CN102727194B - Electroencephalogram electrode space positioning system and positioning method - Google Patents
Electroencephalogram electrode space positioning system and positioning method Download PDFInfo
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Abstract
The invention discloses an electroencephalogram electrode space positioning system, comprising a plurality of auxiliary positioning marks, an image acquisition device and a data processing device; the auxiliary positioning mark contains characteristic marks; and the characteristic marks comprise a plurality of mutually parallel nested rectangles with different sizes and colors, wherein the centers of the rectangles are coincident with the circle center of an identification part. The invention further discloses an electroencephalogram electrode space locating method, comprising the following steps of: firstly, using the nested rectangles with different color combinations at a certain distance from the scalp as the auxiliary positioning marks; calculating the vertex coordinates of the rectangle by utilizing intersection of both sides of the rectangle, and independently finishing the positioning of electroencephalogram electrodes in a mono-angle according to the principle of P4P; and then fixing by using the image acquisition device, wherein the method of tester movement carries out the positioning on the electroencephalogram electrodes in the whole head area. The electroencephalogram electrode space positioning system and the positioning method avoid the interferences of hair and electrode connecting wires and the positioning error caused by head shaking in the case of positioning, and have higher positioning precision, stability, automaticity and repeatability.
Description
Technical field
The invention belongs to EEG signals field of measuring technique, particularly a kind of electrode for encephalograms space positioning system and localization method based on monocular vision.
Background technology
In EEG signals measurement, analysis and EEG signals source location process, electrode for encephalograms is the critical data that affects source location precision in three-dimensional position.At present, existing electrode for encephalograms localization method mainly contains and comprises that manual measurement, electromagnetic positioning system are measured, ultrasound positioning system measurement and photogrammetric.Wherein, (1) manual measurement is mainly to utilize various measurement devices, as chi, electronic distance meter are realized, which is the measuring method that most hospital adopts, because manual measurement can only be measured the locus of an electrode at every turn, so positioning precision low (average position error about 4-10mm), length consuming time, repeatable poor; (2) system based on electromagnetic location and supersonic sounding all adopts specific transmitting, receiving system to realize positioning of electrode, different is that electromagnetic positioning system is to measure object space and direction according to electromagnetic propagation, and localization by ultrasonic is to measure object space and direction according to sonic propagation.Two kinds of methods all need point-to-point measurement electrode position, consuming time longer.Simultaneously, the existence of metal material can cause the distortion in transmitting magnetic field, the change of ambient temperature can affect sonic transmissions, therefore the measuring process of two kinds of methods is subject to environmental change interference, repeatable poor, positioning precision is low (average position error is in 3-5mm left and right), while measurement device is more expensive, be difficult to popularize; (3) based on photogrammetric positioning of electrode method, be divided into that many cameras are photogrammetric and single camera is photogrammetric.Based on the photogrammetric positioning of electrode system of many cameras, centered by tester, place 11 cameras, take tester's terminal electrode image simultaneously, utilize the multiple image manual extraction index point 2D coordinate generating, according to used for multi-vision visual three-dimensional reconstruction principle, carry out positioning of electrode.At present this system is mainly by the research and development of U.S. EGI company and use in its EEG signals measuring system, and the high but complicated operation of positioning precision, degree is low, expensive automatically, and the system that can only produce for EGI company, is not suitable for the electrode of other types; Based on the photogrammetric positioning of electrode system of single camera, only utilize a camera, but need to be by the image that obtains a plurality of angles of electrode in rotary moving centered by tester.Its measuring principle is identical in itself with many cameras positioning of electrode system, is all to carry out positioning of electrode based on used for multi-vision visual or stereo vision three-dimensional rebuilding principle.Although one camera photogrammetric survey method cost is low, around tester, to carry out being difficult to guarantee that tester's head maintains static in the process of multi-angle image shooting, system accuracy repeatability is poor.And existing single camera Digital Photogrammetric System is all to realize on plastic cap model, the measuring accuracy on realistic head model is still not clear.Meanwhile, single camera Digital Photogrammetric System only has and has taken all images and could calculate electrode for encephalograms position, once it fails to match or mistake in computation will cause the inefficacy of whole position fixing process for a certain parts of images.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention is to provide a kind of electrode for encephalograms space positioning system and localization method, to overcome prior art, takes into account and only has and taken the defect that all images could calculate electrode for encephalograms position being difficult to aspect price, automaticity, repeatability and precision.
