CN119810384A - Head MRI registration method, navigation method, system and program product - Google Patents
Head MRI registration method, navigation method, system and program product Download PDFInfo
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Abstract
The application relates to the technical field of transcranial magnetic stimulation target positioning, and provides a head MRI registration method, a navigation method, a system and a program product, wherein a 3D scanner is used for scanning the face of a patient to obtain scanning data, and first three-dimensional model data are generated according to the scanning data; the method comprises the steps of collecting a reflective ball attached to the forehead of a patient by using an optical positioning instrument, determining the coordinate position of the reflective ball in the space of the optical positioning instrument, scanning the face of the patient according to the coordinate position and generating second three-dimensional model data, performing rough registration according to MRI three-dimensional data, first three-dimensional model data and second three-dimensional model data to obtain a first conversion matrix, registering the three-dimensional model data and the MRI three-dimensional data according to the first conversion matrix, the MRI three-dimensional data and the three-dimensional model data to obtain a second conversion matrix, positioning and navigating the movement of a mechanical arm, and improving the accuracy and the efficiency of head MRI registration and navigation through a 3D scanner and the optical positioning instrument.
Description
Technical Field
The present application relates to the field of transcranial magnetic stimulation therapy, and in particular to a head MRI registration method, navigation method, system and program product.
Background
In the treatment process of transcranial magnetic stimulation by means of a mechanical arm, the magnetic therapy equipment at the tail end of the mechanical arm is required to be guided to a target point position of treatment of a patient by means of an optical positioning instrument, and in the treatment process, the treatment effect is affected due to head deviation possibly occurring in the patient, and the optical positioning instrument can follow the head deviation of the patient in real time so as to improve the treatment effect. Registration of the patient's magnetic resonance imaging (magnetic resonance imaging, MRI) data with the patient's real physical space is required prior to guidance, three-dimensional reconstruction of the patient's MRI data is required, and then spatial registration of the reconstructed facial three-dimensional data with the patient's real facial data under treatment is required.
The prior head registration process comprises the steps of marking facial feature points in an MRI space, collecting corresponding feature points on the face of a corresponding patient by using a collecting probe by using the marked facial feature points, collecting the feature points on the face of the patient by using a doctor by using the collecting probe, carrying out coordinate transformation on the MRI space coordinates and physical space coordinates of a real patient by using the marked facial feature points and the feature points of preset point positions collected by the collecting probe, and unifying the MRI data space coordinates and the real patient space coordinates.
The registering process has the defects that when a doctor uses an acquisition probe to acquire characteristic points on the head of a patient, the points corresponding to the MRI space are difficult to accurately acquire, the registering has high requirements on the acquiring method of the doctor, the registering effect is not ideal, the registering time is long, and the registering efficiency is low.
Disclosure of Invention
In order to solve or at least partially solve the above technical problems, the present application provides a head MRI registration method, a navigation method, a system and a program product, which can avoid errors caused by artificial acquisition, more accurately realize registration, and also can improve the head MRI registration speed and the navigation speed.
In a first aspect, the present application provides a method of head MRI registration, comprising:
acquiring MRI three-dimensional data of a patient;
Performing facial scanning on a patient through a 3D scanner to obtain scanning data, and generating first three-dimensional model data according to the scanning data;
collecting a reflective ball attached to the forehead of a patient by using an optical positioning instrument, and determining the coordinate position of the reflective ball in the space of the optical positioning instrument;
Scanning the face of the patient according to the coordinate position of the reflecting ball in the optical positioning instrument space and generating second three-dimensional model data;
Performing coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix;
And registering the second three-dimensional model data and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data to obtain a second transformation matrix.
In a second aspect, the present application provides a head MRI navigation method comprising:
acquiring MRI three-dimensional data of a patient;
Performing facial scanning on a patient through a 3D scanner to obtain scanning data, and generating first three-dimensional model data according to the scanning data;
collecting a reflective ball attached to the forehead of a patient by using an optical positioning instrument, and determining the coordinate position of the reflective ball in the space of the optical positioning instrument;
Scanning the face of the patient according to the coordinate position of the reflecting ball in the optical positioning instrument space and generating second three-dimensional model data;
Performing coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix;
registering the second three-dimensional model data and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data to obtain a second transformation matrix;
And according to the position of the reflecting ball in the space of the optical positioner and the second conversion matrix, positioning and navigating the movement of the mechanical arm so as to move the TMS coil to the magnetic stimulation point of the head of the patient to be subjected to the magnetic stimulation for treatment.
In a third aspect, the present application provides a head MRI registration system comprising:
an acquisition module for acquiring MRI three-dimensional data of a patient;
The acquisition module is further used for carrying out facial scanning on a patient through the 3D scanner to obtain scanning data, and generating first three-dimensional model data according to the scanning data;
The acquisition module is used for acquiring a reflective ball attached to the forehead of a patient by using the optical positioning instrument and determining the coordinate position of the reflective ball in the space of the optical positioning instrument;
the acquisition module is further used for scanning the face of the patient according to the coordinate position of the reflecting ball in the optical positioning instrument space and generating second three-dimensional model data;
the registration module is used for carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix;
The registration module is further configured to register the second three-dimensional model data with the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data, so as to obtain a second transformation matrix.
