Surgical instrument calibration method, device and equipment based on drill point, medium and product

Abstract

The embodiment of the invention discloses a surgical instrument calibration method and device based on a drill point, equipment, a medium and a product, and the method comprises the steps: obtaining a to-be-analyzed instrument image, and determining a coordinate mapping relation between a surgical instrument coordinate system and an optical navigation instrument coordinate system, according to the coordinates of the drill point in the corresponding camera coordinate system, the space coordinates of the drill point of the calibration drill are determined, and the target axial calibration result of the calibration drill is determined; according to the coordinate mapping relation, the space coordinates of the drill point and the target axial calibration result, the working axis direction of the surgical instrument and the space coordinates of any point on the corresponding working axis are determined, and the calibration process of the surgical instrument is completed. According to the technical scheme, the problem that current instrument calibration is high in cost or complex in operation is solved, calibration can be carried out only through picture shooting under the condition that a tool is not used, the cost is low, meanwhile, operation is easy, and automatic calibration is high in speed and accuracy through the image processing technology.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of image processing technology, and in particular to a surgical instrument calibration method, device, equipment, medium and product based on a drill needle. Background Art

[0002] For dental implants and other surgeries, optical navigation implants are gradually becoming popular in the market due to their advantages of precision, safety, and minimal invasiveness. Before implanting a tooth, in order to ensure navigation accuracy, doctors need to calibrate the axial and end point coordinates of the drill needle of the surgical instrument. Currently, there are two main methods for calibrating surgical instruments based on drill needles in the market: long and short drill calibration shake point and tooling calibration.

[0003] Among the above solutions, the long and short drill calibration shaking point solution is more complicated, the process is time-consuming, and it is easy to make mistakes. The tooling calibration solution has higher accuracy, but requires additional auxiliary tooling, and the cost is relatively high. Summary of the invention

[0004] The embodiments of the present invention provide a drill-based surgical instrument calibration method, device, equipment, medium and product, which can be calibrated by taking pictures without using tooling, with low cost and simple operation, and automatic calibration with fast speed and high accuracy through image processing technology.

[0005] In a first aspect, an embodiment of the present invention provides a surgical instrument calibration method based on a drill needle, the method comprising:

[0006] Acquire an image of the instrument to be analyzed acquired by a multi-eye imaging device, and determine a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system according to instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument, and the length of the calibration drill is known;

[0007] Matching the template image of the calibration drill with the image of the device to be analyzed to obtain a calibration drill matching result, and determining the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result;

[0008] Sub-pixel point search and drill body axial fitting are performed according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system to determine the drill body axial direction of the calibration drill;

[0009] Determine the spatial coordinates of the drill tip of the calibration drill according to the coordinates of the drill tip in the corresponding camera coordinate system, and determine the target axial calibration result of the calibration drill according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system;

[0010] According to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined to complete the calibration process of the surgical instrument.

[0011] In a second aspect, an embodiment of the present invention provides a surgical instrument calibration device based on a drill needle, the device comprising:

[0012] An image acquisition module is used to acquire an image of the instrument to be analyzed collected by a multi-eye imaging device, and determine a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system according to instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument, and the length of the calibration drill is known;

[0013] A template matching module is used to match the template image of the calibration drill with the image of the device to be analyzed to obtain a calibration drill matching result, and determine the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result;

[0014] A drill body axial direction determination module is used to perform sub-pixel point search and drill body axial fitting according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system to determine the drill body axial direction of the calibration drill;

[0015] An axial calibration result determination module is used to determine the spatial coordinates of the drill tip point of the calibration drill according to the coordinates of the drill tip point in the corresponding camera coordinate system, and to determine the target axial calibration result of the calibration drill according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system;

[0016] The coordinate determination module determines the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, thereby completing the calibration process of the surgical instrument.

[0017] In a third aspect, an embodiment of the present invention further provides a computer device, the computer device comprising:

[0018] one or more processors;

[0019] A memory for storing one or more programs;

[0020] When the one or more programs are executed by one or more processors, the one or more processors implement the drill-based surgical instrument calibration method provided in any embodiment of the present invention.

[0021] In a fourth 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 surgical instrument calibration method based on a drill needle as provided in any embodiment of the present invention.

[0022] In a fifth aspect, an embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements a surgical instrument calibration method based on a drill needle as provided in any embodiment of the present invention.