(2) technical scheme
In order to achieve the above object, the invention provides a kind of electrode for encephalograms space positioning system, described system comprises a plurality of auxiliary positioning signs, image collecting device and data processing equipment, each auxiliary positioning sign is arranged on an electrode for encephalograms, described image collecting device is for gathering the view data of described auxiliary positioning sign, the view data that described data processing equipment collects described image collecting device is processed, and obtains the space coordinates of electrode for encephalograms; Described auxiliary positioning sign comprises mark part and installation portion; Described mark part comprises the cylinder that an end face contains characteristic indication; Described characteristic indication is for distinguishing different auxiliary positioning signs, and contains electrode space and locate needed geometrical-restriction relation; Described characteristic indication comprises the different nested rectangle of a plurality of sizes, color that ,Qie parallel to each other center overlaps with the center of circle of described mark part; Described installation portion is connected on the bottom surface of described mark part, for described auxiliary positioning sign is fixed on to described electrode for encephalograms.
Wherein, the cylinder of described mark part is white, and the color of nested rectangle is different, and the color of adjacent two rectangles has obvious aberration, and the color of each rectangle can be a kind of in indigo plant, black, red, orange, yellow, green, blue or green, purple.
Wherein, described rectangle is four, is respectively from outside to inside the first rectangle, the second rectangle, the 3rd rectangle and the 4th rectangle; Distance between parallel to each other and adjacent both sides, the limit of described four rectangles is greater than 1mm, and the length of the 4th rectangle is more than or equal to 3mm, is wider than or equals 2mm; The center of described the first rectangle, the second rectangle, the 3rd rectangle and the 4th rectangle overlaps with the described mark part center of circle.
Wherein, described installation portion is the cylindrical alignment pin with the cylinder coaxial line of described mark part.
Wherein, described image collector is set to camera, and described data processing equipment is computer or DSP image processing system.
The present invention also provides a kind of electrode for encephalograms space-location method, said method comprising the steps of:
A, a plurality of electrode for encephalograms with auxiliary positioning sign are placed in to tester's head;
B, image collecting device gather the image that a width comprises a plurality of auxiliary positioning signs;
C, data processing equipment extract the edge image of described auxiliary positioning sign by color cluster, region shape constraint;
D, described data processing equipment carry out local pivot analysis to having the edge contour of 8 neighborhood annexations, obtain principal direction and the eigenvalue of each pixel subrange, according to minimal eigenvalue threshold value, identify the linear structure in described auxiliary positioning sign, and then detect rectangle, and adopt the crossing rectangular top point coordinates that obtains of straight line;
E, described data processing equipment are according to the position relationship between the inner parameter of the size of known rectangle, rectangular top point coordinates, described image collecting device and described auxiliary positioning sign and electrode for encephalograms measurement point, set up coplanar 4 constraint equations under image collecting device model, obtain successively the three dimensional space coordinate of each electrode for encephalograms measurement point under image collecting device coordinate system.
Wherein, before described steps A, also comprise: the cross-hatch pattern of input different angles has looked like the calibration of camera of described image collecting device.
Wherein, in described step D, specifically comprise: utilize the linear structure in minimal eigenvalue analysis identification rectangle, according to the stronger linear feature of capacity of resisting disturbance, obtain rectangle summit.
Wherein, after described step e, further comprising the steps of:
F, described tester rotate to an angle centered by self, and repeating step B ~ E;
G, repeating step F repeatedly, obtain the three dimensional space coordinate of electrode for encephalograms under image collecting device coordinate system in each fixed viewpoint under a plurality of visual angles;
H, utilize the identical auxiliary positioning sign of distribution of color occurring in two width images, by coordinate transform, obtain the three dimensional space coordinate of electrode for encephalograms under world coordinate system in described tester's head All Ranges.
