Method, system, device, storage medium, program product for registration of airways of the lung
By constructing a tracheal tree model and iteratively optimizing the transformation matrix, and combining topological structure and geometric features, the problem of initial pose sensitivity in electromagnetic navigation bronchoscopy registration was solved, achieving high-precision lung and tracheal registration.
CN122415692APending Publication Date: 2026-07-17SHANGHAI YIHANG MEDICAL TECHNOLOGY CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI YIHANG MEDICAL TECHNOLOGY CO LTD
- Filing Date
- 2026-04-09
- Publication Date
- 2026-07-17
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Figure CN122415692A_ABST
Abstract
本公开提供了肺部气管的配准方法、系统、设备、存储介质、程序产品。该方法包括：获取基于肺部气管的医学图像建立的气管树模型；气管树模型用于表征肺部气管的中心线各点的拓扑结构和几何特征；获取定位装置在肺部气管内的移动轨迹点集合；迭代优化变换矩阵，将综合代价函数最小时对应的变换矩阵确定为最优变换矩阵；其中，变换矩阵用于以拓扑结构为约束、将第一轨迹点变换至医学图像坐标系下，得到第二轨迹点；综合代价函数为第二轨迹点的几何特征与中心线各点的几何特征的偏差。本公开能够有效规避初始位姿偏差的影响，避免算法陷入局部最优，提升配准稳定性，避免分支误判，使算法能精准捕捉复杂气道的固有结构特征，大幅提高抗干扰能力。
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