[0023] The embodiments of the above invention have the following advantages or beneficial effects:

[0024] In an embodiment of the present invention, an image of an instrument to be analyzed acquired by a multi-eye imaging device is acquired, and a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system is determined according to instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument, and the length of the calibration drill is known; a template image of the calibration drill is matched with the image of the instrument to be analyzed to obtain a calibration drill matching result, and the coordinates of a drill tip point and a drill body contour point of the calibration drill in a corresponding camera coordinate system are determined based on the calibration drill matching result; and a calibration drill template image is matched with the calibration drill template image to obtain a calibration drill matching result. The coordinates of the tip and the drill body contour point in the corresponding camera coordinate system are used for sub-pixel point search and drill body axial fitting to determine the axial direction of the drill body of the calibration drill; the spatial coordinates of the drill tip point of the calibration drill are determined according to the coordinates of the drill tip point in the corresponding camera coordinate system, and the target axial calibration result of the calibration drill is determined according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system; the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result to complete the calibration process of the surgical instrument. The technical solution of the embodiment of the present invention solves the current problems of high cost or complex operation of instrument calibration. Calibration can be performed by taking pictures without using tooling, which is low cost and simple to operate. Automatic calibration is fast and accurate through image processing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a flow chart of a surgical instrument calibration method based on a drill needle provided in an embodiment of the present invention;

[0026] Figure 2 is a flow chart of a surgical instrument calibration method based on a drill needle provided in an embodiment of the present invention;

[0027] Figure 3 is a flow chart of a surgical instrument calibration method based on a drill needle provided in an embodiment of the present invention;

[0028] Figure 4is a flow chart of a surgical instrument calibration method based on a drill needle provided in an embodiment of the present invention;

[0029] Figure 5 It is a structural schematic diagram of a surgical instrument calibration device based on a drill needle provided in an embodiment of the present invention;

[0030] Figure 6 It is a structural schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0031] 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.

[0032] Figure 1 This is a flowchart of a drill-based surgical instrument calibration method provided in an embodiment of the present invention. This embodiment can be applied to the scenario of drill-based surgical instrument calibration in dental optical navigation surgery. The method can be executed by a drill-based surgical instrument calibration device, which can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0033] like Figure 1 As shown, the surgical instrument calibration method based on the drill needle of this embodiment includes the following steps:

[0034] S110, acquiring an image of the instrument to be analyzed collected by a multi-eye imaging device, and determining a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system according to instrument features in the image of the instrument to be analyzed.

[0035] The instrument image to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument, and the length of the calibration drill is known.

[0036] The multi-eye imaging device can be a multi-eye camera, equipped with multiple cameras at different angles. The surgical instrument can be a mobile phone instrument for dental surgery, and a calibration drill is configured at the clamping structure of the dental mobile phone. For example, a specific preset image acquisition area can be set within the field of view of the navigator, and marked on the software interface. When the instrument enters the preset image acquisition area with a preset posture, the instrument calibration instruction will be triggered, and the software will automatically switch to the instrument calibration interface to perform the instrument calibration operation, reducing the need to rely on others to click the mouse. A single person can complete the intraoperative instrument calibration operation, simplifying the interaction and shortening the operation process.

[0037] For example, the preset image acquisition area can be set to a field of view area at a preset distance from the navigator, and the preset distance can be set according to actual needs. Therefore, when the operator wants to perform an instrument calibration operation, the instrument is placed in a preset posture in a specific interactive field of view of the navigator, and the corresponding image is captured by the multi-eye imaging device of the navigator. The clarity of the instrument image to be analyzed can observe the characteristics of the surgical instrument and the calibration drill. The preset posture of the instrument can be set to a position and posture that is perpendicular to the central ray of the navigator (within a specified deviation range, it can be considered as perpendicular).

[0038] The instrument feature can be a special pattern of the instrument, which has a specific shape, color and texture. The surgical instrument coordinate system is determined based on the feature points of the instrument feature, and the reference points of known coordinates are determined in the instrument image to be analyzed. Through the feature points of the instrument feature and these reference points, the mathematical model is used to establish the correlation equation, and finally the transformation matrix from the surgical instrument coordinate system to the optical navigation instrument coordinate system is solved to determine the coordinate mapping relationship between the two.

[0039] S120, matching the template image of the calibration drill with the image of the instrument to be analyzed to obtain a calibration drill matching result, and determining the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result.

[0040] The template image of the calibration drill may be generated in advance by projecting the three-dimensional drill model corresponding to the calibration drill to the camera coordinate system of the image of the device to be analyzed, and may include template images of the three-dimensional drill model of the calibration drill projected to the camera coordinate system of the image of the device to be analyzed in different postures. Multiple template images of the calibration drill are matched with the image of the device to be analyzed to obtain a template image matching the calibration drill in the image of the device to be analyzed, and the coordinates of the drill tip point and the drill body contour point of the calibration drill in the camera coordinate system of the corresponding image of the device to be analyzed are used as the coordinates of the drill tip point and the drill body contour point of the calibration drill in the camera coordinate system of the corresponding image of the device to be analyzed based on the coordinates of the drill tip point and the drill body contour point of the calibration drill in the camera coordinate system of the corresponding image of the device to be analyzed.

[0041] S130, performing sub-pixel point search and drill body axial fitting according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system, and determining the drill body axial direction of the calibration drill.

