Positioning system, method, device, equipment and storage medium

Abstract

The embodiments of the present invention disclose a positioning system, method, device, equipment and storage medium for surgical navigation system markers. The system includes an attachment pattern, a position information acquisition device and a processor, wherein the attachment pattern is composed of a combination of unique features and repeated features, and the attachment pattern is arranged to be attached to the surface of the marker. When positioning the marker, the position information acquisition device is used to collect images of the marker at multiple angles as positioning images, and send the positioning images to the processor; the processor is used to identify the unique feature information and repeated feature information in the positioning image according to the positional relationship between feature points, and locate the marker based on the unique feature information and the repeated feature information. By combining the unique features and the repeated features for positioning, the number of feature points is greatly increased, and the stability and accuracy of the marker registration and positioning are improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of navigation and positioning, and in particular to a positioning system, method, apparatus, device and storage medium. Background Art

[0002] For surgical navigation systems such as dentistry, it is necessary to track the position and posture of surgical instruments and the target surgical area in real time, so as to guide doctors or robotic arms to operate surgical instruments to perform surgical tasks such as dental implants. Among them, the position and posture tracking of surgical instruments and target areas is achieved by positioning landmarks.

[0003] Common landmark positioning methods include repeated feature positioning method and unique feature positioning method. However, for the repeated feature positioning method, although the positioning of the target surface features is simple and computationally efficient, when the number of repeated features on the surface increases, it will lead to ambiguity in the polar constraints, the basis vectors formed by the combination of two feature points, etc., and the probability of mismatching will increase, resulting in errors in landmark positioning. For the unique feature positioning method, its surface theory can add an unlimited number of unique features, but in order to accurately identify the image, it is generally required that the target feature identifier cannot be too small. Therefore, under a limited area, there is still an upper limit on the number of feature points in the unique feature positioning method, which limits the accuracy and stability of the landmark positioning precision. Summary of the invention

[0004] The embodiments of the present invention provide a positioning system, method, device, equipment and storage medium for surgical navigation system markers, which greatly increase the number of feature points and improve the stability and accuracy of marker registration and positioning by combining unique features and repeated features for positioning.

[0005] In a first aspect, an embodiment of the present invention provides a positioning system for surgical navigation system markers, including an attachment pattern, a position information acquisition device, and a processor, wherein the attachment pattern is composed of a combination of unique features and repeated features, the unique feature is a feature uniquely determined by image recognition in the attachment pattern, and the repeated feature is a feature that exists repeatedly in the attachment pattern. The attachment pattern is set to be attached to the surface of the marker, and when the marker is positioned,

[0006] A position information acquisition device, used to acquire images of the marker at multiple angles as positioning images, and send the positioning images to the processor;

[0007] The processor is used to identify the unique feature information and repeated feature information in the positioning image according to the positional relationship between the feature points, and locate the marker based on the unique feature information and the repeated feature information.

[0008] In a second aspect, an embodiment of the present invention further provides a method for positioning a surgical navigation system marker, which is executed by a processor in a positioning system for a surgical navigation system marker provided by any embodiment of the present invention, and the method includes:

[0009] Receiving positioning images of the marker at multiple angles collected by the position information collection device;

[0010] The unique feature information and repeated feature information in the positioning image are identified according to the positional relationship between the feature points, and the marker is positioned based on the unique feature information and the repeated feature information. The unique feature is a feature in the attached pattern that is uniquely determined by image recognition, and the repeated feature is a feature that exists repeatedly in the attached pattern.

[0011] In a third aspect, an embodiment of the present invention further provides a positioning device for a surgical navigation system marker, which is configured in a processor in a positioning system for a surgical navigation system marker provided by any embodiment of the present invention, and includes:

[0012] A positioning image acquisition module, used to receive positioning images of the marker at multiple angles collected by the position information collection device;

[0013] The marker positioning module is used to identify the unique feature information and repeated feature information in the positioning image according to the positional relationship between the feature points, and locate the marker based on the unique feature information and the repeated feature information. The unique feature is the feature uniquely determined by image recognition in the attached pattern, and the repeated feature is the feature that exists repeatedly in the attached pattern.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer device, the device comprising:

[0015] one or more processors;

[0016] A storage device for storing one or more programs;

[0017] When one or more programs are executed by one or more processors, the one or more processors implement the method for positioning markers in a surgical navigation system as provided in any embodiment of the present invention.

