CN115486937A - 2D image surgical positioning navigation system and method - Google Patents

Abstract

The invention relates to a 2D image operation positioning navigation system and a method, belonging to the technical field of medical image data processing. The invention determines the space position and the extending direction of the virtual needle inserting channel relative to the X-ray calibration device by means of the X-ray calibration device and by utilizing the developing function of the X-ray calibration device and the fixed relation with the skeleton position, sends the space position and the extending direction to the mixed reality glasses and presents the position of the virtual needle inserting channel in the mixed reality glasses. Therefore, the invention does not need to construct 3D images of bones through hundreds of X-ray perspectives, can realize surgical navigation only by two X-ray images comprising the X-ray calibration device, greatly reduces the radiation dose, avoids the harm of excessive X-ray projection to human bodies, and has wide application prospect.

Description

A 2D image surgical positioning and navigation system and method

technical field

The invention relates to a 2D image surgical positioning and navigation system and method, belonging to the technical field of medical image data processing.

Background technique

In orthopedic surgery, doctors often need to insert nails into the bony tunnel, but the naked eye cannot directly see the inside of the bone, and the operation can only expose part of the bone, which will cause a deviation in the position of the nail, and in severe cases, it will damage the bones near the bone. Nerves and blood vessels, with incalculable consequences. The current 3D navigation system helps doctors to grasp the position of the nail, but the construction of 3D bone graphics means that patients need to bear hundreds of X-ray fluoroscopy measurements, which will cause inestimable damage to young patients; in addition, the current Some 3D navigation devices require the use of robotic systems, which increases surgical costs. For example, the patent application document whose application publication number is CN112043382A discloses a surgical navigation system and its use method, wherein the navigation system includes a medical image scanning device, an optical tracking system, a computer processing device and control software, robot positioning and navigation A system, a tracer and a matching ruler tool, wherein the medical image scanning device is used to obtain the three-dimensional scanning image of the operation site, and the computer processing device is used to calculate the three-dimensional scanning image and real-time spatial data. The above solution requires a large dose of X-ray fluoroscopy in order to obtain a three-dimensional scanning image, which causes relatively great damage to the human body, and requires the help of a robot system for positioning, which increases the cost of the operation.

Contents of the invention

The object of the present invention is to provide a 2D image surgical positioning and navigation system and method to solve the problems of high cost and great damage to the human body when using a 3D navigation system for surgical positioning.

The present invention provides a 2D image surgical positioning and navigation system to solve the above technical problems. The navigation system includes an X-ray calibration device, a medical image shooting device, mixed reality glasses, an optical tracking camera and a processor; the X-ray calibration device uses It is fixed within the setting range of the surgical site; the medical image shooting device is used to take two X-ray images of bones to be positioned including the X-ray calibration device at different angles, and the shooting angles of the two are greater than or equal to Set the angle, and send the captured images to the processor, one of which is an anterior X-ray image of the bone, and one is a lateral X-ray image of the bone; the optical tracking camera is used to obtain the X-ray calibration device and the spatial coordinates of the mixed reality glasses and send it to the processor; the processor is used to plan the position of the virtual needle insertion channel in the X-ray image according to the received positive and lateral X-ray images, including the needle insertion point and the end point, and Calculate the 3D spatial position of the virtual needle insertion channel according to the 2D parameters of the virtual needle insertion point and end point relative to the X-ray calibration device and the spatial coordinates of the X-ray calibration device, and calculate the spatial position of the virtual needle insertion channel Send to the mixed reality glasses; the mixed reality glasses are used to present the spatial position image of the virtual needle insertion channel.

With the help of the X-ray calibration device, the present invention utilizes the development function of the X-ray calibration device and the principle of fixing the positional relationship with the bone, and realizes the position of the virtual needle insertion channel through two bone X-ray images with different angles that include the X-ray calibration device. planning and spatial location calculations. Therefore, the present invention does not need hundreds of times of X-ray fluoroscopy or CT with high radiation dose to construct 3D images of bones, and only needs 2 times of X-ray fluoroscopy to realize the surgical navigation function, which greatly reduces the radiation dose and avoids excessive X-rays. The damage of line projection to the human body has broad application prospects. In order to make it easier for the doctor to see the position of the virtual needle insertion channel, the navigation system also includes mixed reality glasses, in which the position and direction of the virtual needle insertion channel relative to the X-ray calibration device are displayed, so that the doctor can accurately , Intuitively see the planned channel.

Further, in order to better realize the calibration function of the X-ray calibration device, the X-ray calibration device includes at least three developing markers, each of which is fixedly arranged on the substrate, and the normal position of the X-ray calibration device There was no overlap between the individual visualized markers in the radiographic and lateral views.

