CN112837363A - Stereotaxic frame positioning method and system, medium and terminal - Google Patents

Abstract

Translated fromChinese

本发明提供一种立体定向框架定位方法及系统、介质及终端，包括滤除立体定向框架内定位器的框架；获取所述定位器的先验坐标点；在各个片层上获取所述定位器的轮廓中心位置点；获取在左、右、上方均有三个轮廓中心位置点的有效片层；在各个有效片层上，基于所述有效片层的轮廓中心位置点计算立体定向框架坐标系下的左、右、上方的参考点坐标；基于所述各个有效片层上的参考点坐标计算影像坐标系到立体定向框架坐标系的三维仿射变换矩阵；基于所述三维仿射变换矩阵将所述立体定向框架的影像坐标映射至所述立体定向框架坐标系。本发明的立体定向框架定位方法及系统、介质及终端有效解决了立体定向框架定位精度较低、定位时间较长的问题。

The present invention provides a stereotaxic frame positioning method, system, medium and terminal, including filtering out the frame of the localizer in the stereotaxic frame; acquiring the prior coordinate points of the localizer; and acquiring the localizer on each slice the contour center position point; obtain the effective slices with three contour center position points on the left, right and above; on each effective slice, calculate the stereotaxic frame coordinate system based on the contour center position points of the effective slices The coordinates of the left, right, and upper reference points on the left, right, and top of the image; calculate the three-dimensional affine transformation matrix from the image coordinate system to the stereotactic frame coordinate system based on the reference point coordinates on the effective slices; based on the three-dimensional affine transformation matrix The image coordinates of the stereotaxic frame are mapped to the stereotaxic frame coordinate system. The stereotaxic frame positioning method and system, medium and terminal of the present invention effectively solve the problems of low positioning accuracy and long positioning time of the stereotaxic frame.

Description

Stereotactic frame positioning method and system, medium and terminal

Technical Field

The present invention relates to the field of automatic positioning technologies, and in particular, to a method and a system for positioning a stereotactic frame, a medium, and a terminal.

Background

Deep Brain Stimulation (DBS), also known as Brain pacemaker therapy, is a biomedical engineering technique in which electrodes are implanted into the human body to improve the quality of life. The technology is characterized in that electrodes are implanted at the positions of nerve nuclei (such as the inner side part of globus pallidus, subthalamic nucleus and the like) related to movement in the brain by utilizing brain stereotactic surgery, high-frequency electric stimulation is sent, neurons interfering abnormal electric activity are interfered, and a movement control loop or disordered neurotransmitter is restored to a relatively normal functional state, so that the purposes of relieving the movement disorder symptoms of a patient and improving the life quality are achieved. Currently, DBS is generally used for treating Parkinson's Disease (PD), dystonia (dystonia), and other diseases.

Although DBS treatment approaches are becoming more sophisticated, surgery-related complications continue to occur. Intracranial hemorrhage is one of the biggest problems. The risk of bleeding is closely related to factors such as hypertension, age and needle insertion position before operation of the patient. In order to obtain the needle insertion position of the operation, the patient needs to install a stereotactic frame before the operation, perform segmentation and positioning of the brain deep nuclei by using a series of brain images, thereby determining the details of the operation execution, and determine the stereotactic frame mark and perform positioning of the operation target point through multi-modal imaging information. However, since the stereotactic frame may shift or be inaccurately positioned during the imaging scanning process, there is a risk of positional deviation when the surgical needle insertion position is directly obtained through the surgical target marked in the imaging, which may cause a series of surgical complications.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a method and a system, a medium, and a terminal for positioning a stereotactic frame, which effectively solve the problems of low positioning accuracy and long positioning time of the stereotactic frame.

