CN106344154B - A kind of scaling method of the surgical instrument tip point based on maximal correlation entropy - Google Patents
A kind of scaling method of the surgical instrument tip point based on maximal correlation entropy Download PDFInfo
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- CN106344154B CN106344154B CN201610821462.9A CN201610821462A CN106344154B CN 106344154 B CN106344154 B CN 106344154B CN 201610821462 A CN201610821462 A CN 201610821462A CN 106344154 B CN106344154 B CN 106344154B
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Abstract
The invention belongs to the Technology of surgery navigation fields of optical alignment, a kind of scaling method of the surgical instrument tip point based on maximal correlation entropy is provided, this method can be under non-Gaussian noise, the state of surgical instrument point is estimated and tracked using binocular vision, by completing the point calibration of surgical instrument tip.This method includes：1) optical system based on binocular vision obtains the rotation image of surgical instrument to be calibrated；2) the flat image coordinate and space coordinate of surgical instrument index point are obtained；3) it clicks through rower to operation instrument tip to determine, the space coordinate of surgical instrument tip point is sought based on maximal correlation entropy criterion, complete the calibration of surgical instrument tip point.Experiments have shown that inventive algorithm is functional, in true engineer application, it can realize and operation instrument tip point is accurately demarcated.
Description
Technical field
The invention belongs to the Technology of surgery navigation field of optical alignment, it is related to a kind of hand of binocular vision under non-Gaussian noise
Art instrument tip point scaling method especially relates to a kind of calibration side of the surgical instrument tip point based on maximal correlation entropy
Method.
Background technology
The core work of surgical navigational is exactly the position and direction of various instruments in tracing, performs the operation and needs for insertion type
The tip point of surgical instrument is tracked, common method is that three or three or more not conllinear marks are arranged on surgical instrument
Point, the position of three index points is positioned using optical tracking system, and preoperative calibration surgical instrument tip point calculates tip point and exists
Position in surgical instrument.
When the position of index point can not accurately identify, the case where just will appear index point " shake ", pulse feature can be used
Noise it is portrayed.The existing method by binocular vision calibration surgical instrument tip point is mainly based upon minimum two
Multiply criterion, such method performance under pulsive noise is degenerated rapidly, therefore also needs to further study this problem.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of surgical instrument tip point mark based on maximal correlation entropy criterion
Determine method, this method is a kind of sharp to surgical instrument with that compared with high inhibition ability scaling method, can realize to non-Gaussian noise
Endpoint is accurately demarcated.
In order to achieve the above object, the technical scheme is that:
A kind of surgical instrument tip point scaling method based on maximal correlation entropy, includes the following steps：
The first step, the optical system based on binocular vision obtain the rotation image of surgical instrument to be calibrated.
1) surgical instrument tip point is fixed, and surgical instrument is rotated around this tip point；
2) Image Acquisition is carried out using binocular vision optical system.
Second step obtains the flat image coordinate and space coordinate of surgical instrument index point.
1) mark point in the surgical instrument in image is obtained to binocular vision optical system using image-recognizing method to carry out
Identification；
2) space coordinate of three-dimensional reconstruction algorithm calculation flag point is utilized.
Third walks, and it is fixed to click through rower to operation instrument tip.
1) calibration equation group is established；
2) space coordinate that surgical instrument tip point is sought based on maximal correlation entropy criterion, by completing surgical instrument interruption
The calibration of point.
Beneficial effects of the present invention are：This method can overcome under the conditions of non-Gaussian noise due to surgical instrument mark
The inaccurate introduced pulsive noise of point identification has preferable application prospect in binocular identification surgical navigational practice.
Description of the drawings
Fig. 1 is surgical instrument structural schematic diagram, m in figure1、m2、m3、m4For the bead of four reflection infrared lights；Tip is hand
The tip point of art instrument；XNAxis, YNAxis, ZNAxis is three reference axis of surgical instrument coordinate system N；
Fig. 2 is the schematic diagram around tip point rotary operation instrument；
Fig. 3 is the surgical instrument index point acquisition figure based on binocular vision system；
Fig. 4 is the three-dimensional reconstruction figure of surgical instrument index point and tip point；
Fig. 5 is particular flow sheet of the present invention.
Specific implementation mode
To keep the purpose, technical solution and its advantage of the embodiment of the present invention clearer, with reference to the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention clearly completely described, and particular flow sheet is as shown in Figure 5：
The first step, the optical system based on binocular vision obtain the rotation image of surgical instrument to be calibrated.
