CN116459000B - Method, apparatus, device and medium for determining spatial path - Google Patents
Method, apparatus, device and medium for determining spatial path Download PDFInfo
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Abstract
The embodiment of the disclosure provides a method, a device, equipment and a medium for determining a space path. The method for determining the space path comprises the following steps: acquiring two developed images and a plane path; acquiring space coordinates of a light blocking mark point; determining a first projection plane and a coordinate conversion relation; determining a homography matrix based on the plane coordinates of the projection points of the first resistive mark points in the first projection plane and the plane coordinates of the projection points in the developed image; determining the space coordinates of the high-energy ray point source based on the space coordinates of the second light blocking mark point, the plane coordinates of the projection point of the second light blocking mark point in the developed image, the homography matrix and the coordinate conversion relation; determining the space coordinates of a space projection path of the plane path on the first plane based on the plane coordinates of the plane path, the homography matrix and the coordinate conversion relation; determining a target surface based on the space coordinates and the space projection path of the high-energy ray point source; and obtaining a space intersection line of the two target surfaces, and taking the space intersection line as a space path.
Description
Technical Field
The present disclosure relates to the field of optical capturing, and in particular, to a method, apparatus, device, and medium for determining a spatial path.
Background
In implanting an implant device within a target object with internal structures invisible, it is necessary to first determine the implant device spatial path. Because the internal structure of the target object is invisible, in the related art, a high-energy radiation source is mostly adopted to irradiate the target object at least two irradiation angles to form a developed image of the internal structure of the target object, then a professional familiar with the internal structure of the target object marks plane paths in the two developed images, and space imagination is carried out according to the two plane paths to determine the space paths during implantation. However, the spatial path determined by the foregoing method depends on experience and spatial imagination of a professional, and the spatial path determined based on the foregoing experience and spatial imagination cannot be reproduced accurately.
Disclosure of Invention
In order to solve the technical problems described above, embodiments of the present disclosure provide a method, an apparatus, a device, and a medium for determining a spatial path.
In a first aspect, an embodiment of the present disclosure provides a method for determining a spatial path, including: acquiring two development images and plane paths respectively drawn in the two development images, wherein the two development images are formed by irradiating a space positioner by a high-energy ray point source at two irradiation angles, the space positioner comprises first light blocking mark points positioned on a first plane and second light blocking mark points positioned outside the first plane, the number of the first light blocking mark points is at least four, and the number of the second light blocking mark points is at least two;
Acquiring space coordinates of the first light blocking mark point and the second light blocking mark point when two developing images are formed;
for the plane paths in the two developed images, the following A-E are respectively executed until two corresponding target surfaces are obtained:
a, determining a first projection plane, and determining a coordinate conversion relation according to the space coordinates of the first cursor resistance marking point and the projection coordinates on the first projection plane, wherein the first projection plane is not parallel to the plane where the developed image is located;
b, determining a homography matrix between the first projection plane and a plane where the developed image is located based on plane coordinates of a projection point of the first resistive mark point in the first projection plane and plane coordinates of a projection point in the developed image;
c, determining the space coordinates of the point source based on the space coordinates of the second light blocking mark point, the plane coordinates of the projection point of the second light blocking mark point in the developed image, the homography matrix and the coordinate conversion relation;
d, determining the space coordinates of a space projection path of the plane path on the first plane based on the plane coordinates of the plane path, the homography matrix and the coordinate conversion relation;
E, determining the target surface based on the spatial coordinates of the point source and the spatial projection path;
and solving a space intersection line of the two target surfaces, and taking the space intersection line as a space path.
Optionally, determining the spatial coordinates of the point source based on the spatial coordinates of the second resistive marker point, the plane coordinates of the projection point of the second resistive marker point in the developed image, the homography matrix and the coordinate conversion relationship; comprising:
determining the plane coordinates of a first projection point of the second light blocking mark point on the first projection plane based on the plane coordinates of the projection point of the second light blocking mark point in the developed image and the homography matrix;
based on the coordinate conversion relation, determining the space coordinates of a second projection point of the second light blocking mark point on the first plane according to the plane coordinates of the first projection point;
determining a space straight line according to the space coordinates of the second light blocking mark point and the space coordinates of the corresponding second projection point;
and determining the space coordinates of the point sources according to the space straight lines corresponding to the second resistive marking points.
Optionally, the number of the second resistive marker points is at least three;
The determining the spatial coordinates of the point source according to the spatial straight lines corresponding to the second resistive marking points includes:
and determining the space coordinates of the point source based on the intersection point of at least three space straight lines by adopting a least square method.
Optionally, the determining, based on the plane coordinates of the plane path, the homography matrix, and the coordinate conversion relation, the spatial coordinates of the spatial projection path of the plane path on the first plane includes:
determining the plane coordinates of a first projection path of the plane path on the first projection plane based on the plane coordinates of the plane path and the homography matrix;
determining the space coordinates of the space projection path based on the plane coordinates of the first projection path and the coordinate conversion relation;
optionally, the planar path is a straight path; the determining, based on the plane coordinates of the plane path and the homography matrix, the plane coordinates of the first projection path of the plane path on the first projection plane includes:
acquiring the endpoint plane coordinates of the plane path;
and determining the plane coordinates of the first projection path according to the endpoint plane coordinates and the homography matrix.
