CN111429491B - Method and system for registering three-dimensional image before spine operation and two-dimensional image in operation - Google Patents
Method and system for registering three-dimensional image before spine operation and two-dimensional image in operation Download PDFInfo
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- CN111429491B CN111429491B CN202010168097.2A CN202010168097A CN111429491B CN 111429491 B CN111429491 B CN 111429491B CN 202010168097 A CN202010168097 A CN 202010168097A CN 111429491 B CN111429491 B CN 111429491B
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- 239000011159 matrix material Substances 0.000 claims description 8
- 230000001131 transforming effect Effects 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 description 6
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10116—X-ray image
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
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Abstract
The invention provides a method and a system for registering a three-dimensional image before spine operation and a two-dimensional image in operation, comprising the following steps: step 1: generating two DRR images of the right position and the side position for the spine three-dimensional image before operation; step 2: performing vertebral body segmentation on preoperative orthotopic and lateral DRR images; step 3: performing cone segmentation on the positive X-ray image and the lateral X-ray image shot in the operation; step 4: roughly registering the corresponding vertebral bodies before and during the operation; step 5: the corresponding vertebral bodies before and during the operation are accurately registered. The invention adopts a single-vertebra registration method to divide vertebral bodies of the vertebral column, so as to solve the problem of inconsistent overall vertebral column postures before and during operation; meanwhile, the accurate registration range is limited through rough registration, so that the search area and the data volume are reduced, and the registration efficiency is improved.
Description
Technical Field
The invention relates to the technical field of clinical medicine, in particular to a method and a system for registering a three-dimensional image before spine operation and a two-dimensional image in operation.
Background
In spinal surgery navigation, a plan on a three-dimensional image before surgery is required to be applied to a position corresponding to a patient in surgery, and the corresponding relation between preoperative data and the patient in surgery is determined by registering the three-dimensional image before surgery and the two-dimensional image in surgery. And because the human spine has certain flexibility, the posture of the human body shot by the preoperative three-dimensional image is inconsistent with the posture of the patient in the operation, so that the front-back deviation of the whole posture of the spine is large. The existing method for registering the preoperative three-dimension and the preoperative two-dimension mostly adopts the method that DRR images of all dimensions before the preoperative reconstruction operation are subjected to global search, and the efficiency is low. There is also an overall registration that does not address the problem of inconsistent spinal posture.
Patent document publication No. CN100559397C discloses a system and method for registering a sequence of intra-operative two-dimensional (2D) medical images of a target feature with pre-operative three-dimensional (3D) medical images of the target feature. The 3D image of the target feature is converted into a first skeletal graph. The 2D image of the target feature is converted into a second skeleton graphic. A pattern matching of the first and second skeletal patterns is performed to obtain a coarse alignment of the patterns and the first and second skeletal patterns are registered. However, the method does not consider the problem that the human spine has certain flexibility, the posture of the human body shot by the preoperative three-dimensional image is inconsistent with the posture of the patient in the operation, so that errors can occur when the three-dimensional image is matched with the two-dimensional image, the global searching matching efficiency is low, and the problem that the posture of the spine is inconsistent cannot be solved by the integral registration of the spine.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for registering a three-dimensional image before spine operation and a two-dimensional image in operation.
According to one aspect of the present invention, there is provided a method of registering a pre-operative three-dimensional image of a spinal column with an intra-operative two-dimensional image, comprising the steps of:
step 1: generating two DRR images of the right position and the side position for the spine three-dimensional image before operation;
step 2: performing vertebral body segmentation on preoperative orthotopic and lateral DRR images;
step 3: performing cone segmentation on the positive X-ray image and the lateral X-ray image shot in the operation;
step 4: roughly registering the corresponding vertebral bodies before and during the operation;
step 5: the corresponding vertebral bodies before and during the operation are accurately registered.
Preferably, the step 2 includes the steps of:
step 2.1: establishing bounding boxes for each cone on preoperative orthotopic and lateral DRR images, determining the regions of the single cones to be registered, and dividing the cones;
step 2.2: defining the directions of single cone bounding boxes on preoperative orthotopic and lateral DRR images, wherein the Z direction is the orthotopic image direction, the Y direction is perpendicular to the upper plane of the cone, and determining the gesture of the bounding box, so that the gesture of each cone after segmentation is obtained.