Furthermore, the structures of the imaging markers are the same or different.

Further, the imaging marker is a spherical structure.

The X-ray calibration device of the present invention adopts a plurality of developing markers, so that each developing marker does not overlap in the front image and the side image of the X-ray calibration device, and then allows the doctor to pass through the front and side X-ray images , it can accurately judge its spatial attitude, and provide an accurate basis for the planning of the needle insertion channel.

Further, the medical imaging device is a G-arm machine or a C-arm machine.

The present invention also provides a 2D image surgical positioning and navigation method, the method comprising the following steps:

1) Fix the X-ray calibration device within the set range of the surgical site, and the X-ray calibration device is used to develop the X-ray;

2) Take two X-ray images of the bone to be positioned including the X-ray calibration device at different angles, one is the frontal X-ray image of the bone, one is the lateral X-ray image of the bone, and the two The shooting angle is greater than or equal to the set angle;

3) Using the optical tracking camera to obtain the spatial coordinates of the X-ray calibration device and the mixed reality glasses;

4) On the obtained positive and lateral X-ray images, plan the position of the virtual needle entry channel in the 2D X-ray image, including the needle entry point and end point, and according to the relative X-ray The 2-dimensional parameters of the line calibration device and the spatial coordinates of the X-ray calibration device calculate the 3-dimensional spatial position of the virtual needle insertion channel;

5) Send the planned spatial position of the virtual needle insertion channel to the mixed reality glasses, and display the spatial image of the virtual needle insertion channel on the mixed reality glasses.

The navigation method of the present invention relies on the X-ray calibration device, utilizes the development function of the X-ray calibration device and the principle of fixing the positional relationship with the bones, and realizes the virtual navigation through two X-ray images of the bones that contain the X-ray calibration device at different angles. Planning and spatial location calculation of needle channel locations. Therefore, the present invention does not need hundreds of times of X-ray fluoroscopy or CT with high radiation dose to construct 3D images of bones, and only needs 2 times of X-ray fluoroscopy to realize the surgical navigation function, which greatly reduces the radiation dose and avoids excessive X-rays. The harm of ray transmission to the human body has broad application prospects. In order for the doctor to see the position of the virtual needle channel, the determined spatial position and direction of the virtual needle channel relative to the X-ray calibration device are sent to the mixed reality glasses, and the position of the virtual needle channel relative to the X-ray calibration device and directions are displayed, enabling doctors to see the planned virtual channel accurately and intuitively.

Further, in order to better realize the calibration function of the X-ray calibration device, the X-ray calibration device includes at least three developing markers, each of which is fixedly arranged on the substrate, and the normal position of the X-ray calibration device There was no overlap between the individual visualized markers in the radiographic and lateral views.

Furthermore, the structures of the imaging markers are the same or different.

Further, the imaging marker is a spherical structure.

The X-ray calibration device of the present invention adopts a plurality of developing markers, so that each developing marker does not overlap in the front image and the side image of the X-ray calibration device, and then allows the doctor to pass through the front and side X-ray images , it can accurately judge its spatial attitude, and provide an accurate basis for the planning of the needle insertion channel.

Further, the step 2) uses a medical imaging device for X-ray imaging, and the medical imaging device is a G-arm machine or a C-arm machine.

Description of drawings

Fig. 1 is the structural block diagram of 2D image surgical positioning navigation system of the present invention;

Fig. 2 is a flow chart of the 2D image surgical positioning and navigation method of the present invention;

Fig. 3-a is the structural representation of the X-ray calibration device adopted in the embodiment of the present invention;

Figure 3-b is a schematic diagram of the side angle of the X-ray calibration device used in the embodiment of the present invention;

Fig. 4-a is a schematic diagram of an anteroposterior X-ray image and a planned virtual channel in an embodiment of the present invention;

Fig. 4-b is a schematic diagram of the lateral X-ray image and the planned virtual channel in the embodiment of the present invention;

Fig. 5 is a schematic diagram of the positional relationship of the virtual needle insertion channel displayed in the MR glasses in the embodiment of the present invention;

Among them, 1 is an X-ray calibration device, 2 is a medical imaging device, 3 is MR glasses, 4 is an optical tracking camera, 5 is the surface structure of the operation area (such as human skin or the surface of the incision), and 6 is the planned virtual needle insertion channel.

detailed description

The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

System embodiment

The 2D image surgical positioning and navigation system of the present invention is shown in Fig. 1, comprises X-ray calibration device 1, medical image shooting device 2, mixed reality glasses 3, optical tracking camera 4 and processor, and processor is connected with medical image shooting device, mixed Reality glasses and an optical tracking camera, the X-ray calibration device is used to fix near the bone to be positioned, and can develop the X-ray; the medical image shooting device is used to take two pictures of the undetermined X-ray calibration device including the X-ray calibration device at different angles. The X-ray image of the bone; the optical tracking camera is used to obtain the spatial coordinates of the X-ray calibration device and the mixed reality glasses and send it to the processor; the processor is used to plan the needle insertion position of the virtual channel according to the front and side X-ray images taken and directions.