In a fourth aspect, the present application provides a head MRI navigation system comprising:
an acquisition module for acquiring MRI three-dimensional data of a patient;
The acquisition module is further used for carrying out facial scanning on a patient through the 3D scanner to obtain scanning data, and generating first three-dimensional model data according to the scanning data;
The acquisition module is used for acquiring a reflective ball attached to the forehead of a patient by using the optical positioning instrument and determining the coordinate position of the reflective ball in the space of the optical positioning instrument;
the acquisition module is further used for scanning the face of the patient according to the coordinate position of the reflecting ball in the optical positioning instrument space and generating second three-dimensional model data;
the registration module is used for carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix;
The registration module is further configured to register the second three-dimensional model data with the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data, so as to obtain a second transformation matrix;
And the navigation module is used for positioning and navigating the movement of the mechanical arm according to the position of the reflecting ball in the space of the optical positioning instrument and the second conversion matrix so as to move the TMS coil to the magnetic stimulation point to be magnetically stimulated on the head of the patient for treatment.
In a fifth aspect, embodiments of the present application also provide a head MRI registration system comprising a processor and a memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising steps for the head MRI registration method as described in the first aspect.
In a sixth aspect, embodiments of the present application also provide a head MRI navigation system comprising a processor and a memory, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising steps for the head MRI navigation method according to the second aspect.
In a seventh aspect, embodiments of the present application also provide a computer program product, which when executed by a computer enables the computer to perform the head MRI registration method of the first aspect or the head MRI navigation method of the second aspect.
The head MRI registration method comprises the steps of scanning the face of a patient through a 3D scanner to obtain scanning data, generating first three-dimensional model data according to the scanning data, collecting a reflecting ball attached to the forehead of the patient through an optical positioning instrument, determining the coordinate position of the reflecting ball in the space of the optical positioning instrument, scanning the face of the patient according to the coordinate position of the reflecting ball in the space of the optical positioning instrument and generating second three-dimensional model data, carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix, registering the three-dimensional model data and the MRI three-dimensional data according to the first conversion matrix, the MRI three-dimensional model data and the three-dimensional model data to obtain a second conversion matrix, and further, positioning and navigating the movement of a mechanical arm according to the position of the reflecting ball in the space of the optical positioning instrument so as to move a TMS coil to a head to be magnetically stimulated point of the patient for treatment, so that the accuracy and the accuracy of head treatment can be improved, and the accuracy of head treatment and the MRI registration can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present application, a brief description of the related drawings will be provided below. It is to be understood that the drawings described below are only for illustrating some embodiments of the present application, and that one of ordinary skill in the art can obtain many other technical features and connection relationships not mentioned herein from the drawings.
FIG. 1 is a schematic diagram of a method for head MRI registration according to an embodiment of the present application;
Fig. 2 is a schematic diagram illustrating a demonstration of performing face recognition on MRI three-dimensional data to obtain first face feature points through a preset face recognition model according to an embodiment of the present application;
fig. 3 is a schematic illustration of a first three-dimensional model corresponding to first three-dimensional model data for marking a first preset feature point according to an embodiment of the present application;
Fig. 4 is a schematic illustration of a face rectangular region for collecting RGB images according to an embodiment of the present application;
fig. 5 is a schematic illustration of mapping a rectangular region of a face to a depth map according to an embodiment of the present application;
Fig. 6 is a schematic diagram illustrating mapping of a rectangular face region of an RGB map to MRI three-dimensional data when performing fine registration according to an embodiment of the present application;
FIG. 7 is a schematic illustration of fine registration of MRI three-dimensional data and second three-dimensional model data according to an embodiment of the present application;
FIG. 8 is a schematic illustration of another method of head MRI registration provided in accordance with an embodiment of the present application;
FIG. 9 is a schematic diagram of a head MRI registration system according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a head MRI registration system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "first," "second," "third," and "fourth" and the like in the description and in the claims and drawings are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The following describes the technical solution in the embodiment of the present application in detail with reference to the drawings in the embodiment of the present application.
Example 1
As shown in fig. 1, fig. 1 is a schematic flow chart of a head MRI registration method according to an embodiment of the present application, and one embodiment of the present application provides a head MRI registration method, which includes:
101. MRI three-dimensional data of a patient is acquired.
Wherein, magnetic resonance brain imaging (magnetic resonance imaging, MRI) data of the tested individual can be acquired by a magnetic resonance imager, and MRI three-dimensional data is generated according to the magnetic resonance brain imaging data.
102. And carrying out facial scanning on the patient through a 3D scanner to obtain scanning data, and generating first three-dimensional model data according to the scanning data.
