CN114081626B - Tool identification method compatible with small number of lost mark points based on optical positioning instrument - Google Patents
Tool identification method compatible with small number of lost mark points based on optical positioning instrument Download PDFInfo
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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Abstract
The invention discloses a tool identification method compatible with a small number of lost mark points based on an optical positioning instrument, which comprises the following steps: 1) Acquiring basic information of a tool to be identified by using an optical positioning instrument; 2) The basic information is used for carrying out special judgment of tool identification: the standard tool file when the tool leaves the factory is needed to be provided, and the identification is terminated in advance when the number of marking points is less than 3 or more than 200; 3) Performing point pair matching on the mark point set in the standard tool file and the mark point set identified by the optical positioning instrument, and indicating successful identification when the number of the matched point pairs is not less than the number of the mark points which can be identified by the current positioning instrument; 4) And performing tool recognition accuracy calculation on the matched result, and outputting tool information of which the current recognition is finished. The invention not only can realize the tool identification under the condition that all the marked points on the tool exist and are not shielded, but also can realize the tool identification even if a small number of marked points on the tool are lost or shielded in the process.
Description
Technical Field
The invention relates to the technical field of optical surgical navigation, in particular to a tool identification method compatible with a small number of lost mark points based on an optical positioning instrument.
Background
The optical navigation technology is to detect the relative position relationship between the optical navigation device and the object to be detected by using a physical optical measurement mode, and has wide application in the fields of aerospace, medical treatment, industry and the like. And with the leap of modern medical imaging technology, great help is brought to diagnosis and treatment of diseases. The surgical navigation system based on medical images and taking the optical positioning instrument as a core component can visualize the position relationship between the surgical tool and the characteristic structure of the patient in the actual space to help the doctor to perform the surgery, thereby providing great help in the aspects of surgery precision, surgery time consumption, surgery trauma, postoperative efficacy and the like, and becoming more of the more modern surgeons' choices.
The more common mode of the operation navigation system for positioning the operation tool and the patient is based on the mode of point set matching of marking points, namely, the positioning instrument identifies the external marking points on the tool or adhered on the skin surface of the patient and acquires three-dimensional coordinates of the external marking points, and then the relative position relation between the coordinate system of the positioning instrument and the coordinate system of the tool or the patient is obtained for positioning in real time. The tool referred to in the present invention is used to preoperatively determine the position of the needle tip of the surgical needle in the coordinate system of the locator during surgery, in particular tumor ablation surgery. However, in a real experiment or in a surgical process, the problem that the positioning instrument cannot identify all the marked points due to dropping or shielding of the marked points caused by misoperation, so that positioning or navigation accuracy is affected, and even the problem that the navigation during the operation cannot continuously provide service to affect the operation is caused.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, and provides a tool identification method compatible with a small number of lost marked points based on an optical positioning instrument. Meanwhile, partial logic of algorithm realization of the method is simple and easy to understand.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows: the tool identification method compatible with a small number of lost mark points based on the optical locator comprises the following steps:
1) Acquiring basic information of a tool to be identified by using an optical positioning instrument, wherein the basic information comprises: standard tool file information and three-dimensional coordinates of a mark point which can be recognized by an optical positioner;
2) The basic information is used for carrying out special judgment of tool identification: the standard tool file when the tool leaves the factory is needed to be provided, and the identification is terminated in advance when the number of marking points is less than 3 or more than 200;
3) Performing point pair matching on the mark point set in the standard tool file and the mark point set identified by the optical positioning instrument, and indicating successful identification when the number of the matched point pairs is not less than the number of the mark points which can be identified by the current positioning instrument;
4) And performing tool recognition accuracy calculation on the matched result, and outputting tool information of which the current recognition is finished.
Further, in step 1), the standard tool file information refers to information provided when the tool leaves the factory, and includes a tool name, the number of reflective marker balls on the tool, and a three-dimensional coordinate point set of marker points in a tool coordinate system.
Further, in step 2), the special decision made first for tool recognition using the basic information of step 1) includes three kinds of following, the non-conforming will not continue the current recognition and directly prompt that the current tool cannot be recognized:
a. the standard tool file of the tool to be identified is provided with: the tool is manufactured when leaving the factory, but the tool is required to be put into a tool identification project;
b. the number of marking points of the tool to be identified and the number of marking points identified by the optical positioning instrument cannot be less than 3: the determination of the position of the three-dimensional object in space is based on the characteristics of at least three non-collinear points, namely, at least 3 marking balls can be used for completing identification, otherwise, plane fitting cannot be performed;
c. the number of marking points of the tool to be identified and the number of marking points identified by the optical positioning instrument cannot be more than 200: greater than 200 would exceed the maximum number of points that can be identified by the binocular camera of the optical positioner.
