Implant navigation image real-time visual angle switching system and method based on position and posture change of navigation instrument

Abstract

The invention relates to the technical field of dynamic navigation of oral implant surgery, in particular to an implant navigation image real-time visual angle switching system and method based on position and posture changes of a navigation instrument, and the system comprises the following modules: a position and posture data processing module, a visual angle mapping algorithm module and a real-time image rendering module. According to the planting navigation image real-time visual angle switching system and method based on the position and posture change of the navigation instrument, a surgeon directly adjusts the visual angle of the image by moving a special optical positioning device without depending on manual operation of a following doctor, language communication and understanding deviation are reduced, autonomous control is achieved, efficiency is higher, and the system and method are more visual; continuous and multi-degree-of-freedom visual angle adjustment is supported, personalized requirements of complex operation scenes are met, and flexibility is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of dynamic navigation technology for oral implant surgery, specifically to a real-time perspective switching system and method for implant navigation images based on changes in the pose of navigation instruments. Background Technology

[0002] In dental implant surgery, navigation systems reconstruct a 3D model of the patient's jawbone using preoperative CT data, helping surgeons determine the optimal implant placement. Currently, mainstream navigation systems primarily rely on two methods for viewpoint switching: one is for the attending surgeon to manually drag the 3D image to the desired viewpoint using a mouse; the other is to switch between preset fixed viewpoint templates from a limited selection.

[0003] These existing technologies have significant shortcomings, mainly in the following aspects: doctors cannot control the imaging perspective independently and need to describe the desired perspective verbally; manual operation by the attending physician is prone to misunderstandings, leading to repeated adjustments; perspective selection is limited by fixed templates and cannot meet the personalized needs of complex surgical scenarios; existing positioning technologies such as optical and electromagnetic technologies are only used to track the relative positions of instruments and patient anatomical structures, and the linkage function between pose data and imaging perspective has not been developed; the operation process is complex, distracting the doctor's attention, requiring the lead surgeon to frequently interrupt the surgical operation to guide the attending physician to adjust the perspective, reducing surgical efficiency and accuracy.

[0004] To address the aforementioned issues, we propose an improvement: a real-time perspective switching system and method for planting navigation images based on changes in the pose of the navigation device. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] This invention provides a real-time viewpoint switching system for planting navigation images based on changes in the pose of navigation instruments, comprising the following modules:

[0007] a. Pose data processing module:

[0008] Input: Receive real-time data from the optical positioning system, including the instrument's three-dimensional spatial position (X, Y, Z) and attitude information, represented by quaternions q0-q3; After coordinate system transformation and noise reduction, output a smooth and accurate instrument pose (Xt, Yt, Zt, Qt), where Qt is the processed attitude quaternion;

[0009] b. View Mapping Algorithm Module:

[0010] Core function: Establish a mapping relationship between changes in the posture of the equipment and the viewpoint parameters of the virtual camera, so as to realize the conversion of physical actions into image viewpoints;

[0011] Processing logic: Calculate the difference ΔQ between the current instrument posture and the initial posture based on quaternions, and simultaneously calculate the position change ΔT;

[0012] Translate ΔT and rotate ΔQ into changes in camera viewpoint parameters: instrument translation corresponds to the movement of the virtual camera's observation point eye;

[0013] The rotation of the device corresponds to the changes in the virtual camera's lookat direction and the up vector.

[0014] Limitation mechanism: Set a maximum threshold for the rotation angle to avoid visual clutter caused by excessive rotation of the viewpoint;

[0015] Output: Generates key parameters of the virtual camera: Eye, Center, and Up, which are used to control the viewpoint of the 3D image;

[0016] c. Real-time image rendering module:

[0017] Technical basis: Built on the VTK 3D graphics library;

[0018] Functionality: Receive virtual camera parameters in real time for each frame and pass them to the renderer.

[0019] Based on the new parameters, the three-dimensional model of oral structures such as alveolar bone is rendered in real time to ensure that the image perspective and instrument pose changes are synchronized.

[0020] Performance optimization: GPU acceleration technology is used to improve rendering efficiency and ensure low-latency image display.

[0021] As a preferred technical solution of the present invention, the coordinate system transformation of the pose data processing module transforms the pose data of the marker points from the camera coordinate system to the world coordinate system, ensuring that it is consistent with the coordinate system of the patient's anatomical structure. The noise reduction process uses the Kalman filter algorithm to smooth the original data, effectively suppressing data jumps or jitters and improving the stability of the pose data.

