Mark point automatic registration method based on model matching

A model matching and automatic registration technology, which is applied in the field of surgical navigation, can solve problems such as slow registration speed, errors, and complex algorithm processes, and achieve the effects of reducing registration time, reducing registration errors, and improving simplicity

Active Publication Date: 2013-09-25
广州艾目易科技有限公司
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Problems solved by technology

The surgical navigation system combines medical images to locate surgical instruments in three-dimensional space during the operation, guide the operation, reduce surgical trauma, and improve the safety, accuracy and effectiveness of the operation. Therefore, it is necessary to register before the operation to obtain the actual location of the surgical instrument. The corresponding relationship between the space and the image space where the image is located, the registration accuracy directly determines the navigation accuracy, if the registration accuracy is low, it may make the navigation system unusable
[0003] At present, the commonly used registration methods are surface-based and mark-based. The surface registration method does not require mark points. The optical method is used to obtain the actual space surface information and match the surface extracted in the image space. Although this method is simple to operate, but The algorithm process is complex and the registration accuracy is low, so it is rarely used; the registration method of marker points is highly accurate and is currently the most used registration method. During registration, the tip of the surgical tool is inserted into the gap in the middle of the marker point, and the positioning system

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  • Mark point automatic registration method based on model matching
  • Mark point automatic registration method based on model matching

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Embodiment 1

[0031] Such as figure 1 and figure 2 As shown, the marker registration method of this embodiment includes the following steps:

[0032] 1) Obtain image data containing markers: stick markers on the skin surface near the patient's lesion, usually 8 to 10 markers, and scan the lesion with computed tomography (CT) or magnetic resonance imaging (MRI) , to obtain image data containing marker points;

[0033] 2) Build a marker point model: according to the actual size of the marker point described in step 1), take the center of the marker point as the coordinate origin, establish a coordinate system, build a triangular mesh, and obtain the marker point model, such as Figure 3a and Figure 3b shown;

[0034] 3) Read in the image data obtained in step 1), perform three-dimensional anisotropic diffusion filtering on it, and automatically extract it from the image: first, calculate the gray threshold value of the skin, and process the image binarization; secondly, use mathematical...

Embodiment 2

[0061] Taking the head MRI image as an example, the specific process of step 3) is as follows:

[0062] 3.1) Read in head MRI image data containing marker points, such as Figure 7a and Figure 7b As shown, the image is subjected to three-dimensional anisotropic diffusion filtering;

[0063] 3.2) Calculating the gray threshold of the skin, and binarizing the image. First, using the medical software BrainSuite3 to obtain brain labeled images (B mark ), and then obtain non-brain tissue images (I nb ), take the pixel whose gray value is greater than zero, find the average value of its gray value, and use T 1 Indicates that the calculation formula is:

[0064] T 1 = Σ i ∈ X NB V i / Σ i ∈ X ...

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Abstract

The invention discloses a mark point automatic registration method based on model matching. The method comprises the following steps of (1)obtaining image data containing mark points; (2) constructing a mark point model; (3) reading in the obtained image data, conducting anisotropic diffusion filtering on images, and automatically extracting a skin three-dimensional grid from the images; (4) adopting an ICP algorithm to be matched with the mark point model and the skin three-dimensional grid, and obtaining the coordinate of the center of each mark point on the skin three-dimensional grid in an image space coordinate system; (5) adopting the ICP algorithm to be matched with the center of each mark point of the image space and the center of each mark point of the actual space, obtaining a rotating matrix R and a translational vector quantity T between the image space coordinate system and the actual space coordinate system, and completing registration of the mark points. According to the mark point registration method, the multiple mark points can be rapidly registered, the obtained rotating matrix R and the obtained translational vector quantity T of the image coordinate system and the actual coordinate system are more accurate, manual interference is reduced, the precision of the registration of the mark points is improved, and the mark point automatic registration method has good robustness.

Description

technical field [0001] The invention relates to a method for automatic registration of marking points, in particular to a method for automatic registration of marking points based on model matching, which belongs to the technical field of surgical navigation. Background technique [0002] The surgical navigation system can help doctors observe the internal structure of the human body and precise surgical instruments, making complex and delicate operations possible. The surgical navigation system combines medical images to locate surgical instruments in three-dimensional space during the operation, guide the operation, reduce surgical trauma, and improve the safety, accuracy and effectiveness of the operation. Therefore, it is necessary to register before the operation to obtain the actual location of the surgical instrument. The registration accuracy directly determines the navigation accuracy. If the registration accuracy is low, the navigation system may not be usable. ...

Claims

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Application Information

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IPC IPC(8): G06T17/00
Inventor 杨荣骞马阿敏宁海吴效明
Owner 广州艾目易科技有限公司
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