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

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

Active Publication Date: 2021-03-02
FUZHOU UNIV
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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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  • A visual navigation verification method for pelvic simulation minimally invasive surgery based on 3D printing
  • A visual navigation verification method for pelvic simulation minimally invasive surgery based on 3D printing
  • A visual navigation verification method for pelvic simulation minimally invasive surgery based on 3D printing

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Embodiment Construction

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

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

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

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

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

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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 visual navigation verification method for pelvic cavity simulation minimally invasive surgery. Background technique [0002] Minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery, and is widely welcomed in clinic. Through monitoring systems such as endoscopes, doctors can perform surgery in the human body through small holes, with little harm to the human body, and achieve the ideal Surgical effect. In traditional pelvic minimally invasive surgery navigation, doctors determine the location of the lesion from preoperative images (such as CT, MRI, etc.) Visual information to guide the advancement of surgery. However, the endoscope only provides narrow two-dimensional visual information. Due to the complexity of the internal organs and tissues of the human body, it is difficult to ob...

Claims

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Application Information

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Patent Type & Authority Patents(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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