CN116549216A - OCT-based vitreous injection data processing method, robot, equipment and medium - Google Patents
OCT-based vitreous injection data processing method, robot, equipment and medium Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- A61F9/0008—Introducing ophthalmic products into the ocular cavity or retaining products therein
- A61F9/0017—Introducing ophthalmic products into the ocular cavity or retaining products therein implantable in, or in contact with, the eye, e.g. ocular inserts
Abstract
The invention relates to an OCT-based vitreous body injection data processing method, a robot, equipment and a medium. The invention improves the puncture precision and injection precision of vitreous body injection and reduces iatrogenic injury and subsequent injury caused by uncertainty of the relative position of tissue-needle tip space. The introduction of OCT technology can assist the binocular camera to perform more accurate cornice limbus positioning, can also perform real-time imaging and tracking on tissues, focus and needle points in eyes, provides feedback for puncture and medicine injection, and realizes automatic medicine injection at a preset position and a fixed angle on the premise of not causing damage.
Description
Technical Field
The invention relates to the technical field of optical coherence tomography, in particular to a vitreous body injection data processing method based on OCT, a robot, equipment and a medium.
Background
Optical coherence tomography (Optical coherence tomography, OCT), which is a high-resolution, high-sensitivity, non-contact three-dimensional imaging method, performs tomographic imaging of biological tissue by detecting the phase delay and the light intensity of the back-scattered echoes of the biological tissue, is known as "optical biopsy". OCT has axial resolution up to 1-15 μm, and conventional imaging methods such as far ultrasonic, MRI, X-ray, etc. have been widely used in dermatology, dentistry, respiratory tract, gastroenterology, oncology, etc. In the field of ophthalmology, OCT can image intraocular tissues, focuses and surgical instruments in real time, is particularly suitable for preoperative path planning, intra-operative real-time navigation and postoperative effect evaluation, and is called as a gold standard of ophthalmic surgery together with a surgical microscope.
Due to the non-renewable nature of retinal and corneal cells, once suffering from irreversible blinding disease, patients must go through four treatment phases of ocular surface medication, laser condensation, surgical treatment, and vitreous injection of small molecule inhibitors. In particular, for the middle and late stage of ocular photophobia, surgery in combination with vitreous drug injection is the first choice, even the only definitive effective treatment. The advantages of vitreous injection are small dosage of the drug, small systemic effect of local application, direct effect, and rapid increase of the number of diseases and cases to be treated. The first example of vitreous injection occurs in 1911, and doctors inject air into the vitreous body to repair the detached retina, and then with the advent of antibiotics, antiviral drugs, antifungal drugs, anti-VEGF drugs and other drugs, vitreous injection is beginning to be widely applied to the treatment and research of various ophthalmic diseases such as age-related macular degeneration, retinal vein occlusion macular edema, diabetic macular edema, endophthalmitis and the like. In the process of vitreous body injection, the needle head needs to enter the temporal quadrant of the eyeball at 45-60 degrees in a circular ring area with a 3-4mm angle to the scleral margin, and carries out medicine injection at a depth of 4-6mm, so that the requirement on injection precision is extremely high. Therefore, in order to improve the precision and safety of the operation and reduce the operation time, the introduction of the vitreous body injection robot is imperative.
In ophthalmic surgery, a physician punctures the sclera with the aid of an assistant and injects a drug into the vitreous to complete the treatment, each injection taking only a few minutes. However, as the number of patients increases, manual injections are difficult to continuously meet the requirements of the vitreous injection on precision and stability. Compared with the prior art, the vitreous body injection robot has the advantages of high precision, fine operation, tiny force sensing and the like, and can perform faster and more stable vitreous body injection while reducing the burden of doctors, and reduce secondary injury in the operation process. Edwards et al (First-in-human study of the safety and viability of intraocular robotic surgery, nat Biomed Eng,2:649-656, (2018)) demonstrated the clinical viability of robotic assisted ophthalmic surgery for the First time. Compared with the traditional manual operation, the preceYES ophthalmic operation robot compensates hand tremors of doctors while peeling retina/inner limiting membranes, provides stable, tremor-free and accurate position control and force scaling through a control system, meets the requirements of the ophthalmic operation on accuracy and safety, and obviously reduces secondary damage caused by the operation. Franzisa et al (Assistive device for efficient intravitreal injections, ophthalmic Surgery, lasers and Imaging Retina, vol.47, no.8, pp.752-762, (2016)) show a vitreous injection aid robot that accurately recognizes the angular scleral edge position, automatically positions the injection area, and completes the injection at a specified depth after the doctor has roughly positioned the patient's head. In an in vitro pig eye vitreous injection experiment, the system accurately injects the drug into a safe injection area without damaging the lens and retina. Yunming et al (Design and analysis of a robot for automated intravitreal injection, IEEE International Conference on Robotics and Biomimetics, pp.1849-1854, (2022)) propose a four-degree-of-freedom automatic vitreous injection robot that autonomously manipulates a needle for tilting, pressing, puncturing and drug injection, employing a bi-linear drive mechanism to effect rotation of the needle about the entrance while introducing an easily replaceable clamp to inhibit unintentional movement of the eyeball. In the preliminary test of pig eyes, the maximum movement error is less than 0.03mm, and the requirement of vitreous injection on precision is met. However, the current vitreous injection robot only uses binocular microscopic images of the eyeball surface to navigate, and cannot acquire the pose and injection position of the needle point in the eye, so that the lack of depth information of the eyeball and uncertainty of the relative position of tissue-needle point space bring great risks. When the injection position is too close to the corneoscleral limbus, the needle tip can penetrate into the crystal to cause exogenous cataract; when the injection position is far away from the corneoscleral limbus, the needle tip can damage the vortex vein to cause intraocular hemorrhage and other complications.
