CN108464862A - A kind of endoscope guiding operation navigation display method and device - Google Patents
A kind of endoscope guiding operation navigation display method and device Download PDFInfo
- Publication number
- CN108464862A CN108464862A CN201810190529.2A CN201810190529A CN108464862A CN 108464862 A CN108464862 A CN 108464862A CN 201810190529 A CN201810190529 A CN 201810190529A CN 108464862 A CN108464862 A CN 108464862A
- Authority
- CN
- China
- Prior art keywords
- images
- histoorgan
- endoscopic
- coordinate system
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The embodiment of the present invention discloses a kind of endoscope guiding operation navigation display method and device, wherein method includes：The endoscopic images that preoperative computer tomography CT image and endoscopic camera take are obtained, image coordinate system is carried out and is converted to the coordinate of world coordinate system, and distortion correction is carried out to the transformed endoscopic images of coordinate；Histoorgan in CT images is split, and layer rendering is carried out to the histoorgan after segmentation；CT images after segmentation and layer rendering are carried out with the endoscopic images after distortion correction to merge display.The embodiment of the present invention can show histoorgan position by layer rendering using different transparencies, better spatial structural form is provided for operator, CT images and endoscopic images are shown by fusion, and the information more fully by operator can be provided for operator.
Description
Technical field
The present embodiments relate to endoscopes to guide operation navigation field, and in particular to a kind of endoscope guiding operation navigation
Display methods and device.
Background technology
Operation navigation, be by before the operation by operator or operation in image data and operation bed on by the dissection of operator
Structure accurately corresponds to, and tracking operation instrument and the position of instrument will be operated on by operator's image with virtual probe in operation
Form real-time update is shown, is kept operator very clear with respect to the position of the anatomical structure of operator to operation instrument, is made surgery
Operation more rapidly, it is more accurate, safer.
Currently, existing operation air navigation aid utilizes CT (computed tomography), MRI (magnetic resonance imaging) before operation
Etc. iconographies data, judge the definite position of lesion, operation scheme worked out with this.
But in endoscope operating process, endoscope can not be passed through using existing operation air navigation aid operator
Image observes directly subcutaneous histoorgan, relies solely on two dimensional image, cannot clearly reflect the structural information of histoorgan.
Invention content
Since existing method is there are the above problem, the embodiment of the present invention proposes a kind of endoscope guiding operation navigation display side
Method and device.
In a first aspect, the embodiment of the present invention proposes a kind of endoscope guiding operation navigation display method, including：
Obtain the endoscopic images that preoperative computer tomography CT image and endoscopic camera take；
Image coordinate system is carried out to the endoscopic images to convert to the coordinate of world coordinate system, and transformed to coordinate
Endoscopic images carry out distortion correction；
Histoorgan in the CT images is split, and the histoorgan after dividing in the CT images is carried out
Layer rendering；
CT images after segmentation and layer rendering are carried out with the endoscopic images after distortion correction to merge display.
Optionally, described that coordinate conversion of the image coordinate system to world coordinate system is carried out to the endoscopic images and right
The transformed endoscopic images of coordinate carry out distortion correction, including：
Using Zhang Zhengyou standardizations, image coordinate system is carried out to the endoscopic images and is turned to the coordinate of world coordinate system
It changes, and the parameter of radial distortion and the tangential distortion by adjusting endoscopic camera, realizes to the transformed endoscope of coordinate
The distortion correction of image.
Optionally, the histoorgan in the CT images is split, including：
Using the sorting algorithm expressed based on local linear, the histoorgan in the CT images is split.
Optionally, the histoorgan to after dividing in the CT images carries out layer rendering, including：
Using weighted blend independence sequence transparency algorithm, the histoorgan after dividing in the CT images is divided
Layer renders.
Second aspect, the embodiment of the present invention also propose a kind of endoscope guiding operation Navigation Display Unit, including：
Acquisition module, for obtaining preoperative computer tomography CT image and in endoscopic camera takes
Sight glass image；
Conversion module is converted for carrying out image coordinate system to the endoscopic images to the coordinate of world coordinate system, and
Distortion correction is carried out to the transformed endoscopic images of coordinate；
Processing module, for being split to the histoorgan in the CT images, and in the CT images divide after
Histoorgan carry out layer rendering；
Display module, for melting the CT images after segmentation and layer rendering and the endoscopic images after distortion correction
Close display.
