CN115661214A - Registration precision verification method and device - Google Patents
Registration precision verification method and device Download PDFInfo
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Abstract
The embodiment of the invention provides a registration accuracy verification method and a device, which relate to the technical field of data processing and comprise the following steps: obtaining a perspective image acquired by a first image acquisition device to a registration component and a calibration component; obtaining first space coordinates of a first marker in a registration component in a real three-dimensional space and first image coordinates in a perspective image; obtaining a coordinate conversion relation between an image coordinate system corresponding to the perspective image and a space coordinate system corresponding to the real three-dimensional space based on the first space coordinate and the first image coordinate; obtaining a second space coordinate of a second marker in the calibration component in a real three-dimensional space and a second image coordinate in the perspective image; calculating the corresponding projection coordinate of the second space coordinate in the image coordinate system according to the coordinate conversion relation; and verifying the registration accuracy of image registration of the perspective image acquired by the first image acquisition equipment according to the distance deviation between the second image coordinate and the projection coordinate. The scheme realizes registration accuracy verification.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a registration accuracy verification method and device.
Background
In order to improve the operation effect, more and more doctors introduce operation navigation positioning systems when operating on the operation object. In the operation process, a doctor navigates and positions the operation part by means of an operation navigation and positioning system, so as to complete the operation.
When the surgical navigation positioning system performs navigation positioning, the perspective image of the surgical site acquired by the image acquisition device needs to be analyzed, so that navigation positioning is completed according to the analysis result. In order to ensure the accuracy of navigation positioning, the surgical navigation positioning system needs to register the fluoroscopic images acquired by the image acquisition equipment. In the prior art, when image registration is performed, generally, a perspective image of a registration component such as a registration plate is acquired through the image acquisition device, and then image registration is performed according to position information of a region where the registration component is located in the perspective image and position information of the registration component in a real three-dimensional space. Since the validity of the registration result is affected by the registration accuracy, the registration accuracy needs to be verified.
Disclosure of Invention
The embodiment of the invention aims to provide a registration precision verification method and a registration precision verification device so as to realize registration precision verification.
The specific technical scheme is as follows:
the embodiment of the invention provides a registration precision verification method, which comprises the following steps:
obtaining perspective images acquired by a registration component and a calibration component in a field of view of a first image acquisition device;
obtaining first spatial coordinates of a first marker in real three-dimensional space in the registration component and first image coordinates of the first marker in the fluoroscopic image;
obtaining a coordinate conversion relation between an image coordinate system corresponding to the perspective image and a space coordinate system corresponding to the real three-dimensional space based on the first space coordinate and the first image coordinate;
obtaining a second space coordinate of a second marker in the calibration component in real three-dimensional space and a second image coordinate of the second marker in the perspective image;
calculating the corresponding projection coordinate of the second space coordinate in the image coordinate system according to the coordinate conversion relation;
and verifying the registration accuracy of image registration of the perspective image acquired by the first image acquisition equipment according to the distance deviation between the second image coordinate and the projection coordinate.
The embodiment of the invention also provides a registration accuracy verification device, which comprises:
the perspective image acquisition module is used for acquiring a perspective image acquired by a registration component and a calibration component in a field of view of the first image acquisition equipment;
a first coordinate obtaining module for obtaining first space coordinates of a first marker in a real three-dimensional space in the registration component and first image coordinates of the first marker in the fluoroscopic image;
a transformation relation obtaining module, configured to obtain a coordinate transformation relation between an image coordinate system corresponding to the perspective image and a space coordinate system corresponding to the real three-dimensional space based on the first space coordinate and the first image coordinate;
a second coordinate obtaining module, configured to obtain a second space coordinate of a second marker in the calibration component in the real three-dimensional space and a second image coordinate of the second marker in the perspective image;
the projection coordinate calculation module is used for calculating the corresponding projection coordinate of the second space coordinate in the image coordinate system according to the coordinate conversion relation;
and the registration precision verification module is used for verifying the registration precision of image registration of the perspective image acquired by the first image acquisition equipment according to the distance deviation between the second image coordinate and the projection coordinate.
The embodiment of the invention also provides electronic equipment which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing the steps of the registration precision verification method when executing the program stored in the memory.
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of the registration accuracy verification method are implemented.
Embodiments of the present invention also provide a computer program product containing instructions, which when run on a computer, cause the computer to perform the registration accuracy verification method described above.
The embodiment of the invention has the following beneficial effects:
in the scheme provided by the embodiment of the invention, the perspective images acquired by the registration component and the calibration component in the field of view of the first image acquisition device are obtained, and the coordinate conversion relation between the image coordinate system corresponding to the perspective images and the space coordinate system corresponding to the real three-dimensional space is obtained according to the first space coordinate of the first marker in the registration component in the real three-dimensional space and the first image coordinate in the perspective images. The resulting coordinate transformation relationship can match the coordinates of the same spatial location in the two-dimensional image and the three-dimensional space, and can therefore be used to achieve image registration.
Through the coordinate conversion relation, the projection position of the second marker in the calibration assembly in the perspective image can be obtained, and the distance deviation between the projection position and the position of the second marker in the perspective image is determined. Because the calibration component and the registration component are positioned in a unified image coordinate system where the perspective image is positioned, that is, the same coordinate conversion relationship is adopted, and when the registration component is registered, the distance deviation between the position information represented by the space coordinate in the three-dimensional space and the position information represented by the image coordinate in the perspective image is consistent with the distance deviation calculated according to the second marker, the scheme provided by the embodiment of the invention verifies the actual error generated when the obtained conversion relationship is used for registration, and realizes the verification of the registration accuracy.
Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by referring to these drawings.
Fig. 1 is a schematic flow chart of a registration accuracy verification method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a registration assembly according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a calibration assembly according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a registration accuracy verification apparatus according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived from the embodiments of the present invention by those skilled in the art based on the description, are within the scope of the present invention.
When image registration is performed according to the registration plate, the effectiveness of the registration result is affected by the registration accuracy. In order to solve the problem, the embodiment of the invention provides a registration accuracy verification method and a registration accuracy verification device.
In an embodiment of the present invention, referring to fig. 1, a flowchart of a registration accuracy verification method is provided, which includes the following steps S101-S106.
Step S101: and obtaining perspective images acquired by a registration component and a calibration component in the field of view of the first image acquisition equipment.
The perspective image is obtained by shooting the first image acquisition equipment, and the internal condition of the operation part can be displayed. The types of the perspective images collected by different first image collecting devices are different, for example, the first image collecting device may be an X-ray machine, such as a C-arm X-ray machine. The acquired perspective image is an X-ray image under the condition; the first image acquisition device may also be a CT (Computed Tomography) device, and the acquired perspective image is a CT image; the first image acquisition device may also be a Magnetic Resonance apparatus, and the acquired fluoroscopic image is an MR (Magnetic Resonance) image.
The field range is determined by the field range of the camera used in the shooting. The registration component and the calibration component are placed in the same field of view for shooting, so that when the positions of the registration component and the calibration component are determined, the registration component and the calibration component are located in the same image, namely in the same image coordinate system corresponding to the image.
The imaging planes of the registration component, the calibration component and the first image acquisition equipment can be parallel to each other, so that a better perspective image acquisition effect can be obtained.
The registration assembly includes at least one first marker therein. The first marker is an object with a preset shape and can be displayed as a corresponding imaging shape in the imaging of the first image acquisition device so as to be convenient for marking and recognition. For example, the shape of the first marker may be a sphere, which is shown as a circle in the first image acquisition device.
The first marker may also have other shapes, such as a cube, etc. From the above, the imaged shape of the first marker is easily recognized, and hence it is convenient to determine coordinates from the first marker to implement registration.
The registration assembly may comprise a registration plate for securing the first marker. The registration plate may be a multi-layer structure, each layer may hold a plurality of first markers. A schematic diagram of a registration assembly is shown in fig. 2, which includes a registration plate of a two-layer structure, and a tracer, and the location of the registration plate is outlined in fig. 2.
The embodiment of the invention does not limit the specific shape of the first marker, and does not limit the material of the first marker and the distribution mode of the first marker on the registration plate.
Similarly, a plurality of second markers may be included in the calibration assembly. The second marker and the first marker may have the same shape.
Step S102: first spatial coordinates of a first marker in real three-dimensional space in the registration component and first image coordinates of the first marker in the fluoroscopic image are obtained.
The registration assembly may include a plurality of first markers, and each marker may be used for imaging to increase the number of markers that can be used to calculate the coordinates, thereby increasing the information upon which the calculation is based to improve the accuracy of the calculation results.
The real three-dimensional space is the real space where each surgical device and the surgical object are located, and the spatial coordinates in the real three-dimensional space are established by the surgical devices in the space.
Three implementations of obtaining the first spatial coordinates are described below.
In a first implementation, the first spatial coordinate may be obtained based on a binocular camera. For example, images containing the first marker are acquired by using a binocular camera, image coordinates of the first marker in the images are determined, and first space coordinates of the first marker in a real three-dimensional space can be calculated according to a binocular vision distance measuring principle by combining internal references of the binocular camera calibrated in advance and a conversion relation between coordinate systems of the two cameras. In this case, the real three-dimensional space is a real space where the binocular camera is located, and the first spatial coordinate is a spatial coordinate in a coordinate system established based on the real space where the binocular camera is located.
In a second implementation, the first spatial coordinates may be obtained based on a 3D depth sensor. For example, the distance between the first marker and the 3D depth sensor is measured by the 3D depth sensor, and the first spatial coordinate of the first marker in the real three-dimensional space can be calculated by the spatial coordinate of the 3D depth sensor in the real three-dimensional space and the pose information of the 3D depth sensor in the real three-dimensional space, which are obtained in advance. In this case, the real three-dimensional space is a real space where the 3D depth sensor is located, and the first spatial coordinate is a spatial coordinate in a coordinate system established based on the real space where the 3D depth sensor is located.
In a third implementation, the registration assembly may include: the first marker and the first positioning identifier may obtain a spatial coordinate of the first positioning identifier, and indirectly obtain the first spatial coordinate of the first marker through the spatial coordinate of the first positioning identifier.
The image coordinates in the fluoroscopic image may be determined based on a coordinate system corresponding to the fluoroscopic image. If the position of the first acquisition device is fixed, the coordinate origin of the coordinate system can be determined based on the camera used by the first acquisition device for shooting, and the coordinate system corresponding to the perspective image can be determined according to the coordinate origin and the shooting angle.
In addition, other fixed reference objects can be preset to establish a 0 coordinate system as a coordinate system corresponding to the perspective image.
Step S103: and obtaining a coordinate conversion relation between an image coordinate system corresponding to the perspective image and a space coordinate system corresponding to the real three-dimensional space based on the first space coordinate and the first image coordinate.
Since the first space coordinate and the first image coordinate may both represent the position of the same first marker, the coordinate conversion relationship between the first space coordinate and the first image coordinate may represent the coordinate conversion relationship between the image coordinate system and the space coordinate system. Specifically, the coordinate conversion relationship can be obtained by calculating the first space coordinate corresponding to the same marker, the translation amount and the rotation angle between the first image coordinates according to the position representing the same marker.