Optionally, the number of the first resistive marker points is at least five; the determining a homography matrix between the first projection plane and the plane of the developed image based on the plane coordinates of the projection point of the first resistive marking point in the first projection plane and the plane coordinates of the projection point in the developed image comprises:
and determining the homography matrix by adopting a least square method based on the plane coordinates of the projection points of the first resistive mark points in the first plane and the plane coordinates of the projection points in the developed image.
Optionally, the spatial locator further comprises at least three reflective marker points, and the relative positional relationship between the at least three reflective marker points and the first light blocking marker point and the second light blocking marker point is known;
the acquiring the space coordinates of the first light blocking mark point and the second light blocking mark point when two developed images are formed comprises:
capturing reflective characteristic information of the at least three reflective marker points by adopting an optical system while forming the developed image by irradiation;
determining the space coordinates of the at least three reflective marker points according to the reflective characteristic information of the reflective marker points;
And determining the space coordinates of the first light blocking mark point and the second light blocking mark point according to the space coordinates of the at least three light reflecting mark points and the phase position relation.
In a second aspect, embodiments of the present disclosure provide an apparatus for determining a spatial path, including:
the data acquisition unit acquires two development images and plane paths respectively drawn in the two development images, and acquires space coordinates of the first light blocking mark points and the second light blocking mark points when the two development images are formed, wherein the two development images are images formed by irradiating a space positioner by a high-energy ray point source at two irradiation angles, the space positioner comprises a first light blocking mark point positioned on a first plane and a second light blocking mark point positioned outside the first plane, the number of the first light blocking mark points is at least four, and the number of the second light blocking mark points is at least two;
a target surface determining unit for determining two corresponding target surfaces for the planar paths in the two developed images;
a space path determining unit, configured to obtain a space intersection of two object planes, and take the space intersection as a space path; wherein the target surface determining unit includes:
The coordinate conversion relation determining subunit is used for determining a first projection plane, and determining a coordinate conversion relation according to the space coordinates of the first resistive marker point and the projection coordinates on the first projection plane, wherein the first projection plane is not parallel to the plane where the developed image is located;
a homography matrix calculation subunit, configured to determine a homography matrix between the first projection plane and a plane where the developed image is located, based on plane coordinates of a projection point of the first resistive mark point in the first projection plane and plane coordinates of a projection point in the developed image;
the point source space coordinate calculating subunit is used for determining the space coordinate of the high-energy ray point source based on the space coordinate of the second light blocking mark point, the plane coordinate of the projection point of the second light blocking mark point in the developed image, the homography matrix and the coordinate conversion relation;
a spatial path calculation subunit, configured to determine, based on a plane coordinate of the plane path, the homography matrix, and the coordinate conversion relationship, a spatial coordinate of a spatial projection path of the plane path on the first plane;
and the target surface determining subunit is used for determining the target surface based on the space coordinates of the high-energy ray point source and the space projection path.
In a third aspect, an embodiment of the present disclosure provides a spatial locator, including a body, a spatial marker, at least four first light blocking marker points, and at least two second light blocking marker points;
the space marking part, the first light blocking marking point and the second light blocking marking point are rigidly connected through the body, and the relative position relation between the first light blocking marking point and the second light blocking marking point and the body is determined;
the space marking part is used for determining the space coordinates and the pose of the body;
the at least four first light blocking mark points are located on the same plane, and each second light blocking mark point is located outside the plane.
In a fourth aspect, embodiments of the present disclosure provide a computing device comprising a processor and a memory for storing a computer program; the computer program, when loaded by the processor, causes the processor to carry out the method of determining a spatial path as described above.
In a fifth aspect, embodiments of the present disclosure provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement a method of determining a spatial path as previously described.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
according to the scheme provided by the embodiment of the disclosure, through the space coordinates of the first light blocking mark point positioned on the first plane and the second light blocking mark point positioned outside the first plane and the plane coordinates in the developed images, the space coordinates of the high-energy ray point sources corresponding to the two developed images are calculated, the space coordinates of the space projection paths of the plane paths in the two developed images on the first plane are calculated, and the target surface can be determined according to the space coordinates of the high-energy ray point sources and the space coordinates of the space projection paths. The spatial path is then obtained by calculating the intersection of the two object planes. By the method provided by the embodiment of the disclosure, the computing device can determine the space path based on the two plane paths, so that the space path can be accurately reproduced without depending on experience and space imagination of professionals to determine the space path.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described below. It will be obvious to those skilled in the art that other figures can be obtained from these figures without inventive effort, in which:
FIG. 1 is a flow chart of a method of determining spatial paths provided by an embodiment of the present disclosure;
FIG. 2 is a flow chart of a method of determining a target surface provided by an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of a high energy radiation source illuminating a blocked spot in a spatial locator to form a developed image;
FIG. 4 is a display view of a portion of the information of FIG. 3;
FIG. 5 is a display view of a portion of the information of FIG. 4;
FIG. 6 is a schematic illustration of determining a spatial path using planar paths on two developed images;
FIG. 7 is a schematic structural view of an apparatus for determining a spatial path provided by an embodiment of the present disclosure;
FIG. 8 is a schematic structural view of a spatial locator provided by an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a computing device provided by an embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
In order to solve the problem that the spatial path determined in the related art depends on experience and spatial imagination of a professional and the spatial path determined based on the foregoing experience and spatial imagination is not reproducible accurately, the embodiments of the present disclosure provide a new method of determining a spatial path for implantation during implantation.
