A method for tumor pose estimation in a closed phantom

A pose estimation and closed body technology, applied in the field of breath tracking system, can solve the problems of high cost and complicated operation, and achieve the effect of simple structure, convenient operation and accurate positioning

Active Publication Date: 2022-04-01
SUZHOU UNIV
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Problems solved by technology

The main way to obtain the movement of the tumor in the phantom is to implant markers into the simulated tumor, and obtain the movement of the simulated tumor with the help of imaging technology such as X-ray, but the cost is high and the operation is relatively complicated

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  • A method for tumor pose estimation in a closed phantom
  • A method for tumor pose estimation in a closed phantom
  • A method for tumor pose estimation in a closed phantom

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[0037] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0038] refer to figure 1 As shown, the present invention discloses a method for estimating the pose of a tumor in a closed phantom, comprising the following steps:

[0039] Step 1: Fix and set the visual texture map on the inner wall of the simulated lung. Since the simulated lung will deform when simulating breathing movement, in order to avoid the visual texture map from moving, the visual texture map needs to be fixed. The specific operation is to cut a hole in the simulated lung first, and paste the hard board of the texture map inside the lung. A hard board of the same size is pasted on the corresponding position outside the lung for reinforcement. image 3 is a visual tex...

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Abstract

The invention discloses a method for estimating the pose and posture of a tumor in a closed phantom, which comprises the following steps: fixedly setting a visual texture map on the inner wall of the simulated lung; installing a monocular endoscope on the wall of the simulated lung to simulate a lung tumor, the The monocular endoscope is set towards the visual texture map; when simulating lung motion, the monocular endoscope collects video frames of the visual texture map; the video frame is processed using the ORB-SLAM2 algorithm, and key frame discrimination is re-established According to the criterion, the key frame is obtained and the pose of the monocular endoscope is solved; the pose data of the simulated tumor is obtained according to the pose of the monocular endoscope. It realizes the estimation of the position and orientation of the tumor inside the closed phantom, and has the advantages of simple structure, convenient operation and accurate positioning.

Description

technical field [0001] The invention relates to the technical field of a breathing tracking system of a radiotherapy robot, in particular to a method for estimating the pose of a tumor in a closed phantom. Background technique [0002] Tumors in the human thoracoabdominal cavity, especially lung tumors, are usually accompanied by breathing movements. The precise positioning of tumors in motion is an important part of the research on radiotherapy robots today. Since the tumor is located inside the human body, for the acquisition of the motion of the internal tumor, clinically, gold labels are mostly implanted in or around the tumor, and X-ray imaging equipment is used to obtain the position coordinates of the tumor target area. Since long-term exposure to X-rays will cause damage to normal tissues around the tumor, it is not advisable to use imaging techniques such as X-rays to directly locate the tumor in real time. [0003] For this reason, using body surface information ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/40G06T7/73G06T17/00G06V20/40
CPCG06T17/00G06T7/40G06T7/73G06T2207/30061G06T2207/30096G06V20/46
Inventor 郁树梅后鹏程孙荣川匡绍龙孙立宁
Owner SUZHOU UNIV
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