CN-116725664-B - Registration method and related device

CN116725664BCN 116725664 BCN116725664 BCN 116725664BCN-116725664-B

Abstract

The embodiment of the application provides a registration method and a related device, which are characterized in that N first reference coordinates of N markers accurately acquired by optical measurement equipment at a first reference moment are firstly determined, under the condition that the number K of K first coordinates acquired at a first moment later than the first reference moment is smaller than N, namely under the condition that the markers are shielded, the same number (namely M) of coordinates are respectively selected from the K first coordinates and the N first reference coordinates for registration, under the condition that the registration is successful, the obtained first registration matrix is used as the registration matrix between the K first coordinates and the N markers, so that the time spent in the registration process can be saved, the registration efficiency and the accuracy can be improved, and the frequency of real-time updating of surgical navigation can be further improved.

Inventors

XIE WEIGUO
Ye Zongzhou
ZHANG XU
GAO JINXING

Assignees

深圳惟德精准医疗科技有限公司

Dates

Publication Date: 20260512
Application Date: 20220301

Claims (9)

1. A method of registration, the method comprising: Determining N first reference coordinates, wherein the N first reference coordinates are coordinates of N markers acquired by optical measurement equipment at a first reference moment, and N is an integer greater than or equal to 3; The method comprises the steps of acquiring K first coordinates which are determined according to the coordinates of N markers acquired by optical measurement equipment at a first moment, wherein the first moment is later than the first reference moment, K is an integer greater than or equal to 3, acquiring H original first coordinates which are the coordinates of the N markers acquired by the optical measurement equipment at the first moment, H is an integer greater than K, determining the K first coordinates from the H original first coordinates, and an included angle between a first plane and a second plane is smaller than or equal to a second threshold value, wherein the first plane is obtained according to three coordinates in the K first coordinates, and the second plane is obtained according to the three coordinates in the N first reference coordinates; Under the condition that K is smaller than N, carrying out registration processing on M first reference coordinates and M first coordinates based on a registration algorithm, wherein the M first reference coordinates are selected from the N first reference coordinates, the M first coordinates are selected from the K first coordinates, and M is an integer greater than or equal to 3; And under the condition that the registration processing results in successful registration, taking a first registration matrix as a registration matrix between the K first coordinates and the N first reference coordinates, wherein the first registration matrix is obtained through the registration processing and is a registration matrix between the M first reference coordinates and the M first coordinates.
2. The method of claim 1, wherein the determining N first reference coordinates comprises: Determining the N first reference coordinates in response to a first triggering operation, wherein the first triggering operation is used for indicating that an implementation object is in a first state, and the N markers are adhered to the body surface of the implementation object; The obtaining K first coordinates includes: And responding to a second triggering operation, wherein the second triggering operation is used for indicating that the implementation object is in a second state, and the stability degree corresponding to the first state is greater than that corresponding to the second state.
3. The method according to claim 1 or 2, wherein before the registering the M first reference coordinates and the M first coordinates based on the registration algorithm, the method further comprises: Acquiring a historical registration matrix, wherein the historical registration matrix is a registration matrix between the N first reference coordinates and N second reference coordinates, the N second reference coordinates are coordinates of the N markers acquired by the optical measurement equipment at a second reference moment, the second reference moment is later than the first reference moment, the second reference moment is earlier than the first moment, and a time interval between the first reference moment and the second reference moment is smaller than or equal to a first time threshold; the registering processing is performed on the M first reference coordinates and the M first coordinates based on the registering algorithm, and the registering processing comprises the following steps: acquiring first errors for registering the K first coordinates to the N first reference coordinates based on the historical registration matrix; performing the registration processing on the M first reference coordinates and the M first coordinates based on the registration algorithm, if the first error is greater than a first threshold; and taking the historical registration matrix as a registration matrix between the K first coordinates and the N first reference coordinates when the first error is smaller than the first threshold value.
4. The method according to claim 1 or 2, characterized in that the method further comprises: And under the condition that the registration processing results in registration failure, taking a historical registration matrix as a registration matrix between the K first coordinates and the N first reference coordinates.
5. The method of claim 4, wherein the registering the M first reference coordinates and the M first coordinates based on the registration algorithm comprises: Performing first registration processing on the M first coordinates based on a history registration matrix to obtain M processed first coordinates, wherein a first distance is smaller than a second distance, the first distance is an average value of first Euclidean distances between each coordinate in the M processed first coordinates and corresponding coordinates in the N first reference coordinates, and the second distance is an average value of second Euclidean distances between the coordinates in the M first coordinates and corresponding coordinates in the N first reference coordinates; And performing second registration processing on the M first reference coordinates and the M processed first coordinates based on the registration algorithm.
6. The method of claim 1, wherein an absolute value of a difference between a perimeter of a first graphic and a perimeter of a second graphic is less than or equal to a third threshold, the first graphic being a triangle formed by three coordinates corresponding to the first plane, the second graphic being a triangle formed by three coordinates corresponding to the second plane.
7. A registration device, the device comprising: The determining unit is used for determining N first reference coordinates, wherein the N first reference coordinates are coordinates of N markers acquired by the optical measuring equipment at reference moments, and N is an integer greater than or equal to 3; The acquisition unit is used for acquiring K first coordinates which are determined according to the coordinates of the N markers acquired by the optical measurement equipment at a first moment, wherein the first moment is later than the reference moment, and the K is an integer greater than or equal to 3; obtaining H original first coordinates, wherein the H original first coordinates are coordinates of the N markers acquired by the optical measurement equipment at the first moment, and H is an integer larger than K; determining the K first coordinates from the H original first coordinates, wherein an included angle between a first plane and a second plane is smaller than or equal to a second threshold value, the first plane is obtained according to three coordinates in the K first coordinates, and the second plane is obtained according to three coordinates in the N first reference coordinates; The registration unit is used for carrying out registration processing on M first reference coordinates and M first coordinates based on a registration algorithm, wherein the M first reference coordinates are selected from the N first reference coordinates, the M first coordinates are selected from the K first coordinates, and the M is an integer greater than or equal to 3; the determining unit is further configured to, when the registration processing results in successful registration, use a first registration matrix as a registration matrix between the K first coordinates and the N first reference coordinates, where the first registration matrix is obtained by the registration processing and is a registration matrix between the M first reference coordinates and the M first coordinates.
8. An electronic device comprising a processor and a memory, wherein the memory has stored therein a computer program, the processor invoking the computer program stored in the memory for performing the method of any of claims 1-6.
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when run on one or more processors, causes the method of any of claims 1-6 to be performed.