The conversion relation can be represented by a rigid body transformation matrix, and the rigid body transformation matrix comprises conversion parameters representing the translation amount and the rotation angle. Since there may be a plurality of first markers, a rigid transformation matrix representing a transformation relationship between the first spatial coordinates and the first image coordinates may be calculated for each of the first spatial coordinates and the first image coordinates corresponding to each of the markers, and the plurality of rigid transformation matrices collectively represent the coordinate transformation relationship.
Such a representation method can be referred to as step S105 described below, and will not be described in detail here.
Step S104: and obtaining a second space coordinate of a second marker in the calibration component in the real three-dimensional space and a second image coordinate of the second marker in the perspective image.
The second spatial coordinates and the second image coordinates in this step are obtained in a similar manner to the aforementioned step S102, except that the names of the second marker and the first marker, the second spatial coordinates and the first spatial coordinates, the second image coordinates and the first image coordinates, etc. are conceptually replaced, and detailed description thereof is omitted.
Step S105: and calculating the corresponding projection coordinate of the second space coordinate in the image coordinate system according to the coordinate conversion relation.
The projection coordinates can be calculated according to the following formula:
in the above formula, (u, v) represents projection coordinates, s represents a physical distance corresponding to two pixels of the fluoroscopic image, and (X, Y, Z) is a second spatial coordinate;
the coordinate transformation relation in the previous step S103, wherein r 11 -t 3 Each cell is a rigid transformation matrix. f. of x And f y The focal-distance display unit may be provided by a manufacturer of the first image capturing apparatus, or may be calibrated by using a focal-distance calibration method in the prior art. f. of x And f y May be equal; (c) x ，c y ) Coordinates representing the center of normal incidence of the radiation source in the fluoroscopic image of the fluoroscopic image acquisition apparatus.
Step S106: and verifying the registration accuracy of image registration of the perspective image acquired by the first image acquisition equipment according to the distance deviation between the second image coordinate and the projection coordinate.
The second image coordinate and the projection coordinate are both positions of the same second marker in an image coordinate system corresponding to the perspective image, the projection coordinate is a position calculated by adopting a coordinate conversion relation, and the coordinate conversion relation can be used for registering the three-dimensional coordinate and the two-dimensional coordinate of the object in the perspective image, so that the smaller the distance deviation between the second image coordinate and the projection coordinate is, the higher the registration accuracy of image registration of the perspective image is.
The specific registration accuracy verification manner can be referred to in the following embodiments, which are not detailed here for the moment.
In the scheme provided by the embodiment of the invention, the perspective images acquired by the registration component and the calibration component in the field of view of the first image acquisition device are obtained, and the coordinate conversion relation between the image coordinate system corresponding to the perspective images and the space coordinate system corresponding to the real three-dimensional space is obtained according to the first space coordinate of the first marker in the registration component in the real three-dimensional space and the first image coordinate in the perspective images. The resulting coordinate transformation relationship can match the coordinates of the same spatial location in the two-dimensional image and the three-dimensional space, and can therefore be used to achieve image registration.
Through the coordinate conversion relation, the projection position of the second marker in the calibration assembly in the perspective image can be obtained, and the distance deviation between the projection position and the position of the second marker in the perspective image is determined. Because the calibration component and the registration component are positioned in a unified image coordinate system where the perspective image is positioned, that is, the same coordinate conversion relationship is adopted, and when the registration component is registered, the distance deviation between the position information represented by the space coordinate in the three-dimensional space and the position information represented by the image coordinate in the perspective image is consistent with the distance deviation calculated according to the second marker, the scheme provided by the embodiment of the invention verifies the actual error generated when the obtained conversion relationship is used for registration, and realizes the verification of the registration accuracy.
A specific implementation of the registration accuracy verification in step S106 is described below.
In an embodiment of the present invention, in the case that the number of the second image coordinates and the projection coordinates is greater than 1, the registration accuracy may be verified as follows:
determining a first straight line passing through the position represented by the second image coordinates and a second straight line passing through the position represented by the projection coordinates; obtaining an included angle between the first straight line and the second straight line; obtaining a distance determined according to the second image coordinate and the projection coordinate; and verifying the registration accuracy of image registration of the perspective image acquired by the first image acquisition equipment according to the distance and the angle.
Specifically, the second image coordinates of any two second markers and the projection coordinates obtained by calculation may be selected, the first straight line may be obtained according to the two selected second image coordinates, and the second straight line may be obtained according to the selected projection coordinates.
When the distance is determined, the distance between the second image coordinate corresponding to the same marker in the calibration component and the corresponding projection coordinate can be calculated; an average value of the calculated distances is obtained as a distance determined from the second image coordinates and the projection coordinates. In this way, the distance deviation between the second image coordinate and the projection coordinate can be determined according to the average value, and the registration accuracy can be verified.
In addition, the variance of the distance between the second image coordinates corresponding to the same marker in the calibration assembly and the corresponding projection coordinates may also be calculated as the distance determined from the second image coordinates and the projection coordinates.
The larger the distance determined from the second image coordinates and the projection coordinates, the larger the angle of the acute angle formed between the first straight line and the second straight line, and the larger the deviation of the distance between the second image coordinates and the projection coordinates, i.e., the lower the registration accuracy.
In addition, when the verification process is implemented, each coordinate position and the obtained straight line can be drawn in the perspective image, so that the distance between the second image coordinate corresponding to the same marker and the corresponding projection coordinate and the distance deviation represented by the angle between the first straight line and the second straight line are more intuitive, and the visualization of the registration accuracy verification process is realized besides the quantification of the registration accuracy verification is realized through the calculation.
