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Image-feature-based method for reconstruction of abdominal cavity environment map and laparoscope positioning

An environmental map, image feature technology, applied in image enhancement, image analysis, image data processing and other directions, can solve the problems of optical positioning that cannot achieve accurate registration, tissue and organs are not fixed, rough scene matching, etc. Scientific value and social benefit, the effect of promoting postoperative recovery and shortening postoperative hospital stay

Inactive Publication Date: 2018-05-29
NANFANG HOSPITAL OF SOUTHERN MEDICAL UNIV
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AI Technical Summary

Problems solved by technology

Optical positioning has the advantages of high measurement accuracy and wide range, but it can only achieve rough scene matching, and laparoscopic gastrointestinal surgery has the characteristics of unstable and easy-to-deform tissues and organs, so optical positioning cannot achieve accurate registration

Method used

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  • Image-feature-based method for reconstruction of abdominal cavity environment map and laparoscope positioning
  • Image-feature-based method for reconstruction of abdominal cavity environment map and laparoscope positioning
  • Image-feature-based method for reconstruction of abdominal cavity environment map and laparoscope positioning

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Embodiment Construction

[0026] (1) Determine the internal parameters of the laparoscope (including focal length, principal point and pixel size, etc., referred to as internal parameters) and distortion parameters, which are generally provided by laparoscope manufacturers. If the internal parameters of the laparoscope are not provided, the Zhang Zhengyou calibration method can be used to calibrate the internal parameters and distortion parameters of the laparoscope. The checkerboard data used for calibration is the data collected by laparoscopy in the hospital. The endoscope is calibrated to obtain the camera's internal parameter matrix with distortion correction. For Zhang Zhengyou's calibration method, please refer to the literature: Zhang Z.AFlexible New Technique for Camera Calibration[J].IEEE Transactions on PatternAnalysis&Machine Intelligence,2000,22(11):1330-1334.

[0027] (2) Collect real-time images of endoscope.

[0028] (3) Through ORB (Oriented FAST and Rotated BRIEF) features [2,3] Fe...

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Abstract

The invention provides an image-feature-based method for reconstruction of abdominal cavity environment map and laparoscope positioning. According to the method, on the basis of features of a previous-frame of image and a later-frame of image, an optical flow analysis design is carried out based on a real endoscopic image sequence; and with an ORB-SLAM (Oriented FAST and Rotated BRIEF-SLAM) methodbased on combination of an improved FAST feature point detection method and a BRIEF descriptor, real-time positioning of an endoscope in an abdominal cavity and reconstruction of a surgical scene arerealized. Therefore, the accuracy of navigation is improved, the progress of the operation is guided precisely, and the success rate of the operation is increased. The method has the positive significance in application and promotion of the laparoscopic gastrointestinal operation.

Description

technical field [0001] The invention belongs to the fields of minimally invasive surgery, computer aided medicine, imaging and the like, and relates to a method for reconstructing an abdominal environment map and laparoscopic positioning based on image features, which is suitable for a real-time navigation system for gastric cancer endoscopic surgery. Background technique [0002] Gastric cancer is one of the common tumors in my country, and radical resection is the main treatment method. Laparoscopic techniques are more and more used in the field of gastrointestinal surgery because of their less trauma and helpful for postoperative recovery. However, laparoscopy has its own limitations such as tubular field of view, lack of tactile sense and depth, and the perigastric blood vessels are complex and have many anatomical variations. Vascular damage caused by intraoperative lymph node dissection is one of the serious complications of laparoscopic gastric cancer surgery. It is ...

Claims

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Application Information

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IPC IPC(8): G06T17/00G06T7/80G06K9/46
CPCG06T7/80G06T17/00G06T2207/30092G06T2207/30028G06T2207/10068G06V10/462
Inventor 陈韬
Owner NANFANG HOSPITAL OF SOUTHERN MEDICAL UNIV
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