Further, in step 3), the point-to-point matching is performed on the set of mark points in the tool file and the set of mark points identified by the locator, including the steps of:
3.1 Calculating a mark point S on a tool file j To the point set s= { S j Distances of other marker points in j=1, 2,3,..8 } are noted as one-dimensional matrices
Where j is the initial sequence number of the mark point in the tool file, all +.>
Recorded as m-dimensional distance matrix Mat s The method comprises the steps of carrying out a first treatment on the surface of the Similarly, the marking point O recognized by the optical positioning instrument is calculated i Distance to other marker points in point set O
Where i is the initial sequence number point set o= { O of the marker points identified by the optical positioner i I=1, 2,3, 8}, all ∈1,2,3,>
recorded as an n-dimensional distance matrix Mat O ；
3.2 Traversing the distance matrix Mat of the tool file calculated in step 3.1) s To traverse the resulting point S j Distance of (2)
As a benchmark, is used for distance Mat from the acquisition point of the optical positioning instrument O Matching counting is carried out, and the matching counting is concretely as follows:
3.2.1 First pairing): distance matrix Mat of traversing optical locator O Get each point O i Distance of (2)
To the current point O i Distance of->
And point S in step 3.2) j Is->
Compare, when->
Is equal to->
When the distance of (2) is matched, then the point set O is recorded as finding O i Can be matched with S j The method comprises the steps of carrying out a first treatment on the surface of the At this time, use array num j Saving the current point S j Index of (a) index of (b) j And array nm i Recording current O i Index of (a) index of (b) i With array num j ' and num i ' preserved inIndex of unsuccessfully paired points in point sets S and O, and simultaneously save and present point O i Other points O in the set of points O for distance calculation k Denoted as the point set O' = { O k I k not equal i, i=1, 2,3,..8, k=1, 2,3,..8, k is the number of the point, and the same holds and current point S) j Other points S in the set of points S for which distance calculation is made P Denoted as the point set S' = { S P I p+.j, j=1, 2,3,.. 8,p =1, 2,3,..8 }, p being the number of the point; wherein, the distance on the pair of the matchable points is defined as the absolute value of the point distance difference is smaller than 0.15mm;
3.2.2 Repeating the operation of the step 3.2.1) on the obtained point sets O ' and S ', continuously reducing the number of points in the point sets to match, and ending the cycle when the points in the O ' are empty;
3.3 Second point set pairing): for the index array num obtained in step 3.2) j And num i Repeating the logic processing of the step 3.2), namely, carrying out a check on the paired points again to determine whether the paired points are not matched; if there is no match, the index of the point is deleted from the corresponding index array and the point index is recorded and added to the unpaired array num j ' or num i ' in;
3.4 Third point set pairing: repeating the logic processing of the step 3.2) on the points which are not matched successfully, namely, re-matching the points which are not matched successfully in the previous two times; and when the number of the point pairs after the final matching is completed is not less than the number of the marking points which can be identified by the current optical positioning instrument, the identification is successful.
Further, in step 4), tool recognition accuracy calculation is performed on the matching result, and tool information of the completion of the present recognition is output, including the following steps:
4.1 Two point sets O obtained after the point sets O and S are paired in the step 3) 2 And S is 2 As input to a point iterative algorithm ICP; performing core calculation through ICP, namely, calculating a result of an optimal matching method based on a least square method, namely, taking rigid matching transformation matrixes (R, T) of two point sets as output, wherein R is a rotation transformation matrix and T is a translation transformation matrix;
4.2 A) utilizing step4.1 Matrix (R, T) calculated for the point set O after pairing is completed 2 Each point in the map is subjected to rotation and translation change to obtain a changed point set O 3 ；
4.3 (ii) collecting the point set O obtained in step 4.2) 3 Each point in (2) is one by one with the point set O in step 4.1) 2 Calculating the point distance of each point of the tool, and taking the average value of all the point distances as the error of the whole tool identification;
4.4 Outputting the tool information and the error recognized at the present time, wherein the tool information comprises a tool name, origin coordinates of a tool coordinate system and three-dimensional coordinates of all marking points.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention provides the optical positioning instrument for the first time in the process of identifying the tool, so that not only can the tool be identified under the condition that the marking points of the tool are all present and are not shielded, but also the tool can be identified if a small number of marking points on the tool are lost or shielded in the process.