To achieve the above and other related objects, the present invention provides a stereotactic frame positioning method, comprising the steps of: preprocessing a CT image containing a three-dimensional orientation frame, and filtering a frame of a positioner in the three-dimensional orientation frame; obtaining a priori coordinate point of the locator on the CT image of the frame which is filtered; acquiring a contour center position point of the positioner on each slice layer of the CT image with the frame filtered; filtering the contour center position points of each sheet layer to obtain effective sheet layers with three contour center position points on the left, right and upper sides; calculating the coordinates of the left, right and upper reference points under the coordinate system of the stereotactic frame on each effective slice layer based on the contour center position point of the effective slice layer; the reference point is a contour center position point which is positioned at the middle position on the left, right and upper sides; calculating a three-dimensional affine transformation matrix from the image coordinate system to the stereoscopic orientation frame coordinate system based on the reference point coordinates on each effective slice layer; mapping image coordinates of the stereotactic frame to the stereotactic frame coordinate system based on the three-dimensional affine transformation matrix.

In an embodiment of the present invention, the pre-processing of the CT image including the stereotactic frame comprises the following steps:

selecting a filtering threshold value;

filtering the CT image based on the filtering threshold to filter out a frame of the localizer within the stereotactic frame.

In an embodiment of the present invention, the obtaining the prior coordinate point of the locator includes the following steps:

searching coordinate points at the first non-zero value appearing on the left, right and upper parts of each slice layer of the CT image with the frame filtered out layer by layer;

and taking the coordinate point with the largest occurrence number as the prior coordinate point.

In an embodiment of the present invention, the contour center position point of the locator is obtained based on the pattern moment.

In an embodiment of the present invention, the filtering the contour center position points of each slice to obtain an effective slice having three contour center position points on the left, right, and upper sides includes the following steps:

according to the distance between the prior coordinate point and the contour center position point, filtering out the contour center position point of which the distance is greater than the radius of the locator on each slice;

and taking the slice with three contour center position points on the left, right and upper sides as an effective slice.

In an embodiment of the present invention, the stereotactic frame coordinate system comprises two custom parameters and a relative height; the relative height of the reference point is h_rL λ, l being the locator height, λ being the ratio of the distance from the starting edge profile center position point of the three profile center position points to the reference point to the distance between the two edge profile center position points.

In an embodiment of the invention, a three-dimensional affine transformation matrix from an image coordinate system to a three-dimensional orientation frame coordinate system is calculated based on a least square method and a RANSAC abnormal point filtering algorithm.

Correspondingly, the invention provides a stereotactic frame positioning system, which comprises a preprocessing module, a first obtaining module, a second obtaining module, a filtering module, a first calculating module, a second calculating module and a mapping module, wherein the preprocessing module is used for acquiring a frame image;

the preprocessing module is used for preprocessing a CT image containing a stereotactic frame and filtering a frame of a positioner in the stereotactic frame;

the first acquisition module is used for acquiring a priori coordinate point of the positioner on the CT image of the filtered frame;

the second acquisition module is used for acquiring a contour center position point of the positioner on each slice layer of the CT image of the frame after being filtered;

the filtering module is used for filtering the contour center position points of all the sheet layers to obtain effective sheet layers with three contour center position points on the left, right and upper sides;

the first calculation module is used for calculating the coordinates of the left, right and upper reference points in a coordinate system of the stereotactic frame on each effective slice layer based on the contour center position point of the effective slice layer; the reference point is a contour center position point which is positioned at the middle position on the left, right and upper sides;

the second calculation module is used for calculating a three-dimensional affine transformation matrix from an image coordinate system to a three-dimensional orientation frame coordinate system based on the reference point coordinates on each effective slice layer;

the mapping module is configured to map image coordinates of the stereotactic frame to the stereotactic frame coordinate system based on the three-dimensional affine transformation matrix.

The present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the stereotactic frame positioning method described above.

Finally, the present invention provides a terminal comprising: a processor and a memory;

the memory is used for storing a computer program;

the processor is configured to execute the computer program stored in the memory, so as to enable the terminal to execute the stereotactic frame positioning method.

As described above, the stereotactic frame positioning method and system, medium, and terminal of the present invention have the following advantageous effects:

(1) the reference points can be automatically identified, and the reference points do not need to be manually selected or screened, so that subjective errors are reduced;

(2) the positioning can be realized according to the mapping relation between the reference point coordinates and the image coordinates, and the positioning time is effectively shortened;

(3) the problems of low positioning precision and long positioning time of the three-dimensional directional frame are solved.

Drawings

FIG. 1 is a flow chart of a stereotactic frame positioning method of the present invention in one embodiment;

FIG. 2 is a schematic view of a center point of the present invention in one embodiment;

FIG. 3 is a schematic view of a stereotactic frame positioning system of the present invention in one embodiment;

fig. 4 is a schematic structural diagram of a terminal according to an embodiment of the invention.

Description of the element reference numerals

31 preprocessing module

32 first acquisition module

33 second acquisition module

34 filtration module

35 first calculation Module

36 second calculation Module

37 mapping module

41 processor

42 memory

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.

It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

The method, the system, the medium and the terminal for positioning the three-dimensional orientation frame realize the accurate positioning of the three-dimensional orientation frame by automatically selecting the reference point and establishing the mapping relation between the reference point coordinate and the image coordinate, effectively solve the problems of lower positioning accuracy and longer positioning time of the three-dimensional orientation frame and have high practicability.

As shown in fig. 1, in an embodiment, the stereotactic frame positioning method of the present invention includes the following steps:

and step S1, preprocessing the CT image containing the stereotactic frame, and filtering out the frame of the localizer in the stereotactic frame.

Specifically, the positioner is disposed inside the stereotactic frame, so in order to determine the position of the positioner, the frames located at the edges of the positioner are first filtered out on the CT image containing the stereotactic frame.

In an embodiment of the present invention, the pre-processing of the CT image including the stereotactic frame comprises the following steps:

11) and selecting a filtering threshold value.

Specifically, the filtering threshold is used for performing a filtering operation on the CT image, so as to divide the CT image into a background portion and a target portion. In the invention, the positioner is made to be a target part and the frame is a background part by selecting a reasonable filtering threshold.

12) Filtering the CT image based on the filtering threshold to filter out a frame of the localizer within the stereotactic frame.

And step S2, acquiring prior coordinate points of the locator on the CT image of the frame which is filtered.

Specifically, on each slice of the CT image of the frame to be filtered, coordinate points at which a non-zero value appears for the first time are searched layer by layer above the left side, the right side, and the top side. Then, the respective coordinate points are counted, and the coordinate point with the largest occurrence number is taken as the prior coordinate point, i.e., the point indicating the position of the locator.

And step S3, acquiring the contour center position point of the locator on each slice of the CT image of the frame which is filtered.

Specifically, a contour center position point of the locator is acquired based on a pattern moment.

And step S4, filtering the contour center position points of each slice layer to obtain effective slice layers with three contour center position points on the left, right and upper sides.

Specifically, on the CT image of the frame to be filtered, there may be some burrs around the positioner, so the contour center point obtained in the above steps may be located on the burrs, and therefore a filtering process is required to improve the accuracy. After the filtering treatment, only the slice layer with three contour center position points at the left, right and upper parts is reserved as an effective slice layer. For slices with more or less than three contour center location points to the left, right, and above, the process is eliminated.

In an embodiment of the present invention, the filtering the contour center position points of each slice to obtain an effective slice having three contour center position points on the left, right, and upper sides includes the following steps:

41) and filtering contour center position points with the distances larger than the radius of the locator on each slice according to the distances between the prior coordinate points and the contour center position points.

42) And taking the slice with three contour center position points on the left, right and upper sides as an effective slice.

Step S5, calculating the coordinates of the left, right and upper reference points in the coordinate system of the stereotactic frame on each effective slice layer based on the contour center position point of the effective slice layer; the reference point is a contour center position point with the left, right and upper parts located at the middle position.

Specifically, on each active slice, the reference point coordinates of the left, right, and top are calculated. The reference point refers to the center position point of the contour, which is positioned at the middle position on the left, right and upper sides. In an embodiment of the present invention, the stereotactic frame coordinate system includes two custom parameters and a relative height. The relative height of the reference point is h_rL λ, l being the locator height, λ being the ratio of the distance from the starting edge profile center position point of the three profile center position points to the reference point to the distance between the two edge profile center position points. And for the left and right directions, the contour center position points are arranged from top to bottom, and the contour center position point positioned at the top is the contour center position point of the starting edge. For the upper part, the contour center position points are arranged in the order from left to right, and the contour center position point positioned at the leftmost side is the contour center position point of the starting edge.

