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CN-122005094-A - Mobile medical imaging device integrating optical navigation and calibration method thereof

CN122005094ACN 122005094 ACN122005094 ACN 122005094ACN-122005094-A

Abstract

The invention discloses a mobile medical imaging device integrating optical navigation and a calibration method thereof, relating to the technical field of medical imaging devices and operation navigation, comprising a trolley for interacting and storing images and patient information, a control panel and an image scanning rack for collecting images, wherein a main control unit is arranged on the trolley for interacting and storing images and patient information, and a nonvolatile memory chip is arranged on the main control unit; the mobile medical imaging equipment integrating optical navigation and the calibration method thereof solve the problems of serious occupation space of an operating room, disordered equipment layout and complicated image registration and registration, overcome the defects caused by physical separation of the imaging equipment and the independent optical navigation and a camera support thereof in the prior art, avoid human errors and accidental errors caused by manual registration operation in each operation, ensure higher navigation precision, higher stability and better repeatability, and have good clinical application prospect.

Inventors

  • GUO FEI
  • LI FENG
  • GOU TONGBO

Assignees

  • 柏视(诸暨)医疗科技有限公司

Dates

Publication Date
20260512
Application Date
20260331

Claims (10)

  1. 1. A mobile medical imaging device integrating optical navigation, comprising: The trolley (1) is used for interacting and storing images and patient information, a main control unit (1-1) is arranged on the trolley, and a nonvolatile memory chip (1-2) is arranged on the main control unit (1-1); A control panel (2) which is embedded on the trolley (1); an image scanning frame (3) for acquiring images, which is positioned at one side of the trolley (1) and is connected with the trolley (1) through a connecting cable (1-3); The image scanning device comprises an image scanning frame (3), wherein an optical camera module (4) is arranged at the position, close to the upper end, of the inner ring of the image scanning frame (3), and a navigable surgical device (5), a patient reference frame (6) and a system calibration module (7) are arranged on the image scanning frame (3).
  2. 2. The integrated optical navigation mobile medical imaging device according to claim 1, wherein an external X-ray tube (3-1) is installed at the upper end of the image scanning frame (3), and an external flat panel detector (3-2) for collecting images of a patient is arranged on the image scanning frame (3).
  3. 3. The integrated optical navigation mobile medical imaging device according to claim 2, wherein the image scanning frame (3) is internally provided with a wiring channel (3-3), and a switch (3-4) for communication is arranged on the outer surface of the image scanning frame (3).
  4. 4. An integrated optical navigation mobile medical imaging device according to claim 3, characterized in that the navigable surgical device (5) is provided with a first optical reflectoscope (5-1), the patient reference frame (6) is fixed to the patient, and a plurality of groups of second optical reflectoscope (6-1) tracking the movement of the patient are provided thereon.
  5. 5. The mobile medical imaging device integrated with optical navigation according to claim 4, wherein the system calibration module (7) comprises a base (7-3), an optical reflection ball assembly (7-2) is arranged on the base (7-3), and an image marking point (7-1) is arranged at the upper end of the optical reflection ball assembly (7-2).
  6. 6. A method for calibrating a mobile medical imaging device integrated with optical navigation, using the device according to any one of claims 1 to 5, characterized in that it comprises the following steps: before calibration, performing equipment verification, verifying whether the core components of the equipment are connected normally or not and whether the state is stable or not, and judging that the calibration precision requirement is met; executing environment control when the calibration precision requirement is met, and executing detection and positioning of a system calibration module (7); Checking basic parameters of a coordinate system and a point cloud registration algorithm, determining the checked coordinate system parameters and loading the point cloud registration algorithm, and maintaining the accuracy of coordinate conversion logic in the calibration process; The system calibration module (7) synchronously collects coordinate data of an image space and a camera space, performs analysis to obtain a rigid transformation matrix, and completes encryption storage; Judging whether an abnormal condition exists in the calibration process, and executing a corresponding abnormal processing strategy when the abnormal condition exists; and acquiring calibration data, and executing calibration effect verification from multiple dimensions based on the calibration data.
  7. 7. The calibration method of the integrated optical navigation mobile medical imaging device according to claim 6, wherein the performing device verification includes performing a rigid structure check, an electrical and signal connection check and a device status self-check, wherein the rigid structure check includes checking stability and position of an external X-ray tube (3-1), an external flat panel detector (3-2) and an image scanning frame (3), the electrical and signal connection check includes checking whether cable connection is firm, whether cable breakage exists and whether contact failure exists, and the device status self-check includes automatically performing a start self-check by a system, analyzing working data of an electronic device and checking working status of the electronic device.
