KR101199764B1 - Relative coordinate extraction device and medical images system using the same - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a relative coordinate extraction apparatus and a medical imaging apparatus using the same, and more particularly, to a relative coordinate extraction apparatus for equipping an object and calculating relative coordinates with a target marker and a medical imaging apparatus using the same. According to the present invention, a relative coordinate extraction capable of precisely tracking the position of an object is performed by mounting an image acquisition device, which is a sensor device, on an object, and calculating a relative coordinate by installing a target marker that can determine a position around the image acquisition device. A device and a medical imaging device using the same can be provided.

Description

Relative coordinate extraction device and medical imaging device using the same {RELATIVE COORDINATE EXTRACTION DEVICE AND MEDICAL IMAGES SYSTEM USING THE SAME}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a relative coordinate extraction apparatus and a medical imaging apparatus using the same, and more particularly, to a relative coordinate extraction apparatus for equipping an object and calculating relative coordinates with a target marker and a medical imaging apparatus using the same.

In general, a technique for detecting the movement of an object using a target marker uses a method of tracking a moving coordinate of the object by attaching a target marker to the object and then fixing one or more optical cameras or the like around the object. In this case, however, the precision and traceable field of view (FOV) change according to the distance of the sensor. If the distance is close, the tracking accuracy is high, but the field of view becomes smaller, the tracking object can be out of the sensor range, and if the distance is far, the sensor range for the tracking object is increased, but tracking accuracy is reduced.

It is an object of the present invention to provide a relative coordinate extraction apparatus capable of precisely tracking a position of an object regardless of a viewing range and a medical imaging apparatus using the same.

In order to achieve the above object, the present invention obtains an image of a target marker located in the vicinity of the object and detects the movement of the object based on the image acquisition device provided on the object and the image obtained by the image acquisition device. It provides a relative coordinate extraction apparatus comprising a sensor.

The target marker may include a plurality of unit targets, and the unit target may include at least one of a letter, a pattern, and a symbol. The target marker may further include a boundary line that separates the plurality of unit targets. The target marker and the image acquisition device may be provided in plurality. Accordingly, the target marker according to an embodiment of the present invention, a first target marker, a second target marker provided in the direction crossing the first target marker on one side edge of the first target marker, and the It may include a third target marker provided at one edge of the first target marker and the second target marker. Here, the unit targets of the first to third target markers are preferably different from each other. The image capturing apparatus may include first to third image capturing apparatuses respectively obtaining images of the first to third target markers. The sensing unit may include a coordinate model in which information about a unit target included in the target marker is stored, an image comparison module comparing the image of the target marker acquired by the image acquisition device, and the coordinate model, and the image comparison module. And a coordinate extraction module for extracting coordinates for the position of the object as a result of the derivation.

In addition, the present invention is a target marker provided inside the object inlet of the medical imaging device, an image acquisition device provided on the object to obtain the image of the target marker, and based on the image obtained by the image acquisition device A medical imaging apparatus may include a sensor configured to detect a motion.

The target marker may include a plurality of unit targets, and the plurality of target markers and the image capturing apparatus may be provided. The inlet has a cylindrical shape with one side open, and the target marker includes second and third target markers provided at an inner circumference of the inlet, and a first target marker provided at the other side of the inlet. The image capturing apparatus may include first to third image capturing apparatuses respectively obtaining images of the first to third target markers. The sensing unit may include a coordinate model in which information about a unit target included in the target marker is stored, an image comparison module comparing the image of the target marker acquired by the image acquisition device, and the coordinate model, and the image comparison module. The derived result may include a coordinate extraction module for extracting the coordinates of the position of the object.

According to the present invention, a relative coordinate extraction capable of precisely tracking the position of an object is performed by mounting an image acquisition device, which is a sensor device, on an object, and calculating a relative coordinate by installing a target marker that can determine a position around the image acquisition device. A device and a medical imaging device using the same can be provided.

1 is a conceptual diagram of a relative coordinate extraction apparatus according to the present invention.
2 is a plan view of the target marker of the relative coordinate extraction apparatus according to the present invention.
3 is a conceptual diagram of a medical imaging apparatus to which a relative coordinate extraction apparatus according to the present invention is applied.
4 is a schematic plan view of a relative coordinate extraction apparatus according to the present invention;
5 is a block diagram of a sensing unit of a relative coordinate extraction apparatus according to the present invention;
6 is a conceptual diagram for explaining an image comparison of the relative coordinate extraction apparatus according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

It will be apparent to those skilled in the art that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know. Like reference numerals refer to like elements throughout.

1 is a conceptual diagram of a relative coordinate extraction apparatus according to the present invention.

As shown in FIG. 1, the apparatus for extracting relative coordinates according to the present invention obtains a target marker 100, an image of the target marker 100, and an image obtaining apparatus 200 provided on the object O, and an image. It includes a detector 300 for detecting the movement of the object (O) on the basis of the image obtained by the acquisition device (200).

The target marker 100 is a marker encoded with a pattern or marker capable of recognizing spatial coordinates. In this embodiment, the three target markers 100, that is, the first to third target markers 110, 120, and 130 are encoded. To illustrate.