Optionally, the conversion module, is specifically used for
Using Zhang Zhengyou standardizations, image coordinate system is carried out to the endoscopic images and is turned to the coordinate of world coordinate system
It changes, and the parameter of radial distortion and the tangential distortion by adjusting endoscopic camera, realizes to the transformed endoscope of coordinate
The distortion correction of image.
Optionally, the processing module, is specifically used for
Using the sorting algorithm expressed based on local linear, the histoorgan in the CT images is split, and right
Histoorgan after dividing in the CT images carries out layer rendering.
Optionally, the processing module, is specifically used for
Histoorgan in the CT images is split, and utilizes weighted blend independence sequence transparency algorithm,
Layer rendering is carried out to the histoorgan after dividing in the CT images.
The third aspect, the embodiment of the present invention also propose a kind of electronic equipment, including：Processor, memory, bus and storage
On a memory and the computer program that can run on a processor；
Wherein, the processor, memory complete mutual communication by the bus；
The processor realizes the above method when executing the computer program.
Fourth aspect, the embodiment of the present invention provide a kind of non-transient computer readable storage medium, the non-transient calculating
It is stored with computer program on machine readable storage medium storing program for executing, which realizes the above method when being executed by processor.
As shown from the above technical solution, the endoscope guiding operation navigation display method and device of the embodiment of the present invention, leads to
It crosses and coordinate conversion and distortion correction is carried out to endoscopic images, the histoorgan in preoperative CT images is split and right
Histoorgan after segmentation carries out layer rendering, by the CT images after segmentation and layer rendering and the endoscope figure after distortion correction
It is shown as carrying out fusion, can realize real-time endoscope guiding operation navigation based on the high validity of augmented reality as a result,
It has been shown that, compared with prior art, the present embodiment can show histoorgan position by layer rendering using different transparencies,
Better spatial structural form is provided for operator, display CT images and endoscopic images can be merged, provided more for operator
Comprehensively by the information of operator.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is a kind of flow diagram for endoscope guiding operation navigation display method that one embodiment of the invention provides；
Fig. 2 is a kind of structural schematic diagram for endoscope guiding operation Navigation Display Unit that one embodiment of the invention provides；
Fig. 3 is the entity structure schematic diagram for the electronic equipment that one embodiment of the invention provides.
Specific implementation mode
Below in conjunction with the accompanying drawings, the specific implementation mode of the present invention is further described.Following embodiment is only used for more
Technical scheme of the present invention is clearly demonstrated, and not intended to limit the protection scope of the present invention.
Fig. 1 shows a kind of flow signal for endoscope guiding operation navigation display method that one embodiment of the invention provides
Figure, as shown in Figure 1, the endoscope guiding operation navigation display method of the present embodiment, including：
S1, the endoscopic images that preoperative computer tomography CT image and endoscopic camera take are obtained.
S2, the endoscopic images are carried out with coordinate conversion of the image coordinate system to world coordinate system, and coordinate is converted
Endoscopic images afterwards carry out distortion correction.
S3, the histoorgan in the CT images is split, and to the histoorgan after dividing in the CT images
Carry out layer rendering.
It is understood that by layer rendering, shows histoorgan position using different transparencies, carried for operator
For better spatial structural form.
S4, the CT images after segmentation and layer rendering are carried out with the endoscopic images after distortion correction to merge display.
The present embodiment endoscope guiding operation navigation display method, by endoscopic images carry out coordinate conversion and it is abnormal
Become correction, the histoorgan in CT images is split and to after segmentation histoorgan carry out layer rendering, will segmentation and
CT images after layer rendering carry out merging display with the endoscopic images after distortion correction, can be based on augmented reality skill as a result,
The high validity of art realizes real-time endoscope guiding operation navigation display, and compared with prior art, the present embodiment can pass through
Layer rendering and utilize different transparencies to show histoorgan position, provide better spatial structural form for operator, can
Fusion shows CT images and endoscopic images, and the information more fully by operator is provided for operator.
It is understood that augmented reality is a kind of position calculating camera image in real time and angle and plus corresponding
The technology of image, video, 3D models, the target of this technology are that virtual world is sleeved on real world on the screen and is carried out mutual
It is dynamic.The present embodiment is the scope of multi-modal image virtual reality fusion by the basic principle of combination computer vision and mixed reality
Guiding operation navigation provides new approach, can be that precisely pushing forward comprehensively for minimally invasive diagnosis and treatment establishes theory and technology basis to tumour.
