Method and apparatus for performing facial registration
Through the communication between the registration probe and the magnetic transmitter and the use of the actuator, accurate registration and completion status indication of multiple target positions on the face are achieved, solving the problem of inaccurate facial registration in the prior art, and improving the Accuracy of position navigation during ENT surgery.
Patent Information
- Application Number
- CN201911240928.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Priority Date
- 2018-12-06
- Filing Date
- 2019-12-06
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2039-12-06
AI Technical Summary
The prior art lacks convenient ways to indicate the connection and disconnection of the registration probe at the target position and the completion status of the registration process, resulting in inaccurate position may lead to accidental injury during ENT surgery or Error operation.
Using registration probes to communicate with magnetic transmitters and workstations, the accurate registration of multiple target positions on the face is achieved through actuators and magnetic wave receivers, and the image is provided through the display to indicate the completion status of the registration process, ensuring the physician Able to know exactly where the tool is located in the nasal cavity.
It improves the accuracy and operational convenience of facial registration, reduces the risk of accidental injury during surgery, and ensures that the tool is guided in the correct position in the nasal cavity.
Smart Images
Figure CN111281539B_ABST
Abstract
Description
Summary of the invention
[0001] A method for performing facial recognition is disclosed. The method includes selecting a plurality of target locations for registration. Registration is performed at each of the plurality of target locations and is completed at each of the plurality of target locations as each target location is registered. Once registration of all target locations is completed, an indication is made to the system.
[0002] A system for performing facial recognition is disclosed. The system includes: a workstation, a display in communication with the workstation, a magnetic transmitter positioned near a patient's face, and a registration probe in communication with the workstation. The registration probe includes an actuator and a magnetic wave receiver that receives a magnetic signal from the magnetic transmitter to identify the spatial position of the registration probe relative to the magnetic transmitter. The registration probe indicates that registration is being performed at each of the multiple target locations on the face of a person, indicates that registration is completed at each of the multiple target locations when each target location is registered, and indicates that facial registration of all target locations is completed.
[0003] A registration probe for performing facial recognition is disclosed. The registration probe includes: a magnetic wave receiver that receives a magnetic signal from a magnetic transmitter positioned near the patient's face to identify the spatial position of the registration probe relative to the magnetic transmitter; and an actuator. The registration probe indicates that registration is being performed at each of a plurality of target locations on the face of a person, indicates that registration is completed at each of the plurality of target locations when each target location is registered, and indicates that facial registration of all target locations is completed. BRIEF DESCRIPTION OF THE DRAWINGS
[0004] A more detailed understanding may be obtained through the following detailed description provided by way of example in conjunction with the accompanying drawings, in which:
[0005] Figure 1 is an illustration of an exemplary system for performing facial registration;
[0006] Figure 2 is a flow chart of an exemplary general method for performing facial registration;
[0007] Figure 3 For Figure 2 An exemplary facial image used during a facial registration method of;
[0008] Figure 4A For use Figure 1 An illustration of an exemplary registration probe and an exemplary registration actuator of a system of FIG.
[0009] Figure 4B for connection Figure 4AAn illustration of an exemplary registration probe and an exemplary registration actuator;
[0010] Figure 5 for Figure 4A and Figure 4B a lower perspective view of a registration actuator of ; and
[0011] Figure 6 For use Figure 4A and Figure 4B Flowchart of an exemplary method for performing facial registration using an exemplary registration probe and an exemplary registration actuator. DETAILED DESCRIPTION
[0012] The present patent application relates to a method and apparatus for performing facial recognition. In particular, the present patent application relates to a method and apparatus for performing facial recognition for ear, nose and throat (ENT) procedures, such as nasal dilation.
[0013] Generally speaking, a person usually has eight or so sinus openings (e.g., frontal sinus opening, preethmoid sinus opening, maxillary sinus opening, and middle ethmoid sinus opening on each side), but the number of openings varies from person to person. Each of these sinus openings includes an area with a very small diameter. Therefore, when the opening is blocked for one reason or another, drainage is not possible in the sinus. In this case, problems may arise. For example, the accumulation of mucus can cause various health problems such as infection.
[0014] To address these issues, medical procedures such as sinus dilation can be used. Sinus dilation is a technique used to increase the size of the sinus passage to provide less restricted fluid flow to relieve sinus congestion. Sinus dilation is performed using a tool including an inflatable balloon that is inserted into the sinus cavity. The balloon is inserted into the middle of a small sinus opening and dilated. This dilation applies pressure to the sinus opening to enlarge it (e.g., by reshaping the tissue structure of the sinus cavity). Once the balloon is removed, the opening remains at this increased size, providing a larger passage for fluid flow.