Disclosure of Invention
To achieve the above and other advantages and in accordance with the purpose of the present invention, a first object of the present invention is to provide an OCT-based vitrectomy data processing method, comprising the steps of:
calibrating the OCT module and the vitreous body injection robot module, and establishing data transmission;
identifying corneoscleral limbus by ocular surface microscopic image and anterior ocular segment OCT image;
setting a circular ring area on the surface of the eyeball by taking the identified cornucopia as a reference; the center of the circle is set as a pupil, the distance between the inner ring and the corneoscleral limbus is set as a first preset distance, the distance between the outer ring and the corneoscleral limbus is set as a second preset distance, and the first preset distance is smaller than the second preset distance;
after determining a circular ring area, dividing the circular ring area into four quadrant areas of an upper side, a lower side, a nasal side and a temporal side according to eyeball positions, reserving only the temporal-lower quadrant area as a puncture area, randomly generating the puncture position in the puncture area, and setting a puncture angle to be a random value within a range of 45-60 degrees;
converting a preset puncture position and puncture angle from a microscope coordinate system to a mechanical arm coordinate system, and transmitting converted pose information to the mechanical arm;
measuring the pose of the needle point through the OCT image and comparing the pose with a preset value;
judging whether the three-dimensional error of the puncture position is smaller than a preset position error and whether the puncture angle error is smaller than a preset angle error;
if yes, judging that the condition for pushing the injector is reached, otherwise, judging that the condition for controlling the injector to return to the original path is reached;
measuring the needle penetration depth and angle in real time through an OCT image of the anterior segment of the eye;
when the measured result meets the condition that the distance between the needle point and the ocular surface is within the preset distance range, the condition that the injector is controlled to stop pushing is judged to be reached, and an injection instruction is sent to the mechanical arm.
Further, the calibrating the OCT module and the vitrectomy robot module includes the steps of:
calibrating the mechanical arm by using a TCP method, wherein a fixed reference point is a syringe needle point on a plane, and the mechanical arm reference point is a syringe needle point on an end effector, so as to obtain a coordinate of a needle point datum point in a base coordinate system;
tracking the needle point of the injector by utilizing the OCT module to obtain the coordinate of the needle point datum point in an OCT coordinate system;
and solving the rigid change relation between the reference point pairs through a Kabsch algorithm to realize the hand-eye calibration of the OCT integrated vitreous body injection robot.
Further, the calibration of the mechanical arm by using the TCP method comprises the following steps:
controlling the mechanical arm to enable the injector needle point on the end effector to contact the injector needle point on the plane in a plurality of different postures, respectively recording a rotation matrix and a translation vector between a base coordinate system of the mechanical arm and a coordinate system of the end effector, and leading the rotation matrix and the translation vector into a formula (1) to solve the relative position of the injector needle point and the mechanical arm;
R BEi ·t EiT +t BEi ＝t BT (i＝1,2,...,n) (1)
wherein R is BEi Is a rotation matrix between a mechanical arm base coordinate system and an end effector coordinate system, t EiT Is the translation vector between the coordinate system of the mechanical arm end effector and the needle point of the syringe, t BEi Is a translation vector between a mechanical arm base coordinate system and an end effector coordinate system, t BT Is a translation vector between the mechanical arm base coordinate system and the needle point of the syringe;
solution t by least square method EiT And acquiring pose information of the needle point of the injector in a mechanical arm coordinate system, and completing calibration of the mechanical arm.
Further, the method for tracking the needle point of the syringe by using the OCT module, and obtaining the coordinates of the reference point of the needle point in the OCT coordinate system comprises the following steps:
controlling the needle point of the injector to move in a set space, recording at least three groups of needle point coordinates, and synchronously scanning the needle point at the recording point by using the OCT module;
and carrying out three-dimensional reconstruction on OCT scanning data, slicing the volume data from the directions of x, y and z, sequentially reading xz slices and yz slices, screening out slices containing highlight points, then selecting the highlight point with the largest z coordinate in the slices, recording the highlight point coordinate, and obtaining the coordinate of the needle point in an OCT coordinate system.
Further, the needle point of the control injector moves in the setting space to control the mechanical arm to move in all directions (x, y, z), all angles (R x ,R y ,R z ) And performing exercise.
Further, the solving of the rigid variation relationship between the pair of reference points by the Kabsch algorithm comprises the following steps:
in obtaining the needle point in the mechanical arm base coordinate system and the OCT coordinate systemAfter the reference points of the mechanical arm are aligned, normalizing the reference points to the coordinates, and obtaining a center point C of a reference point set of the mechanical arm by using a formula (2) Rob And center point C of OCT reference point set OCT ；
By means of two centre points C Rob And C OCT Centering the two point sets to eliminate the influence of the translation vector t;
after two centralized point sets are obtained, calculating a covariance matrix H between the reference point sets by using a formula (6);
and solving an optimal rotation matrix R through SVD decomposition, and reversely solving a translation vector t by using the rotation matrix R to finish calibration.
Further, the identifying the corneoscleral limbus by the ocular surface microscopic image and the anterior ocular segment OCT image includes the steps of:
performing preliminary positioning on the diagonal scleral edge in the eye surface microscopic image by using an edge detection algorithm and an ellipse detection algorithm;
accurately positioning the corneoscleral limbus in the anterior ocular segment OCT image by identifying the anterior border and the posterior border of the corneoscleral limbus; wherein the anterior boundary is defined by a line connecting the anterior elastic layer endpoint of the cornea to the posterior elastic layer endpoint of the cornea, and the posterior boundary is defined by an eye surface tangent line from the scleral spur.
Further, the preliminary positioning of the scleral edge in the microscopic image of the eye surface by using an edge detection algorithm and an ellipse detection algorithm comprises the following steps:
preprocessing the eye surface microscopic image, converting the eye surface microscopic image from an RGB space to an HSV space, and performing histogram equalization processing, binarization processing, opening and closing operation and Gaussian filtering;
extracting edges by using a Canny operator to obtain initial edges;
removing the edges which do not meet the requirements by utilizing an edge detection algorithm and an arc judgment condition, and selecting an elliptical arc meeting the requirements by setting a limiting condition to realize the identification of the corneoscleral limbus; the arc judging conditions comprise ellipse completeness, ellipse edge point quantity proportionality coefficient and ellipse positive and negative, and the limiting conditions comprise absolute size of long and short axes, relative size of long and short axes and axis positions.
Further, the measuring the pose of the needle tip by the OCT image includes the following steps:
responding to clicking operation of the needle point position, and acquiring the position information of the needle point;
and acquiring the angle information of the needle point through the selected needle body, the needle point and any point along the tangential direction of the cornea.
A second object of the present invention is to provide an electronic device including: a memory having program code stored thereon; a processor coupled with the memory and which, when the program code is executed by the processor, implements an OCT based vitrectomy data processing method.
A third object of the present invention is to provide a computer-readable storage medium having stored thereon program instructions that when executed implement an OCT-based vitrectomy data processing method.
A fourth object of the present invention is to provide an OCT-based vitrectomy robot implementing the above method, comprising an OCT module for image guidance providing a binocular stereo microscope image and an OCT image of a scanning area, and a vitrectomy robot module comprising a mechanical arm and an end effector for ocular surface penetration and intraocular drug injection.
Compared with the prior art, the invention has the beneficial effects that:
the invention combines the optical coherence tomography technology with the vitreous body injection robot, improves the puncture precision and injection precision of vitreous body injection, and reduces iatrogenic injury and subsequent injury caused by uncertainty of the relative position of tissue-needle tip space. The introduction of OCT technology can assist the binocular camera to perform more accurate cornice limbus positioning, can also perform real-time imaging and tracking on tissues, focus and needle points in eyes, provides feedback for puncture and medicine injection, and realizes automatic medicine injection at a preset position and a fixed angle on the premise of not causing damage.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings. Specific embodiments of the present invention are given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic view of the OCT-based vitrectomy robot of example 1;
FIG. 2 is a flowchart of the OCT-based vitrectomy data processing method of example 2;
FIG. 3 is a flow chart of OCT module and vitrectomy robot module calibration of example 2;
fig. 4 is a schematic view of the corneoscleral limbus in the OCT image of the anterior segment of the eye of example 2;
FIG. 5 is a schematic view of the ring area division in embodiment 2;
FIG. 6 is a schematic diagram of a cube frame according to example 2;
FIG. 7 is a three-dimensional reconstruction and slicing diagram of the tip of example 2;
fig. 8 is a schematic diagram of an electronic device of embodiment 3;
fig. 9 is a schematic diagram of a storage medium of embodiment 4.
In the figure: 1. an OCT module; 2. a vitreous injection robot module.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
Example 1
The embodiment combines an optical coherence tomography technology with a vitreous body injection robot to form an OCT-based vitreous body injection robot, as shown in fig. 1, the OCT injection robot comprises an OCT module 1 and a vitreous body injection robot module 2, wherein the OCT module 1 is an OCT navigation system and is used for image guidance and provides a binocular stereo microscope image and an OCT image of a scanning area, the maximum scanning area of the OCT image is 10.24mm multiplied by 13.7mm, the resolution of the binocular stereo microscope image is 1920 multiplied by 1080, the horizontal resolution of the OCT image is 9.8 mu m, and the depth resolution is 5.7 mu m; the vitreous body injection robot module comprises a mechanical arm and an end effector, the repeated positioning precision of the mechanical arm is 0.01mm, and the vitreous body injection robot is used for ocular surface puncture and intraocular drug injection.
The OCT imaging equipment which is in common path with the binocular camera is added, the binocular camera, the OCT imaging equipment and the mechanical arm jointly form the whole vitreous body injection robot, the OCT module has the main functions of visualizing an intraocular surgical instrument, eye tissues and a focus, when the needle point is out of the eyeball, the OCT image can assist the binocular camera image to more accurately position the angle scleral edge, and when the needle point is in the eyeball, the OCT image can provide needle point position/direction information which cannot be provided by the binocular camera, so that full-automatic high-precision vitreous body injection is realized.
In the prior art, a vitreous injection robot generally utilizes microscopic images of an eye surface to navigate, but cannot observe the needle point position and the needle point angle in the scleral puncture and drug injection stage, and a doctor needs to intervene operation or preset parameters in advance according to experience. The intervention operation reduces the advantages of the robot, and the semiautomatic injection is inferior to the full-automatic injection in the aspects of precision, efficiency and the like; the preset parameters are usually too conservative, so as to avoid damage to the atrial angular tissue and the lens, and the robot is arranged at a position far from the focus to perform injection, which requires higher drug dosage and drug concentration, and causes damage to human eyes to a certain extent. The advent of optical coherence tomography (Optical coherence tomography, OCT) just complements this defect. OCT is a high resolution, non-contact tomographic imaging technique based on low coherence interferometry, which can add depth information to non-quantitative, vectorized stereoscopic information, and is particularly useful for fine ophthalmic microsurgery. The real-time acquisition of pose information and spatial relative position information of eyeball tissues and surgical instruments gives a better clinical result and smaller surgical risk to the vitreous body injection robot. For OCT integrated vitrectomy robots, high precision calibration of the robotic and OCT modules determines the success or failure of the vitrectomy. In the process of vitreous injection, the injector is guided by the OCT, vertically enters into the temporal subquadrant region of human eyes in the region 3.5-4mm away from the corneoscleral limbus, and carries out medicine injection at the position 4-6mm in the eyes, so that the robot module and the OCT module need to meet the space constraint with high precision in the whole process in order to ensure the precision and stability of operation, otherwise, conjunctiva bleeding, conjunctiva scars, severe pain and even traumatic cataract can be caused.
For a detailed description of the vitrectomy data processing method of the OCT-based vitrectomy robot, reference may be made to the corresponding description in the following method embodiments, and thus, a detailed description thereof will be omitted.
Example 2
The method for processing the vitreous body injection data of the OCT-based vitreous body injection robot provided in embodiment 1, as shown in fig. 2, includes the following steps:
and calibrating the OCT module and the vitreous body injection robot module, and establishing data transmission to automatically inject the vitreous body cavity.
Calibration in OCT integrated vitreous injection robots solves the three-dimensional spatial relationship between the robot and the imaging system by establishing a mathematical model, and after obtaining a homogeneous transformation matrix between the robot and the imaging system, various operations are planned and controlled by using visual information as feedback. According to the position relation between the imaging system and the robot module, the calibration can be divided into an eye-to-hand calibration and an eye-in-hand calibration, wherein the imaging module is fixed in the eye-to-hand calibration, and the robot module can move at will; the imaging module moves with the movement of the robot module in the eye-in-hand calibration. Because of the limited operating room space and the need for the robotic module to contact the operating field, the calibration method of eye-to-hand is often chosen. Zhang et al in article (A computationally efficient method for hand-eye calibration, int J CARS 12,1775-1787, (2017)) propose a hand-eye calibration method based on a circular grid calibration plate, wherein dual quaternions are used for representing rigid transformation between a mechanical arm and a stereo laparoscope, and the real part and the dual part of the dual quaternions are recovered simultaneously through a two-step iteration method, so that estimation of a rotation moment array and a translation vector is realized. In experiments using the da vinci experimental kit (DVRK), the calibration results only require 3 iterations to converge. Kenji et al (General Hand-handling-eye calibration based on reprojection error minimization, IEEE ROBOTICS AND AUTOMATION LETTERS, (2019)) propose a Hand-eye calibration method based on the minimization of the reprojection error, which simultaneously estimates Hand-eye transformations and target pose with the minimization of the reprojection error as a condition, and can adapt to different camera models by changing the projection model. In the calibration experiment of a pinhole camera, the root mean square error of the re-projection is 1.619pix, and the reconstruction accuracy error is 1.379mm 2 The method comprises the steps of carrying out a first treatment on the surface of the In calibration experiments on X-ray cameras, the root mean square error of the re-projection was 7.118pix. Jesus et al in article (A low-cost stereo vision system for eye-to-hand calibration, IEEE International Autumn Meeting on Power, electronics and computing, (2022)) propose a binocular camera-based hand-eye calibration method using a binocular cameraThe method comprises the steps of tracking a small ball on an end effector of the robot, and solving the rigidity change between the robot and the binocular camera by capturing the movement track of the ball center of the small ball. In the simulation experiment, the calibration error is 3.313mm. In the hand-eye calibration, a calibration object is placed or obvious morphological characteristics are provided, and the artificial mark or the natural characteristics are converted into reference point pairs through image recognition, so that a rigid transformation relation between the robot and the imaging system is obtained. However, for the OCT integrated vitreous injection robot, it is difficult to set artificial mark points in the surgical scene, and the structural features of the eyeball are complex, so that unified identification and tracking cannot be performed.