(3) beneficial effect
The present invention has adopted apart from scalp has the different nested rectangular configuration of certain altitude, color combination as auxiliary positioning sign, and utilize rectangle both sides to ask and hand over the method for calculating rectangular top point coordinates, in when location, avoid the interference of hair, electrode connecting line, therefore there is higher positioning precision, stability and automaticity.
In addition, the present invention can complete separately the location of electrode for encephalograms in single visual angle, and adopt image collecting device to fix, the method of tester motion is to method that in whole head zone, electrode for encephalograms positions, avoided because head rocks the position error causing, therefore electrode for encephalograms positioning precision of the present invention has good repeatability.
Accompanying drawing explanation
Fig. 1 a is the front view of the auxiliary positioning sign of the embodiment of the present invention;
Fig. 1 b is the top view of the auxiliary positioning sign of the embodiment of the present invention;
Fig. 2 is the flow chart of a kind of electrode for encephalograms space-location method of the embodiment of the present invention;
Fig. 3 is the location map of the electrode for encephalograms of the embodiment of the present invention;
Fig. 4 is the schematic diagram of the electrode for encephalograms positioning coordinate system of the embodiment of the present invention;
Fig. 5 is the flow chart of space-location method of the single image electrode for encephalograms of the embodiment of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
A kind of electrode for encephalograms space positioning system of the embodiment of the present invention comprises a plurality of auxiliary positioning signs, image collecting device and data processing equipment, each auxiliary positioning sign is arranged on an electrode for encephalograms, described image collecting device is for gathering the view data of described auxiliary positioning sign, the view data that described data processing equipment collects described image collecting device is processed, and obtains the space coordinates of electrode for encephalograms; Image collecting device described in the present embodiment adopts camera; Data processing equipment described in the present embodiment adopts computer.
The structure of the sign of auxiliary positioning described in the present embodiment, as shown in Fig. 1 a and Fig. 1 b, comprises mark part 1 and installation portion 2; Described mark part 1 comprises the cylinder that an end face contains characteristic indication; Described characteristic indication is for distinguishing different auxiliary positioning signs, and contains electrode space and locate needed geometrical-restriction relation; Described characteristic indication comprises the different nested rectangle of a plurality of sizes, color that ,Qie parallel to each other center overlaps with the center of circle of described mark part; Described installation portion 2 is connected on the bottom surface of described mark part, for described auxiliary positioning sign is fixed on to described electrode for encephalograms.
In the present embodiment, it is 8.5mm that described mark part 1 adopts radius, height is the white cylinder of 1mm, and cylinder end face sprays four rectangles that ,Qie parallel to each other center overlaps with the center of circle, bottom surface from outside to inside successively: be respectively from outside to inside the first rectangle 11, the second rectangle 12, the 3rd rectangle 13 and the 4th rectangle 14.Distance between parallel to each other and adjacent both sides, the limit of the first rectangle 11, the second rectangle 12, the 3rd rectangle 13 and the 4th rectangle 14 is greater than 1mm, wherein, the length of the first rectangle 11 is 12mm, the wide 10mm of being, the length of described the second rectangle 12 is 9mm, the wide 7mm of being, the length of described the 3rd rectangle 13 is 7mm, the wide 5mm of being, the length of described the 4th rectangle 14 is 5mm, the wide 3mm of being, the scale error of rectangle is no more than 0.005mm.Two adjacent edges orthogonal (error is less than 0.01m) of each rectangle, every two rectangles are parallel (error is less than 0.01mm) strictly; The color combination of rectangle is different, is used for representing electrode for encephalograms label, and wherein innermost layer rectangle color is fixed as blueness, the color of other three rectangles is from black (0,0,0), red (255,0,0), orange (255,128,0), yellow (255,255,0), green (0,2550,0), blue or green (0,255,255), in purple (255,0,255) 7 kinds of colors optional three kinds arrange.
Described installation portion 2 is the cylindrical alignment pins with the cylinder coaxial line of described mark part 1, for auxiliary positioning sign is fixed on to electrode for encephalograms.The height of alignment pin is according to the difference of electrode for encephalograms kind and difference.The ordinary salt water electrode of using for hospital, alignment pin height is 10mm; For the electrode cap of Neroscan system disposition, alignment pin height is 5mm.
