CN111265300A - NDI-based method for tracking position of mark point in real time - Google Patents
NDI-based method for tracking position of mark point in real time Download PDFInfo
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- CN111265300A CN111265300A CN202010220778.9A CN202010220778A CN111265300A CN 111265300 A CN111265300 A CN 111265300A CN 202010220778 A CN202010220778 A CN 202010220778A CN 111265300 A CN111265300 A CN 111265300A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The invention relates to a method for tracking the position of a mark point in real time based on NDI (named data infrastructure), which is characterized in that in the process of surgical navigation, Marker tools are unified to the same coordinate system through NDI, and the start and stop points and the positioning position of a robot during surgical path planning are determined by virtue of spatial data provided by the coordinate system. In order to ensure that the Marker tool tracked in real time is located in the optimal tracking range of NDI binocular vision, the invention uses the optimal tracking space range of NDI to carry out projection in the three directions of coronal plane, sagittal plane and horizontal plane, calculates homography transformation matrix between the space 2D coordinate of the vertex in each projection view and the corresponding pixel coordinate, and uses the matrix to convert the space position coordinate of the Marker tool in real time into the pixel coordinate, thereby realizing real-time dynamic observation of the position of the Marker tool. So as to ensure that the position of the Marker tool is always in the optimal tracking range, thereby improving the navigation precision as much as possible.
Description
Technical Field
The invention relates to a method for tracking the position of a marker point in real time based on NDI (named data interface), in particular to a method for tracking the position of the marker point in real time by using an optical tracking system in a navigation system of a surgical navigation robot.
Background
In recent years, infrared vision tracking systems NDI are increasingly used for surgical robot navigation with their excellent performance; the system tracks the spatial position of a Marker point (Marker) tool in real time by using an infrared tracking technology, but NDI has an optimal tracking range, the tracking precision in the range can reach 0.12 root mean square error of a 95% confidence interval, and the root mean square error beyond the range is 0.3.
In the navigation process of the surgical navigation robot, a plurality of Marker tools are used for respectively describing the spatial pose information of surgical instruments, positioning scaleplates and affected parts of patients; the Marker tools are unified under the same coordinate system through NDI, and the start and stop points and the robot positioning position during the planning of the surgical path are determined by means of spatial data provided by the coordinate system. Therefore, in the navigation and positioning process of the operation path, the accuracy of the spatial pose information of each Marker tool directly influences the accuracy of the operation path planning and the robot. And the Marker tool is ensured to be always positioned in the optimal tracking range of the NDI, so that the navigation precision of the robot can be improved as much as possible.
Disclosure of Invention
Aiming at the problems, the invention provides a method for tracking the position of a mark point in real time based on NDI (named data identity), which displays the projection position of a Marker tool in three view windows in real time when an infrared visual tracking system NDI is used for planning and navigating a surgical navigation path so as to ensure that the position of the Marker tool is always in the optimal tracking range, thereby improving the navigation precision as much as possible.
The technical scheme of the invention is as follows:
in the path planning process of the surgical navigation system, the position of the Marker tool is tracked and displayed in real time by means of the NDI, and the optimal space tracking range of the NDI is known as the space structure shown in fig. 2, and the space coordinates of each vertex can be obtained from the space structure.
Further, under an NDI world reference coordinate system, the optimal tracking space range is projected in three directions, namely a coronal plane, a sagittal plane and a horizontal plane.
Further, when calculating the vertex coordinates of each projection plane, only the coordinate value corresponding to the axis perpendicular to the projection plane is set to 0, and the remaining two coordinate values are retained as the 2D coordinate values of the vertex on the projection plane.
Furthermore, after the 2D coordinates of a series of vertexes in each projection direction are obtained, the vertexes are connected after being reduced according to a certain proportion, and a projection view is formed.
Further, after the projection views in all directions are obtained, the pixel coordinates of the vertexes in all the views are respectively obtained by adopting functions packaged in an Opencv-based library and a related graphics processing algorithm.