In the embodiment, the needle point in the vitreous body injection scene is used as the datum point, the coordinate of the needle point datum point in the base coordinate system is obtained by calibrating the mechanical arm, the coordinate of the needle point datum point in the OCT coordinate system is obtained by tracking the needle point by utilizing the OCT, and then the rigid change relation between the datum point pairs is solved by using the Kabsch algorithm, so that the hand-eye calibration of the OCT integrated vitreous body injection robot is realized. Specifically, as shown in fig. 3, calibrating the OCT module and the vitrectomy robot module includes the steps of:
calibrating the mechanical arm by using a TCP method, wherein a fixed reference point is a syringe needle point on a plane, and the mechanical arm reference point is a syringe needle point on an end effector, so as to obtain a coordinate of a needle point datum point in a base coordinate system; specifically, calibrating the mechanical arm by using the TCP method comprises the following steps:
the mechanical arm is operated by the demonstrator, so that the injector needle point on the end effector contacts the injector needle point on the plane in a plurality of different postures, in the embodiment, the injector needle point on the end effector contacts the injector needle point on the plane in four different postures, a rotation matrix and a translation vector between a base coordinate system of the mechanical arm and a coordinate system of the end effector are respectively recorded, and the rotation matrix and the translation vector are brought into a formula (1) to solve the relative position of the injector needle point and the mechanical arm;
R BEi ·t EiT +t BEi ＝t BT (i＝1,2,3,4) (1)
wherein R is BEi Is a mechanical arm base seatRotation matrix, t, between the coordinate system of the target system and the end effector coordinate system EiT Is the translation vector between the coordinate system of the mechanical arm end effector and the needle point of the syringe, t BEi Is a translation vector between a mechanical arm base coordinate system and an end effector coordinate system, t BT Is a translation vector between the mechanical arm base coordinate system and the needle point of the syringe;
solution t by least square method EiT And acquiring pose information of the needle point of the injector in a mechanical arm coordinate system, and completing calibration of the mechanical arm.
Tracking the needle point of the injector by utilizing the OCT module to obtain the coordinate of the needle point datum point in an OCT coordinate system;
since the OCT imaging area is limited, the subsequent calibration work needs to be performed in a designated space, and a square frame is customized in this embodiment, as shown in fig. 6, with an inner frame size of 12mm×12mm, and an outer frame size of 14mm×14mm, covering the OCT scanning area (10.24 mm×10.24 mm).
Specifically, the OCT module is utilized to track the needle point of the injector, and the method for obtaining the coordinates of the needle point datum point in the OCT coordinate system comprises the following steps:
the demonstrator is used for controlling the needle point of the injector to move in a set space, namely, the injector moves randomly in a cube frame, at least three groups of needle point coordinates are recorded, and the OCT module is used for synchronously scanning the needle point at the recording point; it should be noted that it is preferable to have the robot arm move at various angles (R in various directions (x, y, z) x ,R y ,R z ) The motion is carried out, and thus the error of the obtained calibration result is smaller.
When the needle tip moves in the cube frame, the needle tip at the recording point is synchronously scanned by using OCT;
and carrying out three-dimensional reconstruction on OCT scanning data, slicing the volume data from the x, y and z directions respectively, sequentially reading xz slices and yz slices according to a needle tip three-dimensional reconstruction diagram and a slice diagram as shown in fig. 7, screening out slices containing highlight points, then picking out highlight points with the largest z coordinates in the slices, recording the highlight point coordinates, and obtaining the coordinates of the needle tip in an OCT coordinate system.
And solving the rigid change relation between the reference point pairs through a Kabsch algorithm to realize the hand-eye calibration of the OCT integrated vitreous body injection robot. The method specifically comprises the following steps:
after the reference point pair coordinates of the needle point in the mechanical arm base coordinate system and the OCT coordinate system are obtained, the reference point pair coordinates are normalized, and a central point C of a mechanical arm reference point set is obtained by utilizing a formula (2) Rob And center point C of OCT reference point set OCT ；
To calculate the rotation matrix R, two center points C are used Rob And C OCT Centering the two point sets to eliminate the influence of the translation vector t;
after two centralized point sets are obtained, calculating a covariance matrix H between the reference point sets by using a formula (6);
and solving an optimal rotation matrix R through SVD decomposition, and reversely solving a translation vector t by using the rotation matrix R to finish calibration.