Description

Registration method and related device Technical Field The embodiment of the application relates to the technical field of computers, in particular to a registration method and a related device. Background Along with the continuous development of computer science and technology, medical technology has made a major breakthrough, so that the minimally invasive surgery is more and more widely applied. Minimally invasive surgery relies on a surgical navigation system, which is understood to be a system that accurately corresponds pre-or intra-operative computed tomography (computed tomography, CT) image data (i.e., CT images) of a patient to real-time anatomy of the patient on a surgical table, tracks a surgical probe (which may also be referred to as a surgical needle) and updates and displays the position of the surgical needle in real-time on the patient image in the form of a virtual probe during surgery by a physician. In the surgical navigation system based on optical tracking, the coordinates of the surgical needle are obtained based on the coordinate system corresponding to the optical measurement device, and the CT image is obtained based on the coordinate system corresponding to the CT device. Due to the difference in the two coordinate systems, misalignment will occur when they are displayed on the same interface. At present, a marker can be stuck on the body surface of a patient, the coordinate of the marker determined by a CT device is used as point cloud A, the coordinate of the marker determined by an optical measurement device is used as point cloud B, a point cloud registration algorithm is used for registering the point cloud A and the point cloud B, and an obtained registration matrix converts an operation object of a CT coordinate system into an optical measurement coordinate system for displaying, so that a coordinate system is unified, and further operation navigation is realized. However, in the actual scene, the markers stuck on the body surface of the patient are often blocked, so that the registration process is long in time consumption, and the frequency of the real-time update of the surgical navigation is low. Disclosure of Invention The embodiment of the application provides a registration method and a related device, and the time spent in the registration process can be saved and the frequency of real-time updating of surgical navigation can be improved by the method provided by the application. In a first aspect, an embodiment of the present application provides a registration method, including: determining N first reference coordinates, wherein the N first reference coordinates are coordinates of N markers acquired by optical measurement equipment at a first reference moment, and N is an integer greater than or equal to 3; obtaining K first coordinates, wherein the K first coordinates are determined according to the coordinates of the N markers acquired by the optical measurement device at a first moment, the first moment is later than the first reference moment, and the K is an integer greater than or equal to 3; Performing registration processing on M first reference coordinates and M first coordinates based on a registration algorithm when K is smaller than N, wherein the M first reference coordinates are selected from the N first reference coordinates, the M first coordinates are selected from the K first coordinates, and the M is an integer greater than or equal to 3; and under the condition that the registration is successful as a result of the registration processing, taking a first registration matrix as a registration matrix between the K first coordinates and the N first reference coordinates, wherein the first registration matrix is obtained through the registration processing and is a registration matrix between the M first reference coordinates and the M first coordinates. In one possible embodiment, the determining N first reference coordinates includes: determining the N first reference coordinates in response to a first triggering operation, wherein the first triggering operation is used for indicating that an implementation object is in a first state, and the N markers are adhered to the body surface of the implementation object; The obtaining K first coordinates includes: And responding to a second triggering operation, wherein the second triggering operation is used for indicating that the implementation object is in a second state, and the stability degree corresponding to the first state is greater than that corresponding to the second state. In a possible implementation manner, before the registering the M first reference coordinates and the M first coordinates based on the registration algorithm, the method further includes: Acquiring a historical registration matrix, wherein the historical registration matrix is a registration matrix between the N first reference coordinates and N second reference coordinates, the N second reference coordinates are coordi