As can be seen from the above, in the scheme provided by the embodiment of the present invention, the distance deviation between the second image coordinate and the projection coordinate is quantized from multiple dimensions by calculating the distance and the angle, the quantized data referred to when calculating the registration accuracy is sufficient, and the obtained accuracy is accurate.
In another embodiment of the present invention, if the number of the second image coordinates and the projection coordinates is 1, the registration accuracy may also be verified according to the distance between the line segments between the second image coordinates and the projection coordinates, and the longer the obtained line segment distance is, the lower the registration accuracy may be indicated.
In one embodiment of the present invention, referring to fig. 3, the calibration assembly includes: the positioning probe comprises a second marker, a positioning probe and a second positioning marker, wherein the front end of the positioning probe is placed on the second marker, and the second positioning marker is arranged at the tail end of the positioning probe.
The lower left panel of fig. 3 is the verification model for placement of the second marker, which is indicated by the black dot in the figure. The front end of the positioning probe is placed on the second marker on the right side of the figure, however, the positioning probe and the second marker are not fixed, and the front end of the probe can also be placed on the second marker on the left side of the figure after the positioning probe is moved.
In one implementation, the second marker is: the ball is marked. The marking ball can be a steel ball or a small metal ball made of other materials, such as an aluminum ball.
The front end of the positioning probe is a hemispherical groove. The inner diameter of the spherical groove is consistent with the outer diameter of the marking ball. Therefore, when the positioning probe is placed on the second marker, the central position of the positioning probe groove is matched with the spherical center of the marker ball, and the marker ball is positioned more accurately according to the position of the positioning probe.
The positioning probe body is a rod-shaped object shown in the figure, and the X-shaped bracket part at the tail end is a second positioning marker. The second location identifier is an identifier, also referred to as a tracer, that is recognized in three-dimensional space by the navigation system. The navigation system may be an optical infrared binocular camera system, a visible light binocular camera system, a magnetic navigation system, or the like. The second localization marker may be a device having the same structure as the tracer in fig. 2.
In this case, obtaining the second spatial coordinates of the second marker in the real three-dimensional space in the calibration assembly in the foregoing step S104 can be implemented as follows:
obtaining a third space coordinate of the second positioning marker in the real three-dimensional space; and determining a fourth space coordinate of the front end of the positioning probe in the real three-dimensional space based on the third space coordinate, and determining the fourth space coordinate as a second space coordinate of a second marker in the calibration assembly in the real three-dimensional space.
In an embodiment of the present invention, the third spatial coordinate may be obtained according to the following two implementation manners:
in an implementation manner, the third spatial coordinate may be obtained by using a method based on 3D depth sensor positioning, and the specific implementation manner may refer to the first spatial coordinate obtaining method described in the foregoing step S102, and the difference is only that the target of positioning is different, and details are not described here.
In another implementation, the step of obtaining the third spatial coordinate is as follows:
acquiring a target image which is acquired by second image acquisition equipment and contains a second positioning marker; identifying the feature point coordinates of the second positioning marker in the target image; acquiring pose information of the second positioning marker relative to the second image acquisition equipment according to the identified characteristic point coordinates; and determining a third space coordinate of the second positioning marker in the real three-dimensional space based on the pose information.
The feature point coordinates may be coordinates of a geometric center of the second localization marker, e.g., when the second localization marker is a sphere, the feature point coordinates may be coordinates of a center of the sphere of the second localization marker.
The second image capturing device may be a binocular camera for three-dimensional positioning. In this case, the binocular cameras may be adjusted so that the focal lengths of the left and right cameras are equal, and the coordinates of the feature points in the left and right images may be determined based on the left and right images obtained by photographing the same feature point by the left and right cameras. Based on the coordinates in the left and right images, the parallax of the left and right cameras can be calculated, the depth value of the imaging point is determined, the feature point coordinates are further determined according to the depth value and the similar triangle principle, and the pose information of the second positioning markers is obtained based on the feature point coordinates of the second positioning markers. Since the pose information includes information for performing translation and rotation with respect to the position of the second image capturing apparatus in the three-dimensional space, the position of the second localization marker in the three-dimensional space can be calculated from the pose information in the case where the position of the second image capturing apparatus is determined.
As can be seen from the above, in the scheme provided by the embodiment of the present invention, the second positioning marker is set, and the pose information of the second positioning marker relative to the second image capturing device is obtained according to the feature point coordinates of the second positioning marker, so that the third spatial coordinate of the second positioning marker can be obtained according to the pose information. Under the condition that the second positioning marker can be identified by the second image acquisition equipment, the obtained feature point coordinates can accurately represent the position of the second positioning marker, and accordingly, the obtained pose information and the third space coordinates are accurate.
After obtaining the third spatial coordinate, the second spatial coordinate may be obtained as follows:
in this implementation, the length and the axial direction of the positioning probe main body can be measured in advance, and the main body of the positioning probe and the second positioning marker can be relatively fixed by the bracket, so that the front end of the positioning probe and the second positioning marker can have a preset and fixed relative position relationship. In this case, after the third spatial coordinate of the second localization marker is obtained, the fourth spatial coordinate of the probe tip can be obtained by calculation based on the relative positional relationship, and the second spatial coordinate of the second marker can be determined.
Along with the above embodiment, the fourth spatial coordinate may be a center position coordinate of the positioning probe groove, and the second spatial coordinate of the second marker correspondingly indicates a spherical center position of the marker ball.
Therefore, in the scheme provided by the embodiment of the invention, the fourth spatial coordinate of the front end of the positioning probe can be obtained by positioning the second positioning marker of the probe, and the second spatial coordinate of the second marker in the real three-dimensional space can be more accurately determined according to the fourth spatial coordinate as the front end of the probe can be placed on the second marker.