[0042] This embodiment can further improve the accuracy of coordinates through sub-pixel point search, and can determine the positions of drill tip points and drill body contour points with higher resolution, thereby providing a more accurate data basis for subsequent drill body axial fitting.

[0043] Specifically, the drill body axial fitting can be performed by a fitting algorithm, and the present embodiment does not limit the type of the fitting algorithm. By fitting the sub-pixel points obtained by the search, the straight line direction that best represents the drill body axial direction in the camera coordinate system of the corresponding instrument image to be analyzed is found as the drill body axial direction of the calibration drill.

[0044] S140, determining the spatial coordinates of the drill tip of the calibration drill according to the coordinates of the drill tip in the corresponding camera coordinate system, and determining the target axial calibration result of the calibration drill according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system.

[0045] According to the sub-pixel tip coordinates of the camera coordinate system of the corresponding instrument image to be analyzed, the spatial coordinates of the drill tip can be calculated using the principle of camera triangulation. According to the axial direction of the drill body in the multi-perspective instrument image to be analyzed, combined with the coordinates of the optical center of the navigator camera, the spatial plane equation corresponding to the axial direction of the drill body is calculated, and the final axial direction of the drill bit is calculated as the target axial calibration result of the calibration drill using the intersection of multiple spatial planes.

[0046] S150, determining the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, and completing the calibration process of the surgical instrument.

[0047] The working axis direction of the surgical instrument is determined according to the target axial calibration result, and the spatial coordinates of any point on the corresponding working axis are determined; the working axis direction and the spatial coordinates of any point on the working axis are converted to the surgical instrument coordinate system according to the coordinate mapping relationship; the working axis direction of the surgical instrument in the surgical instrument coordinate system and the coordinates of any point on the working axis are obtained, and the calibration process of the surgical instrument is completed.

[0048] After completing the drill needle measurement, the software can automatically exit the instrument calibration interface and return to the initial menu interface. The entire calibration process does not require mouse clicks, reducing the need to rely on others to click the mouse.

[0049] The technical solution of this embodiment is to obtain an image of the instrument to be analyzed collected by a multi-eye imaging device, and determine the coordinate mapping relationship between the surgical instrument coordinate system and the optical navigation instrument coordinate system according to the instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill under the field of view of the optical navigation instrument, and the length of the calibration drill is known; match the template image of the calibration drill with the image of the instrument to be analyzed to obtain a calibration drill matching result, and determine the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result; according to The drill tip point and the drill body contour point are searched for sub-pixel points and the drill body is fitted in the axial direction of the drill body in the corresponding camera coordinate system to determine the axial direction of the drill body of the calibration drill; the spatial coordinates of the drill tip point of the calibration drill are determined according to the coordinates of the drill tip point in the corresponding camera coordinate system, and the target axial calibration result of the calibration drill is determined according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system; the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result to complete the calibration process of the surgical instrument. The technical solution of the embodiment of the present invention solves the current problems of high cost or complex operation of instrument calibration. Calibration can be performed by taking pictures without using tooling, which is low in cost and simple to operate. Automatic calibration is fast and accurate through image processing technology.

[0050] Figure 2 A flowchart of a surgical instrument calibration method based on a drill needle is provided in an embodiment of the present invention. This embodiment and the surgical instrument calibration method based on a drill needle in the above embodiment belong to the same inventive concept, and further describes the process of determining the target axial calibration result. The method can be executed by a surgical instrument calibration device based on a drill needle, which can be implemented by software and / or hardware and integrated in a computer device with application development function.

[0051] like Figure 2 As shown, the surgical instrument calibration method based on the drill needle of this embodiment includes the following steps:

[0052] S210, acquiring an image of the instrument to be analyzed collected by a multi-eye imaging device, and determining a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system according to instrument features in the image of the instrument to be analyzed.

[0053] The instrument image to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument, and the length of the calibration drill is known.

[0054] S220, matching the template image of the calibration drill with the image of the instrument to be analyzed to obtain a calibration drill matching result, and determining the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result.

[0055] S230, performing sub-pixel point search and drill body axial fitting according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system, and determining the drill body axial direction of the calibration drill.

[0056] S240, determining the spatial coordinates of the drill tip of the calibration drill according to the coordinates of the drill tip in the corresponding camera coordinate system, and determining a drill axis spatial plane based on each drill body axial direction and the camera optical center coordinates in the corresponding camera coordinate system.

[0057] Based on the spatial straight line in the axial direction of each drill body and the coordinates of the camera optical center in the corresponding camera coordinate system, a drill axis spatial plane is determined. Both the spatial straight line and the camera optical center coordinates exist on the drill axis spatial plane. The number of drill axis spatial planes obtained is determined by the number of instrument images to be analyzed, that is, the number of cameras of the multi-eye imaging device. The number of corresponding drill axis spatial planes in the camera coordinate system can be obtained according to the number of instrument images to be analyzed.