And then the multi-disciplinary mixing together development such as information science, physics, medicine and life science is pushed indirectly.Therefore, this implementation
Example the method has a extensive future.
Further, on the basis of the above embodiments, for example, in above-mentioned steps S2, Zhang Zhengyou can be utilized to mark
Determine method, carry out image coordinate system to the endoscopic images converts to the coordinate of world coordinate system, and is taken the photograph by adjusting endoscope
The parameter of radial distortion and the tangential distortion of camera realizes the distortion correction to the transformed endoscopic images of coordinate.
It is understood that existing between object in endoscopic images and three dimensions that endoscopic camera takes
A kind of linear relationship：[as]=M [object], wherein matrix M is the geometrical model of endoscopic camera imaging, and the parameter in M is exactly
Camera parameters, for stencil plane in the plane of world coordinate system Z=0, the Zhang Zhengyou standardizations are a kind of existing camera shooting
Machine scaling method, the coordinate that can realize image coordinate system to world coordinate system are converted, and by adjusting endoscopic camera
The parameter of radial distortion and tangential distortion realizes that detailed process is herein to the distortion correction of the transformed endoscopic images of coordinate
It repeats no more.
In this way, the present embodiment can realize the seat to endoscopic images progress image coordinate system to world coordinate system
Mark conversion and the distortion correction to the transformed endoscopic images of coordinate.
It is understood that the present embodiment can also be realized using other camera marking methods to the endoscope figure
As carrying out image coordinate system to the coordinate conversion of world coordinate system and to the distortion correction of the transformed endoscopic images of coordinate, originally
Embodiment is not limited.
Further, on the basis of the above embodiments, in above-mentioned steps S3 " to the histoorgan in the CT images
It is split ", may include：
Using the sorting algorithm expressed based on local linear, the histoorgan in the CT images is split.
It is understood that a classification problem can be regarded as being split to the histoorgan in the CT images,
The sorting algorithm based on local linear expression is a kind of existing sorting algorithm, and a conjunction can be provided to test sample x
The result of the prediction of reason, prediction indicates that the test sample belongs to the probability y of brain tissue or non-brain tissue, preferably divides in order to obtain
Class is as a result, it is desirable to the set T with sample characteristics and corresponding label, and details are not described herein again for detailed process.
In this way, the present embodiment may be implemented to be split the histoorgan in the CT images.Certainly, the present embodiment
Other sorting algorithms may be used to be split the histoorgan in the CT images to realize, the present embodiment not to its into
Row limitation.
Further, on the basis of the above embodiments, in above-mentioned steps S3 " in the CT images divide after group
Knit organ and carry out layer rendering ", may include：
Using weighted blend independence sequence transparency algorithm (i.e. back-to-front alpha blending methods),
Layer rendering is carried out to the histoorgan after dividing in the CT images.
It is understood that depending on the depth order on surface by the pixel value that multiple surfaces cover, back-to- is utilized
Front alpha blending methods, are applied to compound multiple surfaces, to dividing in CT images in which can be repeated iteratively
Histoorgan afterwards carries out layer rendering.The back-to-front alpha blending methods are existing a kind of to shadow
Method as carrying out layer rendering, details are not described herein again for detailed process.
It is understood that the present embodiment can also be realized using other layer rendering methods in the CT images points
Histoorgan after cutting carries out layer rendering, and the present embodiment is not limited.
The endoscope guiding operation navigation display method of the present embodiment, can the high validity based on augmented reality it is real
Now real-time endoscope guiding operation navigation display, compared with prior art, the present embodiment can be utilized by layer rendering
Different transparencies show histoorgan position, provide better spatial structural form for operator, can merge display CT images
And endoscopic images, provide the information more fully by operator for operator.
Fig. 2 shows a kind of structural representations for endoscope guiding operation Navigation Display Unit that one embodiment of the invention provides
Figure, as shown in Fig. 2, the endoscope guiding operation Navigation Display Unit of the present embodiment, including：Acquisition module 21, conversion module 22,
Processing module 23 and display module 24；Wherein：
The acquisition module 21, for obtaining preoperative computer tomography CT image and endoscopic camera shooting
The endoscopic images arrived；
The conversion module 22 turns for carrying out image coordinate system to the endoscopic images to the coordinate of world coordinate system
It changes, and distortion correction is carried out to the transformed endoscopic images of coordinate；
The processing module 23, for being split to the histoorgan in the CT images, and in the CT images
Histoorgan after segmentation carries out layer rendering；
The display module 24, for will divide and layer rendering after CT images and the endoscopic images after distortion correction
Fusion is carried out to show.
Specifically, the acquisition module 21 obtains preoperative computer tomography CT image and endoscopic camera is clapped
The endoscopic images taken the photograph；Seat of the conversion module 22 to endoscopic images progress image coordinate system to world coordinate system
Mark conversion, and distortion correction is carried out to the transformed endoscopic images of coordinate；The processing module 23 is in the CT images
Histoorgan is split, and carries out layer rendering to the histoorgan after dividing in the CT images；The display module 24
CT images after segmentation and layer rendering are carried out with the endoscopic images after distortion correction to merge display.
It is understood that augmented reality is a kind of position calculating camera image in real time and angle and plus corresponding
The technology of image, video, 3D models, the target of this technology are that virtual world is sleeved on real world on the screen and is carried out mutual
It is dynamic.The present embodiment is the scope of multi-modal image virtual reality fusion by the basic principle of combination computer vision and mixed reality
Guiding operation navigation provides new approach, can be that precisely pushing forward comprehensively for minimally invasive diagnosis and treatment establishes theory and technology basis to tumour.
And then the multi-disciplinary mixing together development such as information science, physics, medicine and life science is pushed indirectly.Therefore, this implementation
Example the method has a extensive future.
The endoscope guiding operation Navigation Display Unit of the present embodiment, can the high validity based on augmented reality it is real
Now real-time endoscope guiding operation navigation display, compared with prior art, the present embodiment can be utilized by layer rendering
Different transparencies show histoorgan position, provide better spatial structural form for operator, can merge display CT images
And endoscopic images, provide the information more fully by operator for operator..
Further, on the basis of the above embodiments, conversion module 22 described in the present embodiment, can be specifically used for
Using Zhang Zhengyou standardizations, image coordinate system is carried out to the endoscopic images and is turned to the coordinate of world coordinate system
It changes, and the parameter of radial distortion and the tangential distortion by adjusting endoscopic camera, realizes to the transformed endoscope of coordinate
The distortion correction of image.
It is understood that existing between object in endoscopic images and three dimensions that endoscopic camera takes
A kind of linear relationship：[as]=M [object], wherein matrix M is the geometrical model of endoscopic camera imaging, and the parameter in M is exactly
Camera parameters, for stencil plane in the plane of world coordinate system Z=0, the Zhang Zhengyou standardizations are a kind of existing camera shooting
Machine scaling method, the coordinate that can realize image coordinate system to world coordinate system are converted, and by adjusting endoscopic camera
The parameter of radial distortion and tangential distortion realizes that detailed process is herein to the distortion correction of the transformed endoscopic images of coordinate
It repeats no more.
In this way, the present embodiment can realize the seat to endoscopic images progress image coordinate system to world coordinate system
Mark conversion and the distortion correction to the transformed endoscopic images of coordinate.
It is understood that the present embodiment can also be realized using other camera marking methods to the endoscope figure
As carrying out image coordinate system to the coordinate conversion of world coordinate system and to the distortion correction of the transformed endoscopic images of coordinate, originally
Embodiment is not limited.
Further, on the basis of the above embodiments, processing module 23 described in the present embodiment, using based on local line
Property expression sorting algorithm, the histoorgan in the CT images is split.
It is understood that a classification problem can be regarded as being split to the histoorgan in the CT images,
The sorting algorithm based on local linear expression is a kind of existing sorting algorithm, and a conjunction can be provided to test sample x
The result of the prediction of reason, prediction indicates that the test sample belongs to the probability y of brain tissue or non-brain tissue, preferably divides in order to obtain
Class is as a result, it is desirable to the set T with sample characteristics and corresponding label, and details are not described herein again for detailed process.
In this way, the present embodiment may be implemented to be split the histoorgan in the CT images.Certainly, the present embodiment
Other sorting algorithms may be used to be split the histoorgan in the CT images to realize, the present embodiment not to its into
Row limitation.