The scanning data comprises GRB images, depth images and point clouds corresponding to the depth images, and concretely, a 3D scanner can be registered in an optical positioning instrument, so that the origin of the 3D scanner and the origin of the optical positioning instrument are in the same coordinate system to determine the relative position relation between the 3D scanner and the optical positioning instrument, the 3D scanner is used for carrying out facial scanning on a patient to obtain the scanning data, first three-dimensional model data are generated according to the scanning data, and first preset feature points corresponding to MRI three-dimensional data are marked on a first three-dimensional model corresponding to the first three-dimensional model data.
103. And collecting a reflective ball attached to the forehead of the patient by using an optical positioning instrument, and determining the coordinate position of the reflective ball in the space of the optical positioning instrument.
The optical locator is used for collecting the reflective ball attached to the forehead of the patient, and the coordinate position of the reflective ball in the space of the optical locator can be known.
104. And scanning the face of the patient according to the coordinate position of the reflecting ball in the optical locator space and generating second three-dimensional model data.
After the coordinate position of the reflecting ball in the space of the optical positioner is determined by using the reflecting ball, the second three-dimensional model data can be accurately scanned and generated.
105. And carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix.
The process of coordinate transformation to obtain the first transformation matrix can be understood as coarse registration, and aims to improve the coincidence ratio of the two sets of data as much as possible through the transformation matrix (rotation and translation).
Specifically, the first three-dimensional model data is used for marking characteristic points, the second three-dimensional model data is used for performing coordinate conversion with the MRI three-dimensional data, the characteristic points can be marked at the places with the same characteristics of the two sets of data (the second three-dimensional model data and the MRI three-dimensional data), and then matrix conversion of the two sets of data is obtained through conversion of the characteristic points.
106. And registering the second three-dimensional model data and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data to obtain a second transformation matrix.
The first transformation matrix is used for determining an initial position for registering the MRI three-dimensional data and the three-dimensional model data of the human face part area; the process of performing registration to obtain the second transformation matrix can be understood as fine registration, as shown in fig. 7, and is a demonstration schematic diagram of performing fine registration on MRI three-dimensional data and second three-dimensional model data, in this scheme, two sets of data (MRI three-dimensional data and second three-dimensional model data) are initially aligned through coarse registration, so as to find a rough matching relationship, and provide a better initial position for subsequent fine registration; further, by fine registration, an optimal transformation matrix is calculated to minimize the corresponding point-to-point distances of two spaces (MRI space and 3D scanner space) to achieve high-precision registration.
The method comprises the steps of determining an initial position for registering the MRI three-dimensional data and the three-dimensional model data of the face partial region according to the first transformation matrix, and registering the second three-dimensional model data and the MRI three-dimensional data according to the initial position to obtain a second transformation matrix, so that fine registration is achieved.
According to the head MRI registration method, a 3D scanner is used for scanning the face of a patient to obtain scanning data, first three-dimensional model data are generated according to the scanning data, an optical positioning instrument is used for collecting a reflecting ball attached to the forehead of the patient, the coordinate position of the reflecting ball in the space of the optical positioning instrument is determined, the face of the patient is scanned according to the coordinate position of the reflecting ball in the space of the optical positioning instrument and second three-dimensional model data are generated, the MRI space coordinates and the space coordinates of the 3D scanner are subjected to coordinate conversion according to the MRI three-dimensional data, the first conversion matrix is obtained, the MRI three-dimensional data and the MRI three-dimensional data are registered according to the first conversion matrix, the MRI three-dimensional data and the three-dimensional model data to obtain a second conversion matrix, further, the head MRI navigation method can be used for positioning and navigating movement of a mechanical arm according to the position of the reflecting ball in the space of the optical positioning instrument, so that a TMS coil can be moved to a head to be treated by a magnetic stimulation point of the patient, therefore, the accuracy of head treatment and the accuracy of the head treatment can be improved, and the accuracy of the head treatment and the MRI registration can be improved, and the accuracy of the head treatment can be improved.
Optionally, the acquiring MRI three-dimensional data of the patient includes:
acquiring magnetic resonance imaging data of a patient;
and carrying out three-dimensional reconstruction on the magnetic resonance imaging data to obtain MRI three-dimensional data.
The magnetic resonance brain imaging may include a functional magnetic resonance image (functional magnetic resonance imaging, fMRI) and a structural magnetic resonance image (structural magnetic resonance imaging, sMRI), from which three-dimensional reconstruction may be performed to obtain MRI three-dimensional data.
Optionally, the coordinate converting, according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data, the MRI spatial coordinates and the spatial coordinates of the 3D scanner to obtain a first conversion matrix, including:
Marking a first preset feature point corresponding to the MRI three-dimensional data on a first three-dimensional model corresponding to the first three-dimensional model data;
marking a second preset feature point corresponding to the first preset feature point on the second three-dimensional model;
And carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data and the second preset feature points to obtain a first conversion matrix.
