotice, need in all embodiment, all not determine mini tracker orientation and mini tracker coordinate system. In a lot of realitiesExecute in example, mini tracker is associated just enough with the point of good definition in space.
For the characteristic block example shown in Fig. 4 A, can suppose in the time that characteristic block 330 is fitted patient surface each spyLevy group and be arranged in (it may require layout close to each other feature) on locally flat surface. Thus, each mini trackerAll can be interpreted as the known surface point (for example, the initial point of mini tracker coordinate system) of definition, and can be as shown in Fig. 4 EDetermine the conversion between multiple mini tracker/surface points. Generally speaking, conversion definition list millet cake between some surface pointsRelative position (or coordinate) (referring to the step 204 in Fig. 2), and the some cloud that therefore required surface model is described in definition is (referring to Fig. 2In step 206).
In Fig. 4 E, by T11-1T10 indicates two three-dimensional conversions between exemplary table millet cake. Build conversion T10With T11, corresponding mini tracker coordinate system is associated with camera coordinates system (Reference numeral 306 in Fig. 3). A realizationIn, the single image data collection (for example frame of video) that can obtain from single visual angle according to registration camera 160 is for multiple mini followingTrack device calculates this conversion. In practice, repeatedly from (obtaining from multiple visual angles) multiple image data collection derived table millet cake itBetween conversion (T11-1T10), and then by its on average with increase calculate robustness.
In one embodiment, use SLAM technology (comprise attitude estimate) to take computational chart millet cake with respect to camera coordinates to beConversion T11 and the T10 of 306 (referring to Fig. 3). As previously mentioned, attitude is estimated to relate to and is used rear orientation projection scheme (for example, as above ginsengExamine described in Fig. 3) determine position and orientation (being optional sometimes) according to two-dimension picture. SLAM allows to locate simultaneously and (, determines phasePut seat in the plane) and mapping (, patient's surface reconstruction of surface model form).
In this realization, SLAM utilizes locally flat region (being defined by mini tracker) to carry out the patient's table to wanting reconstructFace carries out modeling, makes to estimate to come reconstruct patient surface partly by smooth attitude. In certain embodiments, can be with respect toPatient's tracking equipment (patient's tracking equipment 320 (, in the navigation reference frame 302 of Fig. 3) of for example Fig. 4 B) calculates(for example, estimating) attitude. Represent produced shape by a cloud. The each point that should be understood that a cloud represents single mini(for example, the initial point of its mini tracker coordinate system being associated) characteristic coordinates of tracker.
Alternative as SLAM, can estimate and the feature for shape is derived in the combination of SfM technology by attitudeCoordinate (step 204 in Fig. 2 and 206). About this point, the multiple picture numbers that obtain from different visual angles at registration camera 160Concentrate according to each image data of concentrating, identify single feature (for example, feature key points, but be not must by two-dimentional modeMust be the feature group of for example mini tracker). In certain embodiments, can provide feature by the characteristic block of Fig. 4 A 330. For oftenIndividual image data collection, for example, calculate respective camera attitude with respect to patient's tracking equipment 320 of Fig. 4 B. Thus, may needFeature on differentiation patient tracking equipment 320 and the feature on characteristic block 330.
Then, application SfM is to derive three-dimensional feature coordinate (, build patient surface and generate shape). SfM structureTwo dimensional character for each feature in the time that registration camera 160 moves with respect to patient is followed the tracks of. According to this signature tracking, in navigationIn reference frame, (for example,, in the coordinate system 302 of patient's tracking equipment 320) derives characteristic coordinates. About this point, can be forImage data collection utilizes the attitude of registration camera 160 with respect to patient's tracking equipment 320, special according to this image data collection structureLevy tracking. Therefore signature tracking is used for to three-dimensional feature coordinate system.
