A method and device for surgical navigation and positioning

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...

AI Technical Summary

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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