Fig. 1 is a flow chart of a method of determining a spatial path provided by an embodiment of the present disclosure. As shown in fig. 1, the method for determining a spatial path provided by the embodiment of the present disclosure includes S110 to S140.
It should be noted that the method for determining a spatial path provided by the embodiments of the present disclosure may be performed by various types of computing devices, such as a server, or may be a terminal electronic device that may communicate with the server to obtain data related to the storage of the server.
S110: and acquiring two developed images and plane paths respectively drawn in the two developed images, wherein the two developed images are formed by irradiating a space positioner by a high-energy ray point source at two irradiation angles, and the space positioner comprises a first light blocking mark point positioned on a first plane and a second light blocking mark point positioned outside the first plane.
In the embodiment of the disclosure, the developed image is an image formed on an imaging plane by irradiating the spatial locator with high-energy rays emitted by a high-energy ray point source.
The spatial locator is an auxiliary calibration component for enabling spatial coordinate determination of at least part of the object. The spatial locator includes a first light blocking marker located on a first plane and a second light blocking marker located outside the first plane.
The number of the first light-blocking mark points is at least 4, and the number of the second light-blocking mark points is at least 2.
The mark point with high absorption capacity to high energy ray can be made with obvious developing information in the developed image.
Because the developed image is an image formed by simultaneous irradiation with the high-energy radiation source spatial locator, the developed image includes the developed information of each first and each second resistive marking point. And determining the plane coordinates of each first light blocking mark point and each second light blocking mark point in the developed image according to the coordinate system of the plane in which the developed image is located.
The high-energy ray point source is a point light source capable of generating high-energy rays, which can generate rays having a strong penetrating power such as X-rays.
The penetration of high energy rays is relative to the target object in the use scenario. The target object is an object to be subjected to device implantation, and the target object can be the living body with bones, a metal component and other types of objects. In the case where the target object is a living body having bones, the high-energy rays are rays of a specific wavelength band which are hardly absorbed by muscle tissue of the living body but easily absorbed by bone tissue. In the case where the target object is a metal member, the high-energy radiation is a radiation of a specific wavelength band capable of penetrating the metal member.
In the embodiment of the disclosure, the developed image includes imaging of the target object in addition to imaging of the light blocking mark point in the spatial locator. The spatial path is determined in order to determine the spatial path of the implant inside the target object.
The planar path is a planar path empirically drawn in a developed image after a professional observes image information of a target object in the developed image. The planar path may be a straight path or a curved path, which is not limited by the embodiments of the present disclosure. Preferably, in the case where the target object is a living body, and in the case where an orthopedic operation (for example, a steel nail implantation operation) is required for the target object, the planar path is preferably a straight path.
S120: and acquiring the space coordinates of the first light blocking mark point and the second light blocking mark point when two developing images are formed.
In the embodiment of the disclosure, when the two developing images are formed, the spatial coordinates of the first light blocking mark point and the second light blocking mark point may be determined simultaneously according to other information.
In an embodiment of the disclosure, the spatial locator includes at least three reflective marker points in addition to the first light blocking marker point and the second light blocking marker point, and the relative positional relationship between the at least three reflective marker points and the first light blocking point and the second light blocking point is known. The reflective mark points are mark points which can adopt an optical capturing system to capture information and further determine the space coordinates of the reflective mark points. In the case of a spatial locator having the aforementioned retroreflective marker, the computing device may determine the spatial coordinates of the first and second retroreflective marker using S121-S123 as follows.
S121: the light reflection characteristic information of at least three light reflection mark points is captured by an optical capturing system while the developed image is formed by irradiation.
S122: and determining the space coordinates of at least three reflective marker points according to the reflective characteristic information of at least three reflective marker points.
The prior art has been adopted to collect the reflective characteristic information of the reflective marker point by using the optical writing capturing system, and determine the spatial coordinates of the reflective marker point according to the reflective characteristic information, which is not specifically developed here. The related art may be referred to the existing patent literature, for example, the patent technical literature already disclosed in nordstem and the technical literature already disclosed in the product for sale.
S123: and determining the space coordinates of the first light blocking mark point and the second light blocking mark point according to the space coordinates and the phase position relation of the light reflecting mark points.
After the space coordinates of the reflective mark points are determined, coordinate calculation is performed according to the space coordinates and the relative position relationship of the reflective mark points, so that the space coordinates of the first light blocking mark points and the second light blocking mark points can be determined.