A third implementation of obtaining the first spatial coordinates in step S102 will be described below.
In one embodiment of the present invention, the aforementioned registration assembly comprises: a first marker, a first location marker; the first marker and the first positioning identifier have a predetermined relative positional relationship. Referring to fig. 2, the first location marker is a tracer in a bitmap, the first marker is fixed on a registration plate in the bitmap, and the registration plate and the tracer are both fixed on the same device, so that the first marker and the first location marker have a predetermined relative positional relationship.
The first and second localization markers may be the same type of marker. In this case, obtaining first spatial coordinates of the first marker in the registration assembly in real three-dimensional space comprises the steps of: acquiring a fifth space coordinate of the first positioning marker in a real three-dimensional space; and determining the first spatial coordinates of the first marker in the registration assembly in the real three-dimensional space based on the fifth spatial coordinates and the relative positional relationship.
The fifth spatial coordinate is obtained as follows:
acquiring a second target image which is acquired by second image acquisition equipment and contains a first positioning marker; identifying the characteristic point coordinates of the first positioning identifier in the second target image; according to the recognized characteristic point coordinates, second position and posture information of the first positioning identifier relative to the second image acquisition equipment is obtained; and determining fifth space coordinates of the first positioning identifier based on the second posture information.
The second target image may be a visible light image, and the second image capturing device may be any device capable of capturing a visible light image, such as a camera.
The feature point coordinates of the first location identifier are similar to the feature point coordinates of the second location identifier in the previous embodiments, and the difference is only the conceptual replacement of the first location identifier and the second location identifier, and the detailed description is omitted here.
Under the condition that the first positioning marker can be identified by the second image acquisition equipment, the obtained feature point coordinates can accurately represent the position of the first positioning marker, and accordingly the obtained pose information and the fifth space coordinates are accurate.
The relative position relationship may be stored as a preset parameter in the electronic device executing the present solution, and after the fifth spatial coordinate is obtained, the first spatial coordinate may be obtained by calculating using the preset parameter. The electronic device performing the present solution may be any type of electronic device, such as a desktop computer or the like.
The above-mentioned manner of obtaining the fifth space coordinate is similar to the manner of obtaining the third space coordinate in the foregoing embodiment, and the difference is only that the names of the fifth space coordinate and the third space coordinate, the first positioning identifier and the second positioning identifier, the second target image and the target image are conceptually replaced, and detailed description is omitted here. Since the relative position relationship is fixed, after the fifth spatial coordinate is obtained, the corresponding first spatial coordinate can be obtained according to the relative position relationship.
As can be seen from the above, under the condition that the relative position relationship between the first marker and the first positioning marker is preset, the first spatial coordinate can be obtained through the fifth spatial coordinate and the relative position relationship, and an additional measurement process for the first marker is not required, so that the implementation process of the scheme is more convenient and faster.
Corresponding to the registration precision verification method, the invention also provides a registration precision verification device.
In an embodiment of the present invention, referring to fig. 4, there is provided a schematic structural diagram of a registration accuracy verification apparatus, the apparatus including:
a perspective image obtaining module 401, configured to obtain a perspective image collected by a registration component and a calibration component in a field of view of a first image collecting device;
a first coordinate obtaining module 402 for obtaining first spatial coordinates of a first marker in real three-dimensional space in the registration component and first image coordinates of the first marker in the fluoroscopic image;
a transformation relation obtaining module 403, configured to obtain a coordinate transformation relation between an image coordinate system corresponding to the perspective image and a space coordinate system corresponding to the real three-dimensional space based on the first space coordinate and the first image coordinate;
a second coordinate obtaining module 404, configured to obtain a second spatial coordinate of a second marker in the calibration component in the real three-dimensional space and a second image coordinate of the second marker in the perspective image;
a projection coordinate calculation module 405, configured to calculate, according to the coordinate transformation relationship, a projection coordinate corresponding to the second space coordinate in the image coordinate system;
a registration accuracy verification module 406, configured to verify, according to a distance deviation between the second image coordinate and the projection coordinate, a registration accuracy of image registration on the perspective image acquired by the first image acquisition device.
In the scheme provided by the embodiment of the invention, the perspective images acquired by the registration component and the calibration component in the field of view of the first image acquisition device are obtained, and the coordinate conversion relation between the image coordinate system corresponding to the perspective images and the space coordinate system corresponding to the real three-dimensional space is obtained according to the first space coordinate of the first marker in the registration component in the real three-dimensional space and the first image coordinate in the perspective images. The resulting coordinate transformation relationship can match the coordinates of the same spatial location in the two-dimensional image and the three-dimensional space, and can therefore be used to achieve image registration.
Through the coordinate conversion relationship, the projection position of the second marker in the calibration component in the perspective image can be obtained, and the distance deviation between the projection position and the position of the second marker in the perspective image is determined. Because the calibration component and the registration component are positioned in a unified image coordinate system where the perspective image is positioned, that is, the same coordinate conversion relationship is adopted, and when the registration component is registered, the distance deviation between the position information represented by the space coordinate in the three-dimensional space and the position information represented by the image coordinate in the perspective image is consistent with the distance deviation calculated according to the second marker, the scheme provided by the embodiment of the invention verifies the actual error generated when the obtained conversion relationship is used for registration, and realizes the verification of the registration accuracy.