[0015] In order to perform a nasal dilation procedure, or any ENT procedure for that matter, it is important that the physician performing the procedure knows very accurately the location of the tool within the nasal cavity. The physician views an image of the patient's nasal cavity on a display screen, and navigates within the patient's actual cavity by manipulating the tool while observing the image of the tool's location on the screen. Any inaccuracy regarding the location of the tool within the patient's nasal cavity can cause the physician to damage the nasal cavity and / or perform the procedure at an incorrect location within the cavity. Therefore, it is very important that the location of the tool on the screen accurately coincides with the location of the actual tool within the patient's actual nasal cavity.
[0016] In order to ensure that the physician knows exactly where within the nasal cavity he or she is performing the procedure, a registration process is performed. The registration process allows the physician to view an image on a display screen and register locations on the patient's face in the image. Although the systems, devices, and methods for performing the registration are described in more detail below, in short, the displayed image is, for example, from a computed tomography (CT) scan of a patient's head region taken prior to ENT surgery. The operator (e.g., a physician or other technician) then performs the registration using registration probes placed at various locations on the patient's face. In addition, the patient's head is located in a magnetic field. The position of the registration probe is registered on the displayed CT scan.
[0017] Conventional registration techniques include an operator touching a registration probe to different areas on the patient's face. However, conventional registration techniques do not provide a convenient way for the operator to connect and disconnect the registration probe at each location being registered as a target location or to indicate when registration is complete.
[0018] Thus, a method, apparatus, and system for performing facial registration is described herein. Facial registration is performed by an operator who is able to connect and disconnect a registration tool from a registration system. In addition, the operator can indicate when the registration process is complete.
[0019] Figure 1 1 is a diagram of an exemplary system 100 for performing facial registration. The system includes a registration probe 110, a magnetic field transmitter 120, a hub 130, a workstation 140, a display 150, and a magnetic driver 160. The registration probe 110 and the magnetic field transmitter 120 may also be connected to the hub 130 via the magnetic driver 160 connected to the workstation 140, and receive signals from both the registration probe 110 and the magnetic transmitter 120 for transmission to the workstation 140. However, the registration probe 110 and the magnetic driver 160 may communicate directly with the workstation 140, rather than signals passing through the hub 130.
[0020] The workstation 140 includes, for example, a processor 141, a memory 142, an input / output (I / O) driver 143, and a memory 144, which allow the workstation 140 to receive input data and output data via the I / O driver 143, and store the data in the memory 144 and / or the memory 143 as required for processing. The workstation 140 is also connected to a display 150. The driver 160 is connected to the magnetic transmitter 120 to emit one or more magnetic fields around the patient's head H. As can be seen on the display 150, an image S with a target T thereon is displayed. The target T indicates the current position of the registration probe 110 in space relative to the patient's head H. The operator can then see the target on the image S and register an area of the patient's face on the image S for later use in an ENT procedure. It should be noted that the location of the magnetic field transmitter 120 is shown for exemplary purposes, and the transmitter 120 may be located in another area to provide a magnetic image. For example, a portion of the transmitter 120 may be located below the patient's head H, and multiple magnetic field generators may be included to improve the accuracy of the location. Where multiple field generators are utilized, the registration probe will be configured to register multiple magnetic fields.
[0021] To perform the registration, the registration probe 110 comprises components that allow it to be accurately positioned relative to the patient's head H, and more specifically relative to the patient's face.
[0022] Figure 2 FIG. 2 is a flow chart of an exemplary conventional method 200 for performing facial registration. In step 210, a CT scan is loaded and displayed. For example, referring back to FIG. Figure 1 , a CT scan file that has been previously captured and loaded onto a memory device or sent electronically is loaded into the workstation 140 and displayed as an image S on the display 150 .
[0023] Once the image is displayed, the operator touches the registration probe to a reference point on the patient's face to align the target location on the image (step 220). For example, the operator touches the registration probe 110 to Figure 1 An area of the patient's face is shown in display 150.
[0024] The target position between the magnetic modalities is displayed on the CT scan (step 230). That is, the coil 113 determines the position in the three-dimensional space where the registration probe 110 exists based on one or more magnetic fields received from the magnetic transmitter 120 to be displayed as the target position on the CT scan. The target position is then registered (step 240). This can be achieved by the following steps: the registration probe 110 transmits its position information based on the magnetic field detected by the coil 113 to the workstation 140, where the workstation 140 processes the position and determines where to overlay the position on the displayed image.