The foregoing describes determining the spatial coordinates of each of the first and second resistive marker points using an optical capture method. In other embodiments, the computing device may also determine the spatial coordinates of the first light blocking mark point and the second light blocking mark point by using other methods, for example, may determine the spatial position and the gesture of the spatial locator by using the output data of the inertial sensor, and determine the spatial coordinates of each of the first light blocking mark point and the second light blocking mark point according to the spatial position and the gesture of the spatial locator.
S130: for the planar paths in the two developed images, two corresponding target surfaces are respectively determined.
The target surface is a surface defined by a planar path in the developed image and the spatial coordinates of the high energy ray point source at the time of forming the corresponding developed image. The target surface can be a plane or a curved surface, and is specifically determined by the type of the plane straight-in path. In the case that the planar path is a straight path, the target surface is a plane; in the case where the planar path is a curved path, the target surface is a curved surface.
Fig. 2 is a flowchart of a method for determining a target surface provided by an embodiment of the present disclosure. As shown in FIG. 2, in particular embodiments, the computing device may determine a target surface for each planar path using S210-S250 as follows.
S210: and determining plane coordinates of the first projection plane and the projection point of the first cursor resistance marking point on the first projection plane, and determining a coordinate conversion relation according to the space coordinates of the first cursor resistance marking point and the plane coordinates on the first projection plane.
The first projection plane is a plane whose plane expression is known, and is not parallel to the plane in which the developed image is located.
In the embodiment of the disclosure, after the first projection plane is determined, the first resistive marker point may be projected onto the first projection plane, and the corresponding projection point and the plane coordinates of the projection point are determined. And then, according to the plane coordinates and the space coordinates of the first light blocking mark point, determining the coordinate conversion relation between the plane coordinates of the first projection plane and the space coordinates of the first plane.
S220: and determining a homography matrix between the first projection plane and the plane of the developed image based on the plane coordinates of the projection points of the first resistive mark points in the first projection plane and the plane coordinates of the projection points in the developed image.
The following briefly describes the procedure for deriving the homography matrix.
The plane coordinate of the projection point of the first light-blocking mark point on the plane of the developed image is known as p i ＝(u i ,v i ) The plane coordinate of the projection point on the first developing plane is q i ＝(x i ,y i ). Because both plane coordinates are associated with the spatial coordinates of the first resistive marker point, according to known theoryTo obtain
Wherein s is an arbitrary real number,
is a homography matrix.
Expanding the above formula, s×u i ＝h 11 *x i +h 12 *y i +h 13 ，s*v i ＝h 21 *x i +h 22 *y i +h 23 ，s＝h 31 *x i +h 32 *y i +h 33 Building ax=0, x= (h 11 ,h 12 ,h 13 ,h 21 ,h 22 ,h 23 ,h 31 ,h 32 ,h 33 ) T Can obtain
(h 31 *x i +h 32 *y i +h 33 )*u i ＝h 11 *x i +h 12 *y i +h 13
(h 31 *x i +h 32 *y i +h 33 )*v i ＝h 21 *x i +h 22 *y i +h 23
Can then get
Because homography matrix is independent of scale, h can be determined 33 Assuming 1 for normalization, there are 8 unknowns in total. Because each planar coordinate pair can co-represent two sets of equations, at least four planar coordinate pairs are required to achieve the solution of the aforementioned matrix, i.e., at least four first resistive marker points are required. As before, in some specific applications, the number of first resistive marker points is more than four, in which case the least squares method can be used to solve the equation to determine the homography matrix 。
S230: and determining the space coordinates of the high-energy ray point source based on the space coordinates of the second light blocking mark point, the plane coordinates of the projection point of the second light blocking mark point in the developed image, the homography matrix and the coordinate conversion relation.
After determining the homography matrix, the plane coordinates of the projection points of the second light blocking mark points in the developed image, the homography matrix, the coordinate conversion relation, and the space coordinates of the first light blocking mark points can be used to determine the space coordinates of the projection points of the second light blocking mark points on the first plane.
After determining the spatial coordinates of the projection point of the second light-blocking mark point on the first plane, a straight line may then be determined based on the spatial coordinates of the aforementioned projection point and the spatial coordinates of the first light-blocking point. Theoretically, the high energy ray point source is located on a straight line determined by the foregoing method.
Since the number of the aforementioned second light blocking points is at least two, at least two straight lines can be determined. After determining at least two straight lines, an intersection point of the at least two straight lines may be obtained, and the space coordinates of the high-energy ray point source may be determined using the intersection point.
In particular implementations, the computing device may determine the spatial coordinates of the high energy point source using the following specific steps S231-S234.
S231: and determining the plane coordinates of the first projection point of the second light blocking mark point on the first projection plane based on the plane coordinates of the projection point of the second light blocking mark point in the developed image and the homography matrix.
S232: and determining the space coordinates of the second projection point of the second light blocking mark point on the first plane according to the plane coordinates of the first projection point based on the coordinate conversion relation.
The aforementioned S231-S232 are all coordinate transformations involving points between two planes, all implemented using known transformation relationships, and are not developed here.
S233: and determining a space straight line according to the space coordinates of the second light blocking mark point and the space coordinates of the corresponding second projection point.