Preferably, the step 3 includes the steps of:
step 3.1: determining the posture of a C-arm X-ray machine for shooting positive and lateral X-ray images in operation;
step 3.2: reconstructing the posture of the positive position X-ray image and the lateral position X-ray image through the posture of the C-arm X-ray machine;
step 3.3: performing cone segmentation on reconstructed normal and lateral X-ray images, establishing a bounding box for each cone, and determining a region where a single cone needs to be registered;
step 3.4: defining the directions of single cone bounding boxes on the normal position X-ray image and the lateral position X-ray image in operation, wherein the Z direction is the normal image direction, the Y direction is perpendicular to the upper plane of the cone, and determining the gesture of the bounding box, so that the gesture of each cone after segmentation is obtained.
Preferably, the step 4 includes the steps of:
step 4.1: calculating a relative matrix offsetMatrix according to the postures of the corresponding vertebral bounding boxes before and during the operation;
step 4.2: the posture data of each cone of the spine before operation is roughly registered with each cone of the spine corresponding to the operation through the transformation space position of the relative matrix offsetMatrix, so that a registration range is defined for accurate registration.
Preferably, the step 5 includes the steps of:
step 5.1: calculating image similarity of cones at different positions of the front DRR image and cone areas corresponding to the X-ray image in operation in a roughly matched limited registration range;
step 5.2: and searching the vertebral column posture of the preoperative vertebral column with the highest similarity, and realizing the accurate registration of the preoperative three-dimensional image and the intraoperative two-dimensional image vertebral column.
According to another aspect of the present invention, there is provided a system for registration of a pre-operative three-dimensional image of a spine with an intra-operative two-dimensional image, comprising the following modules:
module 1: generating two DRR images of the right position and the side position for the spine three-dimensional image before operation;
module 2: performing vertebral body segmentation on preoperative orthotopic and lateral DRR images;
module 3: performing cone segmentation on the positive X-ray image and the lateral X-ray image shot in the operation;
module 4: roughly registering the corresponding vertebral bodies before and during the operation;
module 5: the corresponding vertebral bodies before and during the operation are accurately registered.
Preferably, the system for registering the three-dimensional image of the spine with the two-dimensional image of the spine is executed to realize the method for registering the three-dimensional image of the spine with the two-dimensional image of the spine.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts a single-vertebra registration method to solve the problem of inconsistent overall spinal posture before and during operation by segmenting vertebral bodies of the spinal column
2. The invention limits the accurate registration range through rough registration, reduces the search area and the data volume, and improves the registration efficiency.
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Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
According to one aspect of the present invention, there is provided a method of registering a pre-operative three-dimensional image of a spinal column with an intra-operative two-dimensional image, comprising the steps of:
step 1: generating two DRR images of the right position and the side position for the spine three-dimensional image before operation;
step 2: performing vertebral body segmentation on preoperative orthotopic and lateral DRR images;
step 2.1: establishing bounding boxes for each cone on preoperative orthotopic and lateral DRR images, determining the regions of the single cones to be registered, and dividing the cones;
step 2.2: defining the directions of single cone bounding boxes on preoperative orthotopic and lateral DRR images, wherein the Z direction is an orthotopic image direction, the Y direction is perpendicular to the upper plane of the cone, and determining the gesture of the bounding box, so that the gesture of each cone after segmentation is obtained;
step 3: performing cone segmentation on the positive X-ray image and the lateral X-ray image shot in the operation;
step 3.1: determining the posture of a C-arm X-ray machine for shooting positive and lateral X-ray images in operation;
step 3.2: reconstructing the posture of the positive position X-ray image and the lateral position X-ray image through the posture of the C-arm X-ray machine;
step 3.3: performing cone segmentation on reconstructed normal and lateral X-ray images, establishing a bounding box for each cone, and determining a region where a single cone needs to be registered;
step 3.4: defining the directions of single cone bounding boxes on the normal position X-ray image and the lateral position X-ray image in operation, wherein the Z direction is the normal image direction, the Y direction is perpendicular to the upper plane of the cone, and determining the gesture of the bounding box, so that the gesture of each cone after segmentation is obtained;
step 4: roughly registering the corresponding vertebral bodies before and during the operation;
step 4.1: calculating a relative matrix offsetMatrix according to the postures of the corresponding vertebral bounding boxes before and during the operation;
step 4.2: transforming the spatial position of each cone of the pre-operation spine by a relative matrix offsetMatrix, and roughly registering each cone of the corresponding spine in operation, so as to define a registration range for precise registration;
step 5: accurately registering corresponding vertebral bodies before and during operation; preferably, by searching six degrees of freedom of the preoperative data, searching for the preoperative data pose with the highest similarity to the intraoperative cone data pose, the rough registration process can limit the search area to a relatively small range;
step 5.1: calculating image similarity of cones at different positions of the front DRR image and cone areas corresponding to the X-ray image in operation in a roughly matched limited registration range; performing similarity calculation on the front DRR image and the front X-ray image shot in the operation, and performing similarity calculation on the side DRR image and the side X-ray image shot in the operation;
step 5.2: and searching the vertebral column posture of the preoperative vertebral column with the highest similarity, and realizing the accurate registration of the preoperative three-dimensional image and the intraoperative two-dimensional image vertebral column.