2. The invention realizes normal operation of the operation when the marking point is lost due to misoperation or the marking point is blocked artificially in the operation navigation process by means of the tool identification function compatible with the condition of losing or blocking a small number of marking points, and ensures the smooth implementation of the operation to a certain extent.
3. The method has wide application scenes in the field of optical navigation or positioning, partial logic of the algorithm implementation of the method is simple and easy to understand, and different functions can be improved based on the method, so that the method has wide prospects.
Drawings
FIG. 1 is a schematic diagram of the logic flow of the method of the present invention.
Fig. 2 is a schematic view of the apparatus when the optical positioner is used for tool recognition.
Fig. 3 is a standard tool file information diagram of the tool as it leaves the factory.
FIG. 4 is a diagram of tool information output after the recognition of the method of the present invention is completed.
Detailed Description
The invention will be further illustrated with reference to specific examples.
Referring to fig. 1 to 4, the method for identifying a tool compatible with a small number of lost mark points based on an optical positioner according to the present embodiment mainly uses the optical positioner to identify a tool with a known name, thereby completing automatic identification and obtaining information of the tool in the surgical navigation process, and completing error analysis of current identification in real time, and includes the following steps:
s1, acquiring basic information of a tool to be identified by using an optical positioning instrument, wherein the basic information comprises the following steps: standard tool file information and three-dimensional coordinates of the mark points which can be identified by the locator; the standard file information comprises a tool name, the number of reflective marking balls on the tool and a three-dimensional coordinate point set of marking points under a tool coordinate system.
When all the mark points can be identified normally, the coordinates of the mark points in the obtained standard tool file and the coordinates of the mark points on the current tool identified by the locator are shown in table 1:
TABLE 1 marking Point coordinates
When a small number of mark points are missing or blocked, the coordinates of the mark points in the obtained standard tool file and the coordinates of the mark points on the current tool identified by the positioning instrument are shown in table 2:
TABLE 2 marking Point coordinates
S2, utilizing the data in the step S1 to make special judgment on tool identification firstly, wherein the special judgment comprises the following three types, namely, the non-conforming type is not used for continuing the current identification and directly prompting that the current tool cannot be identified:
a. the standard tool file of the tool to be identified is provided with: the tool is manufactured when leaving the factory, but needs to be put into the tool identification engineering.
b. The number of marking points of the tool to be identified and the number of marking points identified by the optical positioning instrument cannot be less than 3: the determination of the position of the three-dimensional object in space is based on the characteristics of at least three non-collinear points, namely, at least 3 marking balls can be used for completing the identification, otherwise, the plane fitting cannot be performed.
c. The number of marking points of the tool to be identified and the number of marking points identified by the optical positioning instrument cannot be more than 200: greater than 200 would exceed the maximum number of points that can be identified by the binocular camera of the optical positioner.
S3, performing point-to-point matching on the mark point set in the standard tool file and the mark point set identified by the optical positioning instrument, and indicating successful identification when the number of the matched point pairs is not less than the number of the mark points which can be identified by the current positioning instrument, wherein the method comprises the following steps of:
s301, calculating a mark point S on a tool file j (j is the initial sequence number of the mark point in the tool file) to the point set s= { S j Distance of other marker points in i j=1..
All +.>
Recorded as m-dimensional distance matrix Mat s . Similarly, the marking point O identified by the locator is calculated i (i is the initial sequence number of the marker point identified by the optical locator) to the other marker points in the point set O>
Point set o= { O i I=1, 2,3, 8}, all ∈1,2,3,>
recorded as an n-dimensional distance matrix Mat O 。
S302, traversing the distance matrix Mat of the tool file calculated in the step S301 S To traverse the resulting point S j Distance of (2)
Distance Mat for reference to acquisition point of positioning instrument O A match count is made.