[0018] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for positioning a surgical navigation system marker as provided in any embodiment of the present invention.

[0019] The positioning system for surgical navigation system markers provided by the embodiment of the present invention includes an attachment pattern, a position information acquisition device and a processor, wherein the attachment pattern is composed of a combination of unique features and repeated features, and the attachment pattern is set to be attached to the surface of the marker. When positioning the marker, the position information acquisition device is used to collect images of the marker at multiple angles as positioning images, and send the positioning images to the processor; the processor is used to identify the unique feature information and repeated feature information in the positioning image according to the positional relationship between the feature points, and locate the marker based on the unique feature information and repeated feature information. By combining unique features and repeated features for positioning, the number of feature points is greatly increased, and the stability and accuracy of the marker registration positioning are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1a is a schematic diagram of an attachment pattern provided by an embodiment of the present invention;

[0021] Figure 1b is a schematic diagram of a surgical instrument with an attached pattern provided by an embodiment of the present invention;

[0022] Figure 2 is a flow chart of a method for positioning a surgical navigation system marker provided by Embodiment 2 of the present invention;

[0023] Figure 3 It is a structural schematic diagram of a positioning device for a surgical navigation system marker provided by Embodiment 3 of the present invention;

[0024] Figure 4 It is a structural diagram of a computer device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0026] Embodiment 1

[0027] This embodiment can be applied to the situation when positioning a marker in a surgical navigation system. In this embodiment, the positioning system for the marker in the surgical navigation system includes an attachment pattern, a position information acquisition device and a processor, wherein the attachment pattern is composed of a combination of unique features and repeated features, the unique feature is a feature uniquely determined by image recognition in the attachment pattern, and the repeated feature is a feature that exists repeatedly in the attachment pattern. The attachment pattern is set to be attached to the surface of the marker. When positioning the marker,

[0028] A position information acquisition device, used to acquire images of the marker at multiple angles as positioning images, and send the positioning images to the processor;

[0029] The processor is used to identify the unique feature information and repeated feature information in the positioning image according to the positional relationship between the feature points, and locate the marker based on the unique feature information and the repeated feature information.

[0030] In this embodiment, an attachment pattern is attached to the surface of a marker, and positioning images of the marker are obtained at multiple angles. The unique feature information and repeated feature information in the positioning image are determined based on the positional relationship between the unique features and repeated features in the attachment pattern. The position of the marker is calculated based on the determined unique feature information and repeated feature information to achieve the positioning of the marker.

[0031] Optionally, the marker can be an object that needs to be tracked and positioned, such as a surgical instrument or a target surgical area. That is, the attached pattern can be attached near the surgical instrument or the target surgical area to track the position of the surgical instrument or the target surgical area and realize the positioning of the surgical navigation system marker.

[0032] It should be noted that the attachment pattern in this embodiment combines unique features and repetitive features. Among them, the unique feature can be a unique shape feature, a unique code information feature, etc. The unique shape feature can contain different shapes at the same time: circle, triangle, rectangle; the unique code information feature can be a feature code, a QR code, a barcode, etc. The repetitive feature can be a highlight spot, a circular feature, a corner point feature, etc., and the corresponding feature points are the center of the spot, the center of the circle, and the corner point. Optionally, the characteristics of the attachment pattern combining unique features and repetitive features can be: the unique feature identifiers are arrayed or randomly distributed on the pattern surface. In order to ensure the accuracy of unique feature recognition, there are certain gaps between the unique features; the repetitive feature identifiers are designed to be distributed between multiple unique feature gaps, or inside a single unique feature pattern. Figure 1a It is a schematic diagram of an attachment pattern provided by an embodiment of the present invention. Figure 1a A schematic structure of an attachment pattern is schematically shown in FIG. The unique features and repeated features in the attachment pattern can be set according to requirements, and each feature point (regardless of repeated features or unique features) is assigned a separate non-repeating number, and the relative position relationship is known.

[0033] The attachment pattern combining unique features and repeated features can be attached to the surface of surgical instruments or the vicinity of the target surgical area such as plane, sphere, cylinder, cone, etc. Figure 1b Schematic diagram of a surgical instrument with an attached pattern provided by an embodiment of the present invention. Schematically shows a surgical instrument with an attached pattern.