According to another aspect of the present invention, there is provided a system for registering a three-dimensional image of a spine with a two-dimensional image of the spine, wherein the system for registering a three-dimensional image of a spine with a two-dimensional image of the spine is executed to implement the steps of the method for registering a three-dimensional image of a spine with a two-dimensional image of the spine, and the method comprises the following modules:
module 1: generating two DRR images of the right position and the side position for the spine three-dimensional image before operation;
module 2: performing vertebral body segmentation on preoperative orthotopic and lateral DRR images;
module 3: performing cone segmentation on the positive X-ray image and the lateral X-ray image shot in the operation;
module 4: roughly registering the corresponding vertebral bodies before and during the operation;
module 5: the corresponding vertebral bodies before and during the operation are accurately registered.
Because the structure of the single vertebra is fixed before and during the operation, the invention solves the problems of the corresponding relation between the three-dimensional image before the operation and the patient during the operation and the inconsistent overall shape of the spine by adopting the single vertebra registration method.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (3)
1. A method for registering a pre-operative three-dimensional image and an intra-operative two-dimensional image of a spinal column, comprising the steps of:
step 1: generating two DRR images of the right position and the side position for the spine three-dimensional image before operation;
step 2: performing vertebral body segmentation on preoperative orthotopic and lateral DRR images;
step 3: performing cone segmentation on the positive X-ray image and the lateral X-ray image shot in the operation;
step 4: roughly registering the corresponding vertebral bodies before and during the operation;
step 5: accurately registering corresponding vertebral bodies before and during operation;
the step 2 comprises the following steps:
step 2.1: establishing bounding boxes for each cone on preoperative orthotopic and lateral DRR images, determining the regions of the single cones to be registered, and dividing the cones;
step 2.2: defining the directions of single cone bounding boxes on preoperative orthotopic and lateral DRR images, wherein the Z direction is an orthotopic image direction, the Y direction is perpendicular to the upper plane of the cone, and determining the gesture of the bounding box, so that the gesture of each cone after segmentation is obtained;
the step 3 comprises the following steps:
step 3.1: determining the posture of a C-arm X-ray machine for shooting positive and lateral X-ray images in operation;
step 3.2: reconstructing the posture of the positive position X-ray image and the lateral position X-ray image through the posture of the C-arm X-ray machine;
step 3.3: performing cone segmentation on reconstructed normal and lateral X-ray images, establishing a bounding box for each cone, and determining a region where a single cone needs to be registered;
step 3.4: defining the directions of single cone bounding boxes on the normal position X-ray image and the lateral position X-ray image in operation, wherein the Z direction is the normal image direction, the Y direction is perpendicular to the upper plane of the cone, and determining the gesture of the bounding box, so that the gesture of each cone after segmentation is obtained;
the step 4 comprises the following steps:
step 4.1: calculating a relative matrix offsetMatrix according to the postures of the corresponding vertebral bounding boxes before and during the operation;
step 4.2: transforming the spatial position of each cone of the pre-operation spine by a relative matrix offsetMatrix, and roughly registering each cone of the corresponding spine in operation, so as to define a registration range for precise registration;
the step 5 comprises the following steps:
step 5.1: calculating image similarity of cones at different positions of the front DRR image and cone areas corresponding to the X-ray image in operation in a roughly matched limited registration range;
step 5.2: and searching the vertebral column posture of the preoperative vertebral column with the highest similarity, and realizing the accurate registration of the preoperative three-dimensional image and the intraoperative two-dimensional image vertebral column.