As shown in FIG. 2, there are A, B and C contour center points on the left side, and B is taken as a referenceAnd (4) point. The relative height of B is h_rL λ, wherein,

and step S6, calculating a three-dimensional affine transformation matrix from the image coordinate system to the stereotactic frame coordinate system based on the reference point coordinates on each effective slice layer.

Specifically, a three-dimensional affine transformation matrix from an image coordinate system to a three-dimensional orientation frame coordinate system is calculated based on a least square method and a RANSAC abnormal point filtering algorithm. In one embodiment, the three-dimensional affine transformation matrix is as follows:

wherein (x, y, z) represents image coordinates, (x ', y ', z ') represents reference point coordinates, and the matrix

Representing a three-dimensional affine matrix containing 12 parameters to be optimized.

And step S7, mapping the image coordinates of the stereotactic frame to the stereotactic frame coordinate system based on the three-dimensional affine transformation matrix.

Specifically, for the stereotactic frame, the image coordinates of the stereotactic frame are mapped to the stereotactic frame coordinate system through the three-dimensional affine transformation matrix, so that the automatic positioning of the stereotactic frame is realized.

As shown in fig. 3, in an embodiment, the stereotactic frame positioning system of the present invention comprises apreprocessing module 31, a first obtainingmodule 32, a second obtainingmodule 33, afiltering module 34, a first calculatingmodule 35, asecond calculating module 36 and amapping module 37.

Thepreprocessing module 31 is configured to preprocess a CT image including a stereotactic frame, and filter out a frame of a positioner in the stereotactic frame.

The first obtainingmodule 32 is connected to thepreprocessing module 31, and is configured to obtain a priori coordinate points of the locator on the CT image of the frame filtered out.

The second obtainingmodule 33 is connected to thepreprocessing module 31, and is configured to obtain a contour center position point of the positioner on each slice of the CT image with the frame filtered out.

Thefiltering module 34 is connected to the first obtainingmodule 32 and the second obtainingmodule 33, and configured to filter the contour center position points of each slice, and obtain an effective slice having three contour center position points on the left, right, and upper sides.

Thefirst calculating module 35 is connected to thefiltering module 34, and is configured to calculate, on each effective slice layer, left, right, and upper reference point coordinates in a stereotactic frame coordinate system based on a contour center position point of the effective slice layer; the reference point is a contour center position point with the left, right and upper parts located at the middle position.

Thesecond calculating module 36 is connected to the first calculatingmodule 35, and is configured to calculate a three-dimensional affine transformation matrix from the image coordinate system to the stereotactic frame coordinate system based on the reference point coordinates on each active slice layer.

Themapping module 37 is connected to thesecond computing module 36, and is configured to map the image coordinates of the stereotactic frame to the stereotactic frame coordinate system based on the three-dimensional affine transformation matrix.

The structures and principles of thepreprocessing module 31, the first obtainingmodule 32, the second obtainingmodule 33, thefiltering module 34, the first calculatingmodule 35, thesecond calculating module 36, and themapping module 37 correspond to the steps of the stereotactic frame positioning method one to one, and therefore, the descriptions thereof are omitted here.

It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the x module may be a processing element that is set up separately, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the function of the x module may be called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.

For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

The storage medium of the present invention has stored thereon a computer program which, when executed by a processor, implements the stereotactic frame positioning method described above. The storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.

As shown in fig. 4, in an embodiment, the terminal of the present invention includes: aprocessor 41 and amemory 42.

Thememory 42 is used for storing computer programs.

Thememory 42 includes: various media that can store program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.

Theprocessor 41 is connected to thememory 42, and is configured to execute the computer program stored in thememory 42, so as to enable the terminal to execute the above-mentioned stereotactic frame positioning method.

Preferably, theProcessor 41 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components.

