Multi-instrument optical positioning method and system

Abstract

The invention discloses a multi-instrument optical positioning method and system. The method comprises the steps of multi-instrument judgement, wherein through increase and decrease of markers betweenfrom and rear frames, whether or not instruments enter or exit from the system is judged; multi-instrument identification, wherein based on geometrical shapes of the markers on the instruments, all the instruments are identified, and when new instruments enter the system, the new instruments are identified; multi-instrument tracking, wherein a motion vector tracking algorithm is used for trackingmotion of multiple instruments. According to the method, multiple instruments can be tracked in real time, and the situation can be reduced that frames are lost, and several instruments cannot be tracked; the real-time performance of multi-instrument tracking is improved. The side ratio and / or perimeter are / is used for identifying instruments, the limit to shapes of instruments is reduced, and even instruments similar in shape can be distinguished. According to the method, the increase and decrease conditions of the instruments can be judged, and when the number of instruments is changed, thepositions and directions of all the instruments can still be correctly positioned.

Description

technical field [0001] The invention relates to the technical field of medical operation navigation, in particular to a multi-device optical positioning method and system. Background technique [0002] At present, the surgical navigation system has been widely used in neurosurgery, orthopedics, otolaryngology and other fields, which greatly shortens the operation time, relieves the pain of patients, and improves the operation accuracy. Among them, the optical positioning system is widely used because of its advantages of high positioning accuracy and high flexibility. The optical positioning system tracks the active near-infrared LED lights or passive reflective balls on the device through the camera, so as to display the relative positional relationship between the tip of the device and the lesion in real time. Most of the current research often requires two or more devices to be identified and tracked by the system at the same time in actual clinical operations. [0003]...

AI Technical Summary

Problems solved by technology

However, this limits the situation where there are marker pairs with the same distance on one instrument and different instruments are similar in shape

[0006] There are also some existing technologies that use the Kalman filter to track multiple objects, which can overcome the delay problem to a certain extent, but when the object moves too fast, it cannot track the target well.

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