[0022] As a preferred technical solution of the present invention, in the viewpoint mapping algorithm module, when the pose change exceeds a threshold, the excess part is proportionally compressed to prevent viewpoint jumps and ensure the continuity of image display.

[0023] As a preferred embodiment of the present invention, the mathematical mapping parameters of the viewpoint mapping algorithm module are defined as follows:

[0024] The initial instrument position is P0, and the initial attitude is Q0;

[0025] The current instrument position is P. t The current posture is Q. t ;

[0026] The initial line of sight is D0, and the initial upward direction is U0.

[0027] As a preferred embodiment of the present invention, the mathematical mapping formula of the viewpoint mapping algorithm module is defined as follows:

[0028] The position of the observation point Eye changes as the instrument is translated, as shown by the formula:

[0029] in As the current observation point, λ is the initial observation point, and p is the translation sensitivity coefficient, which is used to adjust the degree of influence of instrument translation on the movement of the observation point.

[0030] The line-of-sight direction Dt changes as the instrument rotates, based on quaternion rotation transformation, and the formula is as follows:

[0031] in The current line of sight. The inverse of the current pose quaternion;

[0032] The upward direction Ut is adjusted as the instrument rotates, and the formula is:

[0033] in The current direction is upward.

[0034] As a preferred embodiment of the present invention, the complete parameters of the final virtual camera are as follows: Observation point The target point is the focal point of the line of sight. Upward.

[0035] A method for real-time viewpoint switching of planting navigation images based on changes in the pose of navigation equipment includes the following steps:

[0036] S1. Data Acquisition: The optical positioning system continuously captures the position and pose data of the instrument and sends it to the navigation software system in real time to ensure the timeliness of the data;

[0037] S2. Data Processing: After receiving the raw pose data, the navigation software performs filtering by the pose data processing module to remove noise interference. The processed pose data is then compared with the baseline pose calibrated before surgery to calculate the pose changes ΔT (translation) and ΔQ (rotation).

[0038] S3. Viewpoint Calculation: The viewpoint mapping algorithm module inputs ΔT and ΔQ into the mapping model and calculates the virtual camera parameters Eye, Center, and Up using the above mathematical formulas. If the pose change exceeds the set threshold, the system automatically performs amplitude limiting and easing processing to ensure that the viewpoint change is smooth and natural.

[0039] S4. Image Update: The real-time image rendering module inputs new viewpoint parameters into the VTK renderer, uses GPU-accelerated rendering, and updates the 3D image.

[0040] The beneficial effects of this invention are: This real-time perspective switching system and method for implantation navigation images based on the pose change of navigation devices allows the surgeon to directly adjust the image perspective by moving a dedicated optical positioning device, without relying on manual operation by the attending physician, reducing language communication and misunderstanding, enabling autonomous control, higher efficiency, and greater intuitiveness. It supports continuous, multi-degree-of-freedom perspective adjustment, meets the personalized needs of complex surgical scenarios, and greatly improves flexibility. Attached Figure Description

[0041] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0042] In the attached diagram:

[0043] Figure 1 This is a data flow diagram of the core module of a real-time perspective switching system for planting navigation images based on the pose change of navigation equipment, according to the present invention.

[0044] Figure 2 This is an internal flowchart of the view mapping algorithm of a real-time view switching system for planting navigation images based on the pose change of navigation equipment, according to the present invention. Detailed Implementation

[0045] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0046] Example: Figures 1-2 As shown, a real-time viewpoint switching system for planting navigation images based on changes in the pose of navigation equipment includes the following modules:

[0047] a. Pose data processing module:

[0048] Input: Receive real-time data from the optical positioning system, including the instrument's three-dimensional spatial position (X, Y, Z) and attitude information, represented by quaternions q0-q3; After coordinate system transformation and noise reduction, output a smooth and accurate instrument pose (Xt, Yt, Zt, Qt), where Qt is the processed attitude quaternion;

[0049] b. View Mapping Algorithm Module:

[0050] Core function: Establish a mapping relationship between changes in the posture of the equipment and the viewpoint parameters of the virtual camera, so as to realize the conversion of physical actions into image viewpoints;

[0051] Processing logic: Calculate the difference ΔQ between the current instrument posture and the initial posture based on quaternions, and simultaneously calculate the position change ΔT;

[0052] Translate ΔT and rotate ΔQ into changes in camera viewpoint parameters: instrument translation corresponds to the movement of the virtual camera's observation point eye;

[0053] The rotation of the device corresponds to the changes in the virtual camera's lookat direction and the up vector.

