A method and device for surgical navigation and positioning

A surgical navigation and positioning device technology, applied in the field of positioning, can solve problems such as optical positioning, and achieve the effect of improving accuracy

Active Publication Date: 2019-12-27
BEIJING DIGITAL PRECISION MEDICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to provide a surgical navigation and positioning method and device based on dense tracking to solve the problem of optical positioning in the molecular imaging surgical navigation system

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  • A method and device for surgical navigation and positioning
  • A method and device for surgical navigation and positioning
  • A method and device for surgical navigation and positioning

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Embodiment Construction

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0017] Those skilled in the art know that the embodiments of the present invention can be implemented as a system, device, device, method or computer program product. Therefore, the present disclosure can be embodied in the form of complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0018] The principle and spirit of the present invention will be explained in detail below w...

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Abstract

The invention provides a surgical navigation positioning method and a surgical navigation positioning device. The method comprises the following steps: S1, acquiring fluorescence images and white-light images with multiple spectrums, different angles and different positions; S2, extracting textural features of the fluorescence images and the white-light images; S3, selecting the image at the initial moment as the reference image, establishing a world coordinate system and a reference camera posture according to acquisition parameters of the surgical navigation system camera calibrated in advance, wherein the adjacent images in an image sequence are adopted as matched images, and the relative camera posture of the matched images is obtained; S4, establishing a cost function of denseness tracking according to the denseness tracking principle; S5, establishing an optimized energy function by adopting the cost function and by utilizing the Huber norm regularization method, thus obtaining the depth map of the reference image; S6, repeating the steps S3-S5, and carrying out calculating to obtain the depth maps of all the fluorescence images and white-light images; and S7, carrying out weighting smoothing on all the sequences of the depth maps by adopting the corresponding textural features, thus obtaining the final three-dimensional depth information of the observed object.

Description

technical field [0001] The present invention relates to the field of positioning, in particular to a positioning method for surgical navigation equipment, in particular to a dense tracking-based surgical navigation positioning method and device. Background technique [0002] This section is intended to provide a background or context for implementations of the invention that are recited in the claims. The descriptions herein are not admitted to be prior art by inclusion in this section. [0003] How to quickly, accurately and objectively locate the boundaries of tumors and other lesion tissues during surgery has always been a research hotspot and challenging issue in the world. Existing medical imaging technologies play an important role in preoperative diagnosis and postoperative evaluation, but imaging methods suitable for surgeons to perform intraoperative imaging are hard to find. With the development of imaging technology, optical molecular imaging surgical navigation...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/20
CPCA61B34/20A61B2034/2065
Inventor 迟崇巍王丽
Owner BEIJING DIGITAL PRECISION MEDICAL TECH CO LTD
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