Dynamic three-dimensional reconstruction method for microsurgery field
A three-dimensional reconstruction and microsurgery technology, applied in the field of computer vision, can solve the problem that a single three-dimensional reconstruction technology and attitude estimation method are not suitable for medical three-dimensional reconstruction with high precision requirements.
Active Publication Date: 2020-06-09
ZHEJIANG FUTURE TECH INST JIAXING
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[0005] The purpose of the embodiment of the present invention is to provide a dynamic three-dimensional reconstruction method of the microsurgical field to solve the problem that the existing single three-dimensional reconstruction technology and attitude estimation method are not suitable for medical three-dimensional reconstruction with high precision requirements
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[0021] The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.
[0022] In the following description, for purposes of illustration rather than limitation, specific details, such as specific system architectures, interfaces and techniques, are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
[0023] The present invention proposes a dynamic three-dimensional reconstruction method facing the surgical field, including: ...
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The embodiment of the invention discloses a dynamic three-dimensional reconstruction method for a microsurgery field, and relates to the field of computer vision, and the method comprises the steps: obtaining a depth image and an infrared gray-scale image of a depth camera, and calculating the point cloud data of the microsurgery field; performing de-noising processing and de-jittering processingon the point cloud data; segmenting the point cloud data by using a point cloud segmentation model to obtain a surgical area point cloud cluster and a surgical instrument point cloud cluster; processing the operation area point cloud cluster by utilizing a method for solving a dense deformation field to obtain an operation area point cloud model; processing the surgical instrument point cloud cluster by utilizing the segmented contour information of the surgical instrument to obtain a surgical instrument point cloud model; and fusing the surgical area point cloud model and the surgical instrument point cloud model to obtain a global point cloud model, and obtaining and outputting a three-dimensional reconstruction result of the depth camera at the current visual angle according to the global point cloud model. According to the method of the invention, the surgical instrument with high dynamic characteristics can be better reconstructed.
Description
technical field [0001] The embodiment of the present invention relates to the field of computer vision, in particular to a method for dynamic three-dimensional reconstruction of a microsurgical field. Background technique [0002] 3D reconstruction is a basic research topic in computer vision and computer graphics. In recent years, with the development of medical imaging technology and intelligent surgical auxiliary equipment, the 3D reconstruction technology for surgical field, surgical platform and surgical equipment has been widely recognized for its ability to assist surgery, provide rich visual information and assist remote surgery. People are paying more and more attention. But at the same time, the extremely low error tolerance rate, harsh lighting conditions, and high dynamic characteristics during the operation pose new challenges to the current 3D reconstruction technology. [0003] For the 3D reconstruction of dynamic scenes, some researchers have tried to use t...
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IPC IPC(8): G06T15/00G06T7/12G06T7/13G06T5/00
CPCG06T15/00G06T7/12G06T7/13G06T2207/20028G06T5/70
Inventor 邵航刘威黄海亮张新
Owner ZHEJIANG FUTURE TECH INST JIAXING