System and method for registering operating images
A system for registering operating images includes an X-ray imaging machine, a visible-light camera, a rectifier and a computer system. The X-ray imaging machine captures a first X-ray image of the rectifier, and the visible-light camera captures a first visible-light image of the rectifier at the same time. The computer system recognizes the rectifier in the first X-ray image and in the first visible-light image to compute a conversion model between a coordinate system of the X-ray imager and a coordinate system of the visible-light camera. The X-ray imaging machine also captures a second X-ray image of a patient on which a positioning marker is set, and the visible-light camera captures a second visible-light image of the positioning marker. The computer system provides a navigation interface by combining the second X-ray image and the second visible-light image based on the conversion model.
1. A system for registering operating images, the system comprising:
an X-ray imaging machine;
a visible-light camera disposed on the X-ray imaging machine;
a visible marker, wherein the X-ray imaging machine is configured to capture a first X-ray image of the visible marker, and the visible-light camera is configured to capture a first visible-light image of the visible marker at same time; and
a computer system configured to recognize the visible marker in the first X-ray image and in the first visible-light image to compote a conversion model between a first coordinate system of the X-ray imaging machine and a second coordinate system of the visible-light camera,
wherein the X-ray imaging machine is further configured to capture a second X-ray image of a patient on which a positioning mark is set, and the visible-light camera is configured to capture a second visible-light image of the positioning mark, wherein the second X-ray image is scanned on the patient with the positioning mark is set on, wherein the conversion model is a matrix, wherein the computer system is configured to transform coordinates of the positioning mark in the second visible-light image into coordinates in the second X-ray image based on the matrix,
wherein the computer system is configured to provide a navigation interface by combining the second X-ray image and the second visible-light image based on the conversion model,
wherein the visible marker comprises a pentagon shape with a plurality of metal balls.
2. The system of claim 1 , wherein coordinates of the visible marker in the first coordinate system are represented as a vector X, coordinates of the visible marker in the second coordinate system are represented as a vector Y, and the computer system is configured to compute the conversion model according to an equation (1),
X=T XM Y (1)
wherein the conversion model is the matrix T XM .
3. The system of claim 1 , wherein the X-ray imaging machine is a C-arm X-ray machine which comprises an emitting terminal and a receiving terminal, and the visible-light camera is disposed on the receiving terminal.
4. The system of claim 1 , further comprising a surgical instrument and an instrument camera which is fixed on the surgical instrument.
5. A method for registering operating images for a computer system, the method comprising:
capturing, by an X-ray imaging machine, a first X-ray image of a visible marker, and capturing, by a visible-light camera, a first visible-light image of the visible marker at same time, wherein the visible-light camera is disposed on the X-ray imaging machine;
recognizing the visible marker in the first X-ray image and in the first visible-light image to compote a conversion model between a first coordinate system of the X-ray imaging machine and a second coordinate system of the visible-light camera;
capturing, by the X-ray imaging machine, a second X-ray image of a patient on which a positioning mark is set;
capturing, by the visible-light camera, a second visible-light image of the positioning mark, wherein the second X-ray image is scanned on the patient with the positioning mark is set on, wherein the conversion model is a matrix, wherein coordinates of the positioning mark in the second visible-light image is transformed into coordinates in the second X-ray image based on the matrix; and
providing a navigation interface by combining the second X-ray image and the second visible-light image based on the conversion model,
wherein the visible marker comprises a pentagon shape with a plurality of metal balls.
6. The method of claim 5 , wherein coordinates of the visible marker in the first coordinate system are represented as a vector X, coordinates of the visible marker in the second coordinate system are represented as a vector Y, and the method further comprises:
computing the conversion model according to an equation (1):
X=T XM Y (1)
wherein the conversion model is the matrix T XM .
7. The method of claim 5 , wherein the X-ray imaging machine is a C-arm X-ray machine which comprises an emitting terminal and a receiving terminal, and the visible-light camera is disposed on the receiving terminal.