The method and the device are characterized in that as shown in fig. 3, a first preset feature point is marked on a first three-dimensional model corresponding to first three-dimensional model data, the first preset feature point can be obtained by marking the first three-dimensional model scanned by a 3D scanner through a face recognition model, two sets of data (MRI three-dimensional data and second three-dimensional model data) are initially aligned through coarse registration, a rough matching relation is found, and a good initial position is provided for follow-up accurate registration.
The method comprises the steps of marking first preset feature points corresponding to MRI three-dimensional data on a first three-dimensional model according to the MRI three-dimensional data, and marking second preset feature points corresponding to the first preset feature points on a second three-dimensional model, so that coarse registration can be performed by using the second preset feature points, and a first transformation matrix is obtained.
The coincidence ratio of the two sets of data is improved as much as possible through a transformation matrix (rotation and translation), the first three-dimensional model data is used for carrying out characteristic point marking, the second three-dimensional model data is used for carrying out coordinate transformation with the MRI three-dimensional data, the characteristic points can be marked at the same characteristic place of the two sets of data (the second three-dimensional model data and the MRI three-dimensional data), and then the matrix transformation of the two sets of data is obtained through the transformation of the characteristic points, so that a first transformation matrix is obtained.
Optionally, the coordinate converting, according to the MRI three-dimensional data and the second three-dimensional model data, the MRI spatial coordinates and the spatial coordinates of the 3D scanner to obtain a first conversion matrix, including:
performing face recognition on the MRI three-dimensional data through a preset face recognition model to obtain first face feature points;
And carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the first face feature points and the second preset feature points to obtain a first conversion matrix.
The face recognition method comprises the steps of carrying out face recognition on MRI three-dimensional data through a preset face recognition model to obtain a demonstration schematic diagram of first face feature points, specifically, carrying out face recognition on the MRI three-dimensional data through the preset face recognition model to obtain the first face feature points, carrying out face feature point marking on the MRI three-dimensional model more accurately through the face recognition model, carrying out training in advance to obtain a face recognition model, specifically, obtaining three-dimensional point cloud sample data of a face through a 3D scanner, obtaining MRI point cloud sample data, and training the three-dimensional point cloud sample data and the MRI point cloud sample data through a PointNet network model to obtain the preset face recognition model.
In the scheme, the identification of the facial feature points can be performed through the AI model, specifically, the face recognition is performed on the MRI three-dimensional data through a preset face recognition model to obtain first facial feature points, and then the first facial feature points are used for rough registration to obtain a first conversion matrix.
Optionally, the scan data includes a depth map, and the registering the second three-dimensional model data and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data to obtain a second transformation matrix includes:
cutting the face region on the depth map to obtain a face part region;
And registering the human face partial region and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the three-dimensional model data of the human face partial region to obtain a second transformation matrix.
The face region on the depth map is cut to obtain a face region, and the face region is subjected to fine registration, so that the registration speed and precision can be improved.
Optionally, the registering the face region and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the three-dimensional model data of the face region to obtain a second transformation matrix, including:
determining an initial position for registering the MRI three-dimensional data and the three-dimensional model data of the human face partial region according to the first transformation matrix;
Performing point cloud set sampling and preprocessing on the MRI three-dimensional data and the three-dimensional model data of the human face partial region to obtain a preprocessed target point cloud set and an input point cloud set, wherein the input point cloud set corresponds to the three-dimensional model data of the human face partial region, and the target point cloud set corresponds to the MRI three-dimensional data;
And carrying out point cloud matching on the target point cloud set and the input point cloud set according to the initial position, wherein the point cloud of the input point cloud set is converted into a coordinate system corresponding to the target point cloud set by constructing a conversion matrix, estimating error functions of the source point cloud and the target point cloud after conversion, and obtaining a second conversion matrix when the error functions are determined to be converged.
The target point clouds p= { P 1,p2,…,pn } and the input point clouds x= { X 1,x2,…,xn } can be subjected to point cloud matching, and a transformation matrix (R, t) is constructed, wherein an error function is as follows:
。
Wherein N is the number of point clouds of the target point.
Optionally, the determining, according to the first transformation matrix, an initial position for registering the MRI three-dimensional data and the three-dimensional model data of the face region includes:
And rotating and translating the MRI three-dimensional data and the three-dimensional model data of the human face partial region according to the first conversion matrix, so that the MRI three-dimensional data and the three-dimensional model data of the human face partial region are successfully matched, and the initial position is obtained.
Optionally, the scan data further includes an RGB image, and the clipping the face area on the depth image to obtain a face area includes:
collecting a human face rectangular area of an RGB image;
And mapping the human face rectangular region to the depth map to obtain a human face partial region of the depth map rectangle.
Fig. 4 is a schematic diagram showing a face rectangular region for collecting RGB images, fig. 5 is a schematic diagram showing a face rectangular region mapped to a depth image, and fig. 6 is a schematic diagram showing a face rectangular region for mapping the RGB images to MRI three-dimensional data when performing fine registration, the face rectangular region is mapped to the depth image by collecting the face rectangular region of the RGB images, a face partial region of the depth image rectangle is obtained, and the face partial region is subjected to fine registration, so that the registration speed and precision can be improved.
Example two
As shown in fig. 8, an embodiment of the present application proposes another method for registering a head MRI, and fig. 8 is a schematic flow chart of another method for registering a head MRI according to an embodiment of the present application, which includes:
201. Magnetic resonance imaging data of the patient is acquired.
202. And carrying out three-dimensional reconstruction on the magnetic resonance imaging data to obtain MRI three-dimensional data.
203. And carrying out facial scanning on the patient through a 3D scanner to obtain scanning data, and generating first three-dimensional model data according to the scanning data.
204. And collecting a reflective ball attached to the forehead of the patient by using an optical positioning instrument, and determining the coordinate position of the reflective ball in the space of the optical positioning instrument.
205. And scanning the face of the patient according to the coordinate position of the reflecting ball in the optical locator space and generating second three-dimensional model data.
206. Marking a first preset feature point corresponding to the MRI three-dimensional data on a first three-dimensional model corresponding to the first three-dimensional model data.
207. Marking a second preset feature point corresponding to the first preset feature point on the second three-dimensional model.
208. And carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data and the second preset feature points to obtain a first conversion matrix.
209. And cutting the face region on the depth map to obtain a face partial region.
210. And determining an initial position for registering the MRI three-dimensional data and the three-dimensional model data of the human face partial region according to the first transformation matrix.
211. And carrying out point cloud set sampling and preprocessing on the MRI three-dimensional data and the three-dimensional model data of the human face partial region to obtain preprocessed target point cloud sets and input point cloud sets.
212. And carrying out point cloud matching on the target point cloud set and the input point cloud set according to the initial position, wherein the point cloud of the input point cloud set is converted into a coordinate system corresponding to the target point cloud set by constructing a conversion matrix, estimating error functions of the source point cloud and the target point cloud after conversion, and obtaining a second conversion matrix when the error functions are determined to be converged.
In this embodiment, a first preset feature point corresponding to the MRI three-dimensional data is marked on a first three-dimensional model corresponding to the first three-dimensional model data, a second preset feature point corresponding to the first preset feature point is marked on the second three-dimensional model, and according to the MRI three-dimensional data and the second preset feature point, coordinate conversion is performed on MRI space coordinates and space coordinates of a 3D scanner to obtain a first conversion matrix, a face region on the depth map is cut to obtain a face partial region, an initial position for registering the MRI three-dimensional data and the three-dimensional model data of the face partial region is determined according to the first conversion matrix, point cloud sampling and preprocessing are performed on the MRI three-dimensional data and the three-dimensional model data of the face partial region to obtain a preprocessed target point cloud and an input point cloud, the point cloud is matched with the target point cloud according to the initial position, the point cloud of the input point cloud is converted to the target point cloud corresponding to the target point cloud, the face partial rectangular coordinate is converted to the target point cloud, the face partial region is mapped to the depth map, the face partial region is registered, and an error rate of the face partial region is estimated, and an error of the face is estimated, and a face region is registered.
Example III
One embodiment of the present application proposes a head MRI navigation method, the method comprising:
acquiring MRI three-dimensional data of a patient;
Performing facial scanning on a patient through a 3D scanner to obtain scanning data, and generating first three-dimensional model data according to the scanning data;
collecting a reflective ball attached to the forehead of a patient by using an optical positioning instrument, and determining the coordinate position of the reflective ball in the space of the optical positioning instrument;
Scanning the face of the patient according to the coordinate position of the reflecting ball in the optical positioning instrument space and generating second three-dimensional model data;
Performing coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix;
registering the second three-dimensional model data and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data to obtain a second transformation matrix;
And according to the position of the reflecting ball in the space of the optical positioner and the second conversion matrix, positioning and navigating the movement of the mechanical arm so as to move the TMS coil to the magnetic stimulation point of the head of the patient to be subjected to the magnetic stimulation for treatment.
The steps of the above method may refer to specific implementation steps of the above head MRI registration method, and will not be described herein.
The method comprises the steps of scanning the face of a patient through a 3D scanner to obtain scanning data, generating first three-dimensional model data according to the scanning data, acquiring a reflective ball attached to the forehead of the patient by using an optical positioning instrument, determining the coordinate position of the reflective ball in the space of the optical positioning instrument, scanning the face of the patient according to the coordinate position of the reflective ball in the space of the optical positioning instrument and generating second three-dimensional model data, carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix, registering the three-dimensional model data and the MRI three-dimensional data according to the first conversion matrix, the MRI three-dimensional data and the three-dimensional model data to obtain a second conversion matrix, further, positioning and navigating the movement of a mechanical arm according to the position of the reflective ball in the space of the optical positioning instrument and the second conversion matrix, so as to treat the magnetic stimulation point of the head of the patient, and carrying out magnetic stimulation point treatment by moving the mechanical arm, and carrying out positioning and navigation on the magnetic stimulation point of the head of the patient through the TMS, so that the magnetic stimulation point of the head of the patient can be stimulated by the magnetic stimulation point of the head and the TMS can be positioned by improving the accuracy of the magnetic stimulation point of the head and the head of the patient.
