35 results about "Image guided navigation" patented technology

The invention discloses an ophthalmologic operation real-time navigation system and method based on dynamic visual field tracking, and relates to the technical field of medical systems. Comprising the following steps: matching operation data closest to a current operation from a database, and generating standard operation navigation of the current operation; the real-time image of the operation process is compared with the image of the standard operation navigation in real time, the step of the current operation is determined, and meanwhile subsequent image navigation of the operation of the patient is displayed; generating a spatial mapping matrix between an eyeball movement track and a target region by combining target region boundary data of preoperative OCT image segmentation and an intra-operative navigation coordinate system; the virtual navigation path of the surgical instrument is dynamically corrected according to the real-time eyeball movement track, so that the surgical instrument is aligned with the target area, the spatial relation between the instrument and the target area can be visually mastered through the overlapping display of the three-dimensional virtual path and the real-time image, unconscious displacement or physiological tremor of a patient in an operation is actively adapted, and the operation accuracy is improved. And the continuous accuracy of the navigation path is ensured.

The invention provides a self-adaptive microwave radar navigation system for an unmanned aerial vehicle, and the system comprises a route planning module which provides basic comprehensive navigation information; an image acquisition module; the feature extraction module is used for generating feature data; the target identification module is used for providing real-time data for the navigation information generation module; the image fusion module is used for generating a comprehensive image representing accurate environment information; the navigation information generation module controls the unmanned aerial vehicle to efficiently complete an inspection task; and the result output module is used for visually displaying the inspection task. According to the invention, by introducing the key area marking and identifying unit in the route planning module and utilizing the feature correlation value and the polygon intersection judgment formula, accurate identification and marking of the key area are realized, and the problem of inaccurate identification of the key area in the prior art is solved.

The present invention relates to an image navigation method and system for a surgical microscope. The method includes: first, after fixing a surgical object and markers, radiographing the surgical object and markers to obtain a three-dimensional digital image; then, positioning the markers in the three-dimensional digital image to form a three-dimensional coordinate system and obtain the relative position between the target lesion and the markers; then, plotting a surgical instrument entry point and path guidance points on the three-dimensional digital image to form a navigation path, and transmitting the navigation path data to a media signal processing device; then, positioning the target lesion and markers within the field of view of the surgical microscope and transmitting the image within the field of view of the surgical microscope to the media signal processing device; the media signal processing device recognizing the markers to form a three-dimensional space corresponding to the image within the field of view of the surgical microscope; and real-time navigation is achieved by superimposing the navigation path image at predetermined coordinates on the image within the field of view of the surgical microscope in the three-dimensional space. The system includes a surgical microscope, a media signal processing device, and markers, and the surgical microscope includes a microscope tube and an image enhancement device. By accurately positioning the surgical instrument entry point and path guidance point, the present invention can guide a doctor or related personnel in completing dental treatment and surgery, thereby improving the precision of surgery.

The invention belongs to the technical field of image processing, and discloses a hepatobiliary calculus surgery image navigation and positioning system, which is configured to realize non-rigid registration of adaptive multi-stage fusion, dynamically adjust registration weights of surface and deep features according to environmental changes in surgery, and realize image navigation and positioning of the hepatobiliary calculus surgery. It is ensured that a continuous high-precision dynamic three-dimensional model is provided in the whole process; predictive virtual tactile feedback based on biomechanical simulation is realized, and tissue tension perception and damage early warning beyond real tactile sense are provided for doctors by calculating stress and strain of a tissue model in real time; the intelligent quantification of the stone residual risk based on multi-source information fusion is realized, and the stone residual risk is quantified and visualized with high confidence by fusing the surgical operation history and the intraoperative fluorescence function image. According to the invention, a closed-loop navigation platform integrating high-precision environment perception, predictive process control and intelligent result quality control is constructed, and the precision and safety of auxiliary tools for minimally invasive surgery of hepatic duct calculi are improved.

