A method for evaluating the accuracy of guide needle placement

Abstract

The invention discloses a method for evaluating the placement accuracy of a guide needle, comprising the steps of: (1) Scanning the needle to be placed to obtain an intraoperative 3D point cloud, planning a channel in the intraoperative 3D point cloud, and controlling the robot according to the planned channel After the movement is in place, insert the guide needle, and scan the position of the needle to obtain the postoperative 3D point cloud; (2) Calculate the gradient difference between all points in the intraoperative or postoperative 3D point cloud and its inner point, and use the one with the fastest gradient drop The direction of the point is taken as the direction of the point, and the gradient difference obtained above and the direction of the point are used as the description vector of the point; (3) The intraoperative 3D point cloud is matched with the postoperative 3D point cloud through the description vector, and the intraoperative planning channel and the postoperative 3D point cloud are calculated. Deviation between postoperative needle placements. The present invention realizes the precise coincidence of the two-step registration between the intraoperative 3D image and the postoperative 3D image through the two-step registration of coarse registration and precise registration, and on this basis, the planning in the intraoperative 3D image The channel and postoperative 3D images were used to evaluate the accuracy of the position of the guide needle.

Description

technical field [0001] The invention relates to the field of image processing and accuracy evaluation, in particular to a guide needle placement accuracy evaluation method. Background technique [0002] In recent years, robots have become more and more widely used in orