A method of detecting single pixel blood vessel
A single-pixel, vascular technology, applied in medical images, image data processing, healthcare informatics, etc., can solve the problems of not reflecting the multi-view three-dimensional shape of the lumen, affecting the continuity of doctors' surgical operations, and easy fatigue.
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specific Embodiment 1
[0043] This embodiment is an embodiment of the method for observing the inner cavity through virtual and transparent projection of the body surface in minimally invasive surgery.
[0044] In the minimally invasive surgery in this embodiment, the body surface projection virtual transparent observation method for the inner cavity, the corresponding body surface projection system is as follows: Figure 4 As shown, the technical roadmap of this method is as follows Figure 5 shown, including the following steps:
[0045] Step a, Kinect doctor's viewing angle tracking, used to determine the doctor's current head position and visual angle;
[0046] Step b, PTAM three-dimensional modeling of the inner cavity, PTAM is Parallel Tracking and Mapping, which is used to generate a three-dimensional model of the inner cavity that can rotate with the doctor's perspective described in step a;
[0047] Step c. Generating a sequence of projection images of the patient's body surface, and pro...
specific Embodiment 2
[0049] This embodiment is an embodiment of the Kinect doctor's perspective tracking method.
[0050] The Kinect doctor's angle of view tracking method of the present embodiment can exist independently, and specific embodiment one can be further limited again; The Kinect doctor's angle of view tracking method, such as Image 6 shown, including the following steps:
[0051] Step a1, select the depth data of the pupil and the tip of the nose as key points, and establish a mathematical model of the doctor's perspective;
[0052] Step a2, use the Kalman filter to predict the doctor's perspective and correct the tracking data;
[0053] Step a3, analyzing the orientation relationship among the Kinect, the doctor's head, the patient's body surface, the patient's inner cavity, and the projector, unifying the coordinate system, and designing the parameters of the patient's body surface projection system.
specific Embodiment 3
[0055] This embodiment is a Kalman filter embodiment.
[0056] The Kalman filter of the present embodiment can exist alone, and can be further limited to the second embodiment; the Kalman filter is specifically:
[0057] In a frame of Kinect data at time t, define its Kalman filter state vector X t and the observation vector Z t for:
[0058] x t =(x(t),y(t),z(t),v x (t), v y (t), vz (t))
[0059] Z t =(x(t),y(t),z(t))
[0060] Among them, x(t), y(t) and z(t) are the three-dimensional coordinates of the nose tip center, v x (t), v y (t) and v z (t) is the velocity of the nose tip center;
[0061] Accordingly, the Kalman system equation is:
[0062] x t+1 =AX t +BU t +GW t
[0063] Z t+1 =HX t +V t
[0064] Among them, A is the state matrix, B is the control matrix, which is approximately 0 when the facial movement has no control amount, G is the driving matrix, H is the observation matrix, U t is the control vector, W t is x t Kinect measurement error a...
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