In one embodiment of the invention, in the case that the second image coordinate and the projection coordinate are both greater than 1,
the registration accuracy verification module 406, specifically configured to determine a first straight line passing through the position represented by the second image coordinate and a second straight line passing through the position represented by the projection coordinate; obtaining an included angle between the first straight line and the second straight line; obtaining a distance determined according to the second image coordinate and the projection coordinate; and verifying the registration precision of image registration of the perspective image acquired by the first image acquisition equipment according to the distance and the angle.
As can be seen from the above, in the scheme provided by the embodiment of the present invention, the distance deviation between the second image coordinate and the projection coordinate is quantized from multiple dimensions by calculating the distance and the angle, the quantized data referred to when calculating the registration accuracy is sufficient, and the obtained accuracy is accurate.
In an embodiment of the present invention, the registration accuracy verification module 406 is specifically configured to determine a first straight line passing through the position represented by the second image coordinate and a second straight line passing through the position represented by the projection coordinate; obtaining an included angle between the first straight line and the second straight line; calculating the distance between the second image coordinate corresponding to the same marker in the calibration assembly and the corresponding projection coordinate; obtaining an average value of the calculated distances as a distance determined according to the second image coordinates and the projection coordinates; and verifying the registration accuracy of image registration of the perspective image acquired by the first image acquisition equipment according to the distance and the angle.
In this way, the distance deviation between the second image coordinate and the projection coordinate can be determined according to the average value, and the registration accuracy can be verified.
In one embodiment of the present invention, the calibration assembly includes: the positioning probe comprises a second marker, a positioning probe and a second positioning marker, wherein the front end of the positioning probe is placed on the second marker, and the second positioning marker is arranged at the tail end of the positioning probe;
the second coordinate obtaining module 404, including:
the first coordinate obtaining unit is used for obtaining a third space coordinate of the second positioning marker in a real three-dimensional space;
the first coordinate determination unit is used for determining a fourth space coordinate of the front end of the positioning probe in the real three-dimensional space based on the third space coordinate, and determining the fourth space coordinate as a second space coordinate of a second marker in the calibration assembly in the real three-dimensional space;
a second coordinate obtaining unit for obtaining second image coordinates of the second marker in the fluoroscopic image.
Therefore, in the scheme provided by the embodiment of the invention, the fourth spatial coordinate of the front end of the positioning probe can be obtained by positioning the second positioning marker of the probe, and the second spatial coordinate of the second marker in the real three-dimensional space can be more accurately determined according to the fourth spatial coordinate as the front end of the probe can be placed on the second marker.
In an embodiment of the present invention, the first coordinate obtaining unit is specifically configured to obtain a target image that is collected by a second image collecting device and includes the second positioning identifier; identifying the feature point coordinates of the second positioning identifier in the target image; acquiring pose information of the second positioning marker relative to the second image acquisition equipment according to the identified characteristic point coordinates; and determining a third space coordinate of the second positioning marker in the real three-dimensional space based on the pose information.
As can be seen from the above, in the scheme provided by the embodiment of the present invention, the second positioning marker is obtained according to the feature point coordinates of the second positioning marker by setting the second positioning marker, and the pose information of the second positioning marker relative to the second image capturing device is obtained, so that the third spatial coordinate of the second positioning marker can be obtained according to the pose information. Under the condition that the second positioning marker can be identified by the second image acquisition equipment, the obtained feature point coordinates can accurately represent the position of the second positioning marker, and accordingly, the obtained pose information and the third space coordinates are accurate.
In one embodiment of the invention, the second marker is: marking the ball; the front end of the positioning probe is a hemispherical groove; the inner diameter of the hemispherical groove is consistent with the outer diameter of the marking ball.
Therefore, when the positioning probe is placed on the second marker, the central position of the positioning probe groove is matched with the spherical center of the marker ball, and the marker ball is positioned more accurately according to the position of the positioning probe.
In one embodiment of the invention, the registration assembly comprises: a first marker, a first location marker; the first marker and the first positioning marker have a preset relative position relationship;
the first coordinate obtaining module 402, including:
a third coordinate obtaining unit, configured to obtain a fifth spatial coordinate of the first positioning marker in a real three-dimensional space;
a second coordinate determination unit, configured to determine, based on the fifth spatial coordinate and the relative positional relationship, a first spatial coordinate of a first marker in the registration component in a real three-dimensional space;
a fourth coordinate obtaining unit for obtaining first image coordinates of the first marker in the fluoroscopic image.
Therefore, under the condition that the relative position relation between the first marker and the first positioning marker is preset, the first space coordinate can be obtained through the fifth space coordinate and the relative position relation, and an additional measuring process for the first marker is not needed, so that the implementation process of the scheme is more convenient and faster.
In an embodiment of the present invention, the third coordinate obtaining unit is specifically configured to: acquiring a second target image which is acquired by second image acquisition equipment and contains the first positioning marker; identifying feature point coordinates of the first positioning identifier in the second target image; according to the recognized feature point coordinates, second position information of the first positioning identifier relative to the second image acquisition equipment is obtained; determining a fifth spatial coordinate of the first location marker based on the second position information.
Under the condition that the first positioning marker can be identified by the second image acquisition equipment, the obtained feature point coordinates can accurately represent the position of the first positioning marker, and accordingly the obtained pose information and the fifth space coordinates are accurate.
