CN114469001A - Camera image and X-ray perspective image fusion system and method - Google Patents
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- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 210000002615 epidermis Anatomy 0.000 description 6
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- 208000014674 injury Diseases 0.000 description 1
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
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- A—HUMAN NECESSITIES
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A61B17/3403—Needle locating or guiding means
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
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- A61B5/0035—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room adapted for acquisition of images from more than one imaging mode, e.g. combining MRI and optical tomography
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- A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
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- A61B90/37—Surgical systems with images on a monitor during operation
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
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Abstract
The invention relates to a system and a method for fusing camera images and X-ray perspective images, wherein the fusion system comprises a shooting assembly fixedly arranged near an X-ray emission source of an X-ray machine, a plurality of reference markers fixedly arranged on a marker of an X-ray receiving imaging device and an image processing module; the shooting assembly is arranged outside the radiation range of the X-ray emission source and is used for shooting visible light videos; each reference marker is made of a material capable of absorbing X-rays and can be displayed in the visible light video and X-ray perspective images shot by an X-ray machine at the same time; the image processing module is used for processing the visible light video, fitting the visible light video into an image with the same shooting angle as the X-ray emission source, generating a fitting video, and overlapping the fitting video and the X-ray perspective image according to the position of each reference marker in the fitting video and the position of each reference marker in the X-ray perspective image to generate a fused image.
Description
Technical Field
The invention relates to a system and a method for fusing a camera image and an X-ray perspective image, and belongs to the technical field of medical equipment.
Background
The key of most spinal cord spinal minimally invasive surgeries of neurosurgery lies in determining the surgical route, the determination of the surgical route is to select the surgical access position according to the position of a bony structure, and the position of the bony structure can only be confirmed by X-ray perspective images shot by an X-ray machine. Medical staff has to adjust and shoot again, which not only delays the operation time and increases the injury of patients, but also increases the harm of rays to the medical staff and the patients.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a system and a method for fusing a camera image and an X-ray perspective image, wherein a visible light video shot by a camera is processed to generate a fitting video, and the fitting video and the X-ray perspective image are superposed to form a fused image by referring to a marker; through the fusion image, medical staff can more intuitively see the relative position of the bony structure and the body surface, accurately determine the puncture position of the puncture needle on the epidermis and accurately guide the puncture path.
The technical scheme of the invention is as follows:
the first technical scheme is as follows:
a camera image and X-ray perspective image fusion system comprises a shooting assembly fixedly arranged near an X-ray emission source of an X-ray machine, an X-ray receiving imaging device marker, a plurality of reference markers which are distributed in an array and fixedly arranged on the X-ray receiving imaging device marker and an image processing module;
the shooting assembly is arranged outside the radiation range of the X-ray emission source and is used for shooting visible light videos;
the marker is made of a material capable of absorbing X-rays, and each reference marker is made of a material capable of absorbing X-rays and can be displayed in the visible light video and the X-ray perspective image shot by the X-ray machine at the same time;
the image processing module is used for processing the visible light video, fitting the visible light video into an image with the same shooting angle as the X-ray emission source, generating a fitting video, and superposing the fitting video and the X-ray perspective image according to the position of each reference marker in the fitting video and the position of each reference marker in the X-ray perspective image to generate a fusion image for auxiliary positioning.
Furthermore, the photographing component comprises a camera tightly attached to the outer peripheral wall of the X-ray emission source and fixedly arranged on the outer wall of the X-ray machine.
Alternatively, the photographing assembly comprises two cameras symmetrically arranged on the outer wall of the X-ray machine at two sides of the X-ray emission source.
The second technical scheme is as follows:
a method for fusing a camera image and an X-ray perspective image comprises the following steps:
arranging a shooting assembly for shooting visible light video near an X-ray emission source of the X-ray machine;
setting a plurality of reference markers on a marker of an X-ray receiving imaging device, wherein each reference marker can be simultaneously displayed in the visible light video and an X-ray perspective image shot by an X-ray machine;
processing the visible light video, fitting the visible light video into an image with the same shooting angle as the X-ray emission source, and generating a fitting video;
and overlapping the fitting video and the X-ray perspective image according to the position of each reference marker in the fitting video and the position of each reference marker in the X-ray perspective image, so that each reference marker in the fitting video is superposed with each reference marker in the X-ray perspective image, and generating a fused image.
Furthermore, the photographing component is a camera; the step of fitting the visible light video into the image with the same shooting angle as the X-ray emission source and generating the fitting video specifically comprises the following steps:
placing a shooting reference object on a marker of the X-ray receiving and imaging device;
shooting a simulated reference picture which is positioned at the position of an X-ray emission source of an X-ray machine and has the same shooting angle with the X-ray emission source by using a camera in advance;
fixing a camera on the peripheral wall of an X-ray emission source of the X-ray machine, and taking an actual reference picture of the camera at an actual installation position;
stretching the actual reference picture through image processing software on a computer, stretching the shape position of the reference object in the actual reference picture to be consistent with the shape position of the reference object in the simulated reference picture, and storing the stretching parameters in the current image processing software;
and the same stretching parameters are used for the subsequent visible light videos shot by the camera, and the visible light videos are fit to be fit videos with the same shooting angle as the X-ray emission source.
Alternatively, the photographing assembly comprises two cameras symmetrically arranged on the outer wall of the X-ray machine at two sides of the X-ray emission source; the step of fitting the visible light video into the image with the same shooting angle as the X-ray emission source and generating the fitting video specifically comprises the following steps:
placing a shooting reference object on a marker of the X-ray receiving and imaging device;
shooting a simulated reference picture which is positioned at the position of an X-ray emission source of the X-ray machine and has the same shooting angle with the X-ray emission source by using a camera in advance;
simultaneously shooting visible light videos by using the two cameras, synthesizing the two visible light videos by using a binocular stereo vision technology, and adjusting a focus of the synthesized video to enable the shape position of a reference object in the video to be consistent with the shape position of the reference object in the simulated reference picture;
the same focus is used for the subsequent composite video synthesized by the visible light videos shot by the two cameras through a binocular stereo vision technology, and the composite video is fitted into a fitting video with the same shooting angle as the X-ray emission source.
The invention has the following beneficial effects:
1. the invention relates to a camera image and X-ray perspective image fusion system, which is characterized in that a visible light photo shot by a camera is sent to an image processing module for processing, the image processing module is carried on a computer, the image processing module carries out image correction and image stretching processing on the visible light photo to generate a fitting image, and then the X-ray perspective image and a real-time visible light video are superposed to form a real-time fusion image video for auxiliary positioning through a reference marker array in the fitting image; through fusing the image video, medical staff can more intuitively see the corresponding positions of the bony structure and the body surface, and the puncture position and the puncture direction of the puncture needle on the epidermis are accurately determined.
2. The invention relates to a camera image and X-ray perspective image fusion system, which determines the difference between a picture shot by a camera at an actual shooting position and a picture shot by the camera at the same angle at an X-ray emission source by shooting a reference object in advance, adjusts the picture shot by the camera at the actual shooting position into the same picture shot by the camera at the same angle at the X-ray emission source through image processing software, saves adjustment parameters, and then fits a visible light picture into a fitting image which is the same as the picture shot by an X-ray dome at the same angle only through the same adjustment parameters; superposing the two photos to form a fused image by fitting the position of the reference marker in the image and the position of the reference marker in the X-ray perspective image; through the fusion image, medical staff can more intuitively see the relative positions of the bony markers and the epidermis, and the body surface puncture point and the puncture path are accurately determined.
3. The method for fusing the double-camera image and the X-ray perspective image generates the synthetic video through the binocular vision technology, and generates the fitting video through adjusting the focus of the synthetic video, so that the fitting video has higher matching degree with the X-ray perspective image actually shot from an X-ray emission source.
Drawings
Fig. 1 is a schematic view of the overall structure of an X-ray machine according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a photographing assembly according to a first embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a photographing assembly according to a second embodiment of the present disclosure;
FIG. 4 is a schematic structural view of a reference marker;
FIG. 5 is a flow chart of an embodiment of the present invention.
The reference numbers in the figures denote:
1. an X-ray emitting source; 2. a reference marker; 3. the X-ray receiving imaging device mark piece; 4. a camera is provided.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Example one
Referring to fig. 1, 2 and 4, a camera image and X-ray perspective image fusion system includes a shooting assembly fixedly disposed near an X-ray emission source 1 of an X-ray machine, an X-ray receiving imaging device marker 3, a plurality of reference markers 2 fixedly disposed on the X-ray receiving imaging device marker 3 and distributed in an array, and an image processing module;
the shooting assembly is arranged outside the radiation range of the X-ray emission source 1 and is used for shooting visible light videos;
the marker 3 is made of a material capable of absorbing X-rays, and each reference marker 2 is made of a material capable of absorbing X-rays and can be displayed in the visible light video and the X-ray perspective images shot by the X-ray machine at the same time;
the image processing module is used for processing the visible light video, fitting the visible light video into images at the same shooting angle as the X-ray emission source, generating fitted videos, and overlapping the fitted videos and the X-ray perspective images according to the positions of the reference markers 2 in the fitted videos and the positions of the reference markers 2 in the X-ray perspective images to generate fused images for auxiliary positioning.