[0034] In general, before positioning the marker, the attachment pattern is attached to the surface of the marker. When positioning the marker, the position information acquisition device obtains images of the marker at multiple angles as positioning images, and the processor processes the positioning images, determines the unique feature information and repeated feature information in the positioning image based on the known positional relationship between the unique features and repeated features in the attachment pattern, and then determines the three-dimensional coordinates of the unique feature information and the repeated feature information, and performs registration based on the three-dimensional coordinates of the unique feature information and the repeated feature information to obtain the position and posture of the marker, thereby realizing the positioning of the marker.

[0035] The positioning system for surgical navigation system markers provided by the embodiment of the present invention can effectively combine the advantages of the repeated feature positioning method and the unique feature positioning method, greatly increase the number of feature points on the surface, and achieve high stability and high precision positioning of surgical instruments and target surgical areas. And by combining unique feature information and repeated feature information to provide a large amount of feature point information that is correctly matched, the stability and accuracy of marker positioning are improved. Compared with the repeated feature positioning method of the marker, by adding unique feature information to the attached pattern, while increasing the number of feature points, the mismatch phenomenon caused by too many feature points is avoided, and the correctness of the positioning of the marker is ensured. Compared with the unique feature positioning method of the marker, in a limited area and without reducing the identification recognition rate, additional feature point information used for marker positioning is added, thereby improving the stability and accuracy of marker positioning.

[0036] In one embodiment of the present invention, identifying unique feature information and repeated feature information in a positioning image includes: identifying unique feature information in the positioning image by an image processing method; determining a positional relationship of feature points in an attached pattern, and a feature point mapping relationship between the unique feature information and feature points in the attached pattern; and determining repeated feature information in the positioning image based on the unique feature information, the feature point positional relationship, and the feature point mapping relationship.

[0037] Optionally, the unique feature information and the unique feature point corresponding to the unique feature information can be identified by an image recognition method. After the unique feature information is obtained, the mapping position of the repeated feature information in the attached pattern in the positioning image can be determined according to the positional relationship between the feature points in the attached pattern and the feature point mapping relationship between the unique feature information and the feature points in the attached pattern, thereby determining the repeated feature information in the positioning image. Exemplarily, the unique feature information and the unique feature point corresponding to the unique feature information can be identified based on the category of the unique feature information. Optionally, when the category of the unique feature information is a shape category, the unique feature information can be determined by shape recognition. Specifically, if the attached pattern uses unique shape features such as triangles and circles, different shapes can be identified by identifying connected domains + edge extraction + Hough transform + straight line fitting, etc.; when the category of unique feature information is a codeword category, the unique feature information can be determined by codeword recognition. Specifically, if the attached pattern uses unique codeword information features such as feature codes and QR codes, the unique codeword information can be identified by combining image binarization, convex hull recognition, projection mapping, calculating Hamming distance and matching, etc.; when the category of unique feature information is a feature point category, the unique feature information is determined by feature point recognition. Specifically, feature points such as center of circle and corner points can be obtained by center of circle recognition, Harris corner point recognition, etc.

[0038] In one embodiment, determining the positional relationship of feature points in the attached pattern, and the feature point mapping relationship between the unique feature information and the feature points in the attached pattern, includes: generating pattern identification information based on the unique feature information, taking the pattern to which the pattern identification information belongs in the pre-stored pattern as the target pattern, and obtaining the positional relationship of feature points in the target pattern as the positional relationship of feature points in the attached pattern; determining the feature point mapping relationship according to the positional relationship of feature points in the target pattern and the unique feature information. In this embodiment, a plurality of patterns are pre-stored, and the positional relationship between feature points in the pattern is known. However, the unique feature information between different patterns may be different or may be repeated. Therefore, when determining the positional relationship of feature points between feature points in the attached pattern, it is necessary to determine the pre-stored target pattern corresponding to the attached pattern, and then determine the positional relationship of feature points in the attached pattern. Considering that the unique feature information between different attached patterns may be the same or different, the pattern to which the unique feature information belongs cannot be directly taken as the target pattern to obtain the positional relationship between feature points in the attached pattern.

[0039] Optionally, pattern identification information is generated based on unique characteristic information, including: when there are differences in the unique characteristic information between different attached patterns, any unique characteristic information is used as pattern identification information; when there is repeated information in the unique characteristic information between different attached patterns, at least two unique characteristic information are combined as pattern identification information. Specifically, when the unique characteristic information between different attached patterns is different, the unique characteristic information can be directly used as pattern identification information, and the pattern to which the pattern identification information belongs is used as the target pattern. When there is repetition in the unique characteristic information between different attached patterns, it is necessary to combine two or more unique characteristic information to form pattern identification information, and the pattern to which the pattern identification information belongs is used as the target pattern. Optionally, adjacent unique characteristic information can be combined as pattern identification information.