[0058] S250, determining the intersection line between the drilling axis space planes, and using the intersection line as the target axial calibration result.

[0059] It is understandable that different images of the instruments to be analyzed correspond to different viewing angles, but on the drill axis space planes at different viewing angles, i.e., different camera coordinate systems, there are spatial straight lines of the target axial calibration results. Therefore, the intersection lines between all drill axis space planes can be determined, and the direction of the intersection lines can be used as the target axial calibration result.

[0060] S260, determining the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, and completing the calibration process of the surgical instrument.

[0061] In an optional embodiment, the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result. The calibration process of the surgical instrument can be completed by using the target axial calibration result as the working axis direction of the surgical instrument, and using the spatial coordinates of any point on a straight line passing through the spatial coordinates of the drill tip point and with the direction of the working axis as the spatial coordinates of any point on the working axis of the surgical instrument; converting the working axis direction and the spatial coordinates of any point on the working axis to the surgical instrument coordinate system according to the coordinate mapping relationship, obtaining the working axis direction of the surgical instrument and the coordinates of any point on the working axis in the surgical instrument coordinate system, and completing the calibration process of the surgical instrument.

[0062] According to the spatial coordinates of the drill tip point and the direction of the working axis, a straight line and its corresponding equation are determined, and the spatial coordinates of any point on the straight line are randomly selected as the spatial coordinates of any point on the working axis of the surgical instrument. The spatial coordinates and working axis direction of any point on the above working axis are both in the optical navigation instrument coordinate system. Therefore, it is necessary to convert the working axis direction in the optical navigation instrument coordinate system and the spatial coordinates of any point on the working axis to the surgical instrument coordinate system through a coordinate mapping relationship, obtain the working axis direction of the surgical instrument in the surgical instrument coordinate system and the coordinates of any point on the working axis, and complete the calibration process of the surgical instrument.

[0063] The technical solution of this embodiment is to obtain the image of the instrument to be analyzed collected by the multi-eye imaging device after the drill needle calibration function is triggered, and determine the coordinate mapping relationship between the surgical instrument coordinate system and the optical navigation instrument coordinate system according to the instrument features in the instrument image to be analyzed, wherein the instrument image to be analyzed includes a surgical instrument equipped with a calibration drill under the field of view of the optical navigation instrument, and the length of the calibration drill is known; match the template image of the calibration drill with the instrument image to be analyzed to obtain the calibration drill matching result, and determine the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result; According to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system, sub-pixel point search and drill body axial fitting are performed to determine the axial direction of the drill body of the calibration drill; according to the coordinates of the drill tip point in the corresponding camera coordinate system, the spatial coordinates of the drill tip point of the calibration drill are determined, and based on each drill body axial direction and the camera optical center coordinates in the corresponding camera coordinate system, a drill axis spatial plane is determined; the intersection line between the drill axis spatial planes is determined, and the intersection line is used as the target axial calibration result; according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined to complete the calibration process of the surgical instrument. The technical solution of the embodiment of the present invention solves the current problems of high cost or complex operation of instrument calibration. It can be calibrated by taking pictures without using tooling, which is low cost and simple to operate. It can also be automatically calibrated with high speed and accuracy through image processing technology such as drill axis spatial plane calculation.

[0064] Figure 3 A flowchart of a surgical instrument calibration method based on a drill needle is provided in an embodiment of the present invention. This embodiment and the surgical instrument calibration method based on a drill needle in the above embodiment belong to the same inventive concept, and further describes the process of determining the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system. The method can be executed by a surgical instrument calibration device based on a drill needle, which can be implemented by software and / or hardware and integrated in a computer device with application development function.

[0065] like Figure 3 As shown, the surgical instrument calibration method based on the drill needle of this embodiment includes the following steps:

[0066] S310, acquiring an image of the instrument to be analyzed collected by a multi-eye imaging device, and determining a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system according to instrument features in the image of the instrument to be analyzed.

[0067] The instrument image to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument, and the length of the calibration drill is known.

[0068] S320: Match the template image of the calibration drill with the image of the instrument to be analyzed, and determine the identification coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system.

[0069] The template image of the calibration drill can be a three-dimensional drill model image of the calibration drill in multiple postures under different camera coordinate systems. The template image of the calibration drill is matched with the image of the instrument to be analyzed to obtain a template image matching the calibration drill in the image of the instrument to be analyzed. The coordinates of the drill tip point and drill body contour point of the three-dimensional drill model in the matched template image in the camera coordinate system of the corresponding instrument image to be analyzed are used as the identification coordinates of the drill tip point and drill body contour point of the calibration drill in the camera coordinate system of the corresponding instrument image to be analyzed.

[0070] S330, performing position correction based on the identified coordinates and the corresponding search coordinates, and determining the target coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system.

[0071] The search coordinates are the search coordinates of the drill tip point and the drill body contour point determined by pixel search in the image of the device to be analyzed in the corresponding camera coordinate system.

