Parameter calibration method and parameter calibration device

Abstract

The present disclosure relates to a parameter calibration method, including: controlling the image acquisition device to take pictures at the i-th pose to obtain an X-ray image, and controlling the movement of the mechanical arm so that the X-ray image captured by the image acquisition device contains a plurality of metal balls At least a preset number of metal balls; record the i-th posture information of the mechanical arm; determine the two-dimensional coordinates of the metal ball in the X-ray image in the X-ray image, and the three-dimensional coordinates of the metal ball in the coordinate system at the end of the mechanical arm The i-th transformation matrix; according to the i-th transformation matrix and the i-th attitude information, determine the geometric position relationship between the world coordinate system and the coordinate system where the X-ray image is located. According to the present disclosure, the process of determining the geometric position relationship between the world coordinate system and the coordinate system of the X-ray image does not need to use a specific phantom, the process is relatively simple, and the posture information of the mechanical arm is relatively accurate and easy to determine, so it can be relatively simple process to obtain high-precision results.

Description

technical field [0001] The present disclosure relates to the field of medical technology, and in particular to a parameter calibration method, a parameter calibration device, electronic equipment, and a computer-readable storage medium. Background technique [0002] CBCT (Cone Beam Computed tomography, cone beam projection computerized tomography), CBCT is to collect multiple perspective images within a 360-degree range around the imaging object, and then use a reconstruction algorithm to obtain a three-dimensional CT image. That is, geometric parameters of different perspective perspectives need to be obtained before 3D CT image reconstruction, so as to calculate the geometric positional relationship between the world coordinate system and each image. [0003] Algorithms in related technologies, using such as figure 1 As shown in the phantom, the phantom is a cylindrical structure, and two layers of steel balls are evenly arranged on the cylinder. The phantom is placed in ...

AI Technical Summary

Problems solved by technology

[0004] Since the steel balls arranged in a circle are arranged in an ellipse in the perspective image, too few steel balls will affect the accuracy of ellipse fitting, and too many steel balls will overlap in the perspective image and cause it to be unrecognizable

And using ellipse parameters to calculate the transformation relationship is an indirect way, and the calculation is relatively complicated and the accuracy is relatively low

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