The invention discloses a portable CT (Computed Tomography)-guided puncture navigation device, a portable CT-guided puncture navigation system, electronic equipment and a computer readable storage medium. The device comprises a signal sending / receiving module, a space included angle calculation module, a window display module and an image navigation module, wherein the image navigation module comprises an initialization sub-module, a transparency adjustment sub-module, a translation, zooming and rotation sub-module, an image screen capture sub-module, a human body virtual model construction sub-module and a real-time image processing sub-module; the device can monitor and display the real-time attitude angle data of the puncture needle relative to a needle insertion section coordinate system in real time, can display the attitude change of the puncture needle and the needle insertion section in real time in a simulated animation form, gives visual prompts to surgeons, does not need three-dimensional reconstruction of images in a DICOM format and other complex function development, and is convenient to use and popularize. The software development cost can be reduced, the popularization and application of the device system are facilitated, and the diagnosis and treatment cost of a patient can be reduced.

The present application discloses an image navigation method and system for a surgical microscope. The method comprises: fixing a surgical subject and a marker, and performing radiation imaging on the surgical subject and the marker to obtain a three-dimensional structural digital image; locating the marker via the image, establishing a coordinate system, and obtaining relative locations of a target affected part and the marker; setting an entry point and a path guide point of an instrument on the image to generate a navigation path, and transmitting data to a media signal processing apparatus; placing the target affected part and the marker in a field of view of a microscope, and transmitting an image in the field of view to the media signal processing apparatus; identifying, by the media signal processing apparatus, the marker to generate a matched three-dimensional space; and superposing a path image of corresponding coordinates on the image in the field of view according to the three-dimensional space to implement real-time navigation. The system comprises the microscope, the media signal processing apparatus, and the marker. The microscope comprises a microscope body and an image augmentation apparatus. The present application can precisely locate an entry point and an entry path of a surgical instrument, to guide a doctor or a related operator to complete a dental diagnosis and treatment surgery, thus improving the surgical precision.

The application relates to the field of embodied intelligence and autonomous navigation, in particular to a wheelchair navigation method and device, equipment and medium, wherein the method comprises the following steps: acquiring a current environment image, a navigation instruction and a historical environment image of a wheelchair; extracting an environment structure feature of the current environment image, and determining whether a target environment is an indoor environment or an outdoor environment based on the environment structure feature; when the target environment is the indoor environment, generating a bird's-eye view feature map according to the current environment image, and combining the navigation instruction to navigate; when the target environment is the outdoor environment, predicting a three-dimensional point cloud, a relative pose and a driving trajectory based on the current environment image and the historical environment image, and combining the navigation instruction to navigate. Therefore, the problems of poor unified representation capability of perception, mapping and decision, insufficient spatial geometric expression and real-time performance, and lack of continuous environment updating and memory capability in the related art are solved.

The present application discloses an image navigation method and system for a surgical microscope. The method comprises: fixing a surgical subject and a marker, and performing radiation imaging on the surgical subject and the marker to obtain a three-dimensional structural digital image; locating the marker via the image, establishing a coordinate system, and obtaining relative locations of a target affected part and the marker; setting an entry point and a path guide point of an instrument on the image to generate a navigation path, and transmitting data to a media signal processing apparatus; placing the target affected part and the marker in a field of view of a microscope, and transmitting an image in the field of view to the media signal processing apparatus; identifying, by the media signal processing apparatus, the marker to generate a matched three-dimensional space; and superposing a path image of corresponding coordinates on the image in the field of view according to the three-dimensional space to implement real-time navigation. The system comprises the microscope, the media signal processing apparatus, and the marker. The microscope comprises a microscope body and an image augmentation apparatus. The present application can precisely locate an entry point and an entry path of a surgical instrument, to guide a doctor or a related operator to complete a dental diagnosis and treatment surgery, thus improving the surgical precision.