The X-ray marking device includes at least three developing markers, and each developing marker is fixedly arranged on the substrate, and the developing markers in the front image and lateral image of the X-ray marking device do not overlap. Wherein, the developing marker is made of developing material, such as metal, ceramics, etc., and the substrate is made of non-developing material, such as plastic. Each visible marker can adopt the same structure or different structures, for example, a spherical structure or a three-dimensional letter structure can be used. The substrate can adopt multiple extended branch structures, and each developing marker is respectively set on the corresponding branch structure. In order to ensure that the X-ray calibration device can play the role of positioning, it is necessary to ensure that the X-ray calibration device is in the front image and the lateral image. Each of the visualized markers in is non-overlapping, and the height of the visualized markers can also be set to be different by making the angle between two adjacent branch structures different.

For this embodiment, as shown in Figure 3-a, the X-ray calibration device includes four developing markers, all of which are spherical, and the angles between the four extending branches are different, and the front view thereof is shown in Figure 3-a As shown, the side view is shown in Figure 3-b. It can be seen that none of the four developed markers in the two figures overlap. As other implementations, the developing markers can also adopt other structures, for example, three-dimensional letter-shaped developing markers can be used, which are respectively arranged on the four extending branches of the four bases. As another embodiment, the developing marker in an X-ray calibration device can be a letter structure or other three-dimensional structures.

In order to ensure that the relative positional relationship between the bone and the X-ray calibration device is fixed, the X-ray calibration device needs to be fixed on the bone structure near the bone to be positioned. The medical image shooting device adopts medical X-ray imaging equipment such as a G-arm machine or a C-arm machine. In this embodiment, a G-arm machine can be used to take pictures of the bones fixed with the X-ray calibration device through the G-arm machine. The X-ray image contains both the bone image and the image of the developed marker; in order to ensure that the positional relationship between the planned virtual needle channel and the X-ray calibration device can be accurately described, two X-ray images from different angles need to be taken , one of which is the bone frontal X-ray image, one is the bone lateral X-ray image, the shooting angles of the two images are greater than or equal to the set angle, and the set angle in the present invention is 45 °, which is the shooting angle of the two images ≥45°, for example, for the convenience of calculation, the shooting angle of the frontal X-ray image and the lateral X-ray image in this embodiment is 90°. In this embodiment, the anteroposterior X-ray image of the bone is shown in Figure 4-a, and the lateral X-ray image of the bone is shown in Figure 4-b.

The optical tracking camera is used to obtain the spatial position of the X-calibration device and MR glasses, and send it to the processor. The processor can use general data processing equipment, such as a computer. The needle entry point of the channel is generally determined by the doctor based on the bone image in the anterior X-ray image of the bone. The virtual needle entry position is a two-dimensional position in the image; Planning can be called point A. In the same way, the end point of needle insertion and exit is planned on the positive and lateral X-ray images, which is called point B. According to the two points A and B relative to X on the 2D image The relative position in 3D space is calculated from the parameter information of the line marker, and then the needle insertion position and extension direction of the virtual needle insertion channel are determined according to the principle that two points in space determine a straight line.

The length and diameter of the virtual needle insertion channel are set in advance by the doctor. Assuming that a circular channel with a diameter of 1 cm and a length of 10 cm needs to be planned in this embodiment, the doctor needs to plan the starting position and end position of the channel in the X-ray image according to requirements on the processor. For this embodiment, as shown in Figure 4-a and Figure 4-b, the doctor can perform virtual needle insertion according to the actual situation on the anteroposterior X-ray image of the bone and the lateral X-ray image of the bone that include the X-ray calibration device. The planning of the channel determines the needle insertion position and the end position of the virtual needle insertion channel, and connecting the two points into a straight line is the planned virtual needle insertion channel. As shown in Figure 4-a and Figure 4-b, the spatial position of the virtual needle access channel at the planning site is obtained from two X-ray images, such as the columnar channel in the figure, that is, the planned virtual needle access channel can be compared with the X-ray image. The relative positional relationship of the line calibration device is described, and the spatial position data of the X-ray calibration device and the mixed reality glasses are obtained by the optical tracking camera and sent to the processor.

In order to make it easier for doctors to see the position of the virtual channel more intuitively, the present invention sends the planned position and extension direction of the virtual channel relative to the X-ray calibration device to the mixed reality glasses, as shown in Figure 5. In this way, the doctor is performing the operation When using MR glasses, you can see the planned virtual needle access channel.