An embodiment of the present invention further provides an electronic device, as shown in fig. 5, which includes a processor 501, a communication interface 502, a memory 503 and a communication bus 504, where the processor 501, the communication interface 502 and the memory 503 complete mutual communication through the communication bus 504,
a memory 503 for storing a computer program;
the processor 501 is configured to implement the following steps when executing the program stored in the memory 503:
obtaining perspective images acquired by a registration component and a calibration component in a field of view of a first image acquisition device;
obtaining first spatial coordinates of a first marker in a real three-dimensional space in the registration component and first image coordinates of the first marker in the fluoroscopic image;
obtaining a coordinate conversion relation between an image coordinate system corresponding to the perspective image and a space coordinate system corresponding to the real three-dimensional space based on the first space coordinate and the first image coordinate;
obtaining a second space coordinate of a second marker in the calibration component in a real three-dimensional space and a second image coordinate of the second marker in the perspective image;
calculating the corresponding projection coordinate of the second space coordinate in the image coordinate system according to the coordinate conversion relation;
and verifying the registration accuracy of image registration of the perspective image acquired by the first image acquisition equipment according to the distance deviation between the second image coordinate and the projection coordinate.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
In yet another embodiment provided by the present invention, a computer-readable storage medium is also provided, in which a computer program is stored, which when executed by a processor implements the steps of the registration accuracy verification method described above.
In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the registration accuracy verification method of the above embodiment.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to be performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (18)
1. A registration accuracy verification method, characterized in that the method comprises:
obtaining perspective images acquired by a registration component and a calibration component in a field of view of a first image acquisition device;
obtaining first spatial coordinates of a first marker in a real three-dimensional space in the registration component and first image coordinates of the first marker in the fluoroscopic image;
obtaining a coordinate conversion relation between an image coordinate system corresponding to the perspective image and a space coordinate system corresponding to the real three-dimensional space based on the first space coordinate and the first image coordinate;
obtaining a second space coordinate of a second marker in the calibration component in real three-dimensional space and a second image coordinate of the second marker in the perspective image;
calculating the corresponding projection coordinate of the second space coordinate in the image coordinate system according to the coordinate conversion relation;
and verifying the registration accuracy of image registration of the perspective image acquired by the first image acquisition equipment according to the distance deviation between the second image coordinate and the projection coordinate.
2. The method according to claim 1, wherein in a case that the second image coordinate and the projection coordinate are both greater than 1, the verifying the registration accuracy of image registration of the perspective image acquired by the first image acquisition device according to the distance deviation between the second image coordinate and the projection coordinate comprises:
determining a first straight line passing through the position represented by the second image coordinates and a second straight line passing through the position represented by the projection coordinates;
obtaining an included angle between the first straight line and the second straight line;
obtaining a distance determined according to the second image coordinate and the projection coordinate;
and verifying the registration precision of image registration of the perspective image acquired by the first image acquisition equipment according to the distance and the angle.
3. The method of claim 2, wherein obtaining the distance determined from the second image coordinates and the projection coordinates comprises:
calculating the distance between the second image coordinate corresponding to the same marker in the calibration component and the corresponding projection coordinate;
and obtaining the average value of the calculated distances as the distance determined according to the second image coordinate and the projection coordinate.
4. The method of claim 1, the calibration assembly comprising: the positioning probe comprises a second marker, a positioning probe and a second positioning marker, wherein the front end of the positioning probe is placed on the second marker, and the second positioning marker is arranged at the tail end of the positioning probe;
the obtaining of the second space coordinate of the second marker in the calibration component in the real three-dimensional space comprises:
obtaining a third space coordinate of the second positioning marker in a real three-dimensional space;
and determining a fourth space coordinate of the front end of the positioning probe in the real three-dimensional space based on the third space coordinate, and determining the fourth space coordinate as a second space coordinate of a second marker in the calibration assembly in the real three-dimensional space.
5. The method of claim 4, wherein obtaining third spatial coordinates of the second location marker in real three-dimensional space comprises:
acquiring a target image which is acquired by second image acquisition equipment and contains the second positioning marker;
identifying feature point coordinates of the second localization marker in the target image;
acquiring pose information of the second positioning marker relative to the second image acquisition equipment according to the identified feature point coordinates;
and determining a third space coordinate of the second positioning marker in the real three-dimensional space based on the pose information.
6. The method according to claim 4 or 5,
the second marker is: marking the ball;
the front end of the positioning probe is a hemispherical groove;
the inner diameter of the hemispherical groove is consistent with the outer diameter of the marking ball.
7. The method of any of claims 1-5, wherein the registration assembly comprises: a first marker, a first location marker; the first marker and the first positioning identifier have a preset relative position relationship;
the obtaining first spatial coordinates of a first marker in the registration assembly in real three-dimensional space comprises:
obtaining a fifth space coordinate of the first positioning marker in a real three-dimensional space;
determining a first spatial coordinate of a first marker in the registration assembly in real three-dimensional space based on the fifth spatial coordinate and the relative positional relationship.
8. The method of claim 7, wherein obtaining fifth spatial coordinates of the first location marker in real three-dimensional space comprises:
acquiring a second target image which is acquired by second image acquisition equipment and contains the first positioning marker;
identifying the feature point coordinates of the first positioning identifier in the second target image;
according to the recognized feature point coordinates, second position and posture information of the first positioning identifier relative to the second image acquisition equipment is obtained;
determining a fifth spatial coordinate of the first location marker based on the second position information.
9. A registration accuracy verification apparatus, characterized in that the apparatus comprises:
the perspective image acquisition module is used for acquiring a perspective image acquired by a registration component and a calibration component in a field of view of the first image acquisition equipment;
a first coordinate obtaining module for obtaining first space coordinates of a first marker in a real three-dimensional space in the registration component and first image coordinates of the first marker in the fluoroscopic image;
a transformation relation obtaining module, configured to obtain a coordinate transformation relation between an image coordinate system corresponding to the perspective image and a space coordinate system corresponding to the real three-dimensional space based on the first space coordinate and the first image coordinate;
a second coordinate obtaining module, configured to obtain a second space coordinate of a second marker in the calibration component in the real three-dimensional space and a second image coordinate of the second marker in the perspective image;
the projection coordinate calculation module is used for calculating the corresponding projection coordinate of the second space coordinate in the image coordinate system according to the coordinate conversion relation;
and the registration precision verification module is used for verifying the registration precision of image registration of the perspective image acquired by the first image acquisition equipment according to the distance deviation between the second image coordinate and the projection coordinate.