S234: and determining the space coordinates of the high-energy ray point source according to the space straight lines corresponding to the second light-blocking mark points.
The S233 is a spatial expression for determining a spatial line passing through the two points by associating the spatial coordinates of the second projection point with the spatial coordinates of the corresponding second resistive mark point. The aforementioned S234 is to determine the spatial coordinates of the high-energy ray point source according to the spatial expression of at least two spatial straight lines.
It should be noted that in performing the foregoing S234, if the number of the spatial lines is more than two, a least square method may be employed to determine the spatial coordinates of the high-energy ray point source based on the intersection of the spatial lines.
While performing the aforementioned S230, the computing device may simultaneously perform S240 as follows.
S240: and determining the space coordinates of the space projection path of the plane path on the first plane based on the plane coordinates of the plane path, the homography matrix and the coordinate conversion relation.
In particular implementations, the aforementioned S240 may include S241-S242.
S241: and determining the plane coordinates of the first projection path of the plane path on the first projection plane based on the plane coordinates of the plane path and the homography matrix.
S242: based on the planar coordinates of the first projection path and the coordinate conversion relationship, the spatial coordinates of the spatial projection path are determined.
In specific implementation, the implementation process of S241-S242 is the same as that of S231-S232, and will not be repeated here, and specific reference may be made to the foregoing description.
It should be noted that the planar path may be a straight path or a curved path in practical implementation, and needs to be determined according to the device implantation requirement and the actual condition of the target object. When the planar path is a straight path, the spatial projection path is also a straight path; in the case where the planar path is a curved path, the spatial projection path is also a curved path.
In a specific implementation, if the planar path is a straight path, the end point planar coordinates of the implantation path may be obtained, and the first projection path may be determined according to each planar coordinate of the chain and the homography matrix. If the plane path is a curve path, determining a plurality of points on the curve path, respectively solving the plane coordinates of projection points of the plurality of points on the first projection plane, and constructing the first projection path by utilizing the plane coordinates of the projection points.
After determining the spatial coordinates and spatial projection path of the high energy ray point source, the computing device then performs S250.
S250: the target surface is determined based on the spatial coordinates and the spatial projection path according to the high energy ray point source.
The method comprises the steps of determining a target surface based on the space coordinates and the space projection path of a high-energy ray point source, connecting the high-energy ray point source with the points of the space projection path by taking the high-energy ray source as a starting point to obtain a plurality of groups of rays, and determining the target surface by utilizing the rays.
According to the reasoning analysis, the intersection line of the target surface and the developed image can be determined to be a plane path.
After determining the two target surfaces, the computing device then executes S140.
S140: and obtaining a space intersection line of the two target surfaces, and taking the space intersection line as a space path.
Because the planar paths in the two developed images define the two target surfaces, the spatial intersection of the two target surfaces is the intersection defined by the two planar paths, i.e., the spatial path defined by the two planar paths.
In the embodiment of the disclosure, the space coordinates of the high-energy ray point sources corresponding to the two developed images are calculated through the space coordinates of the first light blocking mark point positioned on the first plane and the second light blocking mark point positioned outside the first plane and the plane coordinates in the developed images, the space coordinates of the space projection paths of the plane paths in the two developed images on the first plane are calculated, and the target surface can be determined according to the space coordinates of the high-energy ray point sources and the space coordinates of the space projection paths. The spatial path is then obtained by calculating the intersection of the two object planes. By the method provided by the embodiment of the disclosure, the computing device can determine the space path based on the two plane paths, so that the space path can be accurately reproduced without depending on experience and space imagination of professionals to determine the space path.
The method provided by the scheme can be applied to the scenario of the orthopedic operation to determine the space implantation path of the steel nails implanted into the living body.
In order to make the foregoing solution easier to understand, the foregoing solution is explained in the following manner by means of the accompanying drawings, in which the first plane is the first projection plane.
FIG. 3 is a schematic illustration of a high energy radiation source illuminating a blocked spot in a spatial locator to form a developed image. Fig. 4 is a display view of a part of the information of fig. 3. Fig. 5 is a display view of a portion of the information of fig. 4. As shown in fig. 3 to 5, by using the spatial coordinates of the first and second light-blocking mark points a and b and the projected points b1 of the first and second light-blocking mark points a and b on the developed image, the spatial coordinates of the high-energy ray point source c can be determined.
Fig. 6 is a schematic diagram of determining a spatial path using planar paths on two developed images. In the case where the spatial coordinates of the spatial paths in the developed image cannot be acquired, as shown in fig. 6, the computing device may determine the spatial projection paths e1 on the two first planes e by means of projective transformation. And then constructing two target surfaces by utilizing the two space projection paths e1 and the corresponding space coordinates of the high-energy ray point light source, wherein the intersection line of the two target surfaces is the space path.
It should be noted that the target object is not shown in fig. 4-6 for convenience of illustration. In practice, the development information of the target object can be seen in the developed image.
