Automatic recognition method of surgical robot positioning landmarks

Abstract

The invention relates to a medical X-ray fluoroscopy image based automatic identification method of positioning mark points of a surgical robot. The automatic identification method comprises extracting mark points of the distance of every two mark points within an allowed range of a first threshold value after marking points in an X-ray fluoroscopy image are obtained; calculating the included angle of the mark points and detecting three mark points forming the preset included angle of two vectors; obtaining the position of the fourth mark point by a pre-estimation algorithm according to the detected positions of the three mark points and performing sorting and numbering on the identified mark points. According to the automatic identification method of the positioning mark points of the surgical robot, the surgery navigation positioning is performed through the automatic identification of the image mark point index and accordingly the accurate efficient automatic identification on the plurality of mark points in the X-ray fluoroscopy image is implemented and the premise is provided for the improvement of the accuracy of the surgery path, the significant shortening of the surgery time and the improvement of the surgery efficiency.

Description

Technical field [0001] The invention relates to the technical field of image processing, in particular to a method for automatically identifying landmark points used for positioning in an X-ray fluoroscopic image taken by a surgical robot. Background technique [0002] Marker image location is a key processing technology in digital image processing. As an important image feature, marker points are widely used in important fields of 2D or 3D applications such as medical image positioning, target image retrieval, camera calibration, 3D reconstruction, and depth image matching. For example, the positioning of various independent symbols involved in map scanning image processing; the precise positioning of aerial frame punctuation and ground landmarks involved in aerial digital image processing; the positioning of surgical robots' landmarks involved in medical X-ray image processing . Among them, circular markers have been widely used because of their high positioning accuracy and ...

AI Technical Summary

Problems solved by technology

The positioning of the surgical operation using the robot is more accurate, and the grasping of the robotic arm is more stable and powerful, which can avoid the fatigue caused by the surgeon's long-term operation and improve the accuracy, stability and safety of the operation; however, due to this This kind of operation determines that a lot of work needs to be exposed to X-rays. The large amount of X-rays radiated during the operation may cause serious threats or even damage to the health of patients and surgeons, especially for surgeons. Radiation can cause a series of health problems such as low immunity. Surgical robot technology and surgical robot positioning image marker technology can greatly shorten the operation time, reduce the X-ray damage to patients and doctors during the operation, and protect the bodies of patients and doctors Healthy, but there is still a lot of room for development in terms of algorithm accuracy and processing time

Existing surgical robots cannot complete the identification of simple positioning landmarks, but use the joint positioning and identification of landmarks and marking lines to complete the recognition. The defect of the landmark + marking line recognition algorithm is that the marking line is easily affected by the bone edge or Other similar interferences that affect the image appear to be recognized incorrectly, resulting in incorrect recognition of the order of the marker points, which leads to deviations in the surgical path and reduces the accuracy of the surgical robot; and when there is a lack of any marker points, correct recognition cannot be performed

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