After the rigidity change matrix between the mechanical arm coordinate system and the OCT coordinate system is obtained, the accuracy of the calibration method is verified through multiple sampling in a cube frame, the average three-dimensional coordinate error is 0.1101mm, the RMSE is 0.2397, the average angle error is 0.822 degrees, and the requirements of vitreous body injection are met.
In the embodiment, the needle point in the vitreous body injection scene is used as the datum point, so that the identification of natural characteristics and the placement of artificial calibration objects are avoided. And obtaining reference point coordinates under two coordinate systems through mechanical arm calibration and OCT scanning, and solving rigid transformation between the coordinate systems by using a Kabsch algorithm. The calibration space error is 0.1101mm, the angle error is 0.822 degrees, and the requirement of vitreous body injection on high precision is met.
Identifying corneoscleral limbus by ocular surface microscopic image and anterior ocular segment OCT image; the method specifically comprises the following steps:
performing preliminary positioning on the diagonal scleral edge in the microscopic eye surface image by using an edge detection algorithm and an ellipse detection algorithm; the corneoscleral limbus is a transition region between cornea and sclera, namely a black-and-white eyeball junction seen from outside the eyeball, and has two obvious morphological characteristics, namely a black-and-white boundary and a round shape; since the eyeball is not a standard sphere and deforms when moving, the corneoscleral limbus is strictly an ellipse. The edge detection algorithm and the ellipse detection algorithm can be used to identify the scleral edge.
Preprocessing an eye surface microscopic image, converting the eye surface microscopic image from an RGB space to an HSV space, and performing histogram equalization processing, binarization processing, opening and closing operation and Gaussian filtering;
extracting edges by using a Canny operator to obtain initial edges;
removing the edges which do not meet the requirements by utilizing an edge detection algorithm and an arc judgment condition, and selecting an elliptical arc meeting the requirements by setting a limiting condition to realize the identification of the corneoscleral limbus; the arc judging conditions comprise ellipse completeness, ellipse edge point quantity proportionality coefficient and ellipse positive and negative, and the limiting conditions comprise absolute size of long and short axes, relative size of long and short axes and axis position.
Accurately positioning the corneoscleral limbus in the OCT image of the anterior segment of the eye by identifying the anterior border and the posterior border of the corneoscleral limbus; wherein the anterior boundary is defined by the endpoint of the anterior elastic layer (Bowman's layer) of the cornea to the endpoint of the posterior elastic layer (posterior elastic layer is the basement membrane of the corneal endothelial cells, i.e., descemet's membrane), the posterior boundary is defined by the tangent to the surface of the eye from the scleral spur, the corneoscleral margin in the OCT image is shown in fig. 4, BM in fig. 4 refers to Bowman's layer, DM refers to Descemet's membrane, and SS refers to scleral spur.
Setting a circular ring area on the surface of the eyeball by taking the identified cornucopia as a reference; the center of the circle is set as a pupil, the distance between the inner ring and the cornice sclera edge is set as a first preset distance, if the first preset distance is set to be 3mm, the distance between the outer ring and the cornice sclera edge is set as a second preset distance, if the first preset distance is set to be 4mm, and the first preset distance is smaller than the second preset distance;
after the annular region is determined, the annular region is divided into four quadrant regions of upper side, lower side, nasal side and temporal side according to eyeball position (left eye/right eye), as shown in fig. 5. Only the temporal-inferior quadrant region (i.e., the inferior temporal side identified in fig. 5) is reserved as the puncture region, puncture position p 1 Randomly generating in the puncture area, and puncturing angle theta 1 (included angle between needle tip and eye surface) is set to be random value in 45-60 deg.
And converting the preset puncture position and puncture angle from a microscope coordinate system to a mechanical arm coordinate system, and transmitting the converted pose information to the mechanical arm so as to control the injector to puncture at the preset position and at a fixed angle. After the calibration step is performed on the mechanical arm and the OCT, a conversion matrix of the mechanical arm coordinate system and the OCT coordinate system is obtained, and the coordinate system conversion of the position/angle can be realized by using the conversion matrix, so that the coordinate system is converted from a microscope coordinate system (OCT coordinate system) to the mechanical arm coordinate system.
After the puncture is completed, measuring the pose of the needle point through the OCT image, and comparing the pose with a preset value; the method specifically comprises the following steps:
OCT real-time imaging software of the OCT module has a click positioning function and a three-point angle solving function, and after a needle point enters an eye, the OCT module responds to click operation of the needle point position by clicking the needle point position to acquire the position information p of the needle point 2 The method comprises the steps of carrying out a first treatment on the surface of the Is obtained by selecting any point along the tangential direction of cornea from the needle body and the needle tipAngle information theta of needle tip 2 。
Judging whether the three-dimensional error of the puncture position is smaller than a preset position error and whether the puncture angle error is smaller than a preset angle error; in this embodiment, the preset position error is set to 0.1mm, and the preset angle error is set to 1 °.