Example IV
As shown in fig. 9, a head MRI registration system 300 provided in the embodiment of fig. 9 includes:
an acquisition module 301 for acquiring MRI three-dimensional data of a patient;
The acquiring module 301 is further configured to perform facial scanning on a patient by using a 3D scanner, obtain scanning data, and generate first three-dimensional model data according to the scanning data;
The acquisition module 302 is configured to acquire a reflective ball attached to a forehead of a patient using an optical positioner, and determine a coordinate position of the reflective ball in a space of the optical positioner;
The acquiring module 301 is further configured to scan a face of the patient according to the coordinate position of the reflective ball in the optical locator space and generate second three-dimensional model data;
The registration module 303 is configured to coordinate-convert the MRI spatial coordinates and the spatial coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data, and the second three-dimensional model data, so as to obtain a first conversion matrix;
The registration module 303 is further configured to register the second three-dimensional model data with the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data, so as to obtain a second transformation matrix.
Optionally, in the aspect of acquiring MRI three-dimensional data of the patient, the acquiring module 301 is specifically configured to:
acquiring magnetic resonance imaging data of a patient;
and carrying out three-dimensional reconstruction on the magnetic resonance imaging data to obtain MRI three-dimensional data.
Optionally, in terms of performing coordinate transformation on MRI spatial coordinates and spatial coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first transformation matrix, the registration module 303 is specifically configured to:
Marking a first preset feature point corresponding to the MRI three-dimensional data on a first three-dimensional model corresponding to the first three-dimensional model data;
marking a second preset feature point corresponding to the first preset feature point on the second three-dimensional model;
And carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data and the second preset feature points to obtain a first conversion matrix.
Optionally, in terms of performing coordinate transformation on the MRI spatial coordinates and the spatial coordinates of the 3D scanner according to the MRI three-dimensional data and the second preset feature points to obtain a first transformation matrix, the registration module 303 is specifically configured to:
performing face recognition on the MRI three-dimensional data through a preset face recognition model to obtain first face feature points;
And carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the first face feature points and the second preset feature points to obtain a first conversion matrix.
Optionally, the registration module 303 is further configured to:
acquiring three-dimensional point cloud sample data of a human face through a 3D scanner;
training the three-dimensional point cloud sample data and the MRI point cloud sample data through PointNet network models to obtain the preset face recognition model.
Optionally, the scan data includes a depth map, and in the aspect of registering the second three-dimensional model data and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data, the registration module 303 is configured to:
cutting the face region on the depth map to obtain a face part region;
And registering the human face partial region and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the three-dimensional model data of the human face partial region to obtain a second transformation matrix.
Optionally, in the aspect of registering the face region and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the three-dimensional model data of the face region, the registration module 303 is specifically configured to:
determining an initial position for registering the MRI three-dimensional data and the three-dimensional model data of the human face partial region according to the first transformation matrix;
Performing point cloud set sampling and preprocessing on the MRI three-dimensional data and the three-dimensional model data of the human face partial region to obtain a preprocessed target point cloud set and an input point cloud set, wherein the input point cloud set corresponds to the three-dimensional model data of the human face partial region, and the target point cloud set corresponds to the MRI three-dimensional data;
And carrying out point cloud matching on the target point cloud set and the input point cloud set according to the initial position, wherein the point cloud of the input point cloud set is converted into a coordinate system corresponding to the target point cloud set by constructing a conversion matrix, estimating error functions of the source point cloud and the target point cloud after conversion, and obtaining a second conversion matrix when the error functions are determined to be converged.
Optionally, in the determining an initial position for registering the MRI three-dimensional data and the three-dimensional model data of the face region according to the first transformation matrix, the registration module 303 is specifically configured to:
And rotating and translating the MRI three-dimensional data and the three-dimensional model data of the human face partial region according to the first conversion matrix, so that the MRI three-dimensional data and the three-dimensional model data of the human face partial region are successfully matched, and the initial position is obtained.
Optionally, the scan data further includes an RGB image, the face area on the depth image is cut to obtain a face area, and the registration module 303 is specifically configured to:
collecting a human face rectangular area of an RGB image;
And mapping the human face rectangular region to the depth map to obtain a human face partial region of the depth map rectangle.