1) tip of surgical instrument point is fixed.Referring to Fig. 1, m in figure1,m2,m3,m4Infrared light is reflected for four
Bead, the centre of sphere of bead are the index point of surgical instrument；Three reference axis of surgical instrument coordinate system N are specially：For XN
Axis crosses point m1Perpendicular to XNThe straight line of axis is YNAxis, origin ONFor XNAxis and YNThe intersection point of axis crosses origin ONPerpendicular to plane
ONXNYNStraight line be ZNAxis.
2) surgical instrument is rotated around its tip point, figure is carried out referring to Fig. 2, and using binocular vision optical system
As acquisition, and each image is numbered according to the sequence of acquisition, the picture number of left side camera acquisition is L1, L2..., LN,
The picture number of right side camera acquisition is R1, R2..., RN, it is altogether 2N width pictures.Referring to Fig. 2.
Second step obtains the flat image coordinate and space coordinate of surgical instrument index point
1) utilize image-recognizing method to the first step 2) obtain binocular vision optical system obtain image in surgical device
Mark point is identified on tool；And be denoted as its image coordinate respectively,
pLn,m=[uLn,m,vL,nm]TAnd pRn,m=[uRn,m,vRn,m]T (1)
Wherein, the L in subscript and R indicates that left camera and right camera, n (n=1 ..., N) indicate the suitable of Image Acquisition respectively
Sequence, m (m=1,2,3,4) indicate the sequence of index point；U, v is index point pixel image coordinate.Referring to Fig. 3.
2) coordinate of the surgical instrument index point obtained in three-dimensional reconstruction formula and second step (1) in the picture is utilized,
Obtain the three dimensional space coordinate x of surgical instrument index pointn,m=[xn,m,yn,m,zn,m]T。
Three-dimensional reconstruction formula is as follows：
Wherein,WithThe projection matrix of left and right side camera calibration is indicated respectively；zLn,mAnd zRn,mRespectively
Three-dimensional coordinate point in left and right side video camera Z axis；[uLn.m,vLn,m,1]T[uRn,m,vRn,m,1]TIt is pLn,mAnd pRn,m?
Homogeneous coordinates under pixel coordinate system；[xn,m,yn,m,zn,m,1]TFor index point point xn,mHomogeneous coordinates under world coordinate system；
Simultaneous formula (2) and formula (3), obtain：
Formula (4) is found out using least square method, the optimal solution obtained is the space coordinate of surgical instrument index point.
Third walks, and it is fixed to click through rower to operation instrument tip.
1) calibration equation group is established, as follows：
The radius formula of spherical surface is as follows where m-th of index point
(xn,m-xtip)2+(yn,m-ytip)2+(zn,m-ztip)2=r2 (5)
Wherein, the coordinate of surgical instrument tip point is xtip=[xtip,ytip,ztip]T；R is that surgical instrument is revolved around tip point
The radius of ball where its index point when turning；xn,m、yn,m、zn,mFor the space coordinate of index point in surgical instrument；
Above formula shares n × m equation, subtracts the formula of the first row according to this, can obtain：
2) with xtip=[xtip,ytip,ztip]TAs the coefficient of FIR filter to be estimated, in calibration equation group (6)
The coefficient on the equal sign left side of each equation inputs for filter, is denoted as u (l)=[xlm-x1m,ylm-y1m,zlm-z1m]T(l=2,
3 .., n), the constant term on the equal sign right side is denoted as desired output：
Iterative formula is as follows to be estimated to the coefficient of FIR filter using recurrence maximal correlation entropy as adaptive filter algorithm：
E (l)=d (l)-uT(l)w(l-1) (7)
W (l)=w (l-1)+e (l) k (l) (9)
Wherein, u (l) is filter list entries；D (l) is desired output sequence；L is expressed as the sequence of data；E (l) is
Observation error；W (l) is filter weights, w (1)=0；λ=0.99 is forgetting factor；K (l) is gain vector；PσFor auto-correlation
Inverse of a matrix matrix, P (1)=λ-1I；κσ()=exp (- ()2/σ2) indicate gaussian kernel function.To realize surgical instrument point
The calibration of endpoint.Referring to Fig. 4.