In addition to providing the foregoing method for determining a spatial path, embodiments of the present disclosure also provide an apparatus for determining a spatial path. Fig. 7 is a schematic structural view of an apparatus for determining a spatial path according to an embodiment of the present disclosure. As shown in fig. 7, an apparatus 700 for determining a spatial path provided by an embodiment of the present disclosure includes a data acquisition unit 701, an object plane determination unit 702, and a spatial path determination unit 703.
The data acquisition unit 701 is configured to acquire two developed images and planar paths respectively drawn in the two developed images, and acquire spatial coordinates of a first light blocking mark point and a second light blocking mark point when the two developed images are formed, where the two developed images are images formed by irradiating a space positioner with a high-energy ray point source at two irradiation angles, the space positioner includes a first light blocking mark point located on a first plane and a second light blocking mark point located outside the first plane, the number of the first light blocking mark points is at least four, and the number of the second light blocking mark points is at least two.
The target surface determination unit 702 is configured to determine two corresponding target surfaces for planar paths in two developed images.
The spatial path determination unit 703 is configured to determine a spatial intersection of two object planes, and use the spatial intersection as a spatial path.
Wherein the target plane determination unit 702 includes a coordinate conversion relation determination subunit 7021, a homography matrix calculation subunit 7022, a point source spatial coordinate calculation subunit 7023, a spatial path calculation subunit 7024, and a target plane determination subunit 7025.
The coordinate conversion relation determination subunit 7021 is configured to determine a first projection plane, and determine a coordinate conversion relation according to the spatial coordinates of the first resistive marker point and the projection coordinates on the first projection plane.
The homography matrix calculation subunit 7022 is configured to determine a homography matrix between the first projection plane and the plane in which the developed image is located, based on the plane coordinates of the projection point of the first resistive marker point in the first projection plane and the plane coordinates of the projection point in the developed image.
The point source spatial coordinate calculating subunit 7023 is configured to determine the spatial coordinate of the high-energy ray point source based on the spatial coordinate of the second light blocking mark point, the plane coordinate of the projection point of the second light blocking mark point in the developed image, the homography matrix, and the coordinate conversion relationship.
The spatial path calculation subunit 7024 is configured to determine, based on the plane coordinates of the planar path, the homography matrix, and the coordinate conversion relationship, the spatial coordinates of the spatial projection path of the planar path on the first plane.
The target surface determination subunit 7025 is configured to determine a target surface based on the spatial coordinates and the spatial projection path of the high-energy ray point source.
In some embodiments, the point source spatial coordinate calculation subunit 7023 determines the spatial coordinates of the high energy ray point source comprising: determining the plane coordinates of the first projection points of the second light blocking mark points on the first projection plane based on the plane coordinates of the projection points of the second light blocking mark points in the developed image and the homography matrix; based on the coordinate conversion relation, determining the space coordinates of a second projection point of the second light blocking mark point on the first plane according to the plane coordinates of the first projection point; determining a space straight line according to the space coordinates of the second light blocking mark point and the space coordinates of the corresponding second projection point; and determining the space coordinates of the high-energy ray point source according to the space straight lines corresponding to the second light-blocking mark points.
In some embodiments, the number of second resistive marker points is at least three. The point source spatial coordinate calculation subunit 7023 determines the spatial coordinates of the high-energy ray point source based on the intersection of at least three spatial straight lines using the least square method.
In some embodiments, the method of determining a spatial projection path by the spatial path computation subunit 7024 includes: determining the plane coordinates of a first projection path of the plane path on a first projection plane based on the plane coordinates of the plane path and the homography matrix; based on the planar coordinates of the first projection path and the coordinate conversion relationship, the spatial coordinates of the spatial projection path are determined.
In some embodiments, the planar path is a straight path; the spatial path calculation subunit 7024 acquires the end point plane coordinates of the plane path; and determining the plane coordinates of the first projection path according to the endpoint plane coordinates and the homography matrix.
In some embodiments, the number of first resistive marker points is at least five. The homography matrix calculation subunit 7022 determines a homography matrix by using a least square method based on the plane coordinates of the projection points of the first resistive marker points in the first projection plane and the plane coordinates of the projection points in the developed image.
In some embodiments, the spatial locator further comprises at least three retroreflective marker points, the relative positional relationship of the at least three retroreflective marker points to the first and second light blocking marker points being known. The data acquisition unit 701 determines the spatial coordinates of the first light blocking mark point and the second light blocking mark point according to the spatial coordinates and the phase position relationship of the at least three light reflecting mark points after determining the spatial coordinates of the at least three light reflecting mark points according to the light reflecting feature information of the at least three light reflecting mark points by acquiring the light reflecting feature information of the at least three light reflecting mark points. The reflective characteristic information is obtained by capturing at least three reflective mark points by adopting an optical system while forming a developed image through irradiation.
The embodiment of the disclosure also provides a space locator. Fig. 8 is a schematic structural view of a spatial locator provided in an embodiment of the present disclosure. As shown in fig. 8, the spatial locator includes a body 801, a spatial mark portion 802, at least four first light blocking mark points 803, and at least two second light blocking mark points 804. The space mark portion 802, the first light blocking mark point 803 and the second light blocking mark point 804 are rigidly connected by the body, and the relative positional relationship between the first light blocking mark point 803 and the second light blocking mark point 804 and the body 801 is determined; a spatial marker 802 is used to determine the spatial coordinates and pose of the body 801; at least four first light blocking mark points 803 are located on the same plane, and each second light blocking mark point 804 is located out of the plane.