The present invention and traditional be applied to polyphaser or the photogrammetric rectangle of one camera or circular witness marker difference are, the Camera extrinsic automatic Calibration that exists for of nested rectangle and rounded bottom surface provides sufficient constraints, therefore can guarantee the automatic accurate auxiliary positioning sign that identifies under the Various Complex jamming patterns such as hair, electrode connecting line and electrode cap, and the existence of a plurality of rectangles also provides more constraint, make location can reach higher precision.The different permutation and combination of rectangle color, for each auxiliary positioning sign provides specific labelling, are conducive to realize in measuring process the identification of identical electrodes in different visual angles, the same area simultaneously, thereby complete the location of electrode for encephalograms in whole head zone.
When adopting containing electrode for encephalograms space positioning system just like the auxiliary positioning sign shown in Fig. 1 a and Fig. 1 b, a kind of electrode for encephalograms space-location method of the embodiment of the present invention as shown in Figure 2, comprises the following steps:
Step s201, the cross-hatch pattern of input different angles has looked like the calibration of camera of described image collecting device.In the present embodiment, the cross-hatch pattern that utilizes Tsai two-step method to input different angles has looked like the calibration of camera of described image collecting device.
Step s202, is placed in tester's head by a plurality of electrode for encephalograms with auxiliary positioning sign.In the present embodiment, the position distribution of electrode for encephalograms as shown in Figure 3.
Step s203, image collecting device gathers the image that a width comprises a plurality of auxiliary positioning signs.In the present embodiment, tester wears the electrode for encephalograms that contains auxiliary positioning sign, be sitting on rotatable seat, single camera is arranged on near a certain angle of oblique upper tester and maintains static (camera position regulates the marginal information of auxiliary positioning sign that can the clear tester's of seeing head with video image to be as the criterion), take individual picture rich in detail as input.
Step s204, data processing equipment extracts the edge image of described auxiliary positioning sign by color cluster, region shape constraint.In the present embodiment, because described auxiliary positioning sign has abundant colouring information and regular geometry, different electrode label and rectangle have been represented respectively, circular geometry constraint, therefore regardless of tester's terminal electrode, how to put, illumination, hair and electrode connecting line cause the interference of which kind of degree, image can be transformed into HIS space, first utilize clustering algorithm to extract red arest neighbors region and tentatively determine the center of auxiliary positioning sign in conjunction with rectangle constraint, then further utilize color combination to identify accurate location the label (establishing maximum label is n) of electrode auxiliary positioning sign.Finally according to the difference of auxiliary positioning sign color from individual input picture according to clustering algorithm identification auxiliary positioning sign, and label in order.
Step s205, described data processing equipment carries out local pivot analysis to having the edge contour of 8 neighborhood annexations, obtain principal direction and the eigenvalue of each pixel subrange, according to minimal eigenvalue threshold value, identify the linear structure in described auxiliary positioning sign, and then detect rectangle, and adopt the crossing rectangular top point coordinates that obtains of straight line; Wherein, utilize the linear structure in minimal eigenvalue analysis identification rectangle, according to the stronger linear feature of capacity of resisting disturbance, obtain rectangle summit.In the present embodiment, specifically comprise: the auxiliary positioning sign that the label of usining is i (0<i<n+1), as input, adopts Canny operator Edge detected and profile tracing, obtains the edge in electrode auxiliary positioning sign with 8-neighborhood annexation, is designated as e<sub TranNum="114">i</sub>=[x<sub TranNum="115">i1</sub>x<sub TranNum="116">im</sub>; y<sub TranNum="117">i1</sub>y<sub TranNum="118">im</sub>], (1≤i≤n), wherein n has the edge contour number of 8-neighborhood annexation in same auxiliary positioning sign, and m is the number of pixel on i bar edge contour.According to minimal characteristic root, the