Further, on the basis of the above embodiments, processing module 23 described in the present embodiment, it is only using weighted blend
Vertical property sequence transparency algorithm (i.e. back-to-front alpha blending methods), after dividing in the CT images
Histoorgan carries out layer rendering.
It is understood that depending on the depth order on surface by the pixel value that multiple surfaces cover, back-to- is utilized
Front alpha blending methods, are applied to compound multiple surfaces, to dividing in CT images in which can be repeated iteratively
Histoorgan afterwards carries out layer rendering.The back-to-front alpha blending methods are existing a kind of to shadow
Method as carrying out layer rendering, details are not described herein again for detailed process.
It is understood that the present embodiment can also be realized using other layer rendering methods in the CT images points
Histoorgan after cutting carries out layer rendering, and the present embodiment is not limited.
The endoscope guiding operation Navigation Display Unit of the present embodiment, can the high validity based on augmented reality it is real
Now real-time endoscope guiding operation navigation display, compared with prior art, the present embodiment can be utilized by layer rendering
Different transparencies show histoorgan position, provide better spatial structural form for operator, can merge display CT images
And endoscopic images, provide the information more fully by operator for operator.
The endoscope guiding operation Navigation Display Unit of the present embodiment, can be used for executing the technology of preceding method embodiment
Scheme, implementing principle and technical effect are similar, and details are not described herein again.
Fig. 3 shows the entity structure schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention, as shown in figure 3, should
Electronic equipment may include：It processor 31, memory 32, bus 33 and is stored on memory 32 and can be transported on processor 31
Capable computer program；
Wherein, the processor 31, memory 32 complete mutual communication by the bus 33；
The processor 31 realizes the method that above-mentioned each method embodiment is provided when executing the computer program, such as
Including：Obtain the endoscopic images that preoperative computer tomography CT image and endoscopic camera take；To described
Endoscopic images carry out image coordinate system and are converted to the coordinate of world coordinate system, and are carried out to the transformed endoscopic images of coordinate
Distortion correction；Histoorgan in the CT images is split, and in the CT images divide after histoorgan into
Row layer rendering；CT images after segmentation and layer rendering are carried out with the endoscopic images after distortion correction to merge display.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, is stored thereon with computer program, should
Realize the method that above-mentioned each method embodiment is provided when computer program is executed by processor, such as including：Before obtaining operation
Computer tomography CT image and the endoscopic images that take of endoscopic camera；Figure is carried out to the endoscopic images
As the coordinate conversion of coordinate system to world coordinate system, and distortion correction is carried out to the transformed endoscopic images of coordinate；To described
Histoorgan in CT images is split, and carries out layer rendering to the histoorgan after dividing in the CT images；It will divide
Cut and layer rendering after CT images carry out merging display with the endoscopic images after distortion correction.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, apparatus or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, the application can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application be with reference to according to the method, apparatus of the embodiment of the present application and the flow chart of computer program product and/or
Block diagram describes.It should be understood that each flow that can be realized by computer program instructions in flowchart and/or the block diagram and/or
The combination of flow and/or box in box and flowchart and/or the block diagram.These computer program instructions can be provided to arrive
All-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices processor to generate one
Machine so that the instruction executed by computer or the processor of other programmable data processing devices generates flowing
The device/system for the function of being specified in one flow of journey figure or multiple flows and/or one box of block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.The fingers such as term "upper", "lower"
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplifies
Description, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and behaviour
Make, therefore is not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；Can be
Mechanical connection can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In the specification of the present invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To put into practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into sometimes in single embodiment, figure or descriptions thereof.However, should not be by the method solution of the disclosure
It releases and is intended in reflection is following：The feature that i.e. the claimed invention requirement ratio is expressly recited in each claim is more
More features.More precisely, as the following claims reflect, inventive aspect is to be less than single reality disclosed above
Apply all features of example.Therefore, it then follows thus claims of specific implementation mode are expressly incorporated in the specific implementation mode,
Wherein each claim itself is as a separate embodiment of the present invention.It should be noted that in the absence of conflict, this
The feature in embodiment and embodiment in application can be combined with each other.The invention is not limited in any single aspect,
It is not limited to any single embodiment, is also not limited to the arbitrary combination and/or displacement of these aspects and/or embodiment.And
And can be used alone of the invention each aspect and/or embodiment or with other one or more aspects and/or its implement
Example is used in combination.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover in the claim of the present invention and the range of specification.