10. The apparatus of claim 9, wherein in the case that the second spatial coordinate and the projection coordinate are both greater than 1,
the registration accuracy verification module is specifically configured to determine a first straight line passing through the position represented by the second image coordinate and a second straight line passing through the position represented by the projection coordinate; obtaining an included angle between the first straight line and the second straight line; obtaining a distance determined according to the second image coordinate and the projection coordinate; and verifying the registration precision of image registration of the perspective image acquired by the first image acquisition equipment according to the distance and the angle.
11. The apparatus of claim 10,
the registration accuracy verification module is specifically configured to determine a first straight line passing through the position represented by the second image coordinate and a second straight line passing through the position represented by the projection coordinate; obtaining an included angle between the first straight line and the second straight line; calculating the distance between the second image coordinate corresponding to the same marker in the calibration assembly and the corresponding projection coordinate; obtaining an average value of the calculated distances as a distance determined according to the second image coordinates and the projection coordinates; and verifying the registration precision of image registration of the perspective image acquired by the first image acquisition equipment according to the distance and the angle.
12. The apparatus of claim 9, the calibration assembly comprising: the positioning probe comprises a second marker, a positioning probe and a second positioning marker, wherein the front end of the positioning probe is placed on the second marker, and the second positioning marker is arranged at the tail end of the positioning probe;
the second coordinate obtaining module includes:
the first coordinate obtaining unit is used for obtaining a third space coordinate of the second positioning marker in a real three-dimensional space;
the first coordinate determination unit is used for determining a fourth space coordinate of the front end of the positioning probe in the real three-dimensional space based on the third space coordinate, and determining the fourth space coordinate as a second space coordinate of a second marker in the calibration assembly in the real three-dimensional space;
a second coordinate obtaining unit for obtaining second image coordinates of the second marker in the fluoroscopic image.
13. The apparatus of claim 12,
the first coordinate obtaining unit is specifically configured to obtain a target image including the second positioning identifier, which is acquired by a second image acquisition device; identifying feature point coordinates of the second localization marker in the target image; acquiring pose information of the second positioning marker relative to the second image acquisition equipment according to the identified characteristic point coordinates; and determining a third space coordinate of the second positioning marker in the real three-dimensional space based on the pose information.
14. The apparatus of claim 12 or 13,
the second marker is: marking the ball;
the front end of the positioning probe is a hemispherical groove;
the inner diameter of the hemispherical groove is consistent with the outer diameter of the marking ball.
15. The apparatus of any of claims 9-13, wherein the registration assembly comprises: a first marker, a first localization marker; the first marker and the first positioning marker have a preset relative position relationship;
the first coordinate obtaining module includes:
a third coordinate obtaining unit, configured to obtain a fifth spatial coordinate of the first positioning marker in a real three-dimensional space;
a second coordinate determination unit for determining a first spatial coordinate of a first marker in the registration component in real three-dimensional space based on the fifth spatial coordinate and the relative positional relationship;
a fourth coordinate obtaining unit for obtaining first image coordinates of the first marker in the fluoroscopic image.
16. The apparatus of claim 15,
the third coordinate obtaining unit is specifically configured to: acquiring a second target image which is acquired by second image acquisition equipment and contains the first positioning marker; identifying feature point coordinates of the first positioning identifier in the second target image; according to the recognized feature point coordinates, second position and posture information of the first positioning identifier relative to the second image acquisition equipment is obtained; determining a fifth spatial coordinate of the first location marker based on the second position information.
17. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1 to 8 when executing a program stored in the memory.
18. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 1-8.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116342672A (en) * | 2023-05-26 | 2023-06-27 | 杭州三坛医疗科技有限公司 | Hip joint actual position registration method and device, electronic equipment and storage medium |
| CN116363184A (en) * | 2023-05-26 | 2023-06-30 | 杭州三坛医疗科技有限公司 | Hip joint position registration method and device, electronic equipment and storage medium |
| CN116370089A (en) * | 2023-05-22 | 2023-07-04 | 苏州派尼迩医疗科技有限公司 | Method and system for detecting positioning accuracy of puncture surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116370089A (en) * | 2023-05-22 | 2023-07-04 | 苏州派尼迩医疗科技有限公司 | Method and system for detecting positioning accuracy of puncture surgical robot |
| CN116370089B (en) * | 2023-05-22 | 2023-11-24 | 苏州派尼迩医疗科技有限公司 | Method and system for detecting positioning accuracy of puncture surgical robot |
| CN116342672A (en) * | 2023-05-26 | 2023-06-27 | 杭州三坛医疗科技有限公司 | Hip joint actual position registration method and device, electronic equipment and storage medium |
| CN116363184A (en) * | 2023-05-26 | 2023-06-30 | 杭州三坛医疗科技有限公司 | Hip joint position registration method and device, electronic equipment and storage medium |
| CN116342672B (en) * | 2023-05-26 | 2023-10-03 | 杭州三坛医疗科技有限公司 | Hip joint actual position registration method and device, electronic equipment and storage medium |
| CN116363184B (en) * | 2023-05-26 | 2023-10-03 | 杭州三坛医疗科技有限公司 | Hip joint position registration method and device, electronic equipment and storage medium |
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