CN-224206890-U - Image registration apparatus and medical system

CN224206890UCN 224206890 UCN224206890 UCN 224206890UCN-224206890-U

Abstract

The utility model relates to an image registration apparatus and a medical system. The image registration device comprises a calibration body and a positioning part, wherein the calibration body comprises a frame, at least one calibration element is respectively arranged at two positions of the frame, which are provided with preset distances, the at least one calibration element is configured for spatial position calibration of an image, and the positioning part is arranged at the edge of the two positions and is configured for position positioning of the image registration device.

Inventors

HUANG PENG
SUN XUEFENG

Assignees

通用电气精准医疗有限责任公司

Dates

Publication Date: 20260508
Application Date: 20241227

Claims (15)

1. An image registration apparatus, comprising: a calibration body comprising a frame, at least one calibration element being arranged at two positions of the frame with a predetermined distance, the at least one calibration element being configured for spatial position calibration of an image, and And a positioning portion provided at edges of the two positions, the positioning portion being configured for position positioning of the image registration apparatus.
2. The image registration apparatus of claim 1, wherein the frame of the calibration body comprises: A calibration part including two calibration surfaces corresponding to the two positions, each calibration surface including the at least one calibration element, and And a support portion configured to support and fix the two calibration surfaces.
3. The image registration apparatus of claim 1, The positioning parts are arranged on the same side of the frame.
4. An image registration apparatus according to claim 2, Each of the calibration surfaces is configured as a polygon; The supporting part comprises a plurality of supporting columns which are used for supporting and fixing the calibration surface.
5. An image registration apparatus according to claim 2, The calibration surface comprises a material transparent to X-rays, The indexing element comprises a material that is opaque to X-rays, the indexing element comprising a plurality of indexing elements arranged in an asymmetric pattern.
6. The image registration apparatus of claim 5, A first calibration surface of the two calibration surfaces is provided with a first calibration ball corresponding to a plurality of edges of the first calibration surface respectively, A second calibration surface of the two calibration surfaces is provided with a second calibration ball corresponding to a plurality of edges of the second calibration surface respectively, Wherein the first calibration sphere and the second calibration sphere are configured such that the projections on the imaging plane do not coincide, an The projection includes sub-projections respectively corresponding to the plurality of sides, the patterns of the sub-projections being different from each other.
7. The image registration apparatus according to any one of claims 1 to 5, wherein the positioning section includes: A holder extending from the rim, and And the positioning ball is accommodated and fixed in the fixed seat.
8. The image registration apparatus of claim 7, wherein the positioning portion includes at least three positioning balls arranged non-collinear.
9. The image registration apparatus of claim 8, The at least three positioning balls comprise four positioning balls, wherein The first and second detent balls are disposed at a first edge corresponding to a first one of the two positions, The third detent ball and the fourth detent ball are disposed at a second edge corresponding to a second one of the two positions, The first edge and the second edge are on the same side of the frame.
10. The image registration apparatus of claim 9, The first and second positioning balls being disposed near two ends of the first edge, respectively, and The third and fourth positioning balls are configured to be respectively adjacent to both ends of the second edge.
11. The image registration apparatus of claim 10, comprising at least one of: At least one of the first and second positioning balls is at a different distance from the corresponding end than at least one of the third and fourth positioning balls, One of the first and second positioning balls is spaced from the corresponding end by a distance different from the other of the first and second positioning balls, or One of the third and fourth positioning balls is a different distance from the corresponding end than the other of the third and fourth positioning balls.
12. The image registration apparatus of any one of claims 1-5, further comprising: And a connection portion provided outside the frame, the connection portion configured to connect the image registration apparatus to a detector of an imaging system.
13. The image registration apparatus of claim 12, wherein the connection is configured such that at least a portion of the connection is inside a housing of the detector when the image registration apparatus is in a connected state with the detector.
14. A medical system, comprising: an imaging system; a surgical robot; Positioning system, and The image registration apparatus of any one of claims 1-13, Wherein the imaging system is configured to generate a first image of the object, the first image comprising the calibration element, the imaging system being further configured to determine a first position coordinate of the calibration element in a first coordinate system, The positioning system is configured to output a second position coordinate of the positioning portion in a second coordinate system based on a second image of the positioning portion, and The medical system is configured to determine the first position coordinate and the second position coordinate conversion relationship and further control the surgical robot to operate on the object based on the conversion relationship.
15. The medical system of claim 14, wherein the medical system comprises, The imaging system comprising a C-arm imaging system configured to generate a plurality of the first images, the plurality of first images comprising a plurality of images obtained at different angles relative to the subject, The medical system is further configured to generate a three-dimensional position associated with the object based on the plurality of first images and to control the surgical robot to operate on the object based on the three-dimensional position.

