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Calibrator matching method and device

A matching method and calibrator technology, which is applied in the field of surgical positioning, can solve problems such as the inability to accurately determine the pose information of the calibrator, and achieve the effect of avoiding matching difficulties and eliminating mismatched feature points

Pending Publication Date: 2022-07-29
NANJING TUODAO MEDICAL TECHNOLOGY CO LTD
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Problems solved by technology

[0005] This application provides a calibrator matching method and device to solve the problem that the existing methods cannot accurately determine the pose information of the calibrator

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  • Calibrator matching method and device
  • Calibrator matching method and device

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Embodiment Construction

[0058] The present invention will be further illustrated below in conjunction with the accompanying drawings and specific embodiments.

[0059] In some embodiments, a calibrator for navigating surgery is mounted on the end of a robotic arm of a surgical robot. When using the robot for surgery, the binocular infrared camera is used to collect the left and right view images of the calibrator, and the pose information of the calibrator is obtained through image analysis, so that the optical tracking system of the surgical robot can locate and track the human body posture, so as to realize Tracking and positioning of surgical targets.

[0060] figure 1 It is a schematic diagram of the structure of the calibrator. The calibrator usually consists of several circular markers. For example, as figure 1 As shown, the calibrator consists of 4 circular markers, and the relative positions between the 4 circular markers are determined. The left and right view images of 4 circular marke...

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Abstract

The invention discloses a calibrator matching method and device, and the method comprises the steps: obtaining a first image and a second image collected by a binocular camera, and extracting feature points used for representing a circular marker in the two images; performing triangulation reconstruction on the first target feature point in the first image and the second target feature point in the second image to obtain a corresponding three-dimensional space point; screening out matching feature points of the first image and the second image based on the three-dimensional space points, and determining the three-dimensional space points corresponding to the generated matching feature points as three-dimensional points; and forming a calibrator by the three-dimensional points based on a preset rule, and matching the calibrator with a standard calibrator to obtain pose information of the calibrator. Therefore, according to the method and the device, mismatched feature points are eliminated through triangulation reconstruction, the problem that the feature points in the left view image and the right view image are difficult to match is avoided, three-dimensional points are accurately constructed, stable low-texture calibrator reconstruction is achieved, and then pose information of the calibrator is accurately determined.

Description

technical field [0001] The present application relates to the technical field of surgical positioning, and in particular, to a calibration device matching method and device. Background technique [0002] When using a robot for surgery, an optical tracking system is required to locate and track the posture of the human body. The current optical tracking surgical robots widely use binocular infrared cameras to locate and calibrate the optical markers, and in order for the surgical robot to perceive the position and attitude information of the calibrator, it is necessary to collect the left and right view images of the calibrator through the binocular camera. The pose information of the calibrator is obtained by analysis, and then the tracking and positioning of the surgical target is realized. [0003] The calibrator is usually composed of several circular markers. When the pose information of the calibrator is determined based on image analysis, the left and right view image...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/80
CPCG06T7/73G06T7/85G06T2207/30244
Inventor 葛俊彦龚肖刘凯
Owner NANJING TUODAO MEDICAL TECHNOLOGY CO LTD
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