Can restraint by triangulation and alternatively to adjust and be applied to the reconstruct of three-dimensional feature coordinate and shape generation. ?In a modification, triangulation is for example determined, at (with respect to patient's tracking equipment 320) camera for each signature trackingIn attitude, there are two image data collection (for example, frame of video) of maximum angular distance. Then, derive from these two image data collectionTwo dimensional character information, with the initial three-dimensionalreconstruction of characteristic coordinates in the reference frame that obtains navigating. Then, will be for all featuresThe initial reconstitution of following the tracks of is used from and holds with a lot of or all image data collection that are associated (and the camera attitude being associated)Row bundle is adjusted. Bundle adjustment is the Optimizing Flow for reducing back projection (reprojection) error. In addition, in this situation,Represent produced shape by the some cloud with three-dimensional feature coordinate.
Should be understood that also can be in the case of not carrying out the explicit camera attitude estimation with respect to patient's tracking equipmentSfM. Under these circumstances, can estimate and iteration optimization respective camera attitude. At the Parallel of Klein etc.TrackingandMappingforSmallARWorkspaces(Proceedingsofthe20076thIEEEandACMInternationalSymposiumonMixedandAugmentedReality，Pages1to10,13-16November2007) in relevant treatment has been described.
Based on the above-mentioned explanation to tracker concept, attitude estimation, SLAM and SfM, will describe now in Fig. 5 A to Fig. 8 BThe more detailed embodiment describing.
In the embodiment shown in Fig. 5 A to Fig. 5 C, in use and Fig. 3, similarly arrange. This means, in registrationObject, moves handheld camera 160 with respect to patient, to provide image data collection from the different visual angles on patient surface. By Fig. 4 AShown in (many parts) characteristic block 330 and have the Eigen Structure shown in Fig. 4 B patient's tracking equipment 320 the two all byBe coated to patient. The image data that therefore, can provide at registration camera 160 concentrate identification patient tracking equipment 320 feature andThe feature of characteristic block 330 the two.
Fig. 5 B shows the flow chart 500 of the embodiment of the method for the setting based on Fig. 5 A. Embodiment of the method is used attitude to estimateFeature group (or mini tracker) concept shown in meter and Fig. 4 C to Fig. 4 D, but do not require application SLAM.
In initial step 502, before interested patient region (, the patient region of operative treatment) performed the operationScanning in scanning or operation. As mentioned above, do not need the specific benchmark to arrange or any other mark attaches to patient's bodyBody. Produced patient image data (normally volumetric data set) is imported to the computer equipment 110 of Figure 1A. Can use standard preventView (for example DICOM) is carried out this importing.
In next step 504, from the shape on the interested patient of image data extraction surface. The shape representation extractingThe skin surface of patient's interested anatomic region can be described. In the exemplary embodiment shown in Fig. 5 A, extract positiveHead and facial surface. Can use Tracing Technology or any other technology (for example, three-dimensional image segmentation), by calculatingEquipment 110 or alternative computing equipment are carried out this extraction.
Will appreciate that, can perform the operation a few days ago or even several all execution steps 502 and 504. In some cases, also canWith during operative treatment (, operative treatment time) carry out this two steps.
Immediately, before operative treatment, the characteristic block 330 of the skin veil type on it with coding characteristic is attachedTo patient's skin surface (step 506). As mentioned above, by coding characteristic grouping, to form (same coding) mini trackingDevice. Because characteristic block 330 is towards the binding in patient's a side, the characteristic block 330 the attaching patient surface of fitting.
Meanwhile, patient's tracking equipment 320 is attached to patient's (step 508). Patient's tracking equipment is attached as make canTo ensure that it will can not move with respect to patient's health during registration and navigation. In the embodiment shown in Fig. 5 A, makeBy the headset equipment of carrying flat substrate, in this flat substrate, print tracker feature (referring to Fig. 4 B). In alternative realityExecute in example, can use headband or the headstock (headframe), maybe patient's tracking equipment can be able to be secured on patient skin.
In step 510, start actual registration flow process: in the internal storage device 116 of the computing equipment 110 of Figure 1AThe video data stream that record receives from registration camera 160, moves with respect to patient simultaneously. Corresponding video data stream comprises relativelyObtain continuous picture data set series in patient surface from different visual angles. Image data collection makes to be identified in registration camera 160The corresponding visual field in patient's tracking equipment 320 and characteristic block 330 feature on the two.