  8. 8. The method for calibrating a mobile medical imaging device integrated with optical navigation according to claim 6, wherein the acquiring of the coordinate data of the image space and the camera space comprises image coordinate acquisition, camera coordinate acquisition and data verification; the image coordinate acquisition comprises the steps of scanning according to preset exposure parameters through an image scanning frame (3) to obtain image data, identifying image mark points (7-1) in the image data, and extracting the image mark points into a constructed coordinate system to form a first three-dimensional coordinate set; The camera coordinate acquisition comprises the steps of executing infrared detection through an optical camera module (4), capturing a reflection signal of an optical reflection sphere assembly (7-2), extracting the position of the reflection sphere in a coordinate system through an image recognition algorithm, forming a second three-dimensional coordinate set, and executing association of the first three-dimensional coordinate set and the second three-dimensional coordinate set; The data verification comprises the steps of verifying the integrity and the effectiveness of the first three-dimensional coordinate set and the second three-dimensional coordinate set, judging that data acquisition fails if the number of coordinate points is insufficient and the identification precision is not up to standard, and re-executing the acquisition of the coordinate data of the image space and the camera space, and executing analysis if the data verification is qualified.
  9. 9. The calibration method of the integrated optical navigation mobile medical image equipment, which is characterized in that the execution analysis comprises the steps that a main control unit (1-1) invokes a preset point cloud registration algorithm to execute calculation on a first three-dimensional coordinate set and a second three-dimensional coordinate set which are acquired, the point cloud registration algorithm analyzes an optimal mapping relation between the first three-dimensional coordinate set and the second three-dimensional coordinate set in an iterative optimization mode, eliminates tiny errors generated in the acquisition process, realizes coordinate registration calculation, solves a rigid transformation matrix from a camera coordinate system to an image coordinate system, calculates registration errors, judges that the matrix is solved to be qualified if the error value is smaller than or equal to 0.5mm, judges that the error value is not up to standard if the error value is larger than 0.5mm, adjusts the point cloud registration algorithm parameters and re-calculates until the error value is smaller than or equal to 0.5mm, judges that the calibration is abnormal if the error value is not up to standard after N times of registration, checks the equipment state, and re-executes analysis after the fault elimination; After the matrix is solved, the rigid transformation matrix is encrypted and stored in a nonvolatile memory chip (1-2), a control panel (2) displays calibration completion, generates a calibration report, simultaneously displays information such as registration error values, matrix storage paths and the like, and when the calibration is generated, the posture of an image scanning frame (3) returns to zero, an optical camera module (4) stops working and enters a standby state.
  10. 10. The method for calibrating the mobile medical image equipment integrated with optical navigation according to claim 6, wherein the method is characterized in that the method comprises the steps of judging whether an abnormal condition exists or not, and executing a corresponding abnormal processing strategy when the abnormal condition exists, wherein the abnormal category comprises checking an abnormal condition, namely, an image mark point (7-1) identification failure, an optical reflection ball identification failure, a registration error continuously exceeding an allowable range and a rigid transformation matrix storage failure, wherein the abnormal processing strategy corresponding to the image mark point (7-1) identification failure is an inspection system calibration module (7) placement position, ensuring that the image mark point (7-1) is in an X-ray effective visual field, cleaning the image mark point (7-1), removing stains and shielding, adjusting scanning parameters, improving image definition and recapturing data; The abnormal processing strategy corresponding to the failure of the identification of the optical reflection ball is to check the visual field of the optical camera module (4) to remove the shielding object, clean the surface of the optical reflection ball to ensure the reflection effect, adjust the angle of the optical camera module (4) to ensure the optical reflection ball to be in the visual field and re-collect the data; the registration error continuously exceeds the corresponding abnormal processing strategy of the allowable range to recheck whether the core components of the equipment are normally connected or not; The exception handling strategy corresponding to the rigid transformation matrix storage failure is to check the storage state and the data transmission link of the nonvolatile memory chip (1-2), restart the main control unit (1-1) and execute the storage operation again.

