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Calibration method of medical endoscope

A calibration method and endoscope technology, applied in the field of medical devices, can solve problems such as unreliable results, errors in spatial positioning and three-dimensional reconstruction, and inaccurate coordinate positions and motion parameters of endoscopes.

Active Publication Date: 2012-06-13
SHENZHEN INST OF ADVANCED TECH
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  • Claims
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AI Technical Summary

Problems solved by technology

However, due to the relative displacement between the probe of the magnetic tracker and the endoscope lens, the reading of the magnetic tracker is directly used as the basis for the coordinate position of the endoscope, and there is an error with the actual coordinate position of the endoscope, resulting in the obtained endoscope The coordinate position and motion parameters of the speculum are inaccurate, which will cause errors in the later spatial positioning and 3D reconstruction, and the obtained results are not reliable

Method used

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  • Calibration method of medical endoscope
  • Calibration method of medical endoscope
  • Calibration method of medical endoscope

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Embodiment Construction

[0023] figure 1 The flow chart of the medical endoscope calibration method in one embodiment is shown, and the specific process is as follows:

[0024] In step S101, calibration parameters are set, and the calibration parameters include the size and number of checkerboard grids.

[0025] In step S102, the relative coordinate relationship between the magnetic tracker and the endoscope is constructed using a multimodal registration algorithm.

[0026] In step S103, the readings of the magnetic tracker and the image information of the checkerboard grid are collected, and the motion parameters of the endoscope are inferred in combination with the relative coordinate relationship between the magnetic tracker and the endoscope.

[0027] In one embodiment, the medical endoscope calibration method employs a magnetic tracker and magnetic tracker base, an endoscope and a checkerboard grid. Such as figure 2 As shown, the coordinate systems of the magnetic tracker base, the magnetic t...

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Abstract

The invention provides a calibration method of a medical endoscope, which comprises the following steps: A. acquiring calibration parameters comprising the size and the quantity of checkerboard grids; B. establishing a relative coordinate relation between a magnetic tracker and the endoscope by utilizing a multimodal registration algorithm, and expressing a relative coordination relation between the checkerboard grids and the endoscope through a detour relation from the endoscope to the magnetic tracker, then to a base of the magnetic tracker, and to the checkerboard grids; and C. acquiring reading data of the magnetic tracker and image information of the checkerboard grids, arranging a plurality of constraint conditions to expressions indicative of the relative relation between the checkerboard grids and the endoscope, and inferring to obtain motion parameters of the endoscope. By adopting the calibration method of the medical endoscope, the motion parameters of the endoscope can be obtained accurately.

Description

technical field [0001] The invention relates to the technical field of medical instruments, and more specifically, relates to a calibration method of a medical endoscope. Background technique [0002] Minimally invasive and non-invasive surgery is one of the most important development trends of contemporary clinical medicine. It can greatly improve the quality of surgery, reduce the pain of patients, and shorten the recovery time. Endoscopic diagnosis and treatment is an important means of minimally invasive surgery, and the use of medical endoscopes plays an extremely important role in the diagnosis and treatment of lesions. A traditional endoscope is equipped with an imaging device consisting of an objective optical system, a solid-state imaging device, and a circuit board at the front end of the insertion part. Through this endoscope, the surgeon can observe and treat various internal organs in the human body. kind of treatment. However, due to the complexity of the wor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B1/00
Inventor 辜嘉秦文健
Owner SHENZHEN INST OF ADVANCED TECH
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