[0040] After determining the feature point mapping relationship between the unique feature information and the feature points of the attached pattern, the repeated feature information in the positioning image can be determined based on the feature point mapping relationship between the unique feature information and the feature points. In order to make the determination of the repeated feature information more accurate, the repeated feature information can be determined based on the structural type of the marker.

[0041] Optionally, when the marker is a plane marker, the mapping position of the repeated feature information in the attached pattern in the positioning image is determined according to the homography matrix based on the unique feature information, the feature point position relationship and the feature point mapping relationship; when the marker is a curved surface marker, the positioning image is divided into multiple sub-areas, and for each sub-area, the mapping position of the repeated feature information in the attached pattern in the positioning image is determined according to the homography matrix based on the unique feature information, the feature point position relationship and the feature point mapping relationship. It can be understood that the use of the homography matrix can find the exact position of the corresponding point of the image point on another image. However, the points in the scene need to be on the same plane before the homography matrix can be used to calculate the matching points of the image points. Therefore, when the marker is a plane marker, the homography matrix can be directly used to map the mapping position of the repeated feature information in the attached pattern in the positioning image; when the marker is a curved surface marker, the curved surface marker can be divided into multiple sub-areas, each of which can be identified as a plane area, and the homography matrix is ​​used in each sub-area to map the mapping position of the repeated feature information in the attached pattern in the positioning image, thereby obtaining the repeated feature information in the positioning image.

[0042] Specifically, if the target pattern is attached to a plane marker, it can be mapped according to the homography matrix. According to the unique feature point corresponding to the unique feature information obtained (recorded as the homogeneous form [x s ,y s ,1] T ) and the characteristic points in the target pattern (recorded as homogeneous form [x t ,y t ,1] T), there is a homography matrix H mapping relationship between the two, the formula is as follows:

[0043]

[0044] When more than 4 feature points are identified using unique features in the positioning image, the following equation can be constructed and the elements in the homography matrix can be calculated using the least squares method:

[0045]

[0046] After the homography matrix is ​​calculated, the homography mapping can be used to convert the remaining repeated feature coordinate information in the known target pattern into the acquired image, and the corresponding repeated feature points are searched in the neighborhood and uniquely identified and numbered.

[0047] If the target pattern is attached to a curved surface marker, the unique feature points in the image and the feature points in the target pattern are no longer coordinate mappings between planes. First, image processing identifies repeated image features in the image, and divides the target pattern into multiple small convex hull regions consisting of 4 to 5 points as sub-regions according to the distribution of unique feature points. Then, the homography matrix is ​​calculated using 4 or more unique feature points in a small range, and the repeated feature points inside the convex hull composed of the corresponding unique feature points are homographically mapped. According to the relative relationship of the mapping coordinates of the repeated feature points in the image, the repeated feature points in the image are uniquely identified and numbered.

[0048] In one embodiment of the present invention, the marker is positioned based on the unique feature information and the repeated feature information, including: obtaining the position and posture of the marker according to the three-dimensional coordinate registration of the unique feature information and the repeated feature information. Optionally, after determining the unique feature information and the repeated feature information, the three-dimensional coordinates of the unique feature point corresponding to the unique feature information and the three-dimensional coordinates of the repeated feature point corresponding to the repeated feature information can be determined, and the position and posture of the marker can be obtained by registration. In the above steps, a unique identification number is set for each three-dimensional point coordinate, so the matching process of the two sets of three-dimensional point sets is simple, and the position and posture can be determined directly according to the PnP registration calculation, which will not be repeated here. It is worth mentioning that the marker pose calculation process is obtained by nonlinear optimization, so the more effective observations, the more stable and accurate the navigation and positioning results.

[0049] Embodiment 2

[0050] Figure 2 1 is a flowchart of a method for positioning a surgical navigation system marker provided by the second embodiment of the present invention. The method can be executed by the processor provided by the above embodiment, and the processor can be implemented in software and / or hardware. For example, the processor can be configured in a computer device. Figure 2 As shown, the method includes:

[0051] S210, receiving positioning images of the landmark at multiple angles collected by the position information collection device.