[0072] It is understandable that both the identification coordinates obtained based on template matching and the search coordinates determined based on pixel search have errors. Therefore, in order to ensure the accuracy of the subsequent determination of the axial direction of the drill body, this embodiment performs correction based on the identification coordinates and the corresponding search coordinates according to a preset correction algorithm to obtain target coordinates that are more accurate than the identification coordinates and search coordinates of the drill tip point and the drill body contour point of the calibration drill.

[0073] The preset correction algorithms include least squares fitting, curve fitting, weighted average and iterative optimization algorithm, etc. This embodiment does not limit the type of correction algorithm.

[0074] S340, performing sub-pixel point search and drill body axial fitting according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system, and determining the drill body axial direction of the calibration drill.

[0075] S350, determining the spatial coordinates of the drill tip of the calibration drill according to the coordinates of the drill tip in the corresponding camera coordinate system, and determining the target axial calibration result of the calibration drill according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system.

[0076] S360, determining the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, and completing the calibration process of the surgical instrument.

[0077] The technical solution of this embodiment is to obtain an image of the instrument to be analyzed collected by a multi-eye imaging device, and determine the coordinate mapping relationship between the surgical instrument coordinate system and the optical navigation instrument coordinate system according to the instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill under the field of view of the optical navigation instrument, and the length of the calibration drill is known; match the template image of the calibration drill with the image of the instrument to be analyzed, and determine the identification coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system; perform position correction based on the identification coordinates and the corresponding search coordinates, and determine the target coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system; wherein the search coordinates are the search coordinates of the drill tip point and the drill body contour point determined by pixel search in the image of the instrument to be analyzed in the corresponding camera coordinate system. According to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system, sub-pixel point search and drill body axial fitting are performed to determine the axial direction of the drill body of the calibration drill; according to the coordinates of the drill tip point in the corresponding camera coordinate system, the spatial coordinates of the drill tip point of the calibration drill are determined, and the target axial calibration result of the calibration drill is determined according to the axial direction of the drill body and the camera optical center coordinates in the corresponding camera coordinate system; according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined to complete the calibration process of the surgical instrument. The technical solution of the embodiment of the present invention solves the current problems of high cost or complex operation of instrument calibration. Calibration can be performed by taking pictures without using tooling, which is low in cost and simple in operation. Position correction is performed by identifying coordinates and searching coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system, thereby improving the accuracy of coordinate determination, and the automatic calibration speed is fast and the accuracy is high.

[0078] Figure 4 A flowchart of a surgical instrument calibration method based on a drill needle is provided in an embodiment of the present invention. This embodiment and the surgical instrument calibration method based on a drill needle in the above embodiment belong to the same inventive concept, and further describes the process of obtaining a template image. The method can be executed by a surgical instrument calibration device based on a drill needle, which can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0079] like Figure 4 As shown, the surgical instrument calibration method based on the drill needle of this embodiment includes the following steps:

[0080] S410, acquiring an image of the instrument to be analyzed collected by a multi-eye imaging device, and determining a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system according to instrument features in the image of the instrument to be analyzed.

[0081] The instrument image to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument, and the length of the calibration drill is known.

[0082] S420: Obtain a three-dimensional drill model of the calibration drill.

[0083] The 3D drill model is a digital model of the actual calibration drill. It displays the appearance of the calibration drill from all angles in a virtual form, including the length and diameter of the drill needle.

[0084] S430, projecting the three-dimensional drill model in the camera coordinate system corresponding to each device image to be analyzed to obtain a template image.

[0085] Specifically, the three-dimensional drill model is projected in different postures in the camera coordinate system corresponding to each device image to be analyzed to generate multiple template images.

[0086] S440, matching the template image of the calibration drill with the image of the instrument to be analyzed to obtain a calibration drill matching result, and determining the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result.

[0087] The calibration drill template image is used to perform template matching with each instrument image to be analyzed to obtain a calibration drill matching result, and then the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system are located based on the calibration drill matching result.

[0088] In an optional embodiment, before identifying the drill needle in the instrument image to be analyzed, the posture of the surgical instrument can be determined based on the optical navigation instrument, and the region of interest image containing the surgical instrument can be determined in the instrument image to be analyzed, and the region of interest image can be used as the corresponding instrument image to be analyzed.

[0089] The surgical instrument is positioned according to the optical navigation system, and the posture of the surgical instrument and the position of the surgical instrument in the instrument image to be analyzed are obtained. The region of interest (ROI) containing the surgical instrument in the instrument image to be analyzed is determined, and the region of interest image is used as the corresponding new instrument image to be analyzed.

[0090] S450, performing sub-pixel point search and drill body axial fitting according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system to determine the drill body axial direction of the calibration drill.