[0025] If enough facial locations have been registered for full registration (step 250), the facial structure of the patient undergoing conventional surgery is fully registered (step 260). If not enough locations are registered in step 250, the method returns to step 220, where the operator continues to contact other areas of the patient's face in order to cover a large enough portion of the patient's face to fully register the face of the patient undergoing ENT surgery.
[0026] Figure 3 For Figure 2 For example purposes, Figure 3 The facial image in can be from Figure 1 The image S. Figure 3 As can be seen in FIG. 2 , targets T (designated as T1, T2, and T3) are shown as solid crosshairs. Referring back to step 220 of method 200, target T1 corresponds to a first point on the patient's face contacted by the operator, target T2 corresponds to a second point on the patient's face contacted by the operator, and target T3 corresponds to a third point on the patient's face contacted by the operator. Figure 3 As shown, multiple nasal cavities 310 can also be seen in image S.
[0027] However, it would be beneficial to have enhanced registration capabilities by providing the physician with the ability to indicate when a target on the patient's face has been contacted (e.g., by clicking and releasing a button) and when registration is complete and there will no longer be a target on the patient's face to be registered. Additionally, when performing ENT procedures, the physician operates multiple devices simultaneously, and it would be beneficial to provide an improved actuation device that indicates to the system 100 that a particular tool (e.g., a registration probe aspiration tool, a pointer, a knife, a navigation device, an ultrasound tip, or other interchangeable probe) is being connected or disconnected from the system 100.
[0028] Figure 4A For use Figure 1 400A is an illustration of an exemplary registration probe 110 and an exemplary registration actuator 410 of a system of FIG. Figure 4B for connection Figure 4A 400B is an illustration of an exemplary registration probe 110 and an exemplary registration actuator 410. The registration probe 110 includes a recessed area including a registration activation button R that activates a component in the registration probe 110 (eg, a coil that receives a magnetic field emitted by the transmitter 120).
[0029] Continue to refer Figure 4A and Figure 4B, the registration activation device 410 includes a connector 411 and a sensor unit 412. Wires W connect the device 410 to the workstation 140 (e.g., via the hub 130) to transfer data to and from the device 410 and the workstation 140. The device 410 is placed on the registration probe 110 along arrow C to attach it to the registration probe 110. The connected registration probe 110 and the registration activation device 410 are in Figure 4B Shown in.
[0030] Figure 5 for Figure 4A and Figure 4B A bottom perspective view of the registration actuator 410. Figure 5 As shown, the bottom of the sensor unit 412 includes an actuator A. The actuator A coincides with the registration activation button R, so that when the connector 411 is pressed, the actuator A activates the activation button R and causes the signal to be transmitted along the wire W to the workstation 140 for use in the method described below.
[0031] Figure 6 For use Figure 4A and Figure 4B Flowchart of an exemplary method 600 for performing facial registration using an exemplary registration probe 110 and an exemplary registration actuator 410. In step 610, an operator selects a registration target location and contacts the patient's face at the target location. For example, re-referencing Figure 3 , the operator may select a target position T1 for registration. Then, in step 620, the operator depresses an actuator (e.g., actuator A of device 410), which indicates to system 100 that position T1 is being registered as a target position. If the target position registration is not complete (step 630), the operator continues to depress the actuator until the registration of the target position is complete (step 640).
[0032] If registration at the target location is complete (step 630), the operator releases the actuator (step 650), which indicates to the system 100 that registration in the target location has been registered. Then, in step 660, it is determined whether facial recognition is complete. If not, the method reverts to step 610, where another target location (e.g., T2, T3, etc.) is registered. If, in step 660, facial registration is complete, the operator indicates the end of registration, such as by, for example, double-clicking the actuator (step 670).
[0033] It should be noted that the above methods, apparatuses, and systems may include additional modifications. For example, the registration probe (e.g., the registration probe 110) and other components in the system that communicate with each other may be wired or wireless. That is, a transceiver and antenna may be included in a device (e.g., the registration probe 110 and other components of the system 100) that can wirelessly transmit and receive data to each other. It should also be noted that the registration actuator 410 can be used to indicate to the system 100 by utilizing actuator A that a tool such as the above is being connected to or disconnected from the system.