[0052] S220. Identify unique feature information and repeated feature information in the positioning image according to the positional relationship between feature points, and locate the marker based on the unique feature information and repeated feature information. The unique feature is a feature uniquely determined by image recognition in the attached pattern, and the repeated feature is a feature that exists repeatedly in the attached pattern.

[0053] For more specific methods of determining unique characteristic information and repeated characteristic information, as well as methods of locating markers, reference may be made to the above embodiments and will not be repeated here.

[0054] The embodiment of the present invention receives positioning images of the marker at multiple angles collected by the position information collection device, identifies the unique feature information and repeated feature information in the positioning image according to the positional relationship between the feature points, and locates the marker based on the unique feature information and the repeated feature information, thereby greatly increasing the feature point information without misidentification, increasing the feature point information used for marker positioning, and improving the stability and accuracy of marker positioning.

[0055] Embodiment 3

[0056] Figure 3 3 is a schematic diagram of a device for positioning a surgical navigation system marker provided by the third embodiment of the present invention. As shown in FIG3 , the device includes a positioning image acquisition module 310 and a marker positioning module 320, wherein:

[0057] The positioning image acquisition module 310 is used to receive positioning images of the marker at multiple angles collected by the position information collection device;

[0058] The marker positioning module 320 is used to identify the unique feature information and repeated feature information in the positioning image according to the positional relationship between the feature points, and locate the marker based on the unique feature information and the repeated feature information. The unique feature is the feature uniquely determined by image recognition in the attached pattern, and the repeated feature is the feature that exists repeatedly in the attached pattern.

[0059] The positioning device for surgical navigation system markers provided in the embodiments of the present invention can execute the positioning method for surgical navigation system markers provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0060] Embodiment 4

[0061] Figure 4 It is a structural diagram of a computer device provided in Embodiment 4 of the present invention. Figure 4A block diagram of an exemplary computer device 412 suitable for use in implementing embodiments of the present invention is shown. Figure 4 The computer device 412 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0062] like Figure 4 As shown, the computer device 412 is in the form of a general-purpose computing device. The components of the computer device 412 may include, but are not limited to: one or more processors 416, a system memory 428, and a bus 418 that connects different system components (including the system memory 428 and the processor 416).

[0063] Bus 418 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a local bus to processor 416, or a bus structure using any of a variety of bus architectures. These architectures include, by way of example, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0064] The computer device 412 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 412, including volatile and non-volatile media, removable and non-removable media.

[0065] System memory 428 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 430 and / or cache memory 432. Computer device 412 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage device 434 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 not shown, usually called a "hard drive"). Although Figure 4 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 418 via one or more data medium interfaces. The memory 428 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0066] A program / utility 440 having a set (at least one) of program modules 442 may be stored, for example, in memory 428, such program modules 442 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 442 generally perform the functions and / or methods of the embodiments described herein.

[0067] The computer device 412 may also communicate with one or more external devices 414 (e.g., keyboard, pointing device, display 424, etc.), may also communicate with one or more devices that enable a user to interact with the computer device 412, and / or communicate with any device that enables the computer device 412 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed via input / output (I / O) interface 422. Furthermore, the computer device 412 may also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN) and / or public network, such as the Internet) via network adapter 420. As shown, the network adapter 420 communicates with other modules of the computer device 412 via bus 418. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the computer device 412, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0068] The processor 416 executes various functional applications and data processing by running the program stored in the system memory 428, for example, implementing the positioning method for surgical navigation system markers provided in an embodiment of the present invention, the method comprising:

[0069] Receiving positioning images of the marker at multiple angles collected by the position information collection device;

[0070] The unique feature information and repeated feature information in the positioning image are identified according to the positional relationship between the feature points, and the marker is positioned based on the unique feature information and the repeated feature information. The unique feature is a feature in the attached pattern that is uniquely determined by image recognition, and the repeated feature is a feature that exists repeatedly in the attached pattern.

[0071] Of course, those skilled in the art will appreciate that the processor may also implement the technical solution of the method for positioning a surgical navigation system marker provided in any embodiment of the present invention.

[0072] Embodiment 5

[0073] Embodiment 5 of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method for positioning a marker for a surgical navigation system provided in the embodiment of the present invention is implemented. The method includes:

[0074] Receiving positioning images of the marker at multiple angles collected by the position information collection device;

[0075] The unique feature information and repeated feature information in the positioning image are identified according to the feature point mapping relationship between feature points, and the marker is positioned based on the unique feature information and the repeated feature information. The unique feature is a feature in the attached pattern that is uniquely determined by image recognition, and the repeated feature is a feature that exists repeatedly in the attached pattern.