2. A system for registration of a pre-operative three-dimensional image of a spinal column with an intra-operative two-dimensional image, comprising the following modules:
module 1: generating two DRR images of the right position and the side position for the spine three-dimensional image before operation;
module 2: performing vertebral body segmentation on preoperative orthotopic and lateral DRR images;
module 3: performing cone segmentation on the positive X-ray image and the lateral X-ray image shot in the operation;
module 4: roughly registering the corresponding vertebral bodies before and during the operation;
module 5: accurately registering corresponding vertebral bodies before and during operation;
the module 2 comprises the following modules:
module 2.1: establishing bounding boxes for each cone on preoperative orthotopic and lateral DRR images, determining the regions of the single cones to be registered, and dividing the cones;
module 2.2: defining the directions of single cone bounding boxes on preoperative orthotopic and lateral DRR images, wherein the Z direction is an orthotopic image direction, the Y direction is perpendicular to the upper plane of the cone, and determining the gesture of the bounding box, so that the gesture of each cone after segmentation is obtained;
the module 3 comprises the following modules:
module 3.1: determining the posture of a C-arm X-ray machine for shooting positive and lateral X-ray images in operation;
module 3.2: reconstructing the posture of the positive position X-ray image and the lateral position X-ray image through the posture of the C-arm X-ray machine;
module 3.3: performing cone segmentation on reconstructed normal and lateral X-ray images, establishing a bounding box for each cone, and determining a region where a single cone needs to be registered;
module 3.4: defining the directions of single cone bounding boxes on the normal position X-ray image and the lateral position X-ray image in operation, wherein the Z direction is the normal image direction, the Y direction is perpendicular to the upper plane of the cone, and determining the gesture of the bounding box, so that the gesture of each cone after segmentation is obtained;
the module 4 comprises the following modules:
module 4.1: calculating a relative matrix offsetMatrix according to the postures of the corresponding vertebral bounding boxes before and during the operation;
module 4.2: transforming the spatial position of each cone of the pre-operation spine by a relative matrix offsetMatrix, and roughly registering each cone of the corresponding spine in operation, so as to define a registration range for precise registration;
the module 5 comprises the following modules:
module 5.1: calculating image similarity of cones at different positions of the front DRR image and cone areas corresponding to the X-ray image in operation in a roughly matched limited registration range;
module 5.2: and searching the vertebral column posture of the preoperative vertebral column with the highest similarity, and realizing the accurate registration of the preoperative three-dimensional image and the intraoperative two-dimensional image vertebral column.
3. The system for registration of a pre-operative three-dimensional image of a spine with an intra-operative two-dimensional image of claim 2, wherein the system for registration of a pre-operative three-dimensional image of a spine with an intra-operative two-dimensional image performs the steps of the method for registration of a pre-operative three-dimensional image of a spine with an intra-operative two-dimensional image of any one of claim 1.
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| CN112233155B (en) * | 2020-12-07 | 2021-02-26 | 南京佗道医疗科技有限公司 | 2D-3D image registration algorithm |
| CN112509022A (en) * | 2020-12-17 | 2021-03-16 | 安徽埃克索医疗机器人有限公司 | Non-calibration object registration method for preoperative three-dimensional image and intraoperative perspective image |
| CN112289416B (en) * | 2020-12-18 | 2021-03-23 | 南京佗道医疗科技有限公司 | Method for evaluating guide needle placement accuracy |
| CN113040908B (en) * | 2021-02-02 | 2022-03-25 | 武汉联影智融医疗科技有限公司 | Registration method, device, computer equipment and storage medium for surgical navigation |
| EP4365838A4 (en) * | 2021-07-30 | 2024-10-02 | Wuhan United Imaging Healthcare Surgical Technology Co., Ltd. | Registration method and system |
| CN115082680A (en) * | 2022-06-28 | 2022-09-20 | 南京佗道医疗科技有限公司 | Spine segmentation method based on three-dimensional image |
| CN115082534B (en) * | 2022-07-21 | 2022-12-16 | 杭州三坛医疗科技有限公司 | Biplane image registration method and device and robot |
| CN119722754A (en) * | 2023-09-27 | 2025-03-28 | 北京天智航医疗科技股份有限公司 | Image registration method, device and orthopedic surgery navigation system based on image registration |
| CN117017487B (en) * | 2023-10-09 | 2024-01-05 | 杭州键嘉医疗科技股份有限公司 | Spinal column registration method, device, equipment and storage medium |
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