Target feature point determination method and device, equipment and computer storage medium
A technology of target characteristics and determination methods, applied in the computer field, can solve the problems of increasing patient wound exposure time and operation time, increasing the calculation amount of registration algorithm, and long time-consuming point selection, so as to reduce the time-consuming and quantity of registration Effect
Active Publication Date: 2022-04-22
BEIJING HURWA ROBOT MEDICAL TECH CO LTD
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Problems solved by technology
However, the more feature points are selected, the longer the point selection time will be, which will increase the patient’s wound exposure time and operation time, and will increase the calculation load of the registration algorithm
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[0053] The characteristics and exemplary embodiments of various aspects of the application will be described in detail below. In order to make the purpose, technical solution and advantages of the application clearer, the application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only intended to explain the present application rather than limit the present application. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.
[0054] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and d...
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The invention provides a target feature point determination method, apparatus and device, and a computer storage medium. The method comprises the steps of obtaining a virtual model of a target object; m feature points are selected on the virtual model, M sets of punctuation points are formed, the M sets of punctuation points are in one-to-one correspondence with the M feature points, and each set of punctuation point is distributed in a preset area of the corresponding feature point; for each group of punctuation points, determining the feature point corresponding to the group meeting a preset condition as a target feature point; the preset condition comprises that the first registration accuracy between the first registration point cloud and the first feature point cloud is greater than a preset threshold; and for each set of collimation points, the first registration point cloud is a point cloud obtained by the remaining sets of collimation points except the set of collimation points in the M sets of collimation points, and the first feature point cloud is a point cloud composed of feature points corresponding to the remaining sets of collimation points. According to the target feature point selected by the method, the configuration precision can be ensured to be met, and the registration time consumption can be reduced to the greatest extent.
Description
technical field [0001] The present application belongs to the field of computer technology, and in particular relates to a method, device, equipment and computer storage medium for determining target feature points. Background technique [0002] In surgery using navigation technology, it is necessary to register the actual tissue of the patient with the three-dimensional model of the virtual tissue containing the surgical planning scheme. For example, in knee replacement surgery, the surgical plan will be planned in the preoperative 3D model, and some feature points on the surface of the femur and tibia will be collected through the probe during the operation and matched with the preoperative 3D reconstruction model to provide the follow-up robot Actions provide the basis for navigation. The operation of collecting feature points on the bone surface during the operation is usually performed by doctors. The inventors of the present application found that the spatial distribu...
Claims
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Login to View More IPC IPC(8): A61B34/10A61B34/20G06T7/00G06T7/33
CPCA61B34/10A61B34/20G06T7/344G06T7/0012G06T2207/10081G06T2207/10104A61B2034/105A61B2034/107A61B2034/108A61B2034/2065
Inventor 李书纲
Owner BEIJING HURWA ROBOT MEDICAL TECH CO LTD