2 is a plan view of the target marker of the relative coordinate extraction apparatus according to the present invention.

As shown in FIG. 2, the first target marker 110 has a rectangular plate shape in which unit targets are arranged in a matrix form. Of course, the present invention is not limited to this, and the unit target is independent of each unit target such as letters including numbers, English and Korean, figures including patterns, patterns, and symbols including triangles, squares and circles, and the like. It can be configured to include a shape that can be distinguished by. That is, the shape of the unit target of the target marker 100 according to the present invention is not limited if the unit detects the position of the object O by recognizing the unit target. However, when the unit targets are all the same shape, it is preferable that the unit targets have different shapes because the detection unit cannot detect in which region the unit target is located in the target marker 100. In addition, in the present embodiment, the boundary line for dividing the unit target is a quadrangular shape, but the present invention may implement the boundary line in various shapes such as a polygonal shape including a triangle or a quadrangle, or a circle or an ellipse. Of course, this boundary may be omitted in some cases.

The second target marker 120 may be provided in a direction intersecting with the second target marker 120 at one edge of the first target marker 110, for example, vertically. In this case, the unit target provided on one surface of the second target marker 120 and the unit target provided on one surface of the second target marker 120 may be identical to each other. That is, when a letter including a number and an alphabet is provided as a unit target on one surface of the first target marker 110, the second target marker 120 may also include a letter including the same number and the alphabet as a unit target. have. However, the present invention is not limited thereto, and the unit target provided on one surface of the first target marker 110 and the unit target provided on one surface of the second target marker 120 may be different from each other. For example, when one surface of the first target marker 110 includes a character including a number and an alphabet as a unit target, one surface of the second target marker 120 may have triangles, squares, pentagons, hexagons, circles, and ellipses. The unit target may include a figure including a star, a symbol such as a special character, and the like.

The third target marker 130 is provided between the first target marker 110 and one side of the second target marker 120 and is the same unit target or different unit target as the first and second target markers 110 and 120. It may be configured as.

However, the target marker 100 according to the present invention is not limited to the above-described structure, and a target marker having a rectangular box shape having one surface open may be used. In this case, the target marker may include a first target marker, a second target marker provided in a direction facing the first target marker, a third target marker provided to face each other between the first target marker and the second target marker; And a fifth target marker provided between the fourth target marker and the first to fourth target markers.

Meanwhile, although the target marker 100 is illustrated as having a flat shape in the drawing, the target marker 100 may have a curved arc shape.

3 is a conceptual diagram of a medical imaging apparatus to which a relative coordinate extraction apparatus according to the present invention is applied.

For example, a medical imaging device, that is, a magnetic resonance imaging (MRI) device, a positron emission tomography (PET) device, a computed tomography (CT) device, or the like according to the present invention, etc. When the apparatus for extracting coordinates is applied, the shape of the target marker 100 may also correspond to the shape of the inlet because the shape of the inlet through which the object O is inserted into the above-described medical imaging apparatus is generally cylindrical. It can be manufactured in a shape. For example, as shown in FIG. 3, the second and third target markers 120 and 130 are formed in an arc shape so that each corresponds to the shape of the cylindrical inlet, and the first target marker 110 is the inlet. It may be manufactured in a flat shape to be provided on the other side of the.

4 is a schematic plan view of a relative coordinate extraction apparatus according to the present invention.

The image acquisition device 200 is for acquiring an image of the target marker 100, and since the embodiment has illustrated the first to third target markers 110, 120, and 130, the image acquisition device 200 may also be the first. To third image acquisition devices 210, 220, and 230, a first image acquisition device 210 for acquiring an image of a unit target provided on one surface of the first target marker 110, and a second target marker 120. The second image acquisition device 220 for acquiring the image of the unit target provided on one surface of the), the third image acquisition device 230 for acquiring the image for the unit target provided on one surface of the third target marker 130 ) May be included.

Meanwhile, the exemplary embodiment exemplifies three target markers 110, 120, and 130 and three image acquisition apparatuses 210, 220, and 230 for acquiring images thereof, but the present invention is not limited thereto. That is, the present invention may include at least one or more target markers 100 and at least one or more image acquisition devices 200 for acquiring an image of at least one or more target markers 100. For example, as described above, when five target markers are provided, five image acquisition apparatuses 200 may also be provided. That is, a first image acquisition device for acquiring an image of a unit target provided on one surface of the first target marker, and a second image acquisition device for acquiring an image for the unit target provided on one surface of the second target marker; A third image acquisition device for acquiring an image of a unit target provided on one surface of the third target marker, a fourth image acquisition device for acquiring an image of the unit target provided on one surface of the fourth target marker, and a fifth target marker It may include a fifth image acquisition device for obtaining an image for the unit target provided on one side of the. Here, the first image acquisition device and the third image acquisition device are positioned to face each other, and the second image acquisition device and the fourth image acquisition device are also positioned to face each other. In addition, the fifth image capturing apparatus is provided on one surface of the first to fourth image capturing apparatuses to acquire an image of the fifth target marker.

5 is a block diagram of a relative coordinate extraction apparatus according to the present invention.