straight line comprising in each profile is calculated in constraint, as long as profile comprises 2 groups of approximate parallel and approximately uniform straight lines of length, just think that it is rectangle, and calculate four apex coordinates (summit sequence is for clockwise, and starting point is the corresponding summit of longest edge) of this rectangle.Because in camera internal reference and rectangular dimension accurately under known prerequisite, the precision of rectangle summit 2D image coordinate is the key factor that affects positioning of electrode precision, so, the present invention adopts and first extracts the straight line in rectangle, and then obtain rectangle summit 2D image coordinate according to the crossing method of calculating rectangle summit of two straight lines, and compare with traditional angular-point detection method, based on linear feature, calculate the impact that rectangle summit is not blocked, can reach sub-pixel positioning precision, stability and positioning precision are higher.Stress the algorithm that extracts straight line from edge contour below:
For any edge contour e
i=[x
i1x
im; y
i1y
im], (1≤i≤n), first sets the wide sliding window of 9 pixel, extracts according to this e
ibefore and after upper arbitrfary point t, each 4 pixels form subset e
it=[x
i (t-4)x
itx
i (t+4); y
i (t-4)y
ity
i (t+4)], calculate the covariance matrix of this subset, and ask its minimal characteristic root λ
minwith principal direction θ; Treat to have on edge contour minimal characteristic root in 9 pixel sliding windows a little and principal direction to calculate complete, get and make λ
min>0.25 point value is 0, then statistics has the edge of 8-neighborhood annexation again, if the minimal characteristic root of this continuous boundary is less than 0.25, is designated as straight line, and records its principal direction.
Step s206, described data processing equipment is according to the position relationship between the inner parameter of the size of known rectangle, rectangular top point coordinates, described image collecting device and described auxiliary positioning sign and electrode for encephalograms measurement point, set up coplanar 4 constraint equations under image collecting device model, obtain successively the three dimensional space coordinate of each electrode for encephalograms measurement point under image collecting device coordinate system.In the present embodiment, specifically comprise: according to the 2D image coordinate on each rectangle summit, rectangular dimension and camera internal reference, set up coordinate system as shown in Figure 4, wherein O " X " Y " Z " is the space coordinates of auxiliary positioning sign, O-XYZ is camera coordinates system, and O-X ' Y ' Z' is electrode coordinate system, d
a, d
b, d
c, d
dbe respectively four summits of rectangle apart from the distance of camera photocentre; And set up coplanar 4 constraint equations under camera model, solve the three dimensional space coordinate of each rectangular centre under camera coordinates system, the average of getting all rectangular centre point three-dimensional coordinates in auxiliary positioning sign is the three dimensional space coordinate under camera coordinates is as this auxiliary positioning sign.Wherein said constraint equation is:
Cos θ in above-mentioned equation
aB, cos θ
bC, cos θ
cD, cos θ
aDimage coordinate according to rectangle can be asked.
Then according to the translation relation between auxiliary positioning sign and electrode for encephalograms measurement point, be converted into the three dimensional space coordinate of electrode for encephalograms under camera coordinates system, thereby complete the space orientation of single electrode for encephalograms.
Finally, to other auxiliary positioning sign detecting in single image, repeat above-mentioned steps, can obtain the three dimensional space coordinate of all electrodes under camera coordinates system in single image.
Above-mentioned steps s204 ~ step s206 is the space orientation of single image electrode for encephalograms, and its concrete flow process as shown in Figure 5.
Step s207, described tester rotates to an angle centered by self, and repeating step s203 ~ step s206.
Step s208, repeatedly repeating step s207, obtains the three dimensional space coordinate of electrode for encephalograms under image collecting device coordinate system in each fixed viewpoint under a plurality of visual angles.
Step s209, utilizes the identical auxiliary positioning sign of distribution of color occurring in two width images, by coordinate transform, obtains the three dimensional space coordinate of electrode for encephalograms under world coordinate system in described tester's head All Ranges.
