CN110993089A - Method for guiding channels and collaterals by three-dimensional scanning - Google Patents
Method for guiding channels and collaterals by three-dimensional scanning Download PDFInfo
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Abstract
The invention relates to the field of whole body meridian remote guidance, in particular to a method for guiding meridians by using three-dimensional scanning, which comprises a planning method and a guidance method, wherein the planning method realizes the planning of a path in a way of matching three-dimensional surface reconstruction with VR equipment, and the guidance method realizes the meridian guidance in a way of three-dimensional reconstruction and 3D image navigation according to the path planned by the planning method. In the operation process, the three-dimensional scanning equipment collects the three-dimensional point cloud of the operated object in real time, tracks the movement of the operated object, and registers the real-time three-dimensional point cloud with the three-dimensional model before operation, so that the operated object does not need mechanical limitation in the operation process, and the comfort of the operated object is improved; the remote meridian planning of an operator can be realized, the three-dimensional point cloud data of the operated object at the local end is transmitted to the operator at the remote end through network communication, the operator can wear VR equipment to plan, the VR equipment is transmitted to the local end through the network, and the robot performs automatic meridian operation.
Description
Technical Field
The invention relates to the field of whole-body meridian remote guidance, in particular to a method for guiding meridians by using three-dimensional scanning, and also relates to a meridian guidance method for realizing remote automatic operation by using three-dimensional scanning.
Background
When the robot is used for whole-body meridian guidance, the slight movement of the operated object can cause the inaccurate meridian position reached by the robot, so that some mechanical limit is needed to limit the movement of the operated object, the comfort level of the operated object is low by the mode, and the comfort and the freedom can not be brought to the operated object.
In addition, if an emergency occurs in the middle of the operation under the condition of mechanical limit, complicated mechanical limit unbinding operation is required, and the operated object cannot be transported quickly.
Disclosure of Invention
In order to solve one of the technical problems, the invention combines VR and network communication technology to realize remote meridian planning, and adopts the following technical scheme: a method for guiding channels and collaterals by three-dimensional scanning comprises a planning method and a guiding method, wherein the planning method realizes the planning of a path by the way of matching three-dimensional surface reconstruction with VR equipment, and the guiding method realizes the channel and collateral guidance by the way of three-dimensional reconstruction and 3D image navigation and according to the path planned by the planning method.
Preferably, the planning method includes the following steps:
scanning the point cloud data of the operated object;
reconstructing a three-dimensional surface;
the method comprises the steps of obtaining point cloud data of a body of an operated object through a three-dimensional scanning device before meridian operation is carried out, and reconstructing the body surface of the operated object by utilizing a three-dimensional reconstruction technology;
planning: and planning a path.
And (3) carrying out operation planning by an operator, wearing the VR equipment by the operator, presenting the reconstructed three-dimensional data of the operated object in front of eyes of the operator, and planning the channels and collaterals to be operated by the operator.
Preferably, the guidance method includes the following steps:
collecting image data of an operated object;
the method comprises the steps of obtaining point cloud data of a body of an operated object through a three-dimensional scanning device before meridian operation;
reconstructing three-dimensional image data of an operated object;
reconstructing the body surface of the operated object by utilizing a three-dimensional reconstruction technology;
image registration;
when meridian operation is carried out, acquiring the current three-dimensional point cloud of an operated object through three-dimensional scanning equipment, and registering the current three-dimensional point cloud with the three-dimensional point cloud acquired before operation;
3D image navigation;
after the registration, the planned meridian position of the operator before the operation is mapped to the body of the operated object at the moment;
mapping the pose of the seeker to a three-dimensional model of an operated object in real time by using 3D image navigation, and performing image navigation on the operation process;
the operator performs the operation.
In the operation process, the three-dimensional scanning equipment collects the three-dimensional point cloud of the operated object in real time, tracks the movement of the operated object, and registers the real-time three-dimensional point cloud with the three-dimensional model before operation, so that the operated object does not need mechanical limitation in the operation process, and the comfort of the operated object is improved.
Preferably, the pose of the intraoperative seeker is mapped to the 3D model in real time in the 3D image navigation, and the image navigation is carried out on the operation process.
Preferably, the method further comprises operation effect evaluation.
A meridian guidance method for realizing remote automatic operation by utilizing three-dimensional scanning comprises the following steps:
collecting image data of an operated object;
the method comprises the steps of obtaining point cloud data of a body of an operated object through a three-dimensional scanning device before meridian operation;
reconstructing three-dimensional image data of an operated object;
reconstructing the body surface of the operated object by utilizing a three-dimensional reconstruction technology;
image registration;
when meridian operation is carried out, acquiring the current three-dimensional point cloud of an operated object through three-dimensional scanning equipment, and registering the current three-dimensional point cloud with the three-dimensional point cloud acquired before operation;
3D image navigation;
after the registration, the planned meridian position of the operator before the operation is mapped to the body of the operated object at the moment;
mapping the pose of the seeker to a three-dimensional model of an operated object in real time by using a 3D image navigation system, and performing image navigation on the operation process of an operator;
and (4) remote automatic guidance.
And the robot adjusts the pose of the seeker according to the planning data under the guidance of the 3D image navigation system, so that the robot automatically guides the treatment operation.
In the operation process, the three-dimensional scanning equipment collects the three-dimensional point cloud of the operated object in real time, tracks the movement of the operated object, and registers the real-time three-dimensional point cloud with the three-dimensional model before operation, so that the operated object does not need mechanical limitation in the operation process, and the comfort of the operated object is improved.
Meanwhile, the method can realize remote meridian planning of an operator, the three-dimensional point cloud data of the operated object scanned by the local end is transmitted to the operator at the remote end through network communication, the operator at the remote end can wear VR equipment to plan and then is transmitted to the local end through the network, and the robot performs automatic meridian operation.
Preferably, the pose of the intraoperative seeker is mapped to the 3D model in real time in the 3D image navigation, and the image navigation is carried out on the operation process.
Preferably, in the automatic guidance process of the robot, the robot adjusts the pose of the guidance head according to the planning data under the guidance of the 3D image navigation system, so as to complete automatic operation.
The invention has the beneficial effects that: the scheme can realize remote planning of channels and collaterals; the body of the operated object is not limited in the operation process, the comfort level of the operated object is improved, and meanwhile, if the operated object can be timely and quickly transferred and transported in emergency, the capability of coping with the emergency is stronger.
In the operation process, the three-dimensional scanning equipment collects the three-dimensional point cloud of the operated object in real time, tracks the movement of the operated object, and registers the real-time three-dimensional point cloud with the three-dimensional model before operation, so that the operated object does not need mechanical limitation in the operation process, and the comfort of the operated object is improved.
Meanwhile, the method can realize remote meridian planning of an operator, the three-dimensional point cloud data of the operated object scanned by the local end is transmitted to the operator at the remote end through network communication, the operator at the remote end can wear VR equipment to plan and then is transmitted to the local end through the network, and the robot performs automatic meridian operation.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or components are generally identified by like reference numerals. In the drawings, elements or components are not necessarily drawn to scale.
Fig. 1 is a structural diagram illustrating an operation demonstration state of the present invention.
FIG. 2 is a flow chart of the meridian planning and operating method using three-dimensional scanning guidance according to the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1-2, a method for guiding meridians by using three-dimensional scanning includes a planning method for planning a path by means of three-dimensional surface reconstruction in cooperation with VR equipment and a guidance method for guiding meridians by means of three-dimensional reconstruction and 3D video navigation and according to the path planned by the planning method.
Preferably, the planning method includes the following steps:
scanning the point cloud data of the operated object;
reconstructing a three-dimensional surface;
the method comprises the steps of obtaining point cloud data of a body of an operated object through a three-dimensional scanning device before meridian operation is carried out, and reconstructing the body surface of the operated object by utilizing a three-dimensional reconstruction technology;
planning: and planning a path.
And (3) carrying out operation planning by an operator, wearing the VR equipment by the operator, presenting the reconstructed three-dimensional data of the operated object in front of eyes of the operator, and planning the channels and collaterals to be operated by the operator.
Preferably, the guidance method includes the following steps:
collecting image data of an operated object;
the method comprises the steps of obtaining point cloud data of a body of an operated object through a three-dimensional scanning device before meridian operation;
reconstructing three-dimensional image data of an operated object;
reconstructing the body surface of the operated object by utilizing a three-dimensional reconstruction technology;
image registration;
when meridian operation is carried out, acquiring the current three-dimensional point cloud of an operated object through three-dimensional scanning equipment, and registering the current three-dimensional point cloud with the three-dimensional point cloud acquired before operation;
3D image navigation;
after the registration, the planned meridian position of the operator before the operation is mapped to the body of the operated object at the moment;
mapping the pose of the seeker to a three-dimensional model of an operated object in real time by using 3D image navigation, and performing image navigation on the operation process;
the operator performs the operation.
In the operation process, the three-dimensional scanning equipment collects the three-dimensional point cloud of the operated object in real time, tracks the movement of the operated object, and registers the real-time three-dimensional point cloud with the three-dimensional model before operation, so that the operated object does not need mechanical limitation in the operation process, and the comfort of the operated object is improved.
Preferably, the pose of the intraoperative seeker is mapped to the 3D model in real time in the 3D image navigation, and the image navigation is carried out on the operation process.
Preferably, the method further comprises operation effect evaluation.
A meridian guidance method for realizing remote automatic operation by utilizing three-dimensional scanning comprises the following steps:
collecting image data of an operated object;
the method comprises the steps of obtaining point cloud data of a body of an operated object through a three-dimensional scanning device before meridian operation;
reconstructing three-dimensional image data of an operated object;
reconstructing the body surface of the operated object by utilizing a three-dimensional reconstruction technology;
image registration;
when meridian operation is carried out, acquiring the current three-dimensional point cloud of an operated object through three-dimensional scanning equipment, and registering the current three-dimensional point cloud with the three-dimensional point cloud acquired before operation;
3D image navigation;
after the registration, the planned meridian position of the operator before the operation is mapped to the body of the operated object at the moment;
mapping the pose of the seeker to a three-dimensional model of an operated object in real time by using 3D image navigation, and performing image navigation on the operation process;
and (4) remote automatic guidance.
Under the guidance of a 3D image navigation system, the robot adjusts the pose of the seeker according to the planning data, and automatic meridian treatment operation of the robot is achieved.
In the operation process, the three-dimensional scanning equipment collects the three-dimensional point cloud of the operated object in real time, tracks the movement of the operated object, and registers the real-time three-dimensional point cloud with the three-dimensional model before operation, so that the operated object does not need mechanical limitation in the operation process, and the comfort of the operated object is improved.
Meanwhile, the method can realize remote meridian planning of an operator, the three-dimensional point cloud data of the operated object scanned by the local end is transmitted to the operator at the remote end through network communication, the operator at the remote end can wear VR equipment to plan and then is transmitted to the local end through the network, and the robot performs automatic meridian operation.
Preferably, the pose of the intraoperative seeker is mapped to the 3D model in real time in the 3D image navigation, and the image navigation is carried out on the operation process.
Preferably, in the automatic guidance process of the robot, the robot adjusts the pose of the guidance head according to the planning data under the guidance of the 3D image navigation system, so as to complete automatic operation.
The invention can be applied in the clinical field and other fields, and the invention is not limited to the specific field.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; the modifications or the substitutions do not cause the essence of the corresponding technical solutions to depart from the scope of the technical solutions of the embodiments of the present invention, and the technical solutions are all covered in the scope of the claims and the specification of the present invention; it will be apparent to those skilled in the art that any alternative modifications or variations to the embodiments of the present invention may be made within the scope of the present invention.
The present invention is not described in detail, but is known to those skilled in the art.
Claims (8)
1. A method for guiding meridians by three-dimensional scanning is characterized in that: the method comprises a planning method and a guiding method, wherein the planning method realizes path planning by matching three-dimensional surface reconstruction with VR equipment, and the guiding method realizes meridian guidance by three-dimensional reconstruction and 3D image navigation and according to the path planned by the planning method.
2. The method of claim 1, wherein the method comprises the following steps: the planning method comprises the following steps:
scanning the point cloud data of the operated object;
reconstructing a three-dimensional surface;
planning: and planning a path.
3. The method of claim 2, wherein the method comprises the following steps: the guiding method comprises the following steps:
collecting image data of an operated object;
reconstructing three-dimensional image data of an operated object;
image registration;
and 3D image navigation.
4. The method of claim 3, wherein the method comprises the following steps: and mapping the pose of the seeker to the 3D model in real time in the 3D image navigation, and performing image navigation on the operation process of an operator.
5. The method of claim 1, wherein the method comprises the following steps: and also comprises operation effect evaluation.
6. A meridian guidance method for realizing remote automatic operation by utilizing three-dimensional scanning is characterized by comprising the following steps: the method comprises the following steps:
collecting image data of an operated object;
reconstructing three-dimensional image data of an operated object;
image registration;
3D image navigation;
and (4) remote automatic guidance.
7. The meridian guidance method for realizing remote automatic operation by using three-dimensional scanning as claimed in claim 6, wherein: and mapping the pose of the seeker to the 3D model in real time in the 3D image navigation, and performing image navigation on the operation process.
8. The meridian guidance method for realizing remote automatic operation by using three-dimensional scanning as claimed in claim 6, wherein: in the automatic guidance process of the robot, the robot adjusts the pose of the guidance head according to the planning data under the guidance of a 3D image navigation system, and automatic operation is completed.
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Cited By (2)
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| CN112057326A (en) * | 2020-09-07 | 2020-12-11 | 中科尚易健康科技(北京)有限公司 | Probe mirror image device for meridian conditioning system and algorithm thereof |
| CN113752257A (en) * | 2021-08-27 | 2021-12-07 | 中科尚易健康科技(北京)有限公司 | Mechanical arm track correction method based on position feedback information and control terminal |
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