The detector 300 detects the position of the object O based on the image of the target marker 100 acquired by the image capturing apparatus 200. To this end, the sensing unit 300 includes a coordinate module 310, an image comparison module 320, and a coordinate extraction module 330, as shown in FIG. 5.

The coordinate module 310 is information about the target marker 100 stored in advance for comparing the image of the target marker 100 acquired by the image capturing apparatus 200. The information is stored. In this case, the information on the unit target includes information on a plurality of unit targets, that is, array information of the plurality of unit targets, and shape information on whether the unit target is a character or a figure.

6 is a conceptual diagram illustrating an image comparison of a device for extracting relative coordinates according to the present invention.

The image comparison module 320 compares the image of the target marker 100 acquired by the image acquisition device 200 with the coordinate module 310. As shown in FIG. 6A, for example, the first image capturing apparatus 210 acquires an A region image of the first target marker 110, and is illustrated in FIG. 6B. As shown in FIG. 6C, when the second image obtaining apparatus 220 acquires the C region image, the second image obtaining apparatus 220 acquires the C region image. The image is compared with the coordinate module 310. This is to compare the area A in the image acquired by the first image capturing apparatus 210 with the first target marker information stored in the coordinate module 310 to determine the location of the area A of the first target marker 110 and how much. Determine if it has been rotated. Also, in the images acquired by the second and third image capturing apparatuses 220 and 230, the B region and the C region are compared with the second and third target marker information stored in the coordinate module 310. The position and the degree of rotation of the second and third target markers 120 and 130 are respectively determined.

The coordinate extraction module 330 may extract the position coordinates and the rotation value of the object O as a result value derived from the image comparison module 320. That is, the X-axis coordinate, the Y-axis coordinate, and the Z-axis rotation value of the object O may be calculated using the A-region image acquired by the first image acquisition device 210, and obtained by the second image acquisition device 210. The Y-axis coordinate, the Z-axis coordinate, and the X-axis rotation value of the object O may be calculated using the obtained B-region image, and the Z-axis of the object O is obtained by the C-region image obtained by the third image acquisition device 210. Coordinates, X-axis coordinates, and Y-axis rotation values can be calculated.

As described above, the present invention, by mounting the image acquisition device that is a sensor device on the object, by installing a target marker that can determine the position around the image acquisition device to calculate the relative coordinates, to accurately track the position of the object A relative coordinate extraction apparatus and a medical imaging apparatus using the same can be provided.

Although described above with reference to the drawings and embodiments, those skilled in the art can be variously modified and changed within the scope of the invention without departing from the spirit of the invention described in the claims below. I can understand.

100: target marker 110: first target marker
120: second target marker 130: third target marker
200: image acquisition device 210: first image acquisition device
220: second image acquisition device 230: third image acquisition device
300: detector 310: coordinate model
320: image comparison module 330: coordinate extraction module

Claims (15)

At least one target marker located around the object,
At least one image acquisition device obtained by acquiring an image of the target marker and provided to the object;
And a detector configured to detect a movement of an object based on the image acquired by the image acquisition device. The method according to claim 1,
And the target marker comprises a plurality of unit targets. The method according to claim 2,
And the unit target includes at least one of a character, a pattern, and a symbol. The method according to claim 2,
The target marker further comprises a boundary line for separating the plurality of unit targets. The method according to claim 2,
And a plurality of target markers and the image capturing apparatus. The method according to claim 5,
The target marker,
A first target marker,
A second target marker provided at one side edge of the first target marker in a direction crossing the first target marker;
And a third target marker provided at one edge of the first target marker and the second target marker. The method of claim 6,
Relative coordinate extraction apparatus characterized in that the unit targets of the first to third target markers are different from each other. The method of claim 6,
The image acquisition device,
And a first to third image acquisition device for respectively acquiring images of the first to third target markers. The method according to claim 2,
The sensing unit includes:
A coordinate model in which information about a unit target included in the target marker is stored;
An image comparison module for comparing the coordinate model with an image of the target marker acquired by the image acquisition device;
And a coordinate extraction module for extracting coordinates with respect to the position of the object as a result derived from the image comparison module. At least one target marker provided inside the object inlet of the medical imaging apparatus;
At least one image acquisition device obtained by acquiring an image of the target marker and provided to the object;
And a detector configured to detect a movement of an object based on the image acquired by the image acquisition device. The method of claim 10,
The target marker includes a plurality of unit targets. The method of claim 11,
And a plurality of target markers and the image capturing apparatus. The method of claim 12,
The inlet has a cylindrical shape open at one side,
The target marker,
Second and third target markers provided on an inner circumference of the inlet;
And a first target marker provided on the other side of the inlet. The method according to claim 13,
The image acquisition device,
And first to third image capturing devices respectively acquiring images of the first to third target markers. The method of claim 10,
The sensing unit includes:
A coordinate model in which information about a unit target included in the target marker is stored;
An image comparison module for comparing the coordinate model with an image of the target marker acquired by the image acquisition device;
And a coordinate extraction module for extracting coordinates of the position of the object as a result of the image comparison module.

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