Above-mentioned steps s207 ~ step s209 is the space orientation of multiple image electrode for encephalograms, in the present embodiment, specifically comprise: tester is sitting on chair and rotates centered by self, at interval of 30 degree, stop and take 1 width head picture rich in detail as input, until rotating 360 degrees stops.Calculate successively the three dimensional space coordinate of all electrode for encephalograms under camera coordinates system in tester's head zones of different that every width image comprises.Next the three dimensional space coordinate of the corresponding electrode for encephalograms of auxiliary positioning sign (at least 3) that the every adjacent two width image labels of basis are identical under camera coordinates system, calculates the rotation translation matrix RT between every adjacent two width images
i (i-1)(2≤i≤12).Finally, according to the recurrence relation rotation translation matrix RT of every piece image with respect to piece image that derive
i1(2≤i≤12), and calculate electrode in i (i>1) image three dimensional space coordinate under the defined camera coordinate system of piece image, complete according to this space orientation of all electrode for encephalograms of tester's head.
In the present embodiment, the camera of employing is Nikon D90 slr camera, focuses shooting, and pixel resolution is set to 2144 * 1424, and image setting is raw form, for guaranteeing picture quality, wants the clear figure of strict guarantee image in shooting process; If the electrode for encephalograms position of the whole head zone of assignment test person must guarantee when tester rotates that each adjacent area has 3 above electrode for encephalograms to appear in two width images simultaneously.
It should be noted that in addition, carrying out aspect the electrode for encephalograms location of whole head zone, for improving experimenter's comfort level, also can adopt rotatable and automatic seat lifting, so just experimenter just can move, rotation and lifting by automatic control seat obtain the electrode image of head zones of different, thereby make position fixing process more stable, reliable.
The single image electrode for encephalograms position location error of the present embodiment can reach in 1.6mm.Position measurements between part electrode for encephalograms is as shown in table 1:
Table 1
| Electrode for encephalograms | Measured value (mm) | Actual value (mm) | Error (mm) |
| 1-2 | 54.6426 | 53.1862 | 1.4564 |
| 1-6 | 64.7628 | 66.1578 | 1.395 |
| 1-7 | 112.0774 | 110.475 | 1.6024 |
| 2-6 | 91.8362 | 90.3136 | 1.5226 |
| 4-6 | 46.22849 | 47.8244 | 1.5959 |
| 4-2 | 46.21316 | 44.5519 | 1.66126 |
| 3-10 | 133.16535 | 132.741 | 0.42435 |
| 7-10 | 58.0675 | 57.2997 | 0.7678 |
Adopt auxiliary positioning sign of the present invention can realize the electrode for encephalograms location of high accuracy, high stable, high degree of repeatability, and the present invention adopts single camera to position, there is low-cost feature, in operating process, be not subject to the impact of time, the electrode for encephalograms location that can interval completes zones of different, position fixing process fast, accurately.Whole position fixing process is quick, easy to operate, in minutes can complete.
Data processing equipment of the present invention also can adopt DSP image processing system.
As can be seen from the above embodiments, the present invention has adopted apart from scalp has the different nested rectangular configuration of certain altitude, color combination as auxiliary positioning sign, and utilize rectangle both sides to ask and hand over the method for calculating rectangular top point coordinates, in when location, avoid the interference of hair, electrode connecting line, therefore there is higher positioning precision, stability and automaticity.
In addition, the present invention can complete separately the location of electrode for encephalograms in single visual angle, and adopt image collecting device to fix, the method of tester motion is to method that in whole head zone, electrode for encephalograms positions, avoided because head rocks the position error causing, therefore electrode for encephalograms positioning precision of the present invention has good repeatability.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and replacement, these improvement and replacement also should be considered as protection scope of the present invention.
Claims (9)
1. an electrode for encephalograms space positioning system, it is characterized in that, described system comprises a plurality of auxiliary positioning signs, image collecting device and data processing equipment, each auxiliary positioning sign is arranged on an electrode for encephalograms, described image collecting device is for gathering the view data of described auxiliary positioning sign, the view data that described data processing equipment collects described image collecting device is processed, and obtains the space coordinates of electrode for encephalograms;
Described auxiliary positioning sign comprises mark part and installation portion;
Described mark part comprises the cylinder that an end face contains characteristic indication; Described characteristic indication is for distinguishing different auxiliary positioning signs, and contains electrode space and locate needed geometrical-restriction relation; Described characteristic indication comprises the different nested rectangle of a plurality of sizes, color that ,Qie parallel to each other center overlaps with the center of circle of described mark part;
Described installation portion is connected on the bottom surface of described mark part, for described auxiliary positioning sign is fixed on to described electrode for encephalograms.