Description

Mobile medical imaging device integrating optical navigation and calibration method thereof Technical Field The invention relates to the technical field of medical imaging equipment and operation navigation, in particular to a system and a method for realizing automatic and rapid spatial registration and registration of navigation and intraoperative images by rigidly integrating and pre-calibrating an optical operation navigation system and a mobile cone beam tomography device, which are suitable for minimally invasive operations requiring real-time three-dimensional image guidance in the operations of orthopedics, spinal surgery, neurosurgery, respiratory department, thoracic surgery, hepatobiliary surgery, oncology department and the like. Background The movable C-type/G-type/O-type cone beam tomography device is movable intraoperative imaging equipment, combines the intraoperative two-dimensional photography, perspective and three-dimensional cone beam CT imaging technologies, can perform rotary scanning around a patient in the surgical process, and can provide high-resolution intraoperative two-dimensional and three-dimensional images in real time. The optical surgery navigation system tracks the surgical instrument and the patient reference frame through the infrared camera, displays the actual positions thereof on the image in a superposition way, is a key tool for realizing accurate image-guided minimally invasive surgery, however, in the current clinical practice, the traditional mobile image equipment such as a C-arm, G-arm and O-arm X-ray machine and the optical navigation system are usually two completely independent equipment, and the separated architecture brings about obvious real pain points in an operating room: The space of an operating room is large, for example, the space of an operating room requiring various complex devices such as modern orthopaedics, spinal surgery and neurosurgery is an extremely precious resource, and the trolley and the scanning rack of the imaging device, the operation navigation trolley and the optical camera landing support are required to be deployed around an operating table at the same time, so that the devices and cables are crisscrossed, thereby occupying a limited clean area and a movable channel of medical staff, and increasing the complexity of operation layout and the risk of accidental collision. The preoperative registration process is cumbersome and time-consuming, because the navigation system and the image system are physically independent and have no fixed spatial relationship, a complex set of spatial registration process must be executed before each operation or after the position of the device is changed, usually a special calibration tool with imaging marks and optical marks is required to be used, the image device is firstly used for scanning to determine the position of the image device in the image coordinate system, then the navigation system is used for observing and determining the position of the image device in the navigation coordinate system, and a conversion matrix between the two coordinate systems is obtained through calculation. This procedure not only requires additional specialized tools, but also relies on the experience of the operator, typically taking 10 to 30 minutes, not only affecting the smoothness of the procedure, but also introducing errors in the manual operation. Through searching, the patent with the publication number of CN116671952A discloses a large-aperture mobile O-shaped CBCT system, which mainly solves the problem of synchronous rotation control of a scanning frame and image acquisition so as to obtain a clear image, but does not relate to integration with a surgical navigation system and further solves the fundamental problem of complicated navigation registration. The Chinese patent publication No. CN105997246A discloses a registration method and a registration system for three-dimensional orthopedic surgery navigation, which adopt a die body with a known mark point to replace a patient for registration, and the method has the core steps of 1, acquiring image coordinates of the mark point on the die body before surgery, 2, determining a conversion relation between a space motion track of a C-shaped arm and the space coordinates of the mark point on the die body, 3, acquiring an actual space motion track of the C-shaped arm only through a tracker during surgery, 4, deducing the coordinates of the mark point on the die body in the current surgery space by utilizing the conversion relation determined in the step 2, and 5, finally finishing registration of the image coordinates and the space coordinates. In summary, the existing medical imaging equipment has certain defects in use and cannot meet the medical requirements, and therefore, the mobile medical imaging equipment integrating optical navigation and the calibration method thereof are provided. Disclosure of Invention The invention mainly aims to provi