Furthermore, the photographing component comprises a camera 4 tightly attached to the outer peripheral wall of the X-ray emission source 1 and fixedly arranged on the outer wall of the X-ray machine.
The working principle of the embodiment is as follows: sending the visible light video shot by the camera 4 into an image processing module for processing, carrying the image processing module on a computer, carrying out image correction and image stretching processing on the visible light video by the image processing module to generate a fitted video, and overlapping two pictures through the positions of four reference markers 2 in the fitted video and the positions of four reference markers 2 in an X-ray perspective image to ensure that the reference markers 2 are overlapped to form a fused image; the medical staff can more intuitively see the relative positions of the bone and the epidermis through the fusion image, and the puncture position of the puncture needle on the epidermis is accurately determined.
Example two
Referring to fig. 3, the difference between the present embodiment and the first embodiment is that the photographing assembly includes two cameras 4 symmetrically disposed on the outer wall of the X-ray machine at two sides of the X-ray emission source 1.
The visible light videos that can be shot by the two cameras 4 can be synthesized by the image processing module through a binocular stereo imaging technology, and then the shooting focus of the synthesized video is adjusted to generate a fitting video.
Example three:
referring to fig. 5, a method for fusing a camera image and a fluoroscopic image includes the following steps:
arranging a shooting assembly for shooting visible light video near an X-ray emission source of the X-ray machine;
setting a plurality of reference markers on a marker of an X-ray receiving imaging device, wherein each reference marker can be simultaneously displayed in the visible light video and an X-ray perspective image shot by an X-ray machine;
processing the visible light video, fitting the visible light video into an image with the same shooting angle as the X-ray emission source, and generating a fitting video;
and overlapping the fitting video and the X-ray perspective image according to the position of each reference marker in the fitting video and the position of each reference marker in the X-ray perspective image, so that each reference marker in the fitting video is superposed with each reference marker in the X-ray perspective image, and generating a fused image.
Furthermore, the photographing component is a camera; the step of fitting the visible light video into the image with the same shooting angle as the X-ray emission source and generating the fitting video specifically comprises the following steps:
placing a shooting reference object on a marker of the X-ray receiving and imaging device;
shooting a simulated reference picture which is positioned at the position of an X-ray emission source of the X-ray machine and has the same shooting angle with the X-ray emission source by using a camera in advance;
fixing a camera on the peripheral wall of an X-ray emission source of the X-ray machine, and taking an actual reference picture of the camera at an actual installation position;
stretching the actual reference picture through image processing software on a computer, stretching the shape position of the reference object in the actual reference picture to be consistent with the shape position of the reference object in the simulated reference picture, and storing the stretching parameters in the current image processing software;
and matching the visible light video to a matching video with the X-ray emission source at the same shooting angle by using the same stretching parameters for the subsequent visible light video shot by the camera.
The method comprises the steps of determining the difference between a picture shot by a camera at an actual shooting position and a picture shot by the camera at the same angle at an X-ray emission source through shooting a reference object in advance, adjusting the picture shot by the camera at the actual shooting position to be the same as the picture shot by the camera at the same angle at the X-ray emission source through image processing software, storing adjustment parameters, and fitting the visible light video into a fitting video which is the same as the picture shot at the same angle at the X-ray emission source only through the same adjustment parameters; superposing two photos by fitting the positions of the four reference markers in the video and the positions of the four reference markers in the X-ray perspective image to ensure that the reference markers are superposed to form a fused image; through the fusion image, medical staff can more intuitively see the relative position of the bony structure and the body surface, and the puncture position of the puncture needle on the epidermis is accurately determined.
Example four:
the difference between the embodiment and the third embodiment is that the photographing assembly comprises two cameras symmetrically arranged on the outer wall of the X-ray machine at two sides of the X-ray emission source; the step of fitting the visible light video into the image with the same shooting angle as the X-ray emission source and generating the fitting video specifically comprises the following steps:
placing a shooting reference object on a marker of the X-ray receiving and imaging device;
shooting a simulated reference picture which is positioned at the position of an X-ray emission source of the X-ray machine and has the same shooting angle with the X-ray emission source by using a camera in advance;
simultaneously shooting visible light videos by using the two cameras, synthesizing the two visible light videos by using a binocular stereo vision technology, and adjusting a focus of the synthesized video to enable the shape position of a reference object in the video to be consistent with the shape position of the reference object in the simulated reference picture;
the same focus is used for the subsequent composite video synthesized by the visible light videos shot by the two cameras through a binocular stereo vision technology, and the composite video is fitted into a fitting video with the same shooting angle as the X-ray emission source.