Then, in step 512, (for example, detect) patient's tracking equipment 320 for can identify therein at least fourEach image data collection of robust features, can navigation reference frame 302 in respect to patient's tracking equipment 320 three dimensionsThe position of determining the upper each mini tracker of characteristic block 330 (it also can concentrate identification at this image data) on degree (for example, is usedDuring above with reference to figure 3, the attitude of opinion is estimated). In this situation, in step 512, by the identification on patient's tracking equipment 320The feature placement going out a priori defines navigation reference frame 302, and also determines navigation reference frame 302. Thus, step512 comprise and estimate that the position of patient tracking equipment 320 and orientation (, attitude) and mini tracker sit with respect to registration cameraMark be 306 position (by with the similar fashion of discussing with reference to figure 3). By Coordinate Conversion, can calculate mini trackerAbout the position of navigation reference frame 302.
Therefore, by processing the video data stream that receives from registration camera 160, can gather multiple mini trackers(, the surface point being associated shown in Fig. 4 E) with respect to patient's tracking equipment 320 (, at navigation reference frame 302In) characteristic coordinates, and filter alternatively. Filtration can comprise that calculating (, obtains from different visual angles from multiple image data collectionTo image data collection) mean value of multiple positions that calculate of the single mini tracker of deriving. Therefore, obtain featureThe point cloud of indicating with respect to the mini tracker position (, characteristic coordinates) of navigation reference frame 320 on piece 330. ShouldPoint cloud represents the shape on the patient surface that has applied characteristic block.
Can provide the same of visual feedback or other feedbacks at recording video data stream and to the user of operation registration camera 160Time complete one or more in above-mentioned calculating. Such feedback can comprise following one or more: on display device 120 to joiningThe playing up of the video data stream that accurate camera 160 obtains, whether relate to and can concentrate identification patient tracking equipment 320 at image dataInformation and relate to the state of each feature of characteristic block 330 information (for example, detected state, relate to the estimated position of featureQuality information, etc.).
Determine the some cloud of characteristic coordinates of indicative character piece 330 in step 512 after, method proceeds to step 514. ?In step 514, actuating surface coupling, by the some cloud of the characteristic coordinates in the navigation reference frame 302 of deriving in step 512 withMate on patient surface in step 504 from the image coordinate system 304 of image data extraction. Can use iterative closest point(ICP) or any other technology carry out actuating surface coupling. Matching result in step 514 be for conversion T1 from navigation referenceCoordinate system 302 (it is consistent with patient's tracking equipment coordinate system in the present embodiment) is to the registration conversion square of image coordinate system 304Battle array (, conversion parameter), otherwise or (referring to Fig. 3).
Then, in step 516, and based on registration transition matrix, at navigation camera, 160A can navigation by recognition reference coordinateFor example, while being at least four features (, the feature of patient's tracking equipment 320) known in 302, can concentrate in patient's image volumetric dataThe surgical apparatus 150 with attached tracking camera 160A is navigated, and can use the calculating of attitude estimation technique to followTrack camera 160A is with respect to the attitude of patient's tracking equipment 320.
Fig. 5 C shows the alternative of coordinate system for determine Fig. 3 based on arranging shown in Fig. 5 A conversion T1Flow chart 550. Step 552 corresponds essentially to the above step 502 of discussing with reference to figure 5B to 516 to 566, and therefore will be only rightDiscuss in more detail with the main distinction of step 562. These differences relate to and do not realize mini this thing of tracker conceptReal. Use on the contrary and there is the SfM technology that attitude is estimated. Therefore, only need the each (volume on identification and processing feature piece 330Code) feature.
In step 562, determine the characteristic coordinates of the feature of characteristic block 330 by SfM technology. Institute as mentioned above, SfMRefer to the processing of estimating three-dimensional structure according to the two-dimensional sequence of image data collection. Therefore, can obtain according to registration camera 160Three-dimensional surface is recovered in (projection) two dimensional motion territory of mobile context. About this point, (by for example optical flow algorithm) is by picture numberAccording to collection in the sequence of image data collection each feature of tracking characteristics piece 330. By knowing for each image data collection(estimated) is with respect to the camera attitude of patient's tracking equipment 320 and apply SfM, can calculate navigation reference frame 302The three-dimensional coordinate of the feature identifying in (, patient's tracking equipment coordinate system). The result of these calculating will be that navigation is with reference to sittingMark is the coordinate points cloud of the feature of characteristic block 330 in 302.