In a specific implementation, the body is made of a material that can be easily penetrated by high-energy rays, and the first light-blocking mark points 803 and the second light-blocking mark points 804 are made of a material that has a significant absorption capacity to the high-energy rays.
In one embodiment, the spatial marker may include at least three retroreflective marker points, the relative positional relationship of which is known. The optical capturing system is utilized to capture the reflective information of the three reflective marking points, and the spatial coordinates of the spatial marking part are determined according to the reflective information, so that the spatial coordinates of the first reflective marking point and the second reflective marking point are determined.
In some embodiments, the spatial marker may be a marker with an inertial measurement function, and the inertial measurement function and the initial position information may be used to determine the spatial coordinates and pose of the body, and further determine the spatial coordinates of the first resistive marker and the second resistive marker.
The disclosed embodiments also provide a computing device comprising a processor and a memory, wherein the memory stores a computer program, which when executed by the processor, implements the method of determining a spatial path of any of the embodiments described above.
Fig. 9 is a schematic structural diagram of a computing device provided by an embodiment of the present disclosure. Referring now in particular to FIG. 9, a schematic diagram of a computing device 900 suitable for use in implementing embodiments of the present disclosure is shown. The computing device illustrated in fig. 9 is merely an example and should not be taken as limiting the functionality and scope of use of embodiments of the present disclosure.
As shown in fig. 9, the computing device 900 may include a processing means (e.g., a central processor, a graphics processor, etc.) 901, which may perform various appropriate actions and processes in accordance with programs stored in a read-only memory ROM902 or programs loaded from a storage means 908 into a random access memory RAM 903. In the RAM903, various programs and data required for the operation of the computing device 900 are also stored. The processing device 901, the ROM902, and the RAM903 are connected to each other through a bus 904. An input/output I/O interface 905 is also connected to the bus 904.
In general, the following devices may be connected to the I/O interface 905: input devices 905 including, for example, a touch screen, touch pad, camera, microphone, accelerometer, gyroscope, and the like; an output device 907 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 908 including, for example, magnetic tape, hard disk, etc.; and a communication device 909. Communication means 909 may allow computing device 900 to communicate wirelessly or by wire with other devices to exchange data. While fig. 9 illustrates a computing device 900 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 909, or installed from the storage device 908, or installed from the ROM 902. When executed by the processing device 901, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be embodied in the computing device; or may exist alone without being assembled into the computing device.
The computer readable medium carries one or more programs which, when executed by the computing device, cause the computing device to perform the aforementioned method of determining a spatial path.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of the present disclosure, an automatically readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The automatically readable medium may be an automatically readable signal medium or an automatically readable storage medium. The automatically readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of an automatically readable storage medium would include an electrical connection according to one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The embodiments of the present disclosure further provide a computer readable storage medium, where a computer program is stored, where when the computer program is executed by a processor, the method of any of the foregoing method embodiments may be implemented, and the implementation manner and the beneficial effects are similar, and are not repeated herein.
It should be noted that in this document, relational terms such as "first" and "second" and the like are 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. Moreover, 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 phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The above is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A method of determining a spatial path, comprising:
acquiring two development images and plane paths respectively drawn in the two development images, wherein the two development images are formed by irradiating a space positioner by a high-energy ray point source at two irradiation angles, the space positioner comprises first light blocking mark points positioned on a first plane and second light blocking mark points positioned outside the first plane, the number of the first light blocking mark points is at least four, and the number of the second light blocking mark points is at least two;
acquiring space coordinates of the first light blocking mark point and the second light blocking mark point when two developing images are formed;
For the plane paths in the two developed images, the following A-E are respectively executed until two corresponding target surfaces are obtained:
a, determining plane coordinates of a first projection plane and a projection point of a first cursor resistance marking point on the first projection plane, and determining a coordinate conversion relation according to the space coordinates of the first cursor resistance marking point and the plane coordinates on the first projection plane;
b, determining a homography matrix between the first projection plane and a plane where the developed image is located based on plane coordinates of a projection point of the first resistive mark point in the first projection plane and plane coordinates of a projection point in the developed image;
c, determining the space coordinate of the point source based on the space coordinate of the second light blocking mark point, the plane coordinate of the projection point of the second light blocking mark point in the developed image, the homography matrix and the coordinate conversion relation: determining the plane coordinates of a first projection point of the second light blocking mark point on the first projection plane based on the plane coordinates of the projection point of the second light blocking mark point in the developed image and the homography matrix; based on the coordinate conversion relation, determining the space coordinates of a second projection point of the second light blocking mark point on the first plane according to the plane coordinates of the first projection point; determining a space straight line according to the space coordinates of the second light blocking mark point and the space coordinates of the corresponding second projection point; determining the space coordinates of the point sources according to the space straight lines corresponding to the second resistive mark points;
D, determining the space coordinates of a space projection path of the plane path on the first plane based on the plane coordinates of the plane path, the homography matrix and the coordinate conversion relation;
e, determining the target surface based on the spatial coordinates of the point source and the spatial projection path;
and solving a space intersection line of the two target surfaces, and taking the space intersection line as a space path.