In conclusion, the stereotactic frame positioning method, the stereotactic frame positioning system, the medium and the terminal can automatically identify the reference point without manually selecting or screening the reference point, so that subjective errors are reduced; the positioning can be realized according to the mapping relation between the reference point coordinates and the image coordinates, and the positioning time is effectively shortened; the problems of low positioning precision and long positioning time of the three-dimensional directional frame are solved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (10)

Translated fromChinese

1.一种立体定向框架定位方法，其特征在于：包括以下步骤：1. a stereotaxic frame positioning method, is characterized in that: comprise the following steps:对包含有立体定向框架的CT图像进行预处理，滤除所述立体定向框架内定位器的框架；Preprocessing the CT image containing the stereotaxic frame, and filtering out the frame of the localizer in the stereotaxic frame;在滤除所述框架的CT图像上，获取所述定位器的先验坐标点；On the CT image from which the frame is filtered out, the prior coordinate points of the locator are obtained;在滤除所述框架的CT图像的各个片层上，获取所述定位器的轮廓中心位置点；On each slice of the CT image filtered out of the frame, obtain the contour center position point of the locator;对所述各个片层的轮廓中心位置点进行过滤处理，获取在左、右、上方均有三个轮廓中心位置点的有效片层；Filtering the contour center position points of the respective slices to obtain effective slices with three contour center position points on the left, right and above;在各个有效片层上，基于所述有效片层的轮廓中心位置点计算立体定向框架坐标系下的左、右、上方的参考点坐标；所述参考点为左、右、上方位于中间位置的轮廓中心位置点；On each valid slice, the coordinates of the left, right and upper reference points in the stereotaxic frame coordinate system are calculated based on the contour center position point of the valid slice; the reference points are the left, right and upper at the middle position Contour center position point;基于所述各个有效片层上的参考点坐标计算影像坐标系到立体定向框架坐标系的三维仿射变换矩阵；Calculate a three-dimensional affine transformation matrix from the image coordinate system to the stereotaxic frame coordinate system based on the reference point coordinates on each effective slice;基于所述三维仿射变换矩阵将所述立体定向框架的影像坐标映射至所述立体定向框架坐标系。The image coordinates of the stereotaxic frame are mapped to the stereotaxic frame coordinate system based on the three-dimensional affine transformation matrix.2.根据权利要求1所述的立体定向框架定位方法，其特征在于：对包含有立体定向框架的CT图像进行预处理包括以下步骤：2. The method for positioning a stereotaxic frame according to claim 1, wherein: preprocessing the CT image comprising the stereotaxic frame comprises the following steps:选取滤波阈值；Select the filter threshold;基于所述滤波阈值对所述CT图像进行滤波，以滤除所述立体定向框架内定位器的框架。The CT image is filtered based on the filtering threshold to filter out the frame of the localizer within the stereotaxic frame.3.根据权利要求1所述的立体定向框架定位方法，其特征在于：获取所述定位器的先验坐标点包括以下步骤：3. The stereotaxic frame positioning method according to claim 1, wherein: acquiring the prior coordinate point of the locator comprises the following steps:在滤除所述框架的CT图像的各个片层的左、右、上方逐层查找第一次出现非零值时的坐标点；Find the coordinate point when a non-zero value occurs for the first time layer by layer on the left, right, and top of each slice of the CT image of the filtered frame;将出现次数最多的坐标点作为所述先验坐标点。The coordinate point with the largest number of occurrences is used as the prior coordinate point.4.根据权利要求1所述的立体定向框架定位方法，其特征在于：基于图形矩获取所述定位器的轮廓中心位置点。4 . The stereotaxic frame positioning method according to claim 1 , wherein the center position point of the contour of the positioner is obtained based on the graphic moment. 5 .5.根据权利要求1所述的立体定向框架定位方法，其特征在于：对所述各个片层的轮廓中心位置点进行过滤处理，获取在左、右、上方均有三个轮廓中心位置点的有效片层包括以下步骤：5. The stereotaxic frame positioning method according to claim 1, characterized in that: the contour center position points of each of the slices are filtered to obtain effective three contour center position points on the left, the right, and the top. Sheeting includes the following steps:根据所述先验坐标点和所述轮廓中心位置点之间的距离，在所述各个片层上滤除所述距离大于所述定位器半径的轮廓中心位置点；According to the distance between the prior coordinate point and the contour center position point, filter out the contour center position point whose distance is greater than the radius of the locator on each slice;将左、右、上方有三个轮廓中心位置点的片层作为有效片层。