In Fig. 6 A, show the alternative setting of omitting special patient's tracking equipment. Substitute and attach in advance the special of patientWith patient's tracking equipment (respectively with reference to the step 508 and 558 in figure 5B and Fig. 5 C), computer system 110 is only in registration flow processGenerate patient's tracking equipment according to the feature identifying of characteristic block 330 during this time.
In the flow chart 600 of Fig. 6 B, alignment processing step is shown. Very great Cheng of step 602,604,606,616 and 618On degree, correspond respectively to the above step 502,504,506,514 and 516 of describing with reference to figure 5B, and therefore will can be not in more detailDiscuss. Therefore, the embodiment of the method for Fig. 6 B has also been used mini tracker concept.
Owing to special patient's tracking equipment not being attached to patient, in step 608, the video data stream of record is only indicatedThe feature of characteristic block 330.
In step 610, for each image data collection, estimate each mini tracker identifying of characteristic block 330It is the attitude (, position and orientation) of 306 (referring to Fig. 3) with respect to registration camera coordinates. As above explain tool with reference to figure 4DThe known location of the mini tracker of body and the directed mini tracker coordinate system that has defined part. Thus, can be (for example, arbitrarilyIn the coordinate system of mini tracker) calculate the fan that identifies to any other from the coordinate system of a mini tracker identifyingThe conversion of the coordinate system of your tracker. Above with reference to figure 4E, this processing is explained.
In step 612, gather also alternatively (the each mini tracker for example calculating from different visual angles by formationThe mean value of conversion comes) filter the conversion of calculating for each Feature Combination in step 610.
Then, in step 614, the position (, coordinate) of deriving according to the mini tracker for identifying and/or turnChange structure arbitrary system. Characteristic block arbitrarily " " each mini tracker identifying in coordinate system characteristic coordinates again(in this coordinate system) forms some cloud, and this cloud has represented to apply the surface model on the patient surface of characteristic block 330. In addition,Can specify the multiple mini tracker in the mini tracker identifying, for during surgical navigational (via follow the tracks of cameraSupervise 160A). Thus, define any characteristic block coordinate system, to build navigation reference frame 302, this navigation ginsengExamine coordinate system 302 and replace the patient's tracking equipment coordinate for identical object in conjunction with the embodiment of the method shown in Fig. 5 A to 5CSystem.
Therefore, in step 618, mini tracker has been used to the tracking during navigation, relative to determine navigation cameraIn the position of patient's (and surgical apparatus). This facts explain express mini " tracker ". Will recognize to be, exist speciallyIn other embodiment (referring to for example Fig. 5 B) with patient's tracking equipment, do not need mini tracker for the reality during navigatingFollow the tracks of on border.
Fig. 7 A shows with arranging shown in Fig. 6 A similar but utilized the another setting of SfM technology. Thus, incite somebody to action not rootDetermine navigation reference frame according to mini tracker. Fig. 7 A also illustrates that supplementary convergent-divergent (scaling) is with reference to 190. Using fanIn other embodiment of your tracker, can be by the priori relevant with mini tracker for convergent-divergent.
Scaled reference 190 in Fig. 7 A comprises the zoom feature with known relative distance. For example, scaled reference 190 canAdopt the form on it with the flat substrate of the regular or irregular pattern that zoom feature is defined. Zoom feature is sameIt is discernible that ground is that the image data that provides of registration camera 160 is concentrated, and make to determine the shape for patient surfaceZoom factor. In alternative, can be during surface matching flow process patient's picture number from obtaining with matching unit 140Derive such zoom factor according to the known zoom factor being associated.
