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3D printing based visual navigation verification method for pelvic cavity simulation minimally invasive surgery

A minimally invasive surgery and 3D printing technology, applied in the visual navigation field of minimally invasive surgery, can solve the problems of difficulty in obtaining the real trajectory of the endoscope and the inability to verify the accuracy of the tracking algorithm, so as to improve the overlap efficiency and enhance the visual effect. Effect

Active Publication Date: 2018-02-09
FUZHOU UNIV
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  • Application Information

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Problems solved by technology

However, since the real trajectory of the endoscope in minimally invasive surgery is difficult to obtain, the accuracy of the tracking algorithm cannot be verified.

Method used

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  • 3D printing based visual navigation verification method for pelvic cavity simulation minimally invasive surgery
  • 3D printing based visual navigation verification method for pelvic cavity simulation minimally invasive surgery
  • 3D printing based visual navigation verification method for pelvic cavity simulation minimally invasive surgery

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Embodiment Construction

[0038] The technical solution of the present invention will be described in detail below in conjunction with the drawings.

[0039] A visual navigation verification method for pelvic simulation minimally invasive surgery based on 3D printing of the present invention includes the following steps:

[0040] S1. Segment the pelvis area according to the patient's CT image, reconstruct the 3D model of the pelvis, import the 3D model into the 3D printing equipment, print the printed model of the pelvis, and then paint the 3D model with various surgical colors to form a simulated pelvic model with texture;

[0041] S2. Simulate the movement of the endoscope during the actual operation, and use the binocular camera to shoot the endoscope video of the simulated minimally invasive surgery on the simulated pelvis model;

[0042] S3. Perform monocular camera calibration and stereo calibration on the binocular camera to obtain the internal parameter matrix of the left and right cameras, the distorti...

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Abstract

The invention relates to a 3D printing based visual navigation verification method for a pelvic cavity simulation minimally invasive surgery. The method provides a simulation pelvis model having texture similar to real texture for simulation of pelvic cavity surgery, enables quick lamination of a 3D model and the simulation model by employing a color consistence based registration algorithm, and verifies visual navigation accuracy by employing a stereoscopic vision based endoscope tracking algorithm. According to the invention, a real scene is provided for simulation training of the minimallyinvasive surgery. Through the scene, the accuracy of the vision localization algorithm in the minimally invasive surgery can be verified. The visual point quick look method and the color consistence based registration algorithm are proposed for application to a tracking start phase, so that the lamination efficiency of the 3D model and the simulation model is improved. The laminated display of thevirtual and the real model enhances the visual effect and provides the verification method for accuracy of the vision localization algorithm.

Description

Technical field [0001] The invention relates to the technical field of visual navigation for minimally invasive surgery, in particular to a 3D printing-based pelvic simulation minimally invasive surgery visual navigation verification method. Background technique [0002] Minimally invasive surgery has the advantages of less trauma, light pain, and fast recovery, and is widely welcomed in clinics. Through monitoring systems such as endoscopes, doctors can perform operations in the human body through small holes, which will cause little harm to the human body and achieve the ideal The effect of surgery. In traditional minimally invasive pelvic surgery navigation, the doctor determines the location of the lesion and plans the operation plan through preoperative images (such as CT, MRI, etc.), and obtains immediate surgery from tiny holes through an endoscope Visual information guides the advancement of the operation. However, the endoscope only provides narrow two-dimensional visua...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G16H50/50G06T7/55G06T7/80G06T15/00G06T17/10G09B23/28
CPCG06T15/005G06T17/10G06T2207/10024G06T2207/10068G06T2207/10081G06T2207/30008G09B23/28G06T7/55G06T7/85
Inventor 高钦泉黄伟萍杜民
Owner FUZHOU UNIV
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