The slice with three contour center position points on the left, right and above is taken as the effective slice.6.根据权利要求1所述的立体定向框架定位方法，其特征在于：所述立体定向框架坐标系包括两个自定义参数和一个相对高度；所述参考点的相对高度为h_r＝lλ，l为所述定位器高度，λ为所述三个轮廓中心位置点中起始边缘轮廓中心位置点至所述参考点的距离与两个边缘轮廓中心位置点之间的距离的比值。6. The method for positioning a stereotaxic frame according to claim 1, wherein the coordinate system of the stereotaxic frame comprises two self-defined parameters and a relative height; the relative height of the reference point is hr=_1λ , l is the height of the locator, and λ is the ratio of the distance between the center position point of the initial edge contour and the reference point and the distance between the center position points of the two edge contours among the three contour center position points.7.根据权利要求1所述的立体定向框架定位方法，其特征在于：基于最小二乘法和RANSAC异常点滤除算法，计算影像坐标系到立体定向框架坐标系的三维仿射变换矩阵。7 . The stereotaxic frame positioning method according to claim 1 , wherein the three-dimensional affine transformation matrix from the image coordinate system to the stereotaxic frame coordinate system is calculated based on the least squares method and the RANSAC outlier filtering algorithm. 8 .8.一种立体定向框架定位系统，其特征在于：包括预处理模块、第一获取模块、第二获取模块、过滤模块、第一计算模块、第二计算模块和映射模块；8. A stereotaxic frame positioning system, characterized in that it comprises a preprocessing module, a first acquisition module, a second acquisition module, a filtering module, a first calculation module, a second calculation module and a mapping module;所述预处理模块用于对包含有立体定向框架的CT图像进行预处理，滤除所述立体定向框架内定位器的框架；The preprocessing module is used to preprocess the CT image containing the stereotaxic frame, and filter out the frame of the localizer in the stereotaxic frame;所述第一获取模块用于在滤除所述框架的CT图像上，获取所述定位器的先验坐标点；The first acquisition module is configured to acquire the prior coordinate point of the locator on the CT image from which the frame is filtered;所述第二获取模块用于在滤除所述框架的CT图像的各个片层上，获取所述定位器的轮廓中心位置点；The second acquisition module is used to acquire the contour center position point of the locator on each slice of the CT image of the frame;所述过滤模块用于对所述各个片层的轮廓中心位置点进行过滤处理，获取在左、右、上方均有三个轮廓中心位置点的有效片层；The filtering module is used to filter the contour center position points of the respective slices, and obtain effective slices with three contour center position points on the left, right, and top;所述第一计算模块用于在各个有效片层上，基于所述有效片层的轮廓中心位置点计算立体定向框架坐标系下的左、右、上方的参考点坐标；所述参考点为左、右、上方位于中间位置的轮廓中心位置点；The first calculation module is used to calculate the coordinates of the left, right and upper reference points in the stereotaxic frame coordinate system based on the contour center position point of the effective slice on each effective slice; the reference point is the left , the right, upper contour center position point in the middle position;所述第二计算模块用于基于所述各个有效片层上的参考点坐标计算影像坐标系到立体定向框架坐标系的三维仿射变换矩阵；The second calculation module is configured to calculate a three-dimensional affine transformation matrix from the image coordinate system to the stereotaxic frame coordinate system based on the reference point coordinates on the effective slices;所述映射模块用于基于所述三维仿射变换矩阵将所述立体定向框架的影像坐标映射至所述立体定向框架坐标系。The mapping module is configured to map the image coordinates of the stereotaxic frame to the stereotaxic frame coordinate system based on the three-dimensional affine transformation matrix.9.一种存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现权利要求1至7中任一项所述的立体定向框架定位方法。9 . A storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the method for positioning a stereotaxic frame according to any one of claims 1 to 7 is implemented. 10 .10.一种终端，其特征在于，包括：处理器及存储器；10. A terminal, comprising: a processor and a memory;所述存储器用于存储计算机程序；the memory is used to store computer programs;所述处理器用于执行所述存储器存储的计算机程序，以使所述终端执行权利要求1至7中任一项所述的立体定向框架定位方法。The processor is configured to execute the computer program stored in the memory, so that the terminal executes the stereotaxic frame positioning method according to any one of claims 1 to 7.

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