Through the positioning system of the present invention, the doctor can perform minimally invasive surgery according to the position of the channel displayed on the MR glasses, without using 3D navigation equipment to construct a complete image of the bone, and with the help of the X-ray calibration device, only two X-rays are needed The image can realize surgical navigation, greatly reduce the radiation dose, and avoid the damage to the human body caused by excessive X-ray projections, and has broad application prospects.

method embodiment

The implementation process of the positioning and navigation method of the present invention is shown in Figure 2. First, the X-ray calibration device needs to be fixed on the bone to be positioned; ; Then plan the initial position and extension direction of the virtual needle entry channel according to the received development image that contains the X-ray calibration device, and finally compare the planned virtual needle entry channel to the initial position and extension direction of the X-ray calibration device The direction is sent to the MR glasses, and the planned virtual needle insertion channel is displayed on the MR glasses. The specific implementation process of this method has been described in detail in the system embodiment, and will not be repeated here.

Claims (10)

1. A2D image operation positioning navigation system is characterized in that the navigation system comprises an X-ray calibration device, a medical image shooting device, mixed reality glasses, an optical tracking camera and a processor; the X-ray calibration device is used for being fixed in a set range of a surgical site; the medical image shooting device is used for shooting two X-ray images of bones to be positioned, which contain the X-ray calibration device, at different angles, wherein the two shooting angles are larger than or equal to a set angle, and the shot images are sent to the processor, wherein one is a positive X-ray image of the bones, and the other is a side X-ray image of the bones; the optical tracking camera is used for acquiring the space coordinates of the X-ray calibration device and the mixed reality glasses and sending the space coordinates to the processor; the processor is used for planning the position of the virtual needle inserting channel in the X-ray image according to the received X-ray images at the front and side positions, including a needle inserting point and an end point, calculating the 3-dimensional space position of the virtual needle inserting channel according to the needle inserting point and the end point of the virtual needle inserting channel relative to the 2-dimensional parameters of the X-ray calibration device and the space coordinate of the X-ray calibration device, and sending the space position of the virtual needle inserting channel to the mixed reality glasses; the mixed reality glasses are used for presenting the space position image of the virtual needle inserting channel.

2. The 2D image surgical positioning and navigating system according to claim 1, wherein the X-ray calibration device comprises at least three visualization markers, each visualization marker is fixedly disposed on the substrate, and each visualization marker in the normal image and the lateral image of the X-ray calibration device does not overlap with each other.

3. The 2D image surgical positioning and navigation system according to claim 2, wherein the structures of the visualized markers are the same or different.

4. The 2D image surgical positioning and navigating system according to claim 2, wherein the visualization marker is a spherical structure.

5. The 2D image surgical positioning and navigating system according to claim 1, wherein the medical image capturing device is a G-arm machine or a C-arm machine.

6. A2D image surgery positioning navigation method is characterized by comprising the following steps:

1) Fixing an X-ray calibration device in a set range of the operation part, wherein the X-ray calibration device is used for developing X-rays;

2) Shooting two X-ray images of bones to be positioned, which contain the X-ray calibration device, at different angles, wherein one X-ray image is a positive X-ray image of the bones, the other X-ray image is a side X-ray image of the bones, and the shooting angles of the two X-ray images are more than or equal to a set angle;

3) Acquiring space coordinates of an X-ray calibration device and mixed reality glasses by using an optical tracking camera;

4) Planning the positions of the virtual needle inserting channel in the 2-dimensional X-ray image on the obtained X-ray image at the front position and the side position, wherein the positions comprise needle inserting points and end points, and calculating the 3-dimensional space position of the virtual needle inserting channel according to the needle inserting points and the end points of the virtual needle inserting channel relative to the 2-dimensional parameters of the X-ray calibration device and the space coordinates of the X-ray calibration device;

5) And sending the planned spatial position of the virtual needle inserting channel to the mixed reality glasses, and displaying the spatial image of the virtual needle inserting channel on the mixed reality glasses.

7. The 2D image surgical positioning and navigating method according to claim 6, wherein the X-ray calibration device comprises at least three X-ray visualization markers, each visualization marker is fixedly arranged on the substrate, and each visualization marker in the normal image and the lateral image of the X-ray calibration device is not overlapped.

8. The 2D image surgical positioning and navigating method according to claim 7, wherein the structures of the visualized markers are the same or different.

9. The 2D image surgical positioning and navigating method according to claim 7, wherein the visualization marker is a spherical structure.

10. The 2D image surgical positioning and navigating method according to claim 6, wherein the step 2) is performed by taking X-ray images by using a medical image taking device, wherein the medical image taking device is a G-arm machine or a C-arm machine.

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