In the embodiment, the synthetic video is generated through a binocular vision technology, and the fitting video is generated by adjusting the focus of the synthetic video, so that the fitting video has higher matching degree with the actual picture shot from the X-ray emission source.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. A camera image and X-ray perspective image fusion system is characterized in that: the X-ray radiographic apparatus comprises a shooting assembly fixedly arranged near an X-ray emission source (1) of the X-ray radiographic apparatus, an X-ray receiving imaging device marker (3), a plurality of reference markers (2) which are fixedly arranged on the X-ray receiving imaging device marker (3) and distributed in an array manner, and an image processing module;
the shooting assembly is arranged outside the radiation range of the X-ray emission source (1) and is used for shooting visible light videos;
the marker (3) is made of a material capable of absorbing X-rays, and each reference marker (2) is made of a material capable of absorbing X-rays and can be displayed in the visible light video and the X-ray perspective image shot by the X-ray machine at the same time;
the image processing module is used for processing the visible light video, fitting the visible light video into an image with the same shooting angle as the X-ray emission source, generating a fitting video, and superposing the fitting video and the X-ray perspective image according to the position of each reference marker (2) in the fitting video and the position of each reference marker (2) in the X-ray perspective image to generate a fusion image for auxiliary positioning.
2. A camera image and fluoroscopic image fusion system according to claim 1, wherein: the photographing component comprises a camera (4) tightly attached to the outer peripheral wall of the X-ray emission source (1) and fixedly arranged on the outer wall of the X-ray machine.
3. A camera image and fluoroscopic image fusion system according to claim 1, wherein: the photographing assembly comprises two cameras (4) which are symmetrically arranged on the outer wall of the X-ray machine at two sides of the X-ray emission source (1).
4. The method for fusing the double-camera image and the X-ray perspective image is characterized in that: the method comprises the following steps:
arranging a shooting assembly for shooting visible light video near an X-ray emission source of the X-ray machine;
setting a plurality of reference markers on a marker of an X-ray receiving imaging device, wherein each reference marker can be simultaneously displayed in the visible light video and the X-ray perspective image shot by the X-ray machine;
processing the visible light video, fitting the visible light video into an image with the same shooting angle as the X-ray emission source, and generating a fitting video;
and overlapping the fitting video and the X-ray perspective image according to the position of each reference marker in the fitting video and the position of each reference marker in the X-ray perspective image, so that each reference marker in the fitting video is superposed with each reference marker in the X-ray perspective image, and generating a fused image.
5. The method for fusing a dual-camera image with a fluoroscopic image according to claim 4, wherein: the photographing component is a camera; the step of fitting the visible light video into the image with the same shooting angle as the X-ray emission source and generating the fitting video specifically comprises the following steps:
placing a shooting reference object on a marker of the X-ray receiving and imaging device;
shooting a simulated reference picture which is positioned at the position of an X-ray emission source of an X-ray machine and has the same shooting angle with the X-ray emission source by using a camera in advance;
fixing a camera on the peripheral wall of an X-ray emission source of the X-ray machine, and taking an actual reference picture of the camera at an actual installation position;
stretching the actual reference picture by image processing software on a computer, stretching the shape position of the reference object in the actual reference picture to be consistent with the shape position of the reference object in the simulated reference picture, and storing stretching parameters in the current image processing software;
and matching the visible light video to a matching video with the X-ray emission source at the same shooting angle by using the same stretching parameters for the subsequent visible light video shot by the camera.
6. The method for fusing a dual-camera image with a fluoroscopic image according to claim 4, wherein: the photographing assembly comprises two cameras which are symmetrically arranged on the outer wall of the X-ray machine at two sides of the X-ray emission source; the step of fitting the visible light video into the image with the same shooting angle as the X-ray emission source and generating the fitting video specifically comprises the following steps:
placing a shooting reference object on a marker of the X-ray receiving and imaging device;
shooting a simulated reference picture which is positioned at the position of an X-ray emission source of the X-ray machine and has the same shooting angle with the X-ray emission source by using a camera in advance;
simultaneously shooting visible light videos by using the two cameras, synthesizing the two visible light videos by using a binocular stereo vision technology, and adjusting a focus of the synthesized video to enable the shape position of a reference object in the video to be consistent with the shape position of the reference object in the simulated reference picture;
the same focus is used for the subsequent composite video synthesized by the visible light videos shot by the two cameras through a binocular stereo vision technology, and the composite video is fitted into a fitting video with the same shooting angle as the X-ray emission source.
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| CN101010559A (en) * | 2005-06-17 | 2007-08-01 | 欧姆龙株式会社 | Image processing device and image processing method performing 3d measurement |
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