[0054] Limitation mechanism: Set a maximum threshold for the rotation angle to avoid visual clutter caused by excessive rotation of the viewpoint;

[0055] Output: Generates key parameters of the virtual camera: Eye, Center, and Up, which are used to control the viewpoint of the 3D image;

[0056] c. Real-time image rendering module:

[0057] Technical basis: Built on the VTK 3D graphics library;

[0058] Functionality: Receive virtual camera parameters in real time for each frame and pass them to the renderer.

[0059] Based on the new parameters, the three-dimensional model of oral structures such as alveolar bone is rendered in real time to ensure that the image perspective and instrument pose changes are synchronized.

[0060] Performance optimization: GPU acceleration technology is used to improve rendering efficiency and ensure low-latency image display.

[0061] The coordinate system transformation of the pose data processing module converts the pose data of the marked points from the camera coordinate system to the world coordinate system, ensuring consistency with the coordinate system of the patient's anatomical structure. The noise reduction process uses the Kalman filter algorithm to smooth the original data, effectively suppressing data jumps or jitters and improving the stability of the pose data.

[0062] The feature is that, in the viewpoint mapping algorithm module, when the pose change exceeds a threshold, the excess portion is proportionally compressed to prevent viewpoint jumps and ensure the continuity of image display.

[0063] The mathematical mapping parameters of the viewpoint mapping algorithm module are defined as follows:

[0064] The initial instrument position is P0, and the initial attitude is Q0;

[0065] The current instrument position is P. t The current posture is Q. t ;

[0066] The initial line of sight is D0, and the initial upward direction is U0.

[0067] The mathematical mapping formula for the viewpoint mapping algorithm module is defined as follows:

[0068] The position of the observation point Eye changes as the instrument is translated, as shown by the formula:

[0069] in As the current observation point, λ is the initial observation point, and p is the translation sensitivity coefficient, which is used to adjust the degree of influence of instrument translation on the movement of the observation point.

[0070] The line-of-sight direction Dt changes as the instrument rotates, based on quaternion rotation transformation, and the formula is as follows:

[0071] in The current line of sight. The inverse of the current pose quaternion;

[0072] The upward direction Ut is adjusted as the instrument rotates, and the formula is:

[0073] in The current direction is upward.

[0074] The final complete parameters of the virtual camera are as follows: Observation point The target point is the focal point of the line of sight. Upward.

[0075] A method for real-time viewpoint switching of planting navigation images based on changes in the pose of navigation equipment includes the following steps:

[0076] S1. Data Acquisition: The optical positioning system continuously captures the position and pose data of the instrument and sends it to the navigation software system in real time to ensure the timeliness of the data;

[0077] S2. Data Processing: After receiving the raw pose data, the navigation software performs filtering by the pose data processing module to remove noise interference. The processed pose data is then compared with the baseline pose calibrated before surgery to calculate the pose changes ΔT (translation) and ΔQ (rotation).

[0078] S3. Viewpoint Calculation: The viewpoint mapping algorithm module inputs ΔT and ΔQ into the mapping model and calculates the virtual camera parameters Eye, Center, and Up using the above mathematical formulas. If the pose change exceeds the set threshold, the system automatically performs amplitude limiting and easing processing to ensure that the viewpoint change is smooth and natural.

[0079] S4. Image Update: The real-time image rendering module inputs new viewpoint parameters into the VTK renderer, uses GPU-accelerated rendering, and updates the 3D image.

