一种腹腔镜超声与术前CT的无跟踪配准方法、系统及设备
By constructing a three-dimensional anatomical model and optimizing a hidden Markov model, the matching problem between laparoscopic ultrasound and preoperative CT images was solved, achieving tracking-free registration, reducing hardware and operational complexity, and improving matching stability and navigation accuracy.
CN122415701APending Publication Date: 2026-07-17CHONGQING FUDIMAI DIGITAL TECH CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHONGQING FUDIMAI DIGITAL TECH CO LTD
- Filing Date
- 2026-06-22
- Publication Date
- 2026-07-17
Smart Images
Figure CN122415701A_ABST
Abstract
本发明涉及医学图像处理技术领域，具体为一种腹腔镜超声与术前CT的无跟踪配准方法、系统及设备。本发明首先基于术前CT图像构建包含肝脏表面和肝内血管结构的三维解剖模型，通过采样候选接触点、探头旋转及深度参数生成大量候选仿真切片，提取其中血管截面信息构建候选位姿数据库。术中实时获取腹腔镜超声图像序列，提取血管截面的几何与类别特征作为输入特征向量，在数据库中进行基于类别信息和多特征综合距离的相似性检索，获得每帧图像的多个候选位姿。利用相邻帧之间的位姿连续性约束，采用隐马尔可夫模型对多帧候选位姿进行时序联合优化，通过维特比算法求解全局最优位姿序列，最终输出腹腔镜超声图像相对于术前CT图像的空间配准结果。
Need to check novelty before this filing date? Find Prior Art