According to the head MRI registration method of the embodiment, magnetic resonance brain imaging data of a tested individual are obtained, wherein the magnetic resonance brain imaging data comprise functional magnetic resonance images and structural magnetic resonance images; the method comprises preprocessing magnetic resonance brain imaging data to obtain preprocessed magnetic resonance brain imaging data, preprocessing the magnetic resonance brain imaging data to remove noise introduced in a signal acquisition process, reserving real functional activities of brains of a tested subject, providing a reliable basis for subsequent functional connection calculation, dividing a superficial brain region according to the preprocessed magnetic resonance brain imaging data to obtain a plurality of functional subareas, determining individual target stimulation targets of transcranial magnetic stimulation according to the plurality of functional subareas, dividing the superficial brain region into a plurality of functional subareas, then taking the functional subareas as a minimum search unit, searching for individual optimal targets by taking the functional subareas, comprehensively considering spatial and temporal dual characteristics of the superficial cerebral cortex, wherein the spatial arrangement of neurons in the brain has continuity, the neurons with high functional similarity are generally more close in space, the temporal characteristics according to the division of the functional subareas are functional connection strength between voxels, reflect the functional similarity between different voxels, the spatial characteristics are different spatial distances between the different voxels, the functional subareas can be compared with each functional subarea with the constraint condition, the functional subarea can be better compared with the functional connection strength between the functional subareas, the functional subareas can be better compared with the functional connection performance of the functional subareas, and the functional subarea can be better compared with the functional connection conditions of the functional subareas is better compared with the functional subareas, even if the connection strength of some voxels changes with time, the functional characteristics of the whole functional subarea still remain relatively consistent, thereby improving the robustness of target positioning.
Example five
A head MRI navigation system provided in an embodiment of the present application includes:
an acquisition module for acquiring MRI three-dimensional data of a patient;
The acquisition module is further used for carrying out facial scanning on a patient through the 3D scanner to obtain scanning data, and generating first three-dimensional model data according to the scanning data;
The acquisition module is used for acquiring a reflective ball attached to the forehead of a patient by using the optical positioning instrument and determining the coordinate position of the reflective ball in the space of the optical positioning instrument;
the acquisition module is further used for scanning the face of the patient according to the coordinate position of the reflecting ball in the optical positioning instrument space and generating second three-dimensional model data;
the registration module is used for carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix;
The registration module is further configured to register the second three-dimensional model data with the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data, so as to obtain a second transformation matrix;
And the navigation module is used for positioning and navigating the movement of the mechanical arm according to the position of the reflecting ball in the space of the optical positioning instrument and the second conversion matrix so as to move the TMS coil to the magnetic stimulation point to be magnetically stimulated on the head of the patient for treatment.
For specific steps of the above system, reference may be made to specific implementation steps of the above head MRI registration method, which are not described herein.
The method comprises the steps of scanning the face of a patient through a 3D scanner to obtain scanning data, generating first three-dimensional model data according to the scanning data, acquiring a reflective ball attached to the forehead of the patient by using an optical positioning instrument, determining the coordinate position of the reflective ball in the space of the optical positioning instrument, scanning the face of the patient according to the coordinate position of the reflective ball in the space of the optical positioning instrument and generating second three-dimensional model data, carrying out coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix, registering the three-dimensional model data and the MRI three-dimensional data according to the first conversion matrix, the MRI three-dimensional data and the three-dimensional model data to obtain a second conversion matrix, further, positioning and navigating the movement of a mechanical arm according to the position of the reflective ball in the space of the optical positioning instrument and the second conversion matrix, so as to treat the magnetic stimulation point of the head of the patient, and carrying out magnetic stimulation point treatment by moving the mechanical arm, and carrying out positioning and navigation on the magnetic stimulation point of the head of the patient through the TMS, so that the magnetic stimulation point of the head of the patient can be stimulated by the magnetic stimulation point of the head and the TMS can be positioned by improving the accuracy of the magnetic stimulation point of the head and the head of the patient.
Example six
As shown in fig. 10, the embodiment of fig. 10 provides a head MRI registration system, which includes a processor 410 and a memory 420, and one or more programs stored in the memory, where the memory 420 may be a high-speed RAM memory or a nonvolatile memory (non-volatile memory), such as a disk memory. The memory 420 is configured to store a set of program codes, and the processor 410 is configured to call the program codes stored in the memory 420 to perform the following operations:
acquiring MRI three-dimensional data of a patient;
Performing facial scanning on a patient through a 3D scanner to obtain scanning data, and generating first three-dimensional model data according to the scanning data;
collecting a reflective ball attached to the forehead of a patient by using an optical positioning instrument, and determining the coordinate position of the reflective ball in the space of the optical positioning instrument;
Scanning the face of the patient according to the coordinate position of the reflecting ball in the optical positioning instrument space and generating second three-dimensional model data;
Performing coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix;
And registering the second three-dimensional model data and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data to obtain a second transformation matrix.