If yes, judging that the condition of pushing the injector is reached, and pushing the injector;
otherwise, judging that the condition for controlling the original return of the injector is reached, and controlling the original return of the injector.
When the needle tip enters the back of the eyeball, the needle depth p is imaged by the OCT image of the anterior segment of the eye 3 Angle theta 3 Performing real-time measurement;
when the measured result meets the condition that the distance between the needle point and the ocular surface is in the preset distance range, if the preset distance range is set to be 4-6mm, the condition that the injector stops pushing is judged to be reached, the injector stops pushing, an injection instruction is sent to the mechanical arm, and after the injection is completed, the injector returns to the original path.
The invention improves the puncture precision and injection precision of vitreous body injection and reduces iatrogenic injury and subsequent injury caused by uncertainty of the relative position of tissue-needle tip space. The introduction of OCT technology can assist the binocular camera to perform more accurate cornice limbus positioning, can also perform real-time imaging and tracking on tissues, focus and needle points in eyes, provides feedback for puncture and medicine injection, and realizes automatic medicine injection at a preset position and a fixed angle on the premise of not causing damage.
Example 3
An electronic device 200, as shown in fig. 8, includes, but is not limited to: a memory 201 having program codes stored thereon; a processor 202 coupled to the memory and which when the program code is executed by the processor implements an OCT based vitrectomy data processing method. For detailed description of the method, reference may be made to corresponding descriptions in the above method embodiments, and details are not repeated here.
Example 4
A computer readable storage medium having stored thereon program instructions that when executed implement a method of OCT-based vitrectomy data processing, as shown in fig. 9. For detailed description of the method, reference may be made to corresponding descriptions in the above method embodiments, and details are not repeated here.
It should also be noted that 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.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
The foregoing is illustrative of the embodiments of the present disclosure and is not to be construed as limiting the scope of the one or more embodiments of the present disclosure. Various modifications and alterations to one or more embodiments of this description will be apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of one or more embodiments of the present disclosure, are intended to be included within the scope of the claims of one or more embodiments of the present disclosure.
Claims (12)
1. The OCT-based vitreous injection data processing method is characterized by comprising the following steps of:
calibrating the OCT module and the vitreous body injection robot module, and establishing data transmission;
identifying corneoscleral limbus by ocular surface microscopic image and anterior ocular segment OCT image;
setting a circular ring area on the surface of the eyeball by taking the identified cornucopia as a reference; the center of the circle is set as a pupil, the distance between the inner ring and the corneoscleral limbus is set as a first preset distance, the distance between the outer ring and the corneoscleral limbus is set as a second preset distance, and the first preset distance is smaller than the second preset distance;
after determining a circular ring area, dividing the circular ring area into four quadrant areas of an upper side, a lower side, a nasal side and a temporal side according to eyeball positions, reserving only the temporal-lower quadrant area as a puncture area, randomly generating the puncture position in the puncture area, and setting a puncture angle to be a random value within a range of 45-60 degrees;
converting a preset puncture position and puncture angle from a microscope coordinate system to a mechanical arm coordinate system, and transmitting converted pose information to the mechanical arm;
measuring the pose of the needle point through the OCT image and comparing the pose with a preset value;
judging whether the three-dimensional error of the puncture position is smaller than a preset position error and whether the puncture angle error is smaller than a preset angle error;
if yes, judging that the condition for pushing the injector is reached, otherwise, judging that the condition for controlling the injector to return to the original path is reached;
measuring the needle penetration depth and angle in real time through an OCT image of the anterior segment of the eye;
when the measured result meets the condition that the distance between the needle point and the ocular surface is within the preset distance range, the condition that the injector is controlled to stop pushing is judged to be reached, and an injection instruction is sent to the mechanical arm.
2. The OCT-based vitrectomy data processing method of claim 1, wherein calibrating the OCT module and the vitrectomy robot module comprises:
calibrating the mechanical arm by using a TCP method, wherein a fixed reference point is a syringe needle point on a plane, and the mechanical arm reference point is a syringe needle point on an end effector, so as to obtain a coordinate of a needle point datum point in a base coordinate system;
tracking the needle point of the injector by utilizing the OCT module to obtain the coordinate of the needle point datum point in an OCT coordinate system;
and solving the rigid change relation between the reference point pairs through a Kabsch algorithm to realize the hand-eye calibration of the OCT integrated vitreous body injection robot.
3. The OCT-based vitrectomy data processing method of claim 2, wherein calibrating the mechanical arm using TCP method comprises the steps of:
controlling the mechanical arm to enable the injector needle point on the end effector to contact the injector needle point on the plane in a plurality of different postures, respectively recording a rotation matrix and a translation vector between a base coordinate system of the mechanical arm and a coordinate system of the end effector, and leading the rotation matrix and the translation vector into a formula (1) to solve the relative position of the injector needle point and the mechanical arm;
R BEi ·t EiT +t BEi ＝t BT (i＝1,2,...,n) (1)
wherein R is BEi Is a rotation matrix between a mechanical arm base coordinate system and an end effector coordinate system, t EiT Is the translation vector between the coordinate system of the mechanical arm end effector and the needle point of the syringe, t BEi Is a translation vector between a mechanical arm base coordinate system and an end effector coordinate system, t BT Is a translation vector between the mechanical arm base coordinate system and the needle point of the syringe;
solution t by least square method EiT And acquiring pose information of the needle point of the injector in a mechanical arm coordinate system, and completing calibration of the mechanical arm.
4. The OCT-based vitrectomy data processing method of claim 3, wherein the tracking the syringe needle tip with the OCT module to obtain the coordinates of the needle tip fiducial point in the OCT coordinate system comprises the steps of:
controlling the needle point of the injector to move in a set space, recording at least three groups of needle point coordinates, and synchronously scanning the needle point at the recording point by using the OCT module;
and carrying out three-dimensional reconstruction on OCT scanning data, slicing the volume data from the directions of x, y and z, sequentially reading xz slices and yz slices, screening out slices containing highlight points, then selecting the highlight point with the largest z coordinate in the slices, recording the highlight point coordinate, and obtaining the coordinate of the needle point in an OCT coordinate system.
5. The OCT-based vitrectomy data processing method of claim 4, wherein: the needle point of the control injector moves in the setting space to control the mechanical arm to move in all directions (x, y, z), all angles (R x ,R y ,R z ) And performing exercise.
6. The OCT based vitrectomy data processing of claim 4, wherein the solving the rigid change relationship between the pair of fiducial points by the Kabsch algorithm comprises the steps of:
after the reference point pair coordinates of the needle point in the mechanical arm base coordinate system and the OCT coordinate system are obtained, the reference point pair coordinates are normalized, and a central point C of a mechanical arm reference point set is obtained by utilizing a formula (2) Rob And center point C of OCT reference point set OCT ；
By means of two centre points C Rob And C OCT Centering the two point sets to eliminate the influence of the translation vector t;
after two centralized point sets are obtained, calculating a covariance matrix H between the reference point sets by using a formula (6);
and solving an optimal rotation matrix R through SVD decomposition, and reversely solving a translation vector t by using the rotation matrix R to finish calibration.
7. The OCT-based vitreoinjection data processing method of claim 1, wherein the identifying the corneoscleral limbus by the ocular surface microscopic image and the anterior ocular segment OCT image comprises the steps of:
performing preliminary positioning on the diagonal scleral edge in the eye surface microscopic image by using an edge detection algorithm and an ellipse detection algorithm;
accurately positioning the corneoscleral limbus in the anterior ocular segment OCT image by identifying the anterior border and the posterior border of the corneoscleral limbus; wherein the anterior boundary is defined by a line connecting the anterior elastic layer endpoint of the cornea to the posterior elastic layer endpoint of the cornea, and the posterior boundary is defined by an eye surface tangent line from the scleral spur.
8. The OCT-based vitrectomy data processing method of claim 7, wherein the preliminary positioning of the scleral limbus in the ocular surface microscopic image using an edge detection algorithm and an ellipse detection algorithm comprises the steps of:
preprocessing the eye surface microscopic image, converting the eye surface microscopic image from an RGB space to an HSV space, and performing histogram equalization processing, binarization processing, opening and closing operation and Gaussian filtering;
extracting edges by using a Canny operator to obtain initial edges;
removing the edges which do not meet the requirements by utilizing an edge detection algorithm and an arc judgment condition, and selecting an elliptical arc meeting the requirements by setting a limiting condition to realize the identification of the corneoscleral limbus; the arc judging conditions comprise ellipse completeness, ellipse edge point quantity proportionality coefficient and ellipse positive and negative, and the limiting conditions comprise absolute size of long and short axes, relative size of long and short axes and axis positions.
9. The OCT-based vitrectomy data processing method of claim 1, wherein the measuring the pose of the needle tip by OCT images comprises the steps of:
responding to clicking operation of the needle point position, and acquiring the position information of the needle point;
and acquiring the angle information of the needle point through the selected needle body, the needle point and any point along the tangential direction of the cornea.
10. An electronic device, comprising: a memory having program code stored thereon; a processor coupled to the memory and which, when executed by the processor, implements the method of claim 1.
11. A computer readable storage medium, having stored thereon program instructions which, when executed, implement the method of claim 1.
12. The OCT-based vitrectomy robot of claim 1, wherein the method comprises: the system comprises an OCT module and a vitreous body injection robot module, wherein the OCT module is used for image guidance and providing binocular stereo microscopic images and OCT images of a scanning area, the vitreous body injection robot module comprises a mechanical arm and an end effector, and the vitreous body injection robot is used for ocular surface puncture and intraocular drug injection.
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