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Endoscope augmented reality error compensation method and device

An error compensation and augmented reality technology, applied in the field of medical image processing, can solve the problems of increased workload, unfriendly clinical environment, and no real solution to the decline of navigation accuracy.

Pending Publication Date: 2021-10-01
BEIJING INSTITUTE OF TECHNOLOGYGY
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AI Technical Summary

Problems solved by technology

Although this can improve the accuracy of AR fusion to a certain extent, it does not really solve the problem of decreased navigation accuracy due to error accumulation.
At the same time, this method requires patients to paste special marking points for image scanning, which undoubtedly increases the workload of the operator before surgery, and is not friendly to the clinical environment.

Method used

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  • Endoscope augmented reality error compensation method and device
  • Endoscope augmented reality error compensation method and device
  • Endoscope augmented reality error compensation method and device

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Embodiment Construction

[0015] Such as figure 1 Shown, this endoscope augmented reality error compensation method, it comprises the following steps:

[0016] (1) Obtain the observation value of the endoscope camera pose through endoscope calibration and external tracking;

[0017] (2) By combining the observed and estimated values ​​of the endoscopic camera pose, the optimal camera pose compensation matrix in the current operating space is calculated using the least squares method.

[0018] The present invention obtains the observation value of the endoscopic camera pose through endoscope calibration and external tracking, and then proposes an interactive endoscopic camera pose estimation method based on 2D markers, by combining the endoscopic camera pose Observed values ​​and estimated values, using the least squares method to calculate the best camera pose compensation matrix in the current operating space, so the accuracy of AR fusion is significantly improved, and the camera pose error caused by...

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Abstract

According to an endoscope augmented reality error compensation method and device, the AR fusion precision is remarkably improved, a camera pose error caused by rotation of an endoscope tube can be accurately compensated, an AR fusion error of the system is kept at a low level, recalibration of an endoscope camera is avoided through application of a compensation model, and the sensitivity to system positioning noise and corner recognition noise in an image is high. The method comprises the following steps: (1) obtaining an observation value of the pose of an endoscope camera through endoscope calibration and external tracking; (2) calculating an optimal camera pose compensation matrix in the current operation space by using a least square method by combining the observation value and the estimation value of the pose of the endoscope camera;.

Description

technical field [0001] The invention relates to the technical field of medical image processing, in particular to an endoscope augmented reality error compensation method and an endoscope augmented reality error compensation device. Background technique [0002] In the past ten years, surgical navigation has become an important auxiliary tool in minimally invasive surgery to ensure the accuracy and safety of the surgical process. In recent years, with the development of augmented reality (AR) technology, this technology has also been increasingly integrated with surgical navigation. AR-based surgical navigation provides doctors with information on the shape and location of important tissue structures such as tumors, nerves, and blood vessels. It can be displayed on a dedicated display to provide doctors with richer navigation information while avoiding distracting the doctor's sight and attention. [0003] AR-based surgical navigation usually requires two steps: image regi...

Claims

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Application Information

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IPC IPC(8): G06T19/00G06T7/246G06T7/33G06T7/73G06T7/80
CPCG06T19/006G06T19/003G06T7/73G06T7/80G06T7/33G06T7/246G06T2207/10081G06T2207/10068
Inventor 李文杰范敬凡宋红艾丹妮杨健
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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