Associated method embodiment shown in the flow chart 700 of Fig. 7 B to a great extent corresponding to reference to figure 6B discussEmbodiment of the method. According to a difference, in step 708, the video data stream of record comprises (rigidity) scaled reference 190, shouldThe vision that scaled reference 190 has at least two robusts can detect and differentiable smooth zoom feature (and known that of prioriThis relative position). Should be noted that, if needed, scaled reference 190 can be included in characteristic block 330. In addition,Do not need scaled reference 190 to attach to patient, but in the time obtaining video data stream for registration object, scaled reference 190Should there is the fixed position with patient.
Contrary with the step 610 that estimation is carried out based on attitude, in step 710, calculate with SfM and identify (, inspectionMeasure and decoding alternatively) the some cloud of each feature (and nonessential is feature group). in step 712, come by zoom factorConvergent-divergent point cloud, zoom factor be by according to zoom feature the priori of the relative position in space come at picture numberDefinite according to concentrating the scaled reference feature identifying to carry out convergent-divergent. To will be appreciated that the attitude of utilizing in step 610Estimation technique does not need such convergent-divergent. In step 714, suffer from according at least four of characteristic block 330 (individuality) latent structuresPerson's tracking equipment and the coordinate system being associated. Then,, in step 718, will estimate camera appearance by these at least four featuresState, for navigation purpose.
Fig. 8 A shows another and arranges, and in arranging, except patient's tracking equipment 320 of Fig. 3, also omits this anotherCharacteristic block 330. On the other hand, again provide optional scaled reference 190. Counterparty shown in the flow chart 800 of Fig. 8 BMethod embodiment part is corresponding to the embodiment of the method for Fig. 7 B. Thus, will omit to step 702,704,712,714,716 and718 distinguish corresponding step 802,804,814,816,818 and 820 description.
In step 806, scaled reference 190 is placed on to check (, in the visual field) in direction of registration camera 160. SoAfter, in step 808, utilize registration camera 160 from multiple visual angles (or checking angle) record patient interested region and (at this bePatient face) video data stream, make to see scaled reference 190. In another step 810, to dissecting patient spyLevy and identify and classification alternatively, follow the tracks of in video data stream with the feature based on detecting. Application SfM comes as aboveExplain three-dimensional point cloud describedly.
(, concurrently), in step 812, application model is identified additional dissection patient spy to integrating step 810Levy (so-called terrestrial reference), this additional dissection patient characteristic is used to definition expection the picture region of dissecting patient characteristic. ShouldScheme contributes to prevent from detecting the feature that is not positioned at patient surface. To will be appreciated that, in step 820, also will utilizeDissect patient characteristic and define the patient's tracking equipment for surgical navigational. Thus, no matter be specific features piece or special troublePerson's tracking equipment does not need in the embodiment shown in Fig. 8 A and Fig. 8 B.
In the realization of Fig. 8 A, the dissection patient characteristic using in step 810 can be individual's skin feature. Such skinSkin feature be included in pore that image data that registration camera 160 obtains concentrates (via pattern-recognition) to detect, spot andOne or more in birthmark. Should be understood that in other are realized, can by spread upon pattern on patient skin for skinThe object that feature is identical. Generally speaking smear the spy based on substrate in the alternative any above-described embodiment of pattern, like thisLevy piece 330.
Should be noted that, in arranging shown in Fig. 8 A, scaled reference 190 is optional. As alternative, can be based on patientIn view data, the intrinsic scalability information comprising is carried out mating surface coupling execution convergent-divergent.
To become apparent from above embodiment, the disclosure provides the operation with novelty method for registering to leadBoat technology. Navigation system can be provided at low cost, because in the simplest modification, single camera is (for example,, via interface couplingReceive the network cameras of computer equipment) just enough. Registration flow process is easily and intuitively, and leads for obtaining for operationThe patient image data of boat, without any need for special patient treatment.
Hereinbefore, the principle, embodiment and the various pattern that realize technology disclosed herein have exemplarily been described.The present invention should be interpreted as being limited in concrete principle disclosed herein, embodiment and pattern. On the contrary, will recognize abilityThe scope of the present invention that field technique personnel can define in the claim below not deviating from, make various changes andAmendment.
