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Optical tracking system and method based on near-infrared trinocular stereoscopic vision

A stereo vision and optical tracking technology, applied in the field of medical devices, can solve the problems of low precision, the system cannot work, occlusion, etc., to achieve the effect of easy installation, convenient placement of objects, and compact layout

Pending Publication Date: 2021-06-29
张志宏
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] There are two major problems in the current optical tracking system. One is the low precision. At this stage, the main manufacturer of the optical tracking system is the Canadian NDI Polaris Dynamic Navigation System. The accuracy can reach 0.35mm, but due to the limitation of binocular vision itself, the accuracy is difficult. Further improvement; the second is the occlusion problem. Once a certain camera is occluded by the existing optical tracking system or the optical marker point is not in the common field of view, the entire system will not work

Method used

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  • Optical tracking system and method based on near-infrared trinocular stereoscopic vision
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  • Optical tracking system and method based on near-infrared trinocular stereoscopic vision

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Embodiment 1

[0034] This embodiment provides a technical solution: an optical tracking system based on near-infrared trinocular stereo vision, including a camera calibration module, a data acquisition module, a three-dimensional reconstruction module, a surgical instrument reconstruction module, a data reading and storage module, and a real-time display and navigation mode;

[0035] The camera calibration module is used for calibration of the near-infrared trinocular vision platform;

[0036] The data collection module is used to collect image data;

[0037] The three-dimensional reconstruction module is used for three-dimensional reconstruction of the spatial position of the optical marker point on the surgical instrument;

[0038] The surgical instrument reconstruction module is used to identify the surgical instrument through the Euclidean distance feature of the surgical instrument; perform three-dimensional reconstruction of the surgical instrument by using the structural features of...

Embodiment 2

[0050] The optical tracking system of this embodiment mainly includes the following design contents:

[0051] 1. Hardware system design

[0052] 1.1, data synchronization and real-time processing design

[0053] In hardware system design, data synchronization and real-time processing are basic requirements. Trinocular stereo vision platform, three cameras shoot multiple targets at the same time, and real-time processing and model rendering are required, which cannot be done by ordinary engineering machines without hardware acceleration; three cameras can collect at the same time, and external To trigger, an external clock pulse is required. Xilinx scalable processing platform Zynq series modules are a better choice. The camera and the FPGA chip transmit data through the USB3.0 interface, and the FPGA chip is used for hardware acceleration. The communication structure diagram is as follows: figure 1 shown.

[0054] exist figure 1 Among them, PS is processing system (Proc...

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Abstract

The invention discloses an optical tracking system and method based on near-infrared trinocular stereoscopic vision, and belongs to the technical field of medical instruments. The system comprises three cameras which are consistent in configuration, lenses, a camera support, a tripod head, reflectors, infrared band-pass filters, an active target, a Xilinx extensible processing platform Zynq series and an upper computer. According to the invention, the three cameras carry out shooting from the inclined upper part, and a mode of combining the cameras and the plane mirrors is adopted, so that a larger baseline distance can be obtained in the same size space, the layout is more compact, the cameras are located on the same plane, and the installation is more convenient; the view fields of the cameras can be adjusted by adjusting the angles of the reflectors; and in addition, small lasers are installed at the top ends of the cameras, the angle intersection positions of the optical axes of the cameras in the space can be rapidly determined before measurement, the focusing areas of the cameras in the space can be visually estimated, a target object can be conveniently placed, and the system is worthy of being used and popularized.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to an optical tracking system and method based on near-infrared trinocular stereo vision. Background technique [0002] The optical tracking system is mainly composed of a multi-eye stereo vision platform and surgical targets. In order to eliminate the influence of ambient light on marker point extraction, the system often works in the near-infrared band. The calibrated multi-camera shoots the target from different angles. Since the surgical target is a rigid body, the distance between each marker point and the working point is calibrated in advance, so the position of the working point can be calculated. This method can be used in areas where many operating points are obscured or difficult to measure. For example, in oral implant surgery, doctors need to use implant mobile phones to drill holes in the patient's missing teeth. The doctor's sight is easily blocked, and the ...

Claims

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Application Information

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IPC IPC(8): A61B34/20
CPCA61B34/20A61B2034/2055A61B2034/2057
Inventor 张志宏陈佳翟超毕松林刘红红韩倩吕静田田李梦琦
Owner 张志宏
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