Claims (1)
1. a kind of surgical instrument tip point scaling method based on maximal correlation entropy, it is characterised in that following steps：
The first step, the optical system based on binocular vision obtain the rotation image of surgical instrument to be calibrated
1) tip of surgical instrument point is fixed；
2) surgical instrument is rotated around its tip point, carries out Image Acquisition using the optical system of binocular vision, and right
Each image is numbered according to the sequence of acquisition, and the picture number of left side camera acquisition is L1, L2 ..., LN, and right side camera is adopted
The picture number integrated is R1, R2 ..., RN, total 2N width picture；
Second step obtains the flat image coordinate and three dimensional space coordinate of surgical instrument index point
1) utilize image-recognizing method to the first step 2) obtain image in surgical instrument index point be identified；And it will operation
Instrument index point flat image coordinate p is denoted as respectively：
pLn,m=[uLn,m,vL,nm]TAnd pRn,m=[uRn,m,vRn,m]T (1)
Wherein, the L in subscript and R indicate left side camera and right camera respectively；N indicates the sequence of Image Acquisition, n=
1,…,N；The sequence of m expression surgical instrument index points, m=1,2,3,4；U, v is surgical instrument index point pixel coordinate；
2) three-dimensional reconstruction formula and second step 1 are utilized) in the coordinate of obtained surgical instrument index point in the picture, performed the operation
The three dimensional space coordinate x of instrument index pointn,m=[xn,m,yn,m,zn,m]T；
The three-dimensional reconstruction formula is as follows：
Wherein,WithThe projection matrix of left and right side camera calibration is indicated respectively；zLn,mAnd zRn,mRespectively left side
With three dimensional space coordinate point of the right camera in Z axis；[uLn.m,vLn,m,1]T[uRn,m,vRn,m,1]TIt is pLn,mAnd pRn,m?
Homogeneous coordinates under pixel coordinate system；[xn,m,yn,m,zn,m,1]TFor surgical instrument index point xn,mIt is neat under world coordinate system
Secondary coordinate；
Simultaneous formula (2) and formula (3), obtain：
Formula (4) is found out using least square method, the optimal solution obtained is the three dimensional space coordinate of surgical instrument index point；
Third walks, and it is fixed to click through rower to operation instrument tip
1) calibration equation group is established, as follows：
The radius formula of spherical surface is where m-th of surgical instrument index point：
(xn,m-xtip)2+(yn,m-ytip)2+(zn,m-ztip)2=r2 (5)
Wherein, the coordinate of surgical instrument tip point is xtip=[xtip,ytip,ztip]T；R be surgical instrument when being rotated around tip point its
The radius of ball where surgical instrument index point；xn,m、yn,m、zn,mFor the three dimensional space coordinate of surgical instrument index point；
The calibration equation group as shown in formula (6) is obtained by formula (5)：
2) with xtip=[xtip,ytip,ztip]TCoefficient as FIR filter to be estimated；With each equation in calibration equation group
The coefficient on the equal sign left side inputs for FIR filter, is denoted as u (l)；With the constant term on each equation equal sign right side in calibration equation group
As desired output, it is denoted as d (l)；
U (l)=[xlm-x1m,ylm-y1m,zlm-z1m]T, (l=2,3 .., n)
It using recurrence maximal correlation entropy as adaptive filter algorithm, is iterated, the coefficient of FIR filter is estimated, realize
The calibration of surgical instrument tip point；
Iterative formula is as follows：
E (l)=d (l)-uT(l)w(l-1) (7)
W (l)=w (l-1)+e (l) k (l) (9)
Wherein, u (l) is FIR filter list entries；D (l) is desired output sequence；L is expressed as the sequence of data；E (l) is
Observation error；W (l) is FIR filter weights, w (1)=0；λ=0.99 is forgetting factor；K (l) is gain vector；PσFor certainly
The inverse matrix of correlation matrix, P (1)=λ-1I；κσ()=exp (- ()2/σ2) indicate gaussian kernel function.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107550576A (en) * | 2017-10-26 | 2018-01-09 | 上海逸动医学科技有限公司 | Space positioning apparatus and localization method, rectifier, antidote |
| CN113243991B (en) * | 2019-11-22 | 2022-08-09 | 苏州微创畅行机器人有限公司 | Checking method and checking system of osteotomy guiding tool and detection target |
| CN112168240B (en) * | 2020-09-24 | 2022-03-01 | 武汉联影智融医疗科技有限公司 | Surgical instrument calibration method and device, computer equipment and storage medium |
| CN112568995A (en) * | 2020-12-08 | 2021-03-30 | 南京凌华微电子科技有限公司 | Bone saw calibration method for robot-assisted surgery |
| CN113313754A (en) * | 2020-12-23 | 2021-08-27 | 南京凌华微电子科技有限公司 | Bone saw calibration method and system in surgical navigation |
| CN114005022B (en) * | 2021-12-30 | 2022-03-25 | 四川大学华西医院 | Dynamic prediction method and system for surgical instrument |
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