Further, after obtaining the spatial 2D coordinates and pixel coordinates corresponding to each vertex, a homography transformation matrix H between the spatial 2D coordinates and the corresponding pixel coordinates of the vertex in each view is calculated respectivelyi（i=1，2，3）。
The 2D homogeneous coordinate (x, y, 1) in space for any Marker tool, in combination with HiThe pixel coordinate (u, v, 1) corresponding to the view is calculated, and finally, the position of the Marker tool in the projection view is displayed in real time according to the obtained pixel coordinate, and when the Marker tool is located in the optimal tracking range of each view in the three views, the Marker tool is indicated to be also in the optimal tracking range of NDI in space.
The homography transformation matrix Hi（i=1，2，3）：
The conversion of the certain spatial 2D coordinate to the corresponding pixel coordinate is represented as follows:
the corresponding pixel coordinate in the obtained view is as follows:
drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic spatial view of the optimal tracking range of NDI;
FIG. 3 is a sagittal projection view of the optimal tracking range for NDI;
FIG. 4 is a schematic diagram of a horizontal plane projection of the optimal tracking range for NDI;
FIG. 5 is a coronal plane projection of an optimal tracking range for NDI;
FIG. 6 is a schematic diagram of a Marker tool position shown in three views in real time;
fig. 7 is a schematic diagram showing the state and the spatial pose of the Marker tool in real time.
Detailed description of the preferred embodiment
The present invention will be described with reference to the accompanying drawings.
The invention relates to a positioning method for real-time tracking of a mark point position based on NDI (named data infrastructure), which is used for dynamically displaying the positions of a plurality of Marker tools in real time from three views in different directions when auxiliary positioning of an operation navigation system is carried out by utilizing the NDI so as to ensure that the Marker tools are always positioned in the optimal tracking range of NDI binocular vision.
The flow chart of the method of the invention is shown in figure 1:
1. given that the optimal spatial tracking range of NDI is a spatial structure as shown in fig. 2, the spatial coordinates of each vertex can be obtained from the graph, and the optimal tracking spatial range of NDI is projected in three directions, namely, coronal plane (fig. 5), sagittal plane (fig. 3) and horizontal plane (fig. 4).
And calculating the space 2D coordinates and the corresponding pixel coordinates of each vertex in the projection view, particularly indicating that only the coordinate value corresponding to the axis perpendicular to the projection plane is set to be 0 when calculating the vertex coordinates of each projection plane, and reserving the remaining two coordinate values as the 2D coordinate values of the vertex on the projection plane.
The main operation is as follows:
A. after the 2D coordinates of a series of vertexes in each projection direction are obtained, the vertexes are connected after being reduced according to a certain proportion, and a projection view is formed.
B. After the projection views in all directions are obtained, the pixel coordinates of the vertexes in all the views are respectively obtained by adopting functions packaged in an Opencv-based library and a related graphics processing algorithm.
3. Respectively calculating homography transformation matrix H between space 2D coordinates of vertexes in each view and corresponding pixel coordinatesi（i=1，2，3）。
The homography transformation matrix Hi（i=1，2，3）：
4. Determining the real-time position of the Marker tool in each view according to the homography transformation matrix, specifically for 2D homogeneous coordinates (x, y, 1) of any Marker tool in space, and combining HiThe pixel coordinate (u, v, 1) corresponding to the view is calculated, and finally, the position of the Marker tool in the projection view is displayed in real time according to the obtained pixel coordinate, and when the Marker tool is located in the optimal tracking range in the three views, the Marker tool is indicated to be also in the optimal tracking range of NDI in space.
The calculation process comprises the following steps:
the converted pixel coordinates are:
after the pixel coordinates of each view of the Marker tool are obtained, the position of each Marker tool in the corresponding view is drawn by using the QT frame, as shown in FIG. 6, and the positions of the Marker tools in the three views can be displayed in real time, wherein the positions of the Marker tools in the corresponding views are represented by 4 Marker tools through different numbers 1-4 in the figure.