[0076] Of course, the computer-readable storage medium provided by an embodiment of the present invention stores a computer program which is not limited to the above method operations, but can also execute related operations of the positioning method for surgical navigation system markers provided by any embodiment of the present invention.

[0077] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0078] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0079] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0080] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0081] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A positioning system for surgical navigation system markers, characterized in that: The invention comprises an attached pattern, a position information collection device and a processor, wherein the attached pattern is composed of a unique feature and a repeated feature, the unique feature is a feature uniquely determined by image recognition in the attached pattern, and the repeated feature is a feature that exists repeatedly in the attached pattern. The attached pattern is set to be attached to the surface of a marker, and when the marker is positioned, The position information acquisition device is used to acquire images of the marker at multiple angles as positioning images, and send the positioning images to the processor; The processor is used to identify unique feature information and repeated feature information in the positioning image according to the positional relationship between feature points, and locate the marker based on the unique feature information and the repeated feature information; The step of identifying unique feature information and repeated feature information in the positioning image includes: Identify unique feature information in the positioning image by an image processing method; Determining a positional relationship of feature points in the attached pattern, and a feature point mapping relationship between the unique feature information and the feature points in the attached pattern; The repeated feature information in the positioning image is determined according to the unique feature information, the feature point position relationship and the feature point mapping relationship.

2. The system according to claim 1, characterized in that The determining of the position relationship of the feature points in the attached pattern and the feature point mapping relationship between the unique feature information and the feature points in the attached pattern includes: Generate pattern identification information based on the unique feature information, take the pattern to which the pattern identification information belongs in the pre-stored patterns as the target pattern, and obtain the position relationship of feature points in the target pattern as the position relationship of feature points in the attached pattern; The feature point mapping relationship is determined according to the feature point position relationship in the target pattern and the unique feature information.

3. The system according to claim 2, characterized in that The generating pattern identification information based on the unique feature information comprises: When there is a difference in the unique characteristic information between different attached patterns, any unique characteristic information is used as the pattern identification information; When there is repeated information in the unique characteristic information between different attached patterns, at least two unique characteristic information are combined as the pattern identification information.

4. The system according to claim 1, characterized in that The determining the repeated feature information in the positioning image according to the unique feature information, the feature point position relationship and the feature point mapping relationship includes: When the marker is a planar marker, determining the mapping position of the repeated feature information in the attached pattern in the positioning image according to the homography matrix based on the unique feature information, the feature point position relationship and the feature point mapping relationship; When the marker is a curved marker, the positioning image is divided into multiple sub-areas. For each sub-area, the mapping position of the repeated feature information in the attached pattern in the positioning image is determined according to the homography matrix based on the unique feature information, the feature point position relationship and the feature point mapping relationship.

5. The system according to claim 1, characterized in that The positioning of the marker based on the unique feature information and the repeated feature information includes: The position and posture of the marker is obtained according to the three-dimensional coordinate registration of the unique feature information and the repeated feature information.

6. A method for positioning a marker in a surgical navigation system, characterized in that: The method is executed by a processor in a positioning system for a surgical navigation system marker according to any one of claims 1 to 5, the method comprising: Receiving positioning images of the marker at multiple angles collected by the position information collection device; The unique feature information and repeated feature information in the positioning image are identified according to the positional relationship between feature points, and the marker is positioned based on the unique feature information and the repeated feature information. The unique feature is a feature in the attached pattern that is uniquely determined by image recognition, and the repeated feature is a feature that exists repeatedly in the attached pattern.

7. A positioning device for a surgical navigation system marker, characterized in that: A processor configured in a positioning system for a surgical navigation system marker according to any one of claims 1 to 5, comprising: A positioning image acquisition module, used to receive positioning images of the marker at multiple angles collected by the position information collection device; A marker positioning module is used to identify unique feature information and repeated feature information in the positioning image according to the positional relationship between feature points, and locate the marker based on the unique feature information and the repeated feature information. The unique feature is a feature in the attached pattern that is uniquely determined by image recognition, and the repeated feature is a feature that exists repeatedly in the attached pattern.

8. A computer device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for positioning markers for a surgical navigation system as described in claim 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for positioning a marker for a surgical navigation system as described in claim 6 is implemented.

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