1. determine the computer realization of the conversion (T1) between navigation reference frame (302) and image coordinate system (304) for one kindMethod, described navigation reference frame is for carrying out navigating surgery equipment (150) with respect to patient image data, at described imageIn coordinate system, the shape on described patient image data definition patient surface, described method comprises:
Receive (202) multiple image data collection, wherein, described image data collection is to obtain from the different visual angles on described patient surface;
Determine that according to described image data collection and in described navigation reference frame (302) (204) described image data is concentratedThe characteristic coordinates of the multiple features (170) that can identify;
Determine the shape on patient surface described in described navigation reference frame (302) according to described characteristic coordinates; And
Surface matching between the shape on the patient surface defining with described shape and by described patient image data comesDetermine the conversion (T1) between (208) described navigation reference frames (302) and described image coordinate system (304).
Described image data collection is the first camera that can move with respect to described patient from the time obtaining described image data collection(160) receive.
Described first camera (160) is video camera, and described image data collection is that form by video data stream is from describedFirst camera (160) receives.
4. according to the method in claim 2 or 3, wherein:
Described first camera (160) be following one of at least: handheld camera, and can attach to described surgical apparatus (150).
5. according to the method described in aforementioned any one claim, wherein:
At least one image data is concentrated the some features in the feature that can identify return group, to form feature group, wherein, everyIndividual feature group can cause at least one in position and orientation.
6. according to the method described in aforementioned any one claim, wherein, use motion structure SfM technology, locate and reflect simultaneouslyPenetrating one or more in technology SLAM and attitude estimation technique determines in described characteristic coordinates and described shape extremelyOne item missing.
7. according to the method described in claim 5 or 6, wherein:
SLAM is applied to described feature group.
SfM builds for the signature tracking of concentrating each feature that can identify at described image data from different visual angles, andTriangulation based on different visual angles is applied to each signature tracking.
9. according to the method described in aforementioned any one claim, wherein:
Represent described shape by a cloud.
10. according to the method described in aforementioned any one claim, also comprise:
Determine that based on concentrate at least some features in the feature (170) identifying at described image data described navigation is with reference to sittingMark system (302).
11. according to the method described in aforementioned any one claim, wherein:
One or more tracker features for the patient's tracking equipment (320) using during surgical navigational are determined described spyLevy coordinate, wherein, described patient's tracking equipment (320) is concentrated and can be identified at least partly at described image data, and phaseThere is fixed position for described patient.
12. according to the method described in claim 10 or 11, wherein:
Described tracker feature defines described navigation reference frame (302) at least in part.
13. according to the method described in aforementioned any one claim, wherein:
For concentrating the one or more dissection patient characteristics that can identify to determine described characteristic coordinates at described image data.
Use the world knowledge relevant with anatomical features to concentrate the described one or more dissection patients of identification at described image dataFeature.
15. according to claim 13 or 14 in conjunction with method claimed in claim 7, wherein:
Determine described navigation reference frame (302) according to described dissection patient characteristic at least in part.
16. according to claim 13 to the method described in any one in 15, wherein:
Determine described shape according to described dissection patient characteristic at least in part.
17. according to the method described in aforementioned any one claim, wherein:
For being coated to described patient and concentrating one of the characteristic block (330) that can identify at least in part at described image dataIndividual or multiple block features are determined described characteristic coordinates.
18. according to claim 17 in conjunction with method claimed in claim 10, wherein:
Determine described navigation reference frame (302) according to described block feature at least in part.
19. according to the method described in claim 17 or 18, wherein:
Described characteristic block (330) fits to described patient surface, and determines described shape according to described block feature at least in partModel.
20. according to the method described in aforementioned any one claim, also comprises:
Derive zoom factor according to described surface matching, and also determine described navigation reference frame according to described zoom factor(302)。
21. according to the method described in aforementioned any one claim, wherein:
Concentrate the zoom feature that can identify scaled reference (190) at described image data, and go back basis from described zoom featureThe zoom factor of deriving is determined described navigation reference frame (302).