The invention provides a surgical method and device based on OCT image navigation, relates to the technical field of surgical medical treatment, is applied to a surgical robot, and is characterized in that a preoperative OCT image of a blood vessel is acquired by using the surgical robot based on a preoperative angiography image, preoperative examination is performed on the blood vessel based on the preoperative OCT image, and a surgical strategy of a vascular interventional surgery is determined. The catheter for the vascular interventional operation is determined through the operation strategy, the diseased region of the blood vessel is determined through the catheter, the vascular interventional operation is carried out on the diseased region, positioning and operation of the diseased region are carried out more accurately, and the operation precision is improved; and the problem of fatigue of doctors caused by poor precision and overlong operation time in the traditional operation is solved.

The invention discloses an IVUS-based guide wire-free blood vessel center line identification and navigation method, and relates to the technical field of blood vessel intervention and image navigation. The method comprises the following steps: arranging an IVUS transducer at the front end of an instrument, and synchronously obtaining an IVUS frame sequence and a probe pose; through cavity wall segmentation, center point extraction and time sequence-space fusion processing, a three-dimensional center line of the main blood vessel is constructed, and a safety envelope is generated; for a branch artery, branch super-selection navigation is realized through candidate sector detection, direction estimation and center line generation and splicing; meanwhile, a mismatch rollback and failure protection mechanism is set, so that navigation safety is ensured; the virtual center line is used for replacing a solid guide wire, the risk that blood vessels are punctured and mistakenly enter a false cavity is reduced, the radiography frequency and radiation exposure are reduced, the operation time is shortened, and the method is suitable for complex intracavity treatment scenes of aorta trunks and branches.

A system for MRI-guiding of a cranial drill for drilling a burr hole into a skull of a patient in vivo. The system comprises an MRl-compatible controller configured to send actuator commands and an MRI-compatible cranial drill system adapted to be secured to, or proximate to, the head of the patient. The cranial drill system includes a pressure sensor and is adapted to receive the actuator commands and send position data and force feedback from the pressure sensor to the controller. A fiber optic cable is connected between the controller and navigation software. The navigation software is configured for transmitting scanner control signals to the MRI scanner and receiving images generated by the MRI scanner for transmission to a display output for receiving electrical signals and for displaying corresponding images. The navigation software is adapted to receive commands based on the images.

The embodiment of the invention discloses a navigation test system and a navigation test method, and the system comprises a driving simulation device which is used for receiving a driving instruction and sending the driving instruction to the driving simulation device; the driving simulation equipment is used for updating the current state parameter of a virtual vehicle in real time based on the driving instruction to obtain a target state parameter; generating a simulated driving environment image based on the target state parameter; sending the simulated driving environment image to the display device; sending the target state parameter to the navigation equipment; the display equipment is used for displaying the received simulated driving environment image; and the navigation equipment is used for updating a navigation interface based on the target state parameter. Therefore, non-real-road testing can be realized, and the problem of pain points of real-road testing is solved.

The invention relates to a ray tracing image rapid rendering method for landmark matching navigation. According to the method, a ray tracing principle is adopted, and rendered images, used for image matching, of the detector in the lunar landing process can be generated in real time through the steps of DEM topographic data formatting processing, generation of rays under the lunar consolidation system from a camera, rapid intersection of the rays under the lunar consolidation system, gray level assignment through a Lambert model and the like. Compared with a traditional rasterization image rendering method, the method can effectively improve the image rendering precision and quality, and avoids the problem of shadow solution of a rasterization method. The method can be applied to the generation of the rendered image in a deep space exploration landmark image navigation process, and meets the requirements of landmark image navigation on the reliability and real-time performance of the rendered image.

In some embodiments, the invention relates to a method and a system for an image guided navigation of a trackable instrument, wherein a computation unit that is configured for generating a visual representation of the instrument together with a visual representation of tomographic image data so as to visualize the instrument in the visual representation of tomographic image data on a display, determining a distance between the instrument distal end and the target region and / or the target object, determining if the determined distance is less than a predetermined threshold distance, and changing the visual representation of the instrument together with a visual representation of tomographic image data in response to determining that the determined distance is less than the predetermined threshold distance.