[0034] The provided methods may be implemented in a general purpose computer, a processor, or a processor core. By way of example, suitable processors include a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor (DSP), a plurality of microprocessors, one or more microprocessors associated with a DSP core, a controller, a microcontroller, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) circuit, any other type of integrated circuit (IC), and / or a state machine. Such processors may be manufactured by configuring a manufacturing process using the result of processed hardware description language (HDL) instructions and other intermediate data including a network table (such instructions can be stored on a computer readable medium). The result of such processing may be a mask work that is subsequently used in a semiconductor manufacturing process to manufacture a processor that implements the features of the present disclosure.
[0035] The methods or flow charts provided herein may be implemented in a computer program, software or firmware incorporated into a non-transitory computer-readable storage medium for execution by a general-purpose computer or processor. Examples of non-transitory computer-readable storage media include read-only memory (ROM), random access memory (RAM), registers, cache memory, semiconductor memory devices, magnetic media (e.g., internal hard disks and removable disks), magneto-optical media, and optical media (e.g., CD-ROM disks and digital versatile disks (DVDs)).
Claims
1. A method for performing facial registration using a registration probe, comprising: Select multiple target locations for registration; using the registration probe to indicate that registration is occurring at each of the plurality of target locations; using the registration probe to indicate that registration is complete at said each of said plurality of target locations as each target location is registered; as well as The facial registration is completed using the registration probe to indicate all target locations, wherein indicating that registration is to be performed at each of the plurality of target positions comprises depressing an actuator on the registration probe and wherein indicating that registration is complete at each of the plurality of target positions as each target position is registered comprises releasing the actuator, and wherein indicating that facial registration is complete for all target positions comprises depressing the actuator multiple times.
2. The method of claim 1, wherein upon indicating that registration is complete at one of the plurality of target locations, the target location is registered on a computed tomography (CT) scan. 3 . The method of claim 2 , wherein when the facial registration indicating all target locations is complete, all target locations are registered.
4. A system for performing facial recognition, comprising: workstation; a display in communication with the workstation; a magnetic transmitter positioned proximate to the face of the patient; and A registration probe, the registration probe is in communication with the workstation, the registration probe comprises an actuator and a magnetic wave receiver, the magnetic wave receiver receives a magnetic signal from the magnetic transmitter to identify a spatial position of the registration probe relative to the magnetic transmitter, the registration probe is configured to: indicating that registration is being performed at each of a plurality of target locations on the face of the person; indicating that registration is complete at said each of said plurality of target locations when each target location is registered; as well as Indicates that facial registration is complete for all target locations, wherein the registration probe is configured to indicate that registration is ongoing at each of the plurality of target locations on the person's face when the actuator is depressed, wherein the registration probe is configured to indicate that registration is complete at each of the plurality of target locations when each target location is registered when the actuator is released, and Wherein the registration probe is configured to indicate that the facial registration of all target locations is complete when the actuator is depressed multiple times.
5. The system of claim 4, wherein the workstation transmits relevant target locations to the display for display on a reference image of the face of the patient.
6. The system of claim 5, wherein the reference image is a computed tomography (CT) scan of the face of the patient.
7. The system of claim 4, wherein the registration probe and the workstation communicate wirelessly with each other.
8. The system according to claim 4, further comprising a hub device in communication with the registration probe and the workstation for enabling communication between the registration probe and the workstation.
9. The system of claim 8, wherein the hub device communicates with a driver that drives the magnetic transmitter.
10. The system of claim 4, wherein the workstation further comprises a processor, memory, and storage components in communication with each other, and wherein a reference image is stored in the memory of the workstation for transmission to the display. 11 . The system according to claim 4 , wherein the magnetic wave receiver is a coil disposed in the registration probe for receiving the magnetic signal.
12. A registration probe in communication with a facial recognition system, comprising: a magnetic wave receiver that receives magnetic signals from a magnetic transmitter positioned proximate to the face of the patient to identify a spatial position of the registration probe relative to the magnetic transmitter; and Actuator, Wherein the registration probe is configured to: indicating that registration is being performed at each of a plurality of target locations on the face of the person; indicating that registration is complete at said each of said plurality of target locations when each target location is registered; as well as Indicates that facial registration is complete for all target locations, wherein the registration probe is configured to indicate that registration is ongoing at each of the plurality of target locations on the person's face when the actuator is depressed, and to indicate that registration is complete at each of the plurality of target locations when each target location is registered when the actuator is released, Wherein the registration probe is configured to indicate that the facial registration of all target locations is complete when the actuator is depressed multiple times.