Guide needle imbedding precision evaluation method

Abstract

The invention discloses a guide needle implantation precision evaluation method which comprises the following steps: (1) scanning a to-be-implanted needle to obtain intraoperative 3D point cloud, planning a channel in the intraoperative 3D point cloud, controlling a robot to move in place according to the planned channel, implanting a guide needle, and scanning a needle implantation position to obtain postoperative 3D point cloud; (2) calculating gradient differences between all points in the intraoperative or postoperative 3D point cloud and one point in the 3D point cloud, taking the direction with the fastest gradient drop as the direction of the point, and taking the obtained gradient differences and the direction of the point as description vectors of the point; and (3) matching the intraoperative 3D point cloud with the postoperative 3D point cloud through the description vector, and calculating the deviation between the intraoperative planning channel and the postoperative needle placement position. Through two-step registration of rough registration and accurate registration between the intraoperative 3D image and the postoperative 3D image, accurate coincidence of the intraoperative 3D image and the postoperative 3D image is realized, and on the basis, precision evaluation is performed on a planned channel in the intraoperative 3D image and the position of an implantation guide needle of the postoperative 3D image.

Description

technical field [0001] The invention relates to the field of image processing and accuracy evaluation, in particular to a guide needle placement accuracy evaluation method. Background technique [0002] In recent years, robots have become more and more widely used in orthopedic clinical operations. The doctor only needs to plan the execution channel on the image, the robot moves to the actual channel position, and then the doctor inserts the guide needle through the execution channel, whether it is manual needle placement or robotic needle placement, the final inserted guide needle position is consistent with the actual planning Channels still suffer from inaccuracies, and this inaccuracy cannot currently be measured. [0003] Regarding the position of guide pin insertion, doctors usually can only scan the anteroposterior and lateral images on the guide pin vertebrae again to judge whether the position is reasonable based on experience, but they do not know the difference b...

AI Technical Summary

Problems solved by technology

The doctor only needs to plan the execution channel on the image, the robot moves to the actual channel position, and then the doctor inserts the guide needle through the execution channel, whether it is manual needle placement or robotic needle placement, the final inserted guide needle position is consistent with the actual planning There will still be an error in the channel, and this error is not currently measurable

[0003] Regarding the position of guide pin insertion, doctors usually can only scan the anteroposterior and lateral images on the guide pin vertebrae again to judge whether the position is reasonable based on experience, but they do not know the difference between the actual planned position and the position of the guide pin. how much deviation

Images