Method and device for measuring rotation angle of rigid tube endoscope

Abstract

The invention provides a rigid tube endoscope rotation angle measuring method. The field diaphragm of a rigid tube endoscope is provided with a marking point, the method comprises the following steps:when a collected rigid tube endoscope image and a virtual rigid tube endoscope image are overlapped in a preset coordinate system, determining and recording the first coordinate of the marking pointin the coordinate system; after the rigid tube endoscope rotates, determining and recording the second coordinate of the marking point in the coordinate system in real time; according to the first coordinate, the second coordinate and the third coordinate where the axis of a rotating shaft of the rigid tube endoscope is in the coordinate system, calculating the rotating angle of the rigid tube endoscope. The invention further provides a rigid tube endoscope rotation angle measuring device. According to the rigid tube endoscope rotation angle measuring method and device, the accurate measurement of a rigid tube endoscope rotation angle can be realized without needing to additionally arrange a marking object outside the rigid tube endoscope, a doctor is free of being interfered by the marking object in the operation process, and the operation difficulty of the doctor can be prevented from increasing.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a method and device for measuring the rotation angle of a rigid tube endoscope. Background technique [0002] With the rapid development of minimally invasive surgery and precision medicine, image-based surgical navigation systems have gradually become the mainstream of surgical operations. The surgical navigation system mainly uses various medical image information to navigate surgical instruments, provides surgeons with image information near the surgical site of the human body as much as possible, and builds a bridge between the two-dimensional medical image of the human body and the actual part of the human body. Realize the reduction of the trauma generated in the surgical operation, shorten the operation time, and improve the operation quality. [0003] The medical endoscope observes the internal tissues of the body through tiny wounds or natural channels. For ...

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Problems solved by technology

[0008] The main purpose of the present invention is to solve the problem of calculating the rotation angle of the rigid tube endoscope by means of the optical markers arranged outside the scope in the prior art, which increases the weight of the rigid tube endoscope, occupies more space for the rigid tube endoscope, and makes it difficult for doctors to operate. Increased difficulty, the technical problem that there is a large error between the calculation result and the actual rotation angle

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