2. The method of claim 1, wherein the number of second resistive marker points is at least three;
the determining the spatial coordinates of the point source according to the spatial straight lines corresponding to the second resistive marking points includes:
and determining the space coordinates of the point source based on the intersection point of at least three space straight lines by adopting a least square method.
3. The method of claim 1, wherein the determining the spatial coordinates of the spatial projection path of the planar path on the first plane based on the planar coordinates of the planar path, the homography matrix, and the coordinate transformation relationship comprises:
determining the plane coordinates of a first projection path of the plane path on the first projection plane based on the plane coordinates of the plane path and the homography matrix;
And determining the space coordinates of the space projection path based on the plane coordinates of the first projection path and the coordinate conversion relation.
4. A method according to claim 3, wherein the planar path is a straight path;
the determining, based on the plane coordinates of the plane path and the homography matrix, the plane coordinates of the first projection path of the plane path on the first projection plane includes:
acquiring the endpoint plane coordinates of the plane path;
and determining the plane coordinates of the first projection path according to the endpoint plane coordinates and the homography matrix.
5. The method of claim 1, wherein the number of first resistive marker points is at least five;
the determining a homography matrix between the first projection plane and the plane of the developed image based on the plane coordinates of the projection point of the first resistive marking point in the first projection plane and the plane coordinates of the projection point in the developed image comprises:
and determining the homography matrix by adopting a least square method based on the plane coordinates of the projection points of the first resistive mark points in the first projection plane and the plane coordinates of the projection points in the developed image.
6. The method of claim 1, wherein the spatial locator further comprises at least three retroreflective marker points, the relative positional relationship of the at least three retroreflective marker points to the first and second light blocking marker points being known;
the acquiring the space coordinates of the first light blocking mark point and the second light blocking mark point when two developed images are formed comprises:
capturing reflective characteristic information of the at least three reflective marker points by adopting an optical system while forming the developed image by irradiation;
determining the space coordinates of the at least three reflective marker points according to the reflective characteristic information of the reflective marker points;
and determining the space coordinates of the first light blocking mark point and the second light blocking mark point according to the space coordinates of the at least three light reflecting mark points and the relative position relation.
7. An apparatus for determining a spatial path, comprising:
the data acquisition unit acquires two development images and plane paths respectively drawn in the two development images, and acquires space coordinates of a first light blocking mark point and a second light blocking mark point when the two development images are formed, wherein the two development images are images formed by irradiating a space positioner by a high-energy ray point source at two irradiation angles, the space positioner comprises a first light blocking mark point positioned on a first plane and a second light blocking mark point positioned outside the first plane, the number of the first light blocking mark points is at least four, and the number of the second light blocking mark points is at least two;
A target surface determining unit for determining two corresponding target surfaces for the planar paths in the two developed images;
a space path determining unit, configured to obtain a space intersection of two object planes, and take the space intersection as a space path; wherein the target surface determining unit includes:
the coordinate conversion relation determining subunit is used for determining a first projection plane and determining a coordinate conversion relation according to the space coordinates of the first cursor resistance marking point and the projection coordinates on the first projection plane;
a homography matrix calculating subunit, configured to determine a homography matrix between the first projection plane and a plane where the developed image is located, based on plane coordinates of a projection point of the first resistive mark point in the first projection plane and plane coordinates of a projection point in the developed image;
a point source space coordinate calculating subunit, configured to determine a space coordinate of a high-energy ray point source based on a space coordinate of the second resistive marking point, a plane coordinate of a projection point of the second resistive marking point in the developed image, the homography matrix, and the coordinate conversion relationship, where the method includes: determining the plane coordinates of the first projection points of the second light blocking mark points on the first projection plane based on the plane coordinates of the projection points of the second light blocking mark points in the developed image and the homography matrix; based on the coordinate conversion relation, determining the space coordinates of a second projection point of the second light blocking mark point on the first plane according to the plane coordinates of the first projection point; determining a space straight line according to the space coordinates of the second light blocking mark point and the space coordinates of the corresponding second projection point; determining the space coordinates of the high-energy ray point sources according to the space straight lines corresponding to the second light-blocking mark points;
A spatial path calculation subunit, configured to determine, based on a plane coordinate of the plane path, the homography matrix, and the coordinate conversion relationship, a spatial coordinate of a spatial projection path of the plane path on the first plane;
and the target surface determining subunit is used for determining the target surface based on the space coordinates of the high-energy ray point source and the space projection path.
8. A computing device comprising a processor and a memory, the memory for storing a computer program;
the computer program, when loaded by the processor, causes the processor to perform the method of determining a spatial path as claimed in any one of claims 1-6.
9. A computer readable storage medium, characterized in that the storage medium stores a computer program, which when executed by a processor causes the processor to implement the method of determining a spatial path according to any of claims 1-6.
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