The head MRI registration system of the present embodiment acquires magnetic resonance brain imaging data of a subject, the magnetic resonance brain imaging data including a functional magnetic resonance image and a structural magnetic resonance image; the method comprises preprocessing magnetic resonance brain imaging data to obtain preprocessed magnetic resonance brain imaging data, preprocessing the magnetic resonance brain imaging data to remove noise introduced in a signal acquisition process, reserving real functional activities of brains of a tested subject, providing a reliable basis for subsequent functional connection calculation, dividing a superficial brain region according to the preprocessed magnetic resonance brain imaging data to obtain a plurality of functional subareas, determining individual target stimulation targets of transcranial magnetic stimulation according to the plurality of functional subareas, dividing the superficial brain region into a plurality of functional subareas, then taking the functional subareas as a minimum search unit, searching for individual optimal targets by taking the functional subareas, comprehensively considering spatial and temporal dual characteristics of the superficial cerebral cortex, wherein the spatial arrangement of neurons in the brain has continuity, the neurons with high functional similarity are generally more close in space, the temporal characteristics according to the division of the functional subareas are functional connection strength between voxels, reflect the functional similarity between different voxels, the spatial characteristics are different spatial distances between the different voxels, the functional subareas can be compared with each functional subarea with the constraint condition, the functional subarea can be better compared with the functional connection strength between the functional subareas, the functional subareas can be better compared with the functional connection performance of the functional subareas, and the functional subarea can be better compared with the functional connection conditions of the functional subareas is better compared with the functional subareas, even if the connection strength of some voxels changes with time, the functional characteristics of the whole functional subarea still remain relatively consistent, thereby improving the robustness of target positioning.
Example seven
The head MRI navigation system according to the embodiment of the present application includes a processor 410 and a memory 420, and one or more programs stored in the memory, where the memory 420 may be a high-speed RAM memory or a nonvolatile memory (non-volatile memory), such as a disk memory. The memory 420 is configured to store a set of program codes, and the processor 410 is configured to call the program codes stored in the memory 420 to perform the following operations:
acquiring MRI three-dimensional data of a patient;
Performing facial scanning on a patient through a 3D scanner to obtain scanning data, and generating first three-dimensional model data according to the scanning data;
collecting a reflective ball attached to the forehead of a patient by using an optical positioning instrument, and determining the coordinate position of the reflective ball in the space of the optical positioning instrument;
Scanning the face of the patient according to the coordinate position of the reflecting ball in the optical positioning instrument space and generating second three-dimensional model data;
Performing coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix;
registering the second three-dimensional model data and the MRI three-dimensional data according to the first transformation matrix, the MRI three-dimensional data and the second three-dimensional model data to obtain a second transformation matrix;
And according to the position of the reflecting ball in the space of the optical positioner and the second conversion matrix, positioning and navigating the movement of the mechanical arm so as to move the TMS coil to the magnetic stimulation point of the head of the patient to be subjected to the magnetic stimulation for treatment.
The head MRI navigation system of the embodiment scans the face of a patient through a 3D scanner to obtain scanning data, generates first three-dimensional model data according to the scanning data, acquires a reflective ball attached to the forehead of the patient by using an optical positioning instrument, determines the coordinate position of the reflective ball in the space of the optical positioning instrument, scans the face of the patient according to the coordinate position of the reflective ball in the space of the optical positioning instrument and generates second three-dimensional model data, performs coordinate conversion on the MRI space coordinates and the space coordinates of the 3D scanner according to the MRI three-dimensional data, the first three-dimensional model data and the second three-dimensional model data to obtain a first conversion matrix, registers the three-dimensional model data and the MRI three-dimensional data according to the first conversion matrix, the MRI three-dimensional data and the three-dimensional model data to obtain a second conversion matrix, and further, the head MRI navigation method can position and navigate the movement of a mechanical arm according to the position of the reflective ball in the space of the optical positioning instrument and the second conversion matrix so as to move a TMS coil to a head to a therapeutic point of the patient to be stimulated magnetically, and the magnetic therapeutic point of the head of the patient is required to be stimulated magnetically, and the magnetic therapeutic point of the head of the patient can be stimulated magnetically stimulated by the head is positioned by the mechanical coil and the magnetic stimulation device is moved to the magnetic stimulation device, and the magnetic stimulation device is positioned by the magnetic stimulation device 3, and the magnetic stimulation device is positioned by the magnetic stimulation device has high accuracy.
Embodiments of the present application also provide a computer program product, wherein the computer program product comprises a non-transitory computer readable program product storing a computer program operable to cause a computer to perform some or all of the steps described in any one of the head MRI registration methods or head MRI navigation methods described in embodiments of the present application. The computer program product may be a software installation package.
Although the application is described herein in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus (device), or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. A computer program may be stored/distributed on a suitable medium supplied together with or as part of other hardware, but may also take other forms, such as via the Internet or other wired or wireless telecommunication systems.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable human-vehicle track analysis device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable human-vehicle track analysis device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable human-vehicle trajectory analysis device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable human vehicle track analysis device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer implemented process such that the instructions which execute on the computer or other programmable device provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Although the application has been described in connection with specific features and embodiments thereof, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the application. Accordingly, the specification and drawings are merely exemplary illustrations of the present application as defined in the appended claims and are considered to cover any and all modifications, variations, combinations, or equivalents that fall within the scope of the application. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
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