[0091] S460, determining the spatial coordinates of the drill tip of the calibration drill according to the coordinates of the drill tip in the corresponding camera coordinate system, and determining the target axial calibration result of the calibration drill according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system.

[0092] S470, determining the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, and completing the calibration process of the surgical instrument.

[0093] The technical solution of this embodiment is to obtain the image of the instrument to be analyzed collected by the multi-eye imaging device, and determine the coordinate mapping relationship between the surgical instrument coordinate system and the optical navigation instrument coordinate system according to the instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill under the field of view of the optical navigation instrument, and the length of the calibration drill is known; obtain a three-dimensional drill model of the calibration drill; project the three-dimensional drill model in the camera coordinate system corresponding to each image of the instrument to be analyzed to obtain a template image; match the template image of the calibration drill with the image of the instrument to be analyzed to obtain a calibration drill matching result, and determine the calibration drill based on the calibration drill matching result. The coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system; perform sub-pixel point search and drill body axial fitting according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system to determine the axial direction of the drill body of the calibration drill; determine the spatial coordinates of the drill tip point of the calibration drill according to the coordinates of the drill tip point in the corresponding camera coordinate system, and determine the target axial calibration result of the calibration drill according to the axial direction of the drill body and the camera optical center coordinates in the corresponding camera coordinate system; determine the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, and complete the calibration process of the surgical instrument. The technical solution of the embodiment of the present invention solves the current problems of high cost or complex operation of instrument calibration. It can be calibrated by taking pictures without using tooling, which is low cost and simple to operate. The automatic calibration speed is fast and accurate when the results obtained by template image matching are processed.

[0094] In a preferred embodiment of the present invention, the instrument calibration process can be to collect a navigation image, i.e., an image of the instrument to be analyzed, in a preset image acquisition area of ​​the navigator, perform feature recognition on the instrument to be analyzed, i.e., a dental handpiece, and determine an area of ​​interest in the image of the instrument to be analyzed, match the image of the area of ​​interest with the calibration drill template image, and obtain a matching result. According to the matching result, the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system are respectively determined.

[0095] The spatial coordinates of the drill tip of the calibration drill are determined by three-dimensional calculation, and based on the axial direction of each drill body and the coordinates of the camera optical center in the corresponding camera coordinate system, multiple drill axis spatial planes are determined, and the intersection line between the multiple drill axis spatial planes is taken as the target axial calibration result of the calibration drill.

[0096] The working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined according to the spatial coordinates of the drill tip point determined by three-dimensional calculation and the target axial calibration result, and then converted to the surgical instrument coordinate system to obtain the calibration result of the surgical instrument.

[0097] Figure 5 The present invention provides a structural diagram of a surgical instrument calibration device based on a drill needle, which can be applied to the scenario of surgical instrument calibration based on a drill needle in dental optical navigation surgery. The surgical instrument calibration device based on a drill needle can be implemented by software and / or hardware, and integrated into a computer terminal device with application development function.

[0098] like Figure 5 As shown, the surgical instrument calibration device based on the drill needle includes: an image acquisition module 510, a template matching module 520, a drill body axial direction determination module 530, an axial calibration result determination module 540 and a coordinate determination module 550.

[0099] The image acquisition module 510 is used to acquire the image of the instrument to be analyzed collected by the multi-eye imaging device, and determine the coordinate mapping relationship between the surgical instrument coordinate system and the optical navigation instrument coordinate system according to the instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill under the field of view of the optical navigation instrument, and the length of the calibration drill is known; the template matching module 520 is used to match the template image of the calibration drill with the image of the instrument to be analyzed to obtain the calibration drill matching result, and determine the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result; the drill body axial direction determination module 530 is used to determine the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system; The module 540 is used to perform sub-pixel point search and drill body axial fitting according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system to determine the axial direction of the drill body of the calibration drill; the axial calibration result determination module 540 is used to determine the spatial coordinates of the drill tip point of the calibration drill according to the coordinates of the drill tip point in the corresponding camera coordinate system, and to determine the target axial calibration result of the calibration drill according to the axial direction of the drill body and the camera optical center coordinates in the corresponding camera coordinate system; the coordinate determination module 550 determines the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result to complete the calibration process of the surgical instrument.

[0100] The technical solution of this embodiment is to obtain an image of the instrument to be analyzed collected by a multi-eye imaging device, and determine the coordinate mapping relationship between the surgical instrument coordinate system and the optical navigation instrument coordinate system according to the instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill under the field of view of the optical navigation instrument, and the length of the calibration drill is known; match the template image of the calibration drill with the image of the instrument to be analyzed to obtain a calibration drill matching result, and determine the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result; and determine the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system according to the drill tip point and the drill body contour point. The coordinates of the contour points in the corresponding camera coordinate system are subjected to sub-pixel point search and drill body axial fitting to determine the axial direction of the drill body of the calibration drill; the spatial coordinates of the drill tip point of the calibration drill are determined according to the coordinates of the drill tip point in the corresponding camera coordinate system, and the target axial calibration result of the calibration drill is determined according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system; the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, and are converted to the surgical instrument coordinate system to complete the calibration process of the surgical instrument.

