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Endoscope distortion correction method and surgical navigation device

A technology of distortion correction and endoscopy, which is applied in the field of surgical navigation and can solve problems such as radial distortion of endoscopes

Inactive Publication Date: 2018-12-07
ARIEMEDI MEDICAL SCI BEIJING CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide an endoscope distortion correction method and surgical navigation equipment, to solve the problem of endoscope radial distortion existing in the existing endoscope lens

Method used

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  • Endoscope distortion correction method and surgical navigation device
  • Endoscope distortion correction method and surgical navigation device
  • Endoscope distortion correction method and surgical navigation device

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Embodiment Construction

[0078] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings.

[0079] see figure 1 , figure 1 It is a flow chart of an embodiment of the endoscope distortion correction method provided by the present invention, figure 1 The shown endoscopic distortion correction method can be applied to surgical navigation devices such as figure 1 As shown, the endoscopic distortion correction method comprises the following steps:

[0080] S1. When the endoscope mirror tube and the camera are in the initial position, obtain the internal parameter matrix K of the camera 0 and distortion parameters, and determine the field of view profile Ω of the endoscope tube at the initial position 0 center of w 0 and the location of the endoscope logo p 0 .

[0081] see Figure 5 , Figure 5It is a schematic stru...

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Abstract

The invention provides an endoscope distortion correction method and a surgical navigation device. The method comprises the steps of acquiringinternal parameter matrix K0 and a distortion parameter inside a camera, and determining a center w0 of a visual field contour omega0 and a position p0 of an endoscope mark; determining a center wi of a visual field contour omegai of an endoscope tube at a current position and a position pi of the endoscope mark; determiningan included angle of the endoscope tube rotating from an initial position to a current position according to a center w0 and the center w0, the position p0of the endoscope markand the position pi of the endoscope mark; determining internal parameter matrix Ki of the camera at the current position according to rotation matrix R andthe internal parameter matrix K0; correcting the distortion parameter based on the internal parameter matrix Ki. The method and device can correct the distortion parameter of an image based on the rotation angle of the endoscope and the internal parameter matrix of the camera, and eliminate the influence of the distortion parameter on the image.

Description

technical field [0001] The invention relates to the field of surgical navigation, in particular to an endoscope distortion correction method and surgical navigation equipment. Background technique [0002] With the rapid development of minimally invasive surgical technology and precision medical technology, image-based surgical navigation equipment has gradually become an important medical system for surgical operations. Image-based surgical navigation equipment mainly uses various medical image information, such as computerized tomography (Computed Tomography, CT), magnetic resonance imaging (Magnetic Resonance Imaging, MRI), digital subtraction angiography (Digital Subtraction Angiography, DSA), Positron Emission Computed Tomography (PET) and other technologies are used to navigate surgical instruments, provide surgeons with information on surgical site accessories as much as possible, and establish a relationship between two-dimensional medical images and actual surgical ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20A61B1/00A61B1/04G06T5/00G06T7/80
CPCA61B1/00009A61B1/0002A61B1/00057A61B1/04G06T7/80A61B34/20A61B2034/2065A61B2034/2055A61B2576/00G06T5/80
Inventor 杨峰武潺
Owner ARIEMEDI MEDICAL SCI BEIJING CO LTD