Claims (10)
1. a kind of endoscope guiding operation navigation display method, which is characterized in that including：
Obtain the endoscopic images that preoperative computer tomography CT image and endoscopic camera take；
Image coordinate system is carried out to the endoscopic images to convert to the coordinate of world coordinate system, and interior is peeped to coordinate is transformed
Mirror image carries out distortion correction；
Histoorgan in the CT images is split, and the histoorgan after dividing in the CT images is layered
It renders；
CT images after segmentation and layer rendering are carried out with the endoscopic images after distortion correction to merge display.
2. according to the method described in claim 1, it is characterized in that, described arrive endoscopic images progress image coordinate system
The coordinate of world coordinate system is converted, and carries out distortion correction to the transformed endoscopic images of coordinate, including：
Using Zhang Zhengyou standardizations, image coordinate system is carried out to the endoscopic images and is converted to the coordinate of world coordinate system, and
By adjusting the parameter of radial distortion and the tangential distortion of endoscopic camera, realize to the transformed endoscopic images of coordinate
Distortion correction.
3. according to the method described in claim 1, it is characterized in that, the histoorgan in the CT images divides
It cuts, including：
Using the sorting algorithm expressed based on local linear, the histoorgan in the CT images is split.
4. according to the method described in claim 1, it is characterized in that, it is described in the CT images divide after histoorgan into
Row layer rendering, including：
Using weighted blend independence sequence transparency algorithm, layering wash with watercolours is carried out to the histoorgan after dividing in the CT images
Dye.
5. a kind of endoscope guiding operation Navigation Display Unit, which is characterized in that including：
Acquisition module, the endoscope taken for obtaining preoperative computer tomography CT image and endoscopic camera
Image；
Conversion module is converted for carrying out image coordinate system to the endoscopic images to the coordinate of world coordinate system, and to sitting
It marks transformed endoscopic images and carries out distortion correction；
Processing module, for being split to the histoorgan in the CT images, and to the group after dividing in the CT images
It knits organ and carries out layer rendering；
Display module, it is aobvious for the endoscopic images after distortion correction merge by the CT images after segmentation and layer rendering
Show.
6. device according to claim 5, which is characterized in that the conversion module is specifically used for
Using Zhang Zhengyou standardizations, image coordinate system is carried out to the endoscopic images and is converted to the coordinate of world coordinate system, and
By adjusting the parameter of radial distortion and the tangential distortion of endoscopic camera, realize to the transformed endoscopic images of coordinate
Distortion correction.
7. device according to claim 5, which is characterized in that the processing module is specifically used for
Using the sorting algorithm expressed based on local linear, the histoorgan in the CT images is split, and to described
Histoorgan after dividing in CT images carries out layer rendering.
8. device according to claim 5, which is characterized in that the processing module is specifically used for
Histoorgan in the CT images is split, and utilizes weighted blend independence sequence transparency algorithm, to institute
It states the histoorgan after dividing in CT images and carries out layer rendering.
9. a kind of electronic equipment, which is characterized in that including：Processor, memory, bus and storage on a memory and can located
The computer program run on reason device；
Wherein, the processor, memory complete mutual communication by the bus；
The processor realizes the method as described in any one of claim 1-4 when executing the computer program.