The disclosed method encompasses a computer-implemented medical method for surface matching registration of an object in image guided navigation. In particular, the method provides an identification of an optimal matching solution from a plurality of similar matching solutions comprising the lowest distance matching solution based on at least one matching parameter. This method allows finding a better optimal matching solution.

A computer-implemented medical method for surface matching registration of a patient (O) in image guided navigation comprises the steps of obtaining (81) registration data (Dr) of a surface of a patient (O), wherein the registration data (Dr) comprises a plurality of registered points (P), determining (S2), for each of the plurality of points (P) a matching weight (W) based on at least one quality criteria value (Q1, Q2, Q3), wherein the matching weight (W) reflects a quality of the respective point (P) and performing (S3) a matching algorithm between image data (Di) of at least part of the patient (O) and the registration data (Dr), using the matching weight (W) of each of the plurality of points (P), thereby determining a matching solution (Ms). Thus, for each point a quality can be determined that is considered in the matching algorithm. In other words, the matching weight (W) leads to a more accurate intraoperatively acquired point cloud and consequently to an improved matching accuracy.

A medical augmented reality system for a surgical procedure on a patient includes a visualization unit for generating a preoperative image and a real-time image with a reference point, a navigation system for capturing the visualization unit, and a control unit for generating an augmented reality overlay display from a digitized reference point from the preoperative image and the real-time image and for displaying a comparison of the augmented reality overlay display. The navigation accuracy of the medical augmented reality system can be verified with the aid of a method, a computer-readable storage medium and / or a computer program.

A method of producing high quality 3D CT medical imaging models, real-time, from 2D X-ray images acquired from convention imaging equipment, such as X-ray or C-arm devices, already present in an operating room, thereby obviating the need to bring in, and sterilize, additional equipment presently used for 3D image navigation.

The invention relates to the field of medical instrument teaching and training, in particular to a simulated enteroscopy and operation control method and system, which are used for generating a virtual image about an enteroscopy in a simulated intestinal tract and providing real-time visual feedback when a user operates the enteroscopy to examine the simulated intestinal tract; predicting the movement trend of the enteroscope according to the operation characteristics of the user on the enteroscope, and providing an enteroscope operation prompt; and according to the air pressure adjustment operation parameters of the simulated intestinal tract, predicting the air pressure change trend in the simulated intestinal tract, and providing an air pressure adjustment operation early warning prompt. According to the method, visual image navigation guidance can be provided for the user in real time in the simulated enteroscopy training period, prompting can be accurately carried out according to the actual operation condition of the user, the user can obtain all-around information interaction in the training period, it is ensured that the user obtains accurate and timely reminding feedback in the simulated training period, and the training effectiveness is improved.

The invention relates to the field of image fusion, in particular to an optical and SAR image fusion method for a visual navigation demand. Comprising the following steps: S1, preprocessing an optical image and an SAR image, converting the optical image into a gray level image by adopting an average value method, and obtaining an equalized SAR image through gray level equalization processing; s2, pixel-level navigation landmark detection of the SAR image is realized by using a CFAR detection algorithm; s3, processing the CFAR detection result of the SAR image by adopting morphological operation, and removing a false alarm target and interference pixels to obtain an SAR image navigation landmark segmentation mask; and S4, extracting to-be-fused pixels from the SAR image by using the segmentation mask, fusing the to-be-fused pixels with the optical image, and realizing transmission of spectral information through IHS transformation to obtain a fusion result of the optical image and the SAR image. The invention aims to solve the problem that an image fusion method for enhancing an optical image by using unique information of an SAR image while keeping main attributes of the optical image is lacked in the prior art.

An embodiment of the present invention discloses an image navigation method, device, server device, and storage medium. The method includes: obtaining at least two current images each including a first feature code pattern and a marker pattern through at least two cameras; determining the position coordinates of each sub-region of the first feature code pattern of at least two current images according to at least three preset feature positions of the contour of the first feature code pattern, and determining the decoding results respectively corresponding to the first feature code patterns of at least two current images according to the colors corresponding to the position coordinates of each sub-region and the preset arrangement order of each sub-region; if the at least two decoding results both conform to the preset verification rules, determining the positional relationship between at least three preset feature positions and the marker pattern respectively; determining the pose of the object to be tracked corresponding to the tracking component according to the positional relationship, and real-time displaying the pose on the target medical image. The problem of being unable to quickly and accurately obtain the pose of the surgical instrument is solved.

