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Intraoperative three-dimensional point cloud generation method and device and intraoperative local structure navigation method

A three-dimensional point cloud and three-dimensional model technology, applied in the field of surgical navigation, can solve the problems of large navigation errors and large differences between tissues and models, and achieve the effects of small calculation amount, accurate real-time navigation, and compensation for poor flexible deformation matching.

Active Publication Date: 2022-08-09
GUANGDONG OPTO MEDIC TECH CO LTD
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Problems solved by technology

However, during the operation, after the tissue is cut or shaken, the difference between the tissue and the model is large, and the navigation error becomes larger

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  • Intraoperative three-dimensional point cloud generation method and device and intraoperative local structure navigation method
  • Intraoperative three-dimensional point cloud generation method and device and intraoperative local structure navigation method
  • Intraoperative three-dimensional point cloud generation method and device and intraoperative local structure navigation method

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Embodiment Construction

[0053] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

[0054] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the invention. Furthermore, the present disclosure may repeat reference numerals and / or reference letters in different instances, such repetition is for t...

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Abstract

The invention discloses an intraoperative three-dimensional point cloud generation method and device and an intraoperative local structure navigation method, and belongs to the field of surgical navigation, and the intraoperative three-dimensional point cloud generation method comprises the following steps: obtaining a white light image and a fluorescence image; identifying two-dimensional pixel points of the physiological tissue from the white light image; identifying a fluorescent point from the fluorescent image; the fluorescent point is an image of the position where the fluorescent gel is dispensed on the physiological tissue in advance on the fluorescent image; calculating the object distance of the fluorescent gel according to the brightness of the fluorescent points; the three-dimensional point cloud of the two-dimensional pixel points is obtained through matching according to the corresponding positions of the fluorescent points in the two-dimensional pixel points and the object distance of the fluorescent gel, the three-dimensional point cloud aiming at the physiological tissue can be generated only through a common fluorescent endoscope without the help of a 3D lens, and the local structure navigation method in the operation is small in calculation amount, high in anti-interference capacity and high in accuracy. And the problems of poor flexible tissue matching and difficulty in real-time navigation in the operation are solved.

Description

technical field [0001] The invention relates to an intraoperative three-dimensional point cloud generation method and device, and an intraoperative local structure navigation method, belonging to the field of surgical navigation. Background technique [0002] With the continuous development of endoscopic technology and surgical robot technology, surgical navigation has become more and more popular in minimally invasive surgery. Precise surgical navigation can significantly improve the ability of doctors to identify intraoperative tissues, optimize surgical plans, and reduce surgical trauma in complex minimally invasive surgical operations. Due to the matching problem between preoperative CT or MRI images and intraoperative endoscopic images, the matching of flexible tissues is very difficult. Therefore, the currently used surgical navigation systems are mainly used in neurosurgery, orthopedics and other related surgeries with strong tissue rigidity, and are rarely used for ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/521G06T7/00A61B34/20
CPCG06T7/521G06T7/0012A61B34/20G06T2207/10064G06T2207/10068G06T2207/10028G06T2207/30004A61B2034/2055A61B2034/2065
Inventor 郭志飞李娜娜梁江荣顾兆泰安昕
Owner GUANGDONG OPTO MEDIC TECH CO LTD
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