[0101] The technical solution of the embodiment of the present invention solves the problem that the current instrument calibration is either high in cost or complicated in operation. Calibration can be performed by taking pictures without using tooling, which is low in cost and simple to operate. Automatic calibration through image processing technology is fast and accurate.

[0102] In an optional implementation, the axial calibration result determination module 540 is specifically used to:

[0103] Based on each drill body axial direction and the camera optical center coordinates in the corresponding camera coordinate system, a drill axis space plane is determined; the intersection line between the drill axis space planes is determined, and the intersection line is used as the target axial calibration result.

[0104] In an optional implementation, the template matching module 520 is specifically used for:

[0105] The template image of the calibration drill is matched with the image of the device to be analyzed to determine the identification coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system; based on the identification coordinates and the corresponding search coordinates, position correction is performed to determine the target coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system; wherein the search coordinates are the search coordinates of the drill tip point and the drill body contour point determined by pixel search in the image of the device to be analyzed in the corresponding camera coordinate system.

[0106] In an optional implementation, the coordinate determination module 550 is specifically used for:

[0107] The target axial calibration result is used as the working axis direction of the surgical instrument, and the spatial coordinates of any point on the straight line passing through the spatial coordinate of the drill tip and with the direction of the working axis as the spatial coordinates of any point on the working axis of the surgical instrument; according to the coordinate mapping relationship, the working axis direction and the spatial coordinates of any point on the working axis are converted to the surgical instrument coordinate system, and the working axis direction of the surgical instrument in the surgical instrument coordinate system and the coordinates of any point on the working axis are obtained, which are the drill needle calibration results, completing the calibration process of the surgical instrument.

[0108] In an optional embodiment, the device further comprises:

[0109] The template image determination module is used to obtain a three-dimensional drill model of the calibration drill; the three-dimensional drill model is projected in the camera coordinate system corresponding to each instrument image to be analyzed to obtain a template image.

[0110] In an optional embodiment, the device further comprises:

[0111] The region of interest image determination module is used to determine the position and posture of the surgical instrument according to the optical navigation instrument, determine the region of interest image containing the surgical instrument in the instrument image to be analyzed, and use the region of interest image as the corresponding instrument image to be analyzed.

[0112] The drill-based surgical instrument calibration device provided in the embodiment of the present invention can execute the drill-based surgical instrument calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0113] Figure 6 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 6 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 6 The computer device 12 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. The computer device 12 can be any terminal device with computing capabilities, such as an intelligent controller and server, a mobile phone and other terminal devices.

[0114] like Figure 6 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0115] Bus 18 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 processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, 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.

[0116] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0117] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6Not 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 18 via one or more data medium interfaces. The system memory 28 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.

[0118] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 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 42 generally perform the functions and / or methods of the embodiments described herein.

[0119] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be understood that although Figure 6 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RFID systems, tape drives, and data backup storage systems.

[0120] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing the surgical instrument calibration method based on the drill needle provided in the embodiment of the present invention, the method comprising:

[0121] Acquire an image of the instrument to be analyzed acquired by a multi-eye imaging device, and determine a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system according to instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument, and the length of the calibration drill is known;

[0122] Matching the template image of the calibration drill with the image of the device to be analyzed to obtain a calibration drill matching result, and determining the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result;

[0123] Sub-pixel point search and drill body axial fitting are performed according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system to determine the drill body axial direction of the calibration drill;

[0124] Determine the spatial coordinates of the drill tip of the calibration drill according to the coordinates of the drill tip in the corresponding camera coordinate system, and determine the target axial calibration result of the calibration drill according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system;

[0125] According to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined to complete the calibration process of the surgical instrument.

[0126] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, a surgical instrument calibration method based on a drill needle as provided in any embodiment of the present invention is implemented. The method comprises:

[0127] Acquire an image of the instrument to be analyzed acquired by a multi-eye imaging device, and determine a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system according to instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument, and the length of the calibration drill is known;

[0128] Matching the template image of the calibration drill with the image of the device to be analyzed to obtain a calibration drill matching result, and determining the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result;

[0129] Sub-pixel point search and drill body axial fitting are performed according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system to determine the drill body axial direction of the calibration drill;

[0130] Determine the spatial coordinates of the drill tip of the calibration drill according to the coordinates of the drill tip in the corresponding camera coordinate system, and determine the target axial calibration result of the calibration drill according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system;

[0131] According to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined to complete the calibration process of the surgical instrument.

[0132] 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.

[0133] 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.

[0134] The program code embodied on the 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.

[0135] Computer program code for performing the operation 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, Python, 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., via the Internet using an Internet service provider).

[0136] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements a drill-based surgical instrument calibration method as provided in any embodiment of the present application.

[0137] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, Python, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can 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 can 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 can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0138] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0139] 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 surgical instrument calibration method based on a drill needle, characterized in that: include: Acquire an image of the instrument to be analyzed acquired by a multi-eye imaging device, and determine a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system according to instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument; Matching the template image of the calibration drill with the image of the instrument to be analyzed to obtain a calibration drill matching result, and determining the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result; Performing sub-pixel point search and drill body axial fitting according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system to determine the drill body axial direction of the calibration drill; Determine the spatial coordinates of the drill tip point of the calibration drill according to the coordinates of the drill tip point in the corresponding camera coordinate system, and determine the target axial calibration result of the calibration drill according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system; The working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis are determined according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, thereby completing the calibration process of the surgical instrument.

2. The method according to claim 1, characterized in that The step of determining the target axial calibration result of the calibration drill according to the axial direction of the drill body and the corresponding camera optical center coordinates in the camera coordinate system includes: Determine a drill axis space plane based on each drill body axial direction and the corresponding camera optical center coordinates in the camera coordinate system; The intersection line between the drill axis space planes is determined, and the intersection line is used as the target axial calibration result.

3. The method according to claim 1, characterized in that The step of matching the template image of the calibration drill with the image of the instrument to be analyzed to obtain a calibration drill matching result, and determining the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result includes: Matching the template image of the calibration drill with the image of the instrument to be analyzed, and determining the identification coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system; Performing position correction based on the identified coordinates and the corresponding search coordinates to determine the target coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system; The search coordinates are the search coordinates of the drill tip point and the drill body contour point determined by pixel search of the image of the device to be analyzed in the corresponding camera coordinate system.

4. The method according to claim 1, characterized in that: The process of determining the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result to complete the calibration process of the surgical instrument includes: The target axial calibration result is used as the working axis direction of the surgical instrument, and the spatial coordinates of any point on a straight line passing through the spatial coordinates of the drill tip point and oriented in the working axis direction are used as the spatial coordinates of any point on the working axis of the surgical instrument; According to the coordinate mapping relationship, the working axis direction and the spatial coordinates of any point on the working axis are converted to the surgical instrument coordinate system to obtain the working axis direction and the coordinates of any point on the working axis of the surgical instrument in the surgical instrument coordinate system, thereby completing the calibration process of the surgical instrument.

5. The method according to claim 1, characterized in that: Before matching the template image of the calibration drill with the image of the device to be analyzed, the method further includes: Acquire a three-dimensional drill model of the calibration drill; The three-dimensional drill model is projected in the camera coordinate system corresponding to each instrument image to be analyzed to obtain the template image.

6. The method according to any one of claims 1 to 5, characterized in that: Before identifying the drill needle in the image of the instrument to be analyzed, the method further includes: The position and posture of the surgical instrument are determined according to the optical navigation instrument, and region-of-interest images containing the surgical instrument are respectively determined in the instrument image to be analyzed, and the region-of-interest images are used as corresponding instrument images to be analyzed.

7. A surgical instrument calibration device based on a drill needle, characterized in that: include: An image acquisition module, used to acquire an image of the instrument to be analyzed collected by a multi-eye imaging device, and determine a coordinate mapping relationship between a surgical instrument coordinate system and an optical navigation instrument coordinate system according to instrument features in the image of the instrument to be analyzed, wherein the image of the instrument to be analyzed includes a surgical instrument equipped with a calibration drill in the field of view of the optical navigation instrument, and the length of the calibration drill is known; A template matching module, used for matching the template image of the calibration drill with the image of the instrument to be analyzed to obtain a calibration drill matching result, and determining the coordinates of the drill tip point and the drill body contour point of the calibration drill in the corresponding camera coordinate system based on the calibration drill matching result; A drill body axial direction determination module is used to perform sub-pixel point search and drill body axial fitting according to the coordinates of the drill tip point and the drill body contour point in the corresponding camera coordinate system to determine the drill body axial direction of the calibration drill; An axial calibration result determination module is used to determine the spatial coordinates of the drill tip point of the calibration drill according to the coordinates of the drill tip point in the corresponding camera coordinate system, and to determine the target axial calibration result of the calibration drill according to the axial direction of the drill body and the coordinates of the camera optical center in the corresponding camera coordinate system; A coordinate determination module is used to determine the working axis direction of the surgical instrument and the spatial coordinates of any point on the corresponding working axis according to the coordinate mapping relationship, the spatial coordinates of the drill tip point and the target axial calibration result, thereby completing the calibration process of the surgical instrument.

8. A computer device, characterized in that: The computer device comprises: one or more processors; A memory 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 drill-based surgical instrument calibration method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the drill-based surgical instrument calibration method as described in any one of claims 1-6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the drill-based surgical instrument calibration method as described in any one of claims 1 to 6.

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