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A Kalman filter for kinect doctor's perspective tracking

A Kalman filter, a doctor's technology, applied in the fields of medicine, three-dimensional stereo imaging, and digital image processing, which can solve the problems of not reflecting the multi-view three-dimensional shape of the inner cavity, affecting the continuity of the doctor's surgical operation, and inconvenient surgical operation.

Active Publication Date: 2021-05-14
哈尔滨青岑科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, endoscopy does not meet the observation needs of doctors, such as figure 1 As shown: ①The image of the inner cavity is displayed on the monitor, and the doctor needs to constantly move his sight between the surgical site and the monitor, which affects the continuity of the doctor's operation and is prone to fatigue
② A single endoscope observes the local area. If the doctor needs to observe a large area, multiple endoscopes will intervene in the human body at the same time, which not only increases the burden on the patient but also increases the burden on the endoscope cable, transmitter / receiver, interventional sleeve, etc. The degree of complexity and cumbersomeness; ③Sometimes assistants are needed to assist in holding and moving multiple endoscopes to cooperate with the doctor's observation, which brings inconvenience to the doctor's operation
[0004]The above solutions are still in the trial stage, and there are still some things to improve: ①The current orientation tracking technology needs to wear a transmitter or a marker on the doctor's head, increasing the ②The image of the inner cavity is a two-dimensional image, which does not reflect the multi-view three-dimensional shape of the inner cavity; Corrects the projected image so that an undistorted image of the lumen is seen on the patient surface

Method used

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  • A Kalman filter for kinect doctor's perspective tracking
  • A Kalman filter for kinect doctor's perspective tracking
  • A Kalman filter for kinect doctor's perspective tracking

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Experimental program
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Effect test

specific Embodiment 1

[0043]This embodiment is an embodiment of the intramid transparent observation of the body table projection virtual transparent observation in micro-invasive surgery.

[0044]The microeconomic transparent observation of the micro-transparent observation of the inner cavity method, the corresponding body surface projection system, such asFigure 4 As shown, the technical roadmap of this method is likeFigure 5 As shown, including the following steps:

[0045]Step A, the Kinect doctor is tracked, used to determine the current head position and visual angle of the doctor;

[0046]Step B, the PTAM lumen 3D modeling, PTAM is Parallel Tracking and mapping for generating a lumen three-dimensional model that can rotate with the doctor's perspective as described by step A;

[0047]Step c, generate a patient's body surface projection image sequence, based on the doctor's viewing angle of step A, projection to the patient's body surface.

specific Embodiment 2

[0049]This embodiment is an embodiment of a Kinect doctor perspective tracking method.

[0050]The view method of the Kinect doctor of this embodiment can be alone, and further define the specific embodiments; the Kinect doctor's viewing method, such asFigure 6 As shown, including the following steps:

[0051]Step A1, select the pupil, the depth data of the nose tip as a key point, establish a doctor's perspective mathematical model;

[0052]Step A2, predict the doctor's perspective and correct tracking data with the Kalman filter and correct tracking data;

[0053]Step A3, analyze Kinect and the doctor's head, the patient's body surface, the inner cavity between the patient, the projector, and uniform coordinate system, design the patient's body surface projection system parameters.

specific Embodiment 3

[0055]This embodiment is the Carman filter embodiment.

[0056]The karman filter of the present embodiment can be alone or further defined by the second embodiment; the Kalman filter is specifically:

[0057]In the Kinect data in the T time, it defines its Kalman filter status vector xtAnd observe vector Ztfor:

[0058]Xt= (X (t), y (t), z (t), Vx(t), Vy(t), Vz(t))

[0059]Zt= (X (t), y (t), z (t))

[0060]Among them, X (t), y (t) and z (t) are three-dimensional coordinates of the nose center, Vx(t), Vy(t) and Vz(t) is the center of the nose;

[0061]According to this, the column Kalman system equation is:

[0062]Xt+1= AXt+ But+ GWt

[0063]Zt+1= HXt+ Vt

[0064]Where, a is the state matrix, B is a control matrix, approximately 0 when there is no control amount in the face motion, G is a driving matrix, H is a observation matrix, UtIs control vector, WtXtKinect measurement error and noise, VtIt is observed to observe errors and noise.

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Abstract

A kind of Kalman filter oriented to Kinect doctor's perspective tracking of the present invention belongs to the technical fields such as medicine, three-dimensional imaging, digital image processing; The Kalman filter defines its Kalman filter state vector and observation in a frame of Kinect data Vector, parallel to the Kalman system equation; this technology is applied to the method of body surface projection virtual transparent observation of the inner cavity in the minimally invasive surgery proposed by the applicant, as the core part of the doctor's perspective tracking method in this method, it will get a more realistic virtual The transparent effect of the abdominal cavity can be achieved without affecting the doctor and the operating environment, and it can meet the needs of doctors for auxiliary observation of the inner cavity in ordinary minimally invasive surgery, laying a solid theoretical foundation.

Description

Technical field[0001]The present invention is a kinecam filter that tracks the view of the Kinect Doctor belongs to the technical field of medical, three-dimensional imaging, digital image processing.Background technique[0002]Compared to traditional opening operations, minimally invasive surgery has advantages of small wound, painful, heacaches and other advantages, catering to modern people's aesthetic concepts, so it is increasingly widely welcoming, applied in partial abdominal cavity and intracranial surgery. Minimally invasive surgery is currently the main observation method is the lamiroscope. The inner cavity is taken by means of a plurality of pinhole cameras, the xenon light source captures the lumen image after inflation expansion, presented on the display for the doctor observation. At present, the most advanced lumen can obtain a high quality inner image, which is derived from the inner image to the surgical equipment positioning technology, and the accuracy can reach 1 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/277G06F3/01A61B34/10A61B90/00
Inventor 吴海滨成琴汪颖李冬明于博洋于晓洋
Owner 哈尔滨青岑科技有限公司
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