JP6144914B2 - レーザ改良された3d表面再構成 - Google Patents
レーザ改良された3d表面再構成 Download PDFInfo
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- JP6144914B2 JP6144914B2 JP2012552494A JP2012552494A JP6144914B2 JP 6144914 B2 JP6144914 B2 JP 6144914B2 JP 2012552494 A JP2012552494 A JP 2012552494A JP 2012552494 A JP2012552494 A JP 2012552494A JP 6144914 B2 JP6144914 B2 JP 6144914B2
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- laser spot
- dimensional object
- spot array
- endoscope
- endoscopic image
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0605—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements for spatially modulated illumination
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1076—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions inside body cavities, e.g. using catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1077—Measuring of profiles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/37—Determination of transform parameters for the alignment of images, i.e. image registration using transform domain methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/267—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
- A61B1/2676—Bronchoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/317—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for bones or joints, e.g. osteoscopes, arthroscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4528—Joints
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10068—Endoscopic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
Description
FA = 2*arcsin(L/(2*D)) [1]
xT * F * x' = 0 [2]
2つの異なるビューにおけるNレーザースポットについて、N個の式の組が規定される:
x1 T * F * x1' = 0
・・・ [3]
xN T * F * xN' = 0
E = K T * F * K [4]
E = U * Σ * V T [5]
P1 = K * [I|0] [6]
P2 = KT * [R|T] * K [7]
x = P1 * X [8]
x' = P2 * X [9]
Claims (15)
- 3次元対象の表面上にレーザスポットパターンを投射するレーザと、
内視鏡が前記3次元対象に対し平行移動され又は回転されるに従って、一連の内視鏡画像を生成する内視鏡であって、各内視鏡画像が、前記レーザによって前記3次元対象の前記表面上に投射される前記レーザスポットパターンに含まれるレーザスポットアレイのそれぞれ異なるビューを示す、内視鏡と、
前記内視鏡と通信するとともに、前記内視鏡画像に示される前記レーザスポットアレイの前記それぞれ異なる複数のビューの対応付けに基づいて、前記3次元対象の前記表面を再構成する画像再構成装置であって、前記対応付けが、前記レーザスポットパターンに対し前記内視鏡の異なる向きにおいて生成された各内視鏡画像内のレーザスポットアレイを検出することにより算出したカメラ較正パラメータを用いることを含む、画像再構成装置と、
を有するシステム。 - 前記レーザスポットパターン及び前記レーザスポットアレイが同一である、請求項1に記載のシステム。
- 前記レーザスポットアレイが、前記レーザスポットパターンのサブセットである、請求項1に記載のシステム。
- 前記3次元対象の前記表面の前記再構成は、
前記内視鏡画像に示される前記レーザスポットアレイの前記それぞれ異なるビューを関連付けるための基礎行列を生成し、
前記基礎行列及び前記レーザスポットアレイの前記それぞれ異なるビューの関数として、3次元対象ポイントを再構成する、
ことを含む、請求項1に記載のシステム。 - 前記3次元対象の前記表面の前記再構成は、
前記内視鏡画像に示される前記レーザスポットアレイの前記それぞれ異なるビューを関連付けるための基礎行列を生成し、
前記内視鏡画像に示される前記3次元対象に投射された前記レーザスポットアレイを表面特徴として検出し、
前記基礎行列及び前記内視鏡画像において検出された前記3次元対象の前記表面特徴の関数として、3次元対象ポイントを再構成する、
ことを含む、請求項1に記載のシステム。 - 前記3次元対象の前記表面の前記再構成は、前記内視鏡画像に示される前記レーザスポットアレイの前記それぞれ異なるビューを関連付けるための基礎行列を生成することを含む、請求項1に記載のシステム。
- 前記3次元対象の前記表面の前記再構成は更に、前記内視鏡画像に示される前記レーザスポットアレイの前記それぞれ異なるビューを関連付けるための基本行列を生成することを含み、前記基本行列は、前記基礎行列及び前記内視鏡のカメラ較正に関連するカメラ較正行列の関数である、請求項6に記載のシステム。
- 前記3次元対象の前記表面の前記再構成は更に、前記基本行列の関数として並進ベクトル及び回転行列を生成することを含む、請求項7に記載のシステム。
- 前記3次元対象の前記表面の前記再構成は更に、前記並進ベクトル及び前記回転行列の関数として前記レーザスポットアレイの各ビューについて投射行列を生成することを含み、各投射行列は、前記レーザスポットアレイの関連するビューの線形変換を与える、請求項8に記載のシステム。
- 前記3次元対象の前記表面の前記再構成は更に、各投射行列及び前記レーザスポットアレイの前記関連するビューの関数として、3次元対象ポイントを再構成することを含む、請求項9に記載のシステム。
- 前記3次元対象の前記表面の前記再構成は更に、
前記レーザスポットアレイの各ビューについて、前記内視鏡画像に示される前記3次元対象に投射された前記レーザスポットアレイを表面特徴として検出し、
各投射行列及び前記内視鏡画像において検出された前記3次元対象の各表面特徴の関数として、3次元対象ポイントを再構成する、
ことを含む、請求項9に記載のシステム。 - 前記内視鏡は、前記内視鏡画像の少なくとも2つに基づいてカメラ較正される、請求項1に記載のシステム。
- 内視鏡が3次元対象に対し平行移動され又は回転されるに従って、一連の内視鏡画像を生成する内視鏡であって、各内視鏡画像が、前記3次元対象の表面上に投射されるレーザスポットパターンに含まれるレーザスポットアレイのそれぞれ異なるビューを示す、内視鏡と、
前記内視鏡と通信するとともに、前記内視鏡画像に示される前記レーザスポットアレイの前記それぞれ異なる複数のビューの対応付けに基づいて、前記3次元対象の表面を再構成する画像再構成装置であって、前記対応付けが、前記レーザスポットパターンに対し前記内視鏡の異なる向きにおいて生成された各内視鏡画像内のレーザスポットアレイを検出することにより算出したカメラ較正パラメータを用いることを含む、画像再構成装置と、
を有するシステム。 - 前記3次元対象の前記表面の前記再構成は、
前記内視鏡画像に示される前記レーザスポットアレイの前記それぞれ異なるビューを関連付けるための基礎行列を生成し、
前記基礎行列及び前記レーザスポットアレイの前記それぞれ異なるビューの関数として、3次元対象ポイントを再構成する、
ことを含む、請求項13に記載のシステム。 - 前記3次元対象の前記表面の前記再構成は、
前記内視鏡画像に示される前記レーザスポットアレイの前記それぞれ異なるビューを関連付けるための基礎行列を生成し、
前記内視鏡画像に示される前記3次元対象に投射された前記レーザスポットアレイを表面特徴として検出し、
前記基礎行列及び前記内視鏡画像において検出された前記3次元対象の前記表面特徴の関数として、3次元対象ポイントを再構成する、
ことを含む、請求項13に記載のシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US30370210P | 2010-02-12 | 2010-02-12 | |
US61/303,702 | 2010-02-12 | ||
PCT/IB2011/050171 WO2011098927A1 (en) | 2010-02-12 | 2011-01-14 | Laser enhanced reconstruction of 3d surface |
Publications (3)
Publication Number | Publication Date |
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JP2013519417A JP2013519417A (ja) | 2013-05-30 |
JP2013519417A5 JP2013519417A5 (ja) | 2015-05-21 |
JP6144914B2 true JP6144914B2 (ja) | 2017-06-07 |
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JP2012552494A Expired - Fee Related JP6144914B2 (ja) | 2010-02-12 | 2011-01-14 | レーザ改良された3d表面再構成 |
Country Status (5)
Country | Link |
---|---|
US (2) | US11022433B2 (ja) |
EP (1) | EP2533679B1 (ja) |
JP (1) | JP6144914B2 (ja) |
CN (1) | CN102762142B (ja) |
WO (1) | WO2011098927A1 (ja) |
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US20210285759A1 (en) | 2021-09-16 |
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EP2533679B1 (en) | 2017-01-11 |
EP2533679A1 (en) | 2012-12-19 |
US20120310098A1 (en) | 2012-12-06 |
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CN102762142B (zh) | 2016-01-27 |
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