Description

Image registration apparatus and medical system Technical Field The present utility model relates to the field of imaging, and more particularly to an image registration apparatus and a medical system comprising the image registration apparatus. Background In a scenario where an imaging system (e.g., a C-arm imaging system) works in conjunction with a robotic arm of a surgical robot, it is necessary to establish a relationship between the coordinates of a scanned image (X-ray image) and the optical coordinates to determine a specific location of a target site of a patient, and to direct the robotic arm of the surgical robot to further manipulate the target site. The existing equipment for registering the scanning image coordinates and the optical coordinates has the problems that the calibration structure and the positioning structure are independent components which are separately designed and are connected together through an additional connecting structure, so that the equipment occupies a large volume and reduces the operation space. Furthermore, the positioning structure is smaller in arrangement area or pitch, resulting in a shorter distance between lenses, and thus the accuracy of position determination is lower from the standpoint of the NDI camera. Disclosure of utility model To solve at least one of the above technical problems and/or other technical problems addressed in the present disclosure and/or other possible technical problems not addressed in the present disclosure, some embodiments of the present utility model provide an image registration apparatus including a calibration body including a frame, at least one calibration element configured for spatial position calibration of an image being provided at two positions of the frame having a preset distance, respectively, and a positioning portion provided at an edge of the two positions, the positioning portion configured for position positioning of the image registration apparatus. Some embodiments of the present utility model also provide a medical system comprising an imaging system, a surgical robot, a positioning system, and an image registration apparatus according to any of the embodiments of the present disclosure. Wherein the imaging system is configured to generate a first image of the object, the first image comprising the calibration element, the imaging system being further configured to determine a first position coordinate of the calibration element in a first coordinate system. The positioning system is configured to output second position coordinates of the positioning portion in a second coordinate system based on a second image of the positioning portion. The medical system is configured to determine the first position coordinate and the second position coordinate conversion relationship and further control the surgical robot to operate on the object based on the conversion relationship. Drawings In order to further clarify the embodiments of the present utility model, they will be presented in detail with reference to the drawings. It is appreciated that these drawings depict only typical embodiments of the utility model and are therefore not to be considered limiting of its scope. In addition, the main connection relationships or relative positional relationships of the individual components are shown in the drawings, not all of them, and the individual components and connections in the drawings are not necessarily drawn to scale in practice. Fig. 1 illustrates a schematic view of a scenario in which a medical imaging system is used in conjunction with a surgical robot, according to an embodiment of the present disclosure. Fig. 2 illustrates a perspective view of an image registration device mounted with a detector of an imaging system according to some embodiments of the present disclosure. Fig. 3A illustrates a perspective view of an exemplary image registration apparatus according to some embodiments of the present disclosure. Fig. 3B illustrates a side view of the exemplary image registration apparatus of fig. 3A, according to some embodiments of the present disclosure. Fig. 3C illustrates a bottom view of the exemplary image registration apparatus of fig. 3A, according to some embodiments of the present disclosure. Fig. 4 illustrates an exemplary arrangement schematic of calibration elements of an image registration apparatus according to some embodiments of the present disclosure. Detailed Description The following detailed description refers to the accompanying drawings. The drawings show, by way of illustration, specific embodiments in which the claimed subject matter may be practiced. It should be understood that the following specific examples are intended to describe the exemplary embodiments specifically for purposes of illustration and are not to be construed as limiting the utility model. Appropriate modifications and adaptations of the disclosed embodiments may be made by those skilled in the art without d