22. according to the method described in aforementioned any one claim, also comprises:
During navigating, follow the tracks of or calculate described surgical apparatus (150) or its part with respect to described navigation reference frame(302) position, described navigation reference frame (302) is to determine according to the one or more features in described feature.
23. methods according to claim 22, wherein:
At least according to one or more tracker features of one or more patient characteristics and described patient's tracking equipment (320)Carry out described tracking or calculating, described patient's tracking equipment (320) is different from the characteristic block (330) that is coated to described patient.
24. according to the method described in claim 22 or 23, also comprises:
Described surgical apparatus (150) or its part are carried out visual with respect to described patient's image, wherein follow according to describedTrack or calculating are to the described visual adaptation of carrying out.
25. according to the method described in any one in claim 22 to 24, wherein:
Receive described image data collection from first camera (160), and second-phase based on by being different from described first camera (160)The pictorial information that machine (160A) provides is carried out described tracking or calculating.
26. methods according to claim 25, wherein:
At intra-operative, second camera (160A) is maintained to the substantially fixing position in operating room.
27. according to the method described in any one in claim 22 to 24, wherein:
Receive described image data collection from first camera (160), and the picture based on receiving from described first camera (160) alsoData set is carried out described tracking or calculating.
28. according to the method described in aforementioned any one claim, wherein:
, make concentrating two or more features that can identify to encode at described image data according to predictive encoding schemeMust concentrate described feature to be distinguished from each other out at described image data.
29. according to the method described in aforementioned any one claim, also comprises:
Identify based on pattern-recognition one or more features that described image data is concentrated.
30. according to the method described in aforementioned any one claim, also comprises:
Receive described patient image data, described patient image data provides in described image coordinate system (304); And
Extract the shape on described patient surface from described patient image data.
31. methods according to claim 30, wherein:
Described patient image data does not illustrate any register mark.
32. according to the method described in claim 30 or 31, wherein:
Described patient image data is to generate before operation.
33. according to the method described in aforementioned any one claim, wherein:
Before navigation, determine described conversion (T1), and additionally during navigating, determine described conversion (T1) one or many,The described conversion of determining with checking or before proofreading and correct navigation.
34. methods according to claim 33, wherein:
Each image data collection based on receiving during navigating redefines described conversion (T1).
35. 1 kinds comprise the computer program of program code part, when carried out described computer program product by computing equipmentWhen product, described program code part is carried out the step described in any one in aforementioned claim.
36. 1 kinds for determining the equipment of the conversion (T1) between navigation reference frame (302) and image coordinate system (304)(110), described navigation reference frame is for carrying out navigating surgery equipment (150) with respect to patient image data, at described imageIn coordinate system, the shape on described patient image data definition patient surface, described equipment (110) comprising:
Interface (112), is suitable for receiving multiple image data collection, and wherein, described image data collection is from described patient surface notObtain with visual angle;
Processor (114), is suitable for: described in determining according to described image data collection and in described navigation reference frame (302)Image data is concentrated the characteristic coordinates of the multiple features (170) that can identify; Determine described navigation ginseng according to described characteristic coordinatesExamine the shape on patient surface described in coordinate system (302); And, use described shape with by described patient's picture numberDetermine described navigation reference frame (302) and described image seat according to the surface matching between the shape on the patient surface definingConversion (T1) between mark system (304).
37. 1 kinds of systems (100), comprising:
Equipment according to claim 36; And
Camera (160), can move with respect to patient, and is configured to provide image data collection.
CN201380079051.1A 2013-08-23 2013-08-23 Computer for being determined to the coordinate conversion for surgical navigational realizes technology CN105658167B (en)
PCT/EP2013/067529 WO2015024600A1 (en) 2013-08-23 2013-08-23 Computer-implemented technique for determining a coordinate transformation for surgical navigation
CN105658167A true CN105658167A (en) 2016-06-08
CN105658167B CN105658167B (en) 2018-05-04
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CN201380079051.1A CN105658167B (en) 2013-08-23 2013-08-23 Computer for being determined to the coordinate conversion for surgical navigational realizes technology
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