2. electrode for encephalograms space positioning system according to claim 1, is characterized in that, the cylinder of described mark part is white, and the color of nested rectangle is different.
3. electrode for encephalograms space positioning system according to claim 1, is characterized in that, described rectangle is four, is respectively from outside to inside the first rectangle, the second rectangle, the 3rd rectangle and the 4th rectangle; Distance between parallel to each other and adjacent both sides, the limit of described four rectangles is greater than 1mm, and the length of the 4th rectangle is more than or equal to 3mm, is wider than or equals 2mm; Described the first rectangle, the second rectangle, the 3rd rectangle and the 4th center of rectangle and the center of circle of described mark part overlap.
4. according to the electrode for encephalograms space positioning system described in claims 1 to 3 any one, it is characterized in that, described installation portion is the cylindrical alignment pin with the cylinder coaxial line of described mark part.
5. according to the electrode for encephalograms space positioning system described in claims 1 to 3 any one, it is characterized in that, described image collector is set to camera, and described data processing equipment is computer or DSP image processing system.
6. an electrode for encephalograms space-location method, is characterized in that, said method comprising the steps of:
A, a plurality of electrode for encephalograms with auxiliary positioning sign are placed in to tester's head;
B, image collecting device gather the image that a width comprises a plurality of auxiliary positioning signs;
C, data processing equipment extract the edge image of described auxiliary positioning sign by color cluster, region shape constraint;
D, described data processing equipment carry out local pivot analysis to having the edge contour of 8 neighborhood annexations, obtain principal direction and the eigenvalue of each pixel subrange, according to minimal eigenvalue threshold value, identify the linear structure in described auxiliary positioning sign, and then detect rectangle, and adopt the crossing rectangular top point coordinates that obtains of straight line;
E, described data processing equipment are according to the position relationship between the inner parameter of the size of known rectangle, rectangular top point coordinates, described image collecting device and described auxiliary positioning sign and electrode for encephalograms measurement point, set up coplanar 4 constraint equations under image collecting device model, obtain successively the three dimensional space coordinate of each electrode for encephalograms measurement point under image collecting device coordinate system.
7. electrode for encephalograms space-location method according to claim 6, is characterized in that, before described steps A, also comprises: the cross-hatch pattern of input different angles has looked like the calibration of camera of described image collecting device.
8. electrode for encephalograms space-location method according to claim 6, is characterized in that, in described step D, specifically comprises: utilize the linear structure in minimal eigenvalue analysis identification rectangle, according to the stronger linear feature of capacity of resisting disturbance, obtain rectangle summit.
9. according to the electrode for encephalograms space-location method described in claim 6 to 8 any one, it is characterized in that, after described step e, further comprising the steps of:
F, described tester rotate to an angle centered by self, and repeating step B～E;
G, repeating step F repeatedly, obtain the three dimensional space coordinate of electrode for encephalograms under image collecting device coordinate system in each fixed viewpoint under a plurality of visual angles;
H, utilize the identical auxiliary positioning sign of distribution of color occurring in two width images, by coordinate transform, obtain the three dimensional space coordinate of electrode for encephalograms under world coordinate system in described tester's head All Ranges.
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| BR112012032169B1 (en) * | 2010-06-17 | 2020-04-14 | Univ Washington | system to produce a structure that includes radially aligned fibers and fiber structure to repair an empty space in biological tissue |
| CN201775683U (en) * | 2010-06-30 | 2011-03-30 | 珠海和佳医疗设备股份有限公司 | Registering component for electromagnetic positioning operation guiding system |
| CN102028546A (en) * | 2010-12-24 | 2011-04-27 | 燕山大学 | Carp electrode transforation implantation brain stereotaxic method |
| CN102106758B (en) * | 2011-03-21 | 2013-10-16 | 北京航空航天大学 | Automatic visual location device and automatic visual location method for head marks of patient in stereotactic neurosurgery |
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2012
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