The invention provides a navigation control method and device of an underwater autonomous vehicle, electronic equipment and a medium, and the method comprises the following steps: inputting position information, a camera image and a sonar image of the underwater autonomous vehicle into a navigation control model to obtain a yaw angle, a pitch angle and a speed of the underwater autonomous vehicle; the navigation control model is obtained by training based on a sample camera image, a sample sonar image and sample position information as well as a label yaw angle, a label pitch angle and a label speed of the autonomous underwater vehicle. According to the method, by fusing position information, a camera image and a sonar image, a navigation control model can obtain more comprehensive environment perception capability than any single sensor, so that the navigation control model can still make a comprehensive decision according to local fine visual information and position information provided by the camera image in a complex dynamic underwater environment; the defects of a single sensor are effectively compensated, and the navigation reliability of the autonomous underwater vehicle in a complex dynamic environment is remarkably improved.

The invention discloses an out-of-trap method, device and system for an autonomous vehicle, a storage medium and equipment, and the method comprises the steps: obtaining a navigation map, recently collected multi-frame road environment images, recent navigation broadcast text information and a problem list when an out-of-trap trigger instruction is received, the question list comprises questions used for inquiring whether the vehicle executes a detrapping related behavior or not; the navigation map, the multiple frames of road environment images, the navigation broadcast text information and the problem list are sent to a cloud end, so that the cloud end processes the navigation map, the multiple frames of road environment images, the navigation broadcast text information and the problem list based on a large language model, and an escape planning track is obtained; and receiving the escape planning track issued by the cloud, and controlling the vehicle to escape according to the escape planning track. According to the scheme, the method can achieve the automatic escape of the vehicle based on the large language model, does not need manual driving, and further improves the reliability of automatic driving.

The embodiment of the present application relates to the technical field of deep space exploration, and particularly relates to a scale information determination method and device in a probe image navigation process. The method comprises: obtaining a target time of next output ranging data based on an action occurrence time of distance measurement of a distance measurement device and a working period; sending an image shooting instruction to a navigation image processor in a next preset control period; obtaining a local waiting time before the navigation image processor executes the image shooting instruction based on the target time, a period start time and a local interrupt latch value; after the local waiting time, shooting a lunar surface image below the probe through the navigation image processor, and taking the ranging data output by the distance measurement device at the target time as scale information for matching the lunar surface image with a preset navigation image. The technical scheme of the present application can obtain accurate scale information in the lunar surface image navigation process, and improve the accuracy and success rate of image matching.

The present invention relates to the field of cardiovascular image analysis technology, and specifically to a real-time image navigation and positioning system in cardiovascular interventional surgery. The present invention obtains the possibility of a blood vessel wall based on the grayscale difference and gradient difference between edge pixels and surrounding pixels, and then obtains blood vessel wall pixels; obtains the proximity of the blood vessel wall based on the grayscale difference and gradient difference between the blood vessel wall pixels and the surroundings, and extends to obtain extended blood vessel wall pixels; then obtains the extension direction mutation index, and screens out the direction mutation points; combines the position distribution, gradient distribution and grayscale distribution of the pixels in the moving window of the direction mutation points to obtain the abnormal possibility degree, and then obtains the abnormal circulation area; performs image enhancement on the abnormal circulation area to obtain the final cardiovascular image, and performs surgical navigation and positioning on it. The present invention improves the accuracy of real-time image navigation and positioning in cardiovascular interventional surgery.

The present invention discloses an in vitro visual interventional hemostasis device and method, including a manipulator device, an image navigation system display device, a control box, a sheath catheter, an inner catheter, a control system, a first limiting plate, a second limiting plate, a sliding member, a sliding plate, a first limiting groove and a second limiting groove; by starting the power member, the sliding plate is moved. Under the squeezing action of the first limiting plate and the second limiting plate, the sliding member moves while maintaining a fixed inclination angle. At this time, one rolling disc is caught in the second limiting groove, and the other rolling disc rolls on the first limiting plate, thereby driving the sheath catheter and the inner catheter to move synchronously. When the sliding plate continues to move, one rolling disc disengages from the second limiting groove, and the other rolling disc is caught in the first limiting groove, and the sliding member inclines, so that the position of the sheath catheter is fixed, while the inner catheter continues to move to reach the position where hemostasis is required. This method has fewer operation steps, smooth and coordinated movement coherence, and increases stability and precision.

The invention discloses a navigation system and method and a storage medium, and the system comprises the steps: recognizing the first positioning information of a flexible instrument in an anatomical model according to a first positioning algorithm and first positioning data in a memory, the first positioning data at least comprising image data collected by an image positioning device; determining second positioning information of the flexible instrument in the anatomical model according to the first positioning information, a second positioning algorithm and the second positioning data; and updating the navigation information based on the second positioning information. According to the method, the navigation precision under lung movement is improved, and the accuracy of image navigation is also improved.

The present application discloses an ophthalmic surgery real-time navigation system and method based on dynamic visual field tracking, which relates to the technical field of medical systems. It includes matching the operation data closest to the current surgery from the database to generate the standard operation navigation for the current surgery; comparing the real-time image of the surgery process with the image of the standard operation navigation in real time to determine the current step of the surgery, and at the same time displaying the image navigation for the subsequent surgery of the patient; generating a spatial mapping matrix between the eyeball movement trajectory and the target area by combining the target area boundary data segmented from the preoperative OCT image and the intraoperative navigation coordinate system; dynamically correcting the virtual navigation path of the surgical instrument according to the real-time eyeball movement trajectory to align the surgical instrument with the target area. Through the superposition display of the three-dimensional virtual path and the real-time image, the spatial relationship between the instrument and the target area can be intuitively grasped, actively adapting to the unconscious displacement or physiological tremor of the patient during the surgery to ensure the continuous accuracy of the navigation path.

This invention relates to an autonomous image navigation and obstacle avoidance method for unmanned aerial vehicles (UAVs) based on improved reinforcement learning. It proposes an image-based and experience pool data storage mechanism, namely the FRDDM-DQN method. In this invention, an agent that meets the requirements is trained using the FRDDM-DQN method; during task execution, the trained agent controls the UAV to achieve autonomous image navigation and obstacle avoidance. Beneficial effects: By introducing the Faster R-CNN model into the DQN algorithm and transforming the recognition results of the Faster R-CNN model, the ability of UAVs to perform autonomous image navigation and obstacle avoidance in complex environments is obtained. By introducing the experience pool data storage mechanism proposed in this invention into the DQN algorithm, the autonomous image navigation and obstacle avoidance capability of UAVs in complex environments is improved. The distributed training method reduces the retraining time when the application scenario changes.

The invention discloses in-vitro visual intervention hemostasis equipment and method. The in-vitro visual intervention hemostasis equipment comprises a manipulator device, image navigation system display equipment, a control box, a sheath catheter, an inner catheter, a control system, a first limiting plate, a second limiting plate, a sliding part, a sliding plate, a first limiting groove and a second limiting groove. The power piece is started to enable the sliding plate to move, under the extrusion action of the first limiting plate and the second limiting plate, the sliding piece keeps moving at a fixed inclination angle, at the moment, one rolling disc is clamped into the second limiting groove, the other rolling disc rolls on the first limiting plate, and therefore the sheath catheter and the inner catheter are driven to move synchronously, and the sliding plate continues to move; at the moment, one rolling disc is separated from the second limiting groove, the other rolling disc is clamped into the first limiting groove, the sliding piece inclines, the sheath catheter is fixed, the inner catheter continues to move, the position where hemostasis is needed is achieved, the mode is few in operation step, movement continuity is coordinated and smooth, and stability and precision are improved.