10. a kind of non-transient computer readable storage medium, which is characterized in that in the non-transient computer readable storage medium
It is stored with computer program, the side as described in any one of claim 1-4 is realized when which is executed by processor
Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190529.2A CN108464862A (en) | 2018-03-08 | 2018-03-08 | A kind of endoscope guiding operation navigation display method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190529.2A CN108464862A (en) | 2018-03-08 | 2018-03-08 | A kind of endoscope guiding operation navigation display method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108464862A true CN108464862A (en) | 2018-08-31 |
Family
ID=63265157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810190529.2A Pending CN108464862A (en) | 2018-03-08 | 2018-03-08 | A kind of endoscope guiding operation navigation display method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108464862A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111887988A (en) * | 2020-07-06 | 2020-11-06 | 罗雄彪 | Positioning method and device of minimally invasive interventional operation navigation robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862205A (en) * | 2010-05-25 | 2010-10-20 | 中国人民解放军第四军医大学 | Intraoperative tissue tracking method combined with preoperative image |
| CN102982238A (en) * | 2012-11-13 | 2013-03-20 | 深圳市环球博洋机电科技有限公司 | Three-dimensional kidney neoplasm surgery simulation method and platform based on computed tomography (CT) film |
-
2018
- 2018-03-08 CN CN201810190529.2A patent/CN108464862A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101862205A (en) * | 2010-05-25 | 2010-10-20 | 中国人民解放军第四军医大学 | Intraoperative tissue tracking method combined with preoperative image |
| CN102982238A (en) * | 2012-11-13 | 2013-03-20 | 深圳市环球博洋机电科技有限公司 | Three-dimensional kidney neoplasm surgery simulation method and platform based on computed tomography (CT) film |
Non-Patent Citations (5)
| Title |
|---|
| 《中国优秀硕士学位论文全文数据库 信息科技辑（月刊 ）》，: "面向腹腔微创手术的增强现实技术研究", 《中国优秀硕士学位论文全文数据库 信息科技辑（月刊 ）》 * |
| 吴遥: "基于稀疏表达以及局部线性表达的医学图像分析", 《中国博士学位论文全文数据库医药卫生科技辑（月刊）》 * |
| 李佳宁: "基于RGB-D摄像机的增强现实系统关键技术研究", 《中国博士学位论文全文数据库信息科技辑（月刊）》 * |
| 羿龙: "基于空间相似特征的图像分割算法", 《中国优秀硕士学位论文全文数据库信息科技辑（月刊）》 * |
| 贺长宇: "增强现实手术导航中的混合位姿跟踪技术及可视化应用研究", 《中国博士学位论文全文数据库信息科技辑（月刊）》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111887988A (en) * | 2020-07-06 | 2020-11-06 | 罗雄彪 | Positioning method and device of minimally invasive interventional operation navigation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| McJunkin et al. | Development of a mixed reality platform for lateral skull base anatomy | |
| JP5808146B2 (en) | Image processing system, apparatus and method | |
| JP5186561B2 (en) | Non-realistic rendering of augmented reality | |
| JP5226887B2 (en) | Image processing system and method | |
| EP3280344A2 (en) | Method, apparatus, and system for utilizing augmented reality to improve surgery | |
| EP2765776A1 (en) | Graphical system with enhanced stereopsis | |
| JP6058306B2 (en) | Image processing system, apparatus, method, and medical image diagnostic apparatus | |
| US20130009957A1 (en) | Image processing system, image processing device, image processing method, and medical image diagnostic device | |
| JP2013039351A (en) | Image processing system, image processing device, image processing method, and medical image diagnostic device | |
| US9746989B2 (en) | Three-dimensional image processing apparatus | |
| JP6147464B2 (en) | Image processing system, terminal device and method | |
| JP6058286B2 (en) | Medical image diagnostic apparatus, medical image processing apparatus and method | |
| CN105956395A (en) | Medical image processing method, device and system | |
| US20210353361A1 (en) | Surgical planning, surgical navigation and imaging system | |
| WO2018097880A1 (en) | Systems and methods for an integrated system for visualizing, simulating, modifying and 3d printing 3d objects | |
| JP5934070B2 (en) | Virtual endoscopic image generating apparatus, operating method thereof, and program | |
| WO2013021440A1 (en) | Image processing apparatus, image displaying apparatus, image processing method and program | |
| Bichlmeier et al. | Improving depth perception in medical ar: A virtual vision panel to the inside of the patient | |
| CN108464862A (en) | A kind of endoscope guiding operation navigation display method and device | |
| CN108573514B (en) | Three-dimensional fusion method and device of images and computer storage medium | |
| CN102890748B (en) | Image processing system, device, method and medical diagnostic imaging apparatus | |
| US20200085398A1 (en) | Device and a corresponding method for providing spatial information of an interventional device in a live 2d x-ray image | |
| Rahman et al. | A framework to visualize 3d breast tumor using x-ray vision technique in mobile augmented reality | |
| WO2021094360A1 (en) | Image acquisition visuals for augmented reality | |
| EP3637374A1 (en) | Method and system for visualising a spatial surface curvature of a 3d-object, computer program product, and computer-readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180831 |