3D Object Registration with Reused Surface Mapping for Navigation
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Solution Overview
Problem
Existing three-dimensional registration methods for multiple representations of an object are computationally complex and costly, particularly in medical imaging applications like otorhinolaryngology, and data fusion methods are not satisfactory for separate displays of different acquisition modes.
Innovation Solution
A method involving a referencing ancillary fixed to the object and a stylus for three-dimensional registration, utilizing a first three-dimensional representation's surface point location recording to simplify the registration of subsequent representations, including angular and surface registrations, and leveraging prior recordings for transition matrix computations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple three-dimensional representations are registered separately using traditional methods, then each representation can be displayed for multimodal navigation assistance, but the computing time and complexity increase significantly
Solution Approach 1:
The patent performs preliminary angular registration to establish a transition matrix between the ancillary reference frame and the object reference frame before surface registration. This preliminary action simplifies subsequent surface point transformations by pre-computing the rotational and translational components, reducing the computational burden during actual navigation use.
Solution Approach 2:
The registration process is segmented into two distinct phases: angular registration (establishing the transition matrix from reference points) and surface registration (mapping surface points using the pre-computed matrix). This segmentation allows each phase to be optimized independently and enables efficient processing of multiple three-dimensional representations.
2Reliability
If traditional three-dimensional registration methods are used for multiple representations, then comprehensive navigation information is available, but the device complexity and computational cost increase
Solution Approach 1:
The transition matrix computed during angular registration serves multiple functions: it transforms coordinates between different reference frames, enables surface point mapping, and facilitates the registration of multiple three-dimensional representations. This multi-functionality reduces the need for separate computation routines for each representation, simplifying the overall system.
Solution Approach 2:
The ancillary device serves as an intermediary reference frame that simplifies the transformation between the object and various imaging modalities. By introducing this intermediate reference system, the patent avoids direct complex transformations between multiple imaging systems, reducing computational complexity while maintaining accuracy.
3Measurement precision
If surface registration is performed for each three-dimensional representation separately, then accurate surface mapping is achieved for each mode, but the registration duration increases
Solution Approach 1:
The angular registration using reference points is performed preliminarily to establish the transition matrix before surface registration. This preliminary computation of rotational and translational parameters enables rapid surface point mapping without repeating the angular calibration for each representation, significantly reducing registration duration while maintaining precision.
4Adaptability or versatility
If data fusion methods are used to merge multiple representations, then integrated navigation information is obtained, but the quality of separate displays for different acquisition modes is compromised
Solution Approach 1:
The patent transforms surface points from the ancillary reference frame to the object reference frame using the pre-computed transition matrix, creating an accurate copy of the surface geometry in the target coordinate system. This copying approach preserves the original data quality for separate displays while enabling integrated navigation through multiple representations.
Data Source
AI summary
A registration method includes a storage of two three-dimensional representations of an object and locations of at least three reference points of the object in these two three-dimensional representations; an angular registration of the first three-dimensional representation on the object from a recording of locations of the reference points of the object in a reference frame linked to a reference ancillary fixed on the object; a surface registration of the first three-dimensional representation on the object, including a recording of locations of surface points other than the reference points on the surface of the object in the three-dimensional reference frame linked to the referencing ancillary; and a registration of the second three-dimensional representation of the object on the object itself including a surface registration of this second three-dimensional representation on the basis of the recording of the surface point locations made for the surface registration of the first three-dimensional representation.