The converted pixel coordinates are: when the Marker tool points in the three views are all in the optimal projection space range, the Marker tool is also in the optimal tracking position in space at the moment, and the space pose information (figure 7) of the Marker tool acquired by the NDI is displayed on an interface to prompt the Marker tool to track normally; if the current position is not in the optimal tracking direction, the abnormal tracking is prompted, an operator needs to finely adjust the position of the NDI or Marker tool until the normal tracking is displayed, and then other operation navigation operations are performed.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (7)
1. A method for tracking the position of a mark point in real time based on NDI is characterized in that when an NDI real-time tracking marker tool is used, in order to ensure that the NDI real-time tracking marker tool is always positioned in the optimal tracking range of NDI binocular vision, the specific process is as follows:
(1) given that the optimal spatial tracking range of NDI is the spatial structure shown in FIG. 2, the spatial coordinates of each vertex can be obtained from the graph;
(2) projecting the NDI optimal tracking space range in three directions of a coronal plane, a sagittal plane and a horizontal plane;
(3) calculating the space 2D coordinates and the corresponding pixel coordinates of each vertex in the projection view;
(4) respectively calculating a homography transformation matrix between the space 2D coordinates of the vertexes in each view and the corresponding pixel coordinates;
(5) and determining the real-time position of the Marker tool in each view according to the homography transformation matrix.
2. The method according to claim 1, wherein the optimal tracking spatial range is projected in three directions, coronal, sagittal, and horizontal planes, in an NDI world reference coordinate system.
3. The method according to claim 1, wherein when calculating the vertex coordinates of each projection plane, the method only needs to set the coordinate value corresponding to the axis perpendicular to the projection plane to 0, and the remaining two coordinate values are the 2D coordinate values of the vertex on the projection plane.
4. The method according to claim 1, wherein the method comprises obtaining 2D coordinates of a series of vertices in each projection direction, and scaling down the vertices to form a projection view.
5. The NDI-based real-time landmark position tracking method according to claim 4, wherein after the projection views in each direction are obtained, the method uses a function based on encapsulation in an Opencv library and a related graphics processing algorithm to respectively obtain the pixel coordinates of the vertices in each view.
6. The method according to claim 1, wherein after obtaining the 2D coordinates and pixel coordinates corresponding to each vertex, the method calculates a homography transformation matrix H between the spatial 2D coordinates and the corresponding pixel coordinates of the vertex in each view respectivelyi（i=1，2，3）。
7. The NDI-based method for tracking the position of a landmark point in real time according to claim 6, wherein the 2D homogeneous coordinates (x, y, 1) in space for any Marker tool are combined with HiCalculating the pixel coordinate (u, v, 1) corresponding to the view, and finally displaying the position of the Marker tool in the projection view in real time according to the obtained pixel coordinate, wherein when the Marker tool is located in the optimal tracking range of each view in the three views, the Marker tool is indicated to be in the optimal tracking range of NDI in spaceAnd (4) the following steps.
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|---|---|---|---|---|
| US20190000556A1 (en) * | 2017-06-30 | 2019-01-03 | Gal Sela | Medical electronic device with multi-tracking cameras |
| CN109999371A (en) * | 2017-12-21 | 2019-07-12 | 瓦里安医疗系统国际股份公司 | Virtual portal direction viewing imaging for patient setup in radiation therapy |
| CN110464463A (en) * | 2019-08-30 | 2019-11-19 | 苏州迪凯尔医疗科技有限公司 | Surgical instrument tip scaling method, device, computer equipment and storage medium |
| CN110658518A (en) * | 2018-06-29 | 2020-01-07 | 杭州海康威视数字技术股份有限公司 | A target intrusion detection method and device |
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- 2020-03-26 CN CN202010220778.9A patent/CN111265300A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190000556A1 (en) * | 2017-06-30 | 2019-01-03 | Gal Sela | Medical electronic device with multi-tracking cameras |
| CN109999371A (en) * | 2017-12-21 | 2019-07-12 | 瓦里安医疗系统国际股份公司 | Virtual portal direction viewing imaging for patient setup in radiation therapy |
| CN110658518A (en) * | 2018-06-29 | 2020-01-07 | 杭州海康威视数字技术股份有限公司 | A target intrusion detection method and device |
| CN110464463A (en) * | 2019-08-30 | 2019-11-19 | 苏州迪凯尔医疗科技有限公司 | Surgical instrument tip scaling method, device, computer equipment and storage medium |
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Application publication date: 20200612 |