[0080] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A real-time viewpoint switching system for planting navigation images based on changes in the pose of navigation equipment, characterized in that, Includes the following modules: a. Pose data processing module: Input: Receive real-time data from the optical positioning system, including the instrument's three-dimensional spatial position (X, Y, Z) and attitude information, represented by quaternions q0-q3; After coordinate system transformation and noise reduction, output a smooth and accurate instrument pose (Xt, Yt, Zt, Qt), where Qt is the processed attitude quaternion; b. Viewpoint mapping algorithm module: Core function: Establish a mapping relationship between changes in the posture of the equipment and the viewpoint parameters of the virtual camera, so as to realize the conversion of physical actions into image viewpoints; Processing logic: Calculate the difference ΔQ between the current instrument posture and the initial posture based on quaternions, and simultaneously calculate the position change ΔT; Translate ΔT and rotate ΔQ into changes in camera viewpoint parameters: instrument translation corresponds to the movement of the virtual camera's observation point eye; The rotation of the device corresponds to the changes in the virtual camera's lookat direction and the up vector. Limitation mechanism: Set a maximum threshold for the rotation angle to avoid visual clutter caused by excessive rotation of the viewpoint; Output: Generates key parameters of the virtual camera: Eye, Center, and Up, which are used to control the viewpoint of the 3D image; c. Real-time image rendering module: Technical basis: Built on the VTK 3D graphics library; Functionality: Receive virtual camera parameters in real time for each frame and pass them to the renderer. Based on the new parameters, the three-dimensional model of oral structures such as alveolar bone is rendered in real time to ensure that the image perspective and instrument pose changes are synchronized. Performance optimization: GPU acceleration technology is used to improve rendering efficiency and ensure low-latency image display.

2. The real-time viewing angle switching system for planting navigation images based on the pose change of navigation equipment according to claim 1, characterized in that, The coordinate system transformation of the pose data processing module converts the pose data of the marked points from the camera coordinate system to the world coordinate system, ensuring consistency with the coordinate system of the patient's anatomical structure. The noise reduction process uses the Kalman filter algorithm to smooth the original data, effectively suppressing data jumps or jitters and improving the stability of the pose data.

3. The real-time viewing angle switching system for planting navigation images based on the pose change of navigation equipment according to claim 1, characterized in that, In the viewpoint mapping algorithm module, when the pose change exceeds the threshold, the excess part is proportionally compressed to prevent viewpoint jumps and ensure the continuity of image display.

4. The real-time viewing angle switching system for planting navigation images based on the pose change of navigation equipment according to claim 1, characterized in that, The mathematical mapping parameters of the viewpoint mapping algorithm module are defined as follows: The initial instrument position is P0, and the initial attitude is Q0; The current instrument position is P. t The current posture is Q. t ; The initial line of sight is D0, and the initial upward direction is U0.

5. A real-time viewing angle switching system for planting navigation images based on changes in the pose of navigation equipment, as described in claim 4, is characterized in that... The mathematical mapping formula for the viewpoint mapping algorithm module is defined as follows: The position of the observation point Eye changes as the instrument is translated, as shown by the formula: in As the current observation point, λ is the initial observation point, and p is the translation sensitivity coefficient, which is used to adjust the degree of influence of instrument translation on the movement of the observation point. The line-of-sight direction Dt changes as the instrument rotates, based on quaternion rotation transformation, and the formula is as follows: in The current line of sight. The inverse of the current pose quaternion; The upward direction Ut is adjusted as the instrument rotates, and the formula is: in The current direction is upward.

6. A real-time perspective switching system for planting navigation images based on changes in the pose of navigation equipment, as described in claim 5, is characterized in that... The final complete parameters of the virtual camera are as follows: Observation point The target point is the focal point of the line of sight. Upward.

7. A method for real-time perspective switching of planting navigation images based on changes in the pose of a navigation instrument, applied to the real-time perspective switching system for planting navigation images based on changes in the pose of a navigation instrument as described in claims 1-6, characterized in that, Includes the following steps: S1. Data Acquisition: The optical positioning system continuously captures the position and pose data of the instrument and sends it to the navigation software system in real time to ensure the timeliness of the data; S2. Data Processing: After receiving the raw pose data, the navigation software performs filtering by the pose data processing module to remove noise interference. The processed pose data is then compared with the baseline pose calibrated before surgery to calculate the pose changes ΔT (translation) and ΔQ (rotation). S3. Viewpoint Calculation: The viewpoint mapping algorithm module inputs ΔT and ΔQ into the mapping model and calculates the virtual camera parameters Eye, Center, and Up using the above mathematical formulas. If the pose change exceeds the set threshold, the system automatically performs amplitude limiting and easing processing to ensure that the viewpoint change is smooth and natural. S4. Image Update: The real-time image rendering module inputs new viewpoint parameters into the VTK renderer, uses GPU-accelerated rendering, and updates the 3D image.

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