Marking ball positioning method and application thereof

Abstract

The invention discloses a marking ball positioning method and application thereof. The method comprises the steps of: (1) installing at least three coplanar and non-collinear actual marking balls at a focus of a human body, and collecting an image containing the actual marking balls; (2) extracting all spheres in the image as suspected marking balls, and respectively solving the centroid of each sphere; (3) selecting suspected marking balls with the same number as the actual marking balls to form a plurality of point sets to be matched, and judging whether the suspected marking balls are matched with actual point sets formed by the actual marking balls or not in sequence; if so, taking a point set to be matched as a candidate point set, otherwise, rejecting the point set to be matched, and acquiring all candidate point sets; and (4) carrying out registration on the obtained candidate point sets and the actual point sets, and selecting a marking ball combination corresponding to the candidate point set with the minimum projection error as a final marking ball combination. The marking ball positioning method adopts non-metal markers, so that registration errors caused by artifacts brought by metal markers to a CT image and registration errors caused by manufacturing and measuring errors of steel balls and tracers are avoided.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a marking ball positioning method and its application. Background technique [0002] Lung cancer is one of the most threatening cancers to human life and health. Lung biopsy is the gold standard for lung tumor diagnosis. Lung biopsy requires doctors with rich clinical experience to remove the lesion for pathological analysis. The main principle of the surgical navigation system is to register the image coordinate system of the CT image space with the design coordinate system of the human body space, so as to realize the real-time display of surgical instruments in the image space. The registration of the image coordinate system and the design coordinate system requires placing steel balls and trackers on the human body for positioning and registration. However, there are errors in the processing and measurement of the steel structure, and errors will also occur when the steel bal...

AI Technical Summary

Problems solved by technology

However, there are errors in the processing and measurement of the steel body structure, and errors will also occur when the steel ball and the tracer are registered. In addition, the steel ball, as a metal marker, will bring artifacts to the CT image, which will eventually cause the image coordinate system and There is a large registration error between the design coordinate systems

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