S3021, first pairing: distance matrix Mat of traversing locator O Get each point O i Distance of (2)
To the current point O i Distance of->
And a point S in step S302 j Is->
Compare, when->
Is equal to->
When the distance of (2) is matched, then the point set O is recorded as finding O i Can be matched with S j . At this time, use array num j Preserving the current point S j Index of (a) index of (b) j And array num i Recording current O i Index of (a) index of (b) i With array num j ' and num i ' save the index of unpaired points in the point sets S and O, save the lower and current points O simultaneously i Other points O in the set of points O for distance calculation k (k is the number of points) is denoted as the point set O' = { O k I k+.i, i=1, 2,3,..8, k=1, 2,3,..8, 8}, and the same holds and current point S j Other points S in the set of points S for which distance calculation is made P (p is the number of the dot). Wherein the distance over which the pair can be matched is defined as the absolute value of the point-to-distance difference being less than 0.15mm.
S3022, performing the same operation as the step on the point sets O ' and S ' obtained in the step S3021, continuously reducing the number of points in the point sets to match, and ending the cycle when the points in the O ' are empty.
S303, pairing the second point set: for the index array num obtained in step S302 j And num i The logic process is similar to that of step S302, i.e. a check is made again on the already paired points whether there is a point pair that is not matched. If there is no match, the index of the point is deleted from the corresponding index array and the point index is recorded and added to the unpaired array num j ' or num j 'in'.
S304, pairing the third point set: the same logic as that of step S302 is used for the unpaired successful points to match again the points that were not successfully matched for the previous two times. And when the number of the point pairs after the final matching is completed is not less than the number of the marking points which can be identified by the current positioning instrument, the identification is successful.
S4, performing tool recognition accuracy calculation on the matched result, and outputting tool information of which the recognition is completed at the present time, wherein the method comprises the following steps:
s401, two point sets O are respectively obtained after the point sets O and S are paired through S3 2 And S is 2 As input to the point iterative algorithm ICP. And performing core calculation of an ICP algorithm, namely, calculating a result of an optimal matching method based on a least square method, namely, taking rigid matching transformation matrixes (R, T) of two point sets as output. Wherein R is a rotation transformation matrix, and T is a translation transformation matrix.
S402, using the matrix (R, T) calculated in the step S401, for the point set O after pairing 2 Each point in the map is subjected to rotation and translation change to obtain a changed point set O 3 。
S403, collecting the point set O obtained in the step S402 3 Each of the points in (a) and (b) are combined with the point set O in step S401 one by one 2 The calculation of the point distance is carried out on each point of the tool, and the average value of all the point distances is taken as the error of the whole tool identification.
And S404, outputting the tool information and the identification error which are identified at the time, wherein the tool information comprises a tool name, the origin coordinates of a tool coordinate system and the three-dimensional coordinates of all marking points.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (3)
1. The tool identification method compatible with a small number of lost mark points based on the optical positioning instrument is characterized by comprising the following steps of:
1) Acquiring basic information of a tool to be identified by using an optical positioning instrument, wherein the basic information comprises: standard tool file information and three-dimensional coordinates of a mark point which can be recognized by an optical positioner;
2) The basic information is used for carrying out special judgment of tool identification: the standard tool file when the tool leaves the factory is needed to be provided, and the identification is terminated in advance when the number of marking points is less than 3 or more than 200;
3) Performing point pair matching on the mark point set in the standard tool file and the mark point set identified by the optical positioning instrument, and indicating successful identification when the number of the matched point pairs is not less than the number of the mark points which can be identified by the current positioning instrument;
the method comprises the following steps of:
3.1 Calculating a mark point S on a tool file j To the point set s= { S j Distances of other marker points in j=1, 2,3,..8 } are noted as one-dimensional matrices
Where j is the initial sequence number of the mark point in the tool file, all +.>
Recorded as m-dimensional distance matrix Mat S The method comprises the steps of carrying out a first treatment on the surface of the Similarly, the marking point O recognized by the optical positioning instrument is calculated i Distance to other marker points in point set O
Where i is the initial sequence number point set o= { O of the marker points identified by the optical positioner i I=1, 2,3, 8}, all ∈1,2,3,>
recorded as an n-dimensional distance matrix Mat O ；
3.2 Traversing the distance matrix Mat of the tool file calculated in step 3.1) S To traverse the resulting point S j Distance of (2)
As a benchmark, is used for distance Mat from the acquisition point of the optical positioning instrument O Matching counting is carried out, and the matching counting is concretely as follows:
3.2.1 First pairing): distance matrix Mat of traversing optical locator O Get each point O i Distance of (2)
To the current point O i Distance of->
And point S in step 3.2) j Is->
Compare, when->
Is equal to->
When the distance of (2) is matched, then the point set O is recorded as finding O i Can be matched with S j The method comprises the steps of carrying out a first treatment on the surface of the At this time, use array num j Saving the current point S j Index of (a) index of (b) j And array num i Recording current O i Index of (a) index of (b) i With array num j ' and num i ' save in Point setIndex of unsuccessfully paired points in S and O, and simultaneously save and present point O i Other points O in the set of points O for distance calculation k Denoted as the point set O' = { O k I k not equal i, i=1, 2,3,..8, k=1, 2,3,..8, k is the number of the point, and the same holds and current point S) j Other points S in the set of points S for which distance calculation is made P Denoted as the point set S' = { S P I p+.j, j=1, 2,3,.. 8,p =1, 2,3,..8 }, p being the number of the point; wherein, the distance on the pair of the matchable points is defined as the absolute value of the point distance difference is smaller than 0.15mm;
3.2.2 Repeating the operation of the step 3.2.1) on the obtained point sets O ' and S ', continuously reducing the number of points in the point sets to match, and ending the cycle when the points in the O ' are empty;
3.3 Second point set pairing): for the index array num obtained in step 3.2) j And num i Repeating the logic processing of the step 3.2), namely, carrying out a check on the paired points again to determine whether the paired points are not matched; if there is no match, the index of the point is deleted from the corresponding index array and the point index is recorded and added to the unpaired array num j ' or num i ' in;
3.4 Third point set pairing: repeating the logic processing of the step 3.2) on the points which are not matched successfully, namely, re-matching the points which are not matched successfully in the previous two times; when the number of the point pairs after the final matching is not less than the number of the marking points which can be identified by the current optical positioning instrument, the identification is successful;
4) Calculating tool recognition accuracy of the matched result, and outputting tool information of which the recognition is finished at the time, wherein the method comprises the following steps of:
4.1 Two point sets O obtained after the point sets O and S are paired in the step 3) 2 And S is 2 As input to a point iterative algorithm ICP; performing core calculation through ICP, namely, calculating a result of an optimal matching method based on a least square method, namely, taking rigid matching transformation matrixes (R, T) of two point sets as output, wherein R is a rotation transformation matrix and T is a translation transformation matrix;
4.2 Using the matrix (R, T) calculated in step 4.1) to pair the point set O after the pairing is completed 2 Each of (3)The rotation and translation changes are carried out on the points to obtain a changed point set O 3 ；
4.3 (ii) collecting the point set O obtained in step 4.2) 3 Each point in (2) is one by one with the point set O in step 4.1) 2 Calculating the point distance of each point of the tool, and taking the average value of all the point distances as the error of the whole tool identification;
4.4 Outputting the tool information and the error recognized at the present time, wherein the tool information comprises a tool name, origin coordinates of a tool coordinate system and three-dimensional coordinates of all marking points.
2. The optical locator-based tool identification method compatible with a small number of lost marker points according to claim 1, wherein: in step 1), the standard tool file information refers to information equipped when the tool leaves the factory, and comprises a tool name, the number of reflective marking balls on the tool and a three-dimensional coordinate point set of marking points under a tool coordinate system.
3. The optical locator-based tool identification method compatible with a small number of lost marker points according to claim 1, wherein: in step 2), the special decision made first for tool recognition by using the basic information of step 1) includes the following three kinds, namely, the non-conforming one will not continue the current recognition and directly prompt that the current tool cannot be recognized:
a. the standard tool file of the tool to be identified is provided with: the tool is manufactured when leaving the factory, but the tool is required to be put into a tool identification project;
b. the number of marking points of the tool to be identified and the number of marking points identified by the optical positioning instrument cannot be less than 3: the determination of the position of the three-dimensional object in space is based on the characteristics of at least three non-collinear points, namely, at least 3 marked points can be identified, otherwise, the plane fitting cannot be performed;
c. the number of marking points of the tool to be identified and the number of marking points identified by the optical positioning instrument cannot be more than 200: greater than 200 would exceed the maximum number of points that can be identified by the binocular camera of the optical positioner.
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| WO2013155388A1 (en) * | 2012-04-12 | 2013-10-17 | University Of Florida Research Foundation, Inc. | Ambiguity-free optical tracking system |
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