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AR holographic surgical navigation system coordinate system conversion method, device thereof and system

A technology of coordinate system conversion and surgical navigation, which is applied in the field of coordinate system conversion of AR holographic surgical navigation system, can solve problems such as unsuitable coordinate systems for surgical navigation terminals and AR display equipment, and achieve the effect of shortening calibration time and reducing coordinate errors

Active Publication Date: 2021-11-19
THE SECOND AFFILIATED HOSPITAL ARMY MEDICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is the coordinate system conversion method in the prior art, which is not suitable for the conversion between the surgical navigation terminal and the coordinate system of the AR display device. The purpose is to provide a coordinate system conversion method for the AR holographic surgical navigation system, The device and system, that is, a new coordinate system conversion method, solves the problem of conversion between the surgical navigation terminal and the coordinate system of the AR display device

Method used

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  • AR holographic surgical navigation system coordinate system conversion method, device thereof and system
  • AR holographic surgical navigation system coordinate system conversion method, device thereof and system
  • AR holographic surgical navigation system coordinate system conversion method, device thereof and system

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Embodiment 1

[0029] Embodiment 1 is a coordinate system conversion method of an AR holographic surgery navigation system, such as figure 1 As shown, the anchor point is set in the second coordinate system, and the position of the anchor point in the second coordinate system is used as the origin of the first coordinate system; the pose of the anchor point in the second coordinate system is converted to the first In the coordinate system, obtain the anchor point quadruple pose data of the anchor point in the first coordinate system; obtain the first pose data of the target object in the first coordinate system, combine the anchor point quadruple pose data to the first Coordinate system transformation is performed on the pose data to obtain second pose data of the target object in the second coordinate system; wherein, the first pose data and the second pose data include three-dimensional coordinates and / or rotation matrices. In Embodiment 1, an anchor point is set in the second coordinate s...

Embodiment 2

[0037] Present embodiment 2 is on the basis of embodiment 1, as figure 2 As shown, an AR holographic surgery navigation system coordinate system conversion device includes:

[0038] The first coordinate module: used to receive the pose of the anchor point in the second coordinate system in the second coordinate module, and obtain the anchor point quadruple pose data of the anchor point in the first coordinate system; used to obtain the first coordinate The first pose data of the target object in the second coordinate system is combined with the anchor quadruple pose data to perform coordinate system conversion on the first pose data to obtain the second pose data of the target object in the second coordinate system, and the second The two-bit pose data is sent to the second coordinate module;

[0039] The second coordinate module: used to set the anchor point, and use the position of the anchor point in the second coordinate system as the origin of the first coordinate syste...

Embodiment 3

[0044] The third embodiment is based on the first embodiment. A new coordinate conversion and calibration method, comprising the following steps:

[0045] HoloLens is developed using unity. When the main camera coordinates are set to (0, 0, 0) in unity development, HoloLens will establish a left-handed world coordinate system based on the current position of HoloLens in the real world when starting the project, so the focus is on navigation. The problem of aligning the pose data information in the right-handed coordinate system of HoloLens in the left-handed coordinate system. However, since it is impossible to determine a specific position of the HoloLens device as the coordinate origin of the coordinate system, in Example 3, an anchor point is installed on the HoloLens device and this anchor point is used as the origin of the HoloLens coordinate system, but the metal anchor point is The right-handed coordinate system, therefore, involves two coordinate system conversion met...

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Abstract

The invention discloses an AR holographic surgical navigation system coordinate system conversion method, and the method comprises the steps: setting an anchor point in a second coordinate system, and taking the position of the anchor point in the second coordinate system as an original point of a first coordinate system; converting the pose of the anchor point in the second coordinate system into the first coordinate system to obtain anchor point tetrad pose data of the anchor point in the first coordinate system; acquiring first pose data of the target object under the first coordinate system, and performing coordinate system conversion on the first pose data in combination with the anchor point tetrad pose data to obtain second pose data of the target object under the second coordinate system; wherein the first pose data and the second pose data comprise three-dimensional coordinates and / or rotation matrixes. According to the method, the coordinate origins of the two coordinate systems are not required to be the same, the x-axis directions are not required to be the same, and the coordinate system calibration time is effectively shortened.

Description

technical field [0001] The invention relates to the technical field of medical imaging, in particular to a coordinate system conversion method, device and system for an AR holographic surgery navigation system. Background technique [0002] With the rapid development of computer-aided surgical techniques, surgical navigation systems are widely used in surgical operations. The surgical navigation system can locate surgical instruments, and display the position of the surgical instruments relative to the lesion on the screen in real time, as well as the sagittal, horizontal and coronal tissue structures of the lesion area, etc., and finally guide the clinician to adjust the position of the surgical instruments, and then more quickly , Safely and accurately complete the operation. However, traditional surgical navigation based on 2D displays requires the operator to switch between the patient's lesion and the screen, and there are hand-eye coordination problems and lack of dep...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/20G06T7/73
CPCA61B34/20G06T7/73A61B2034/2065A61B2034/2068A61B2034/2074
Inventor 刘寰孙雅娟周跃李长青
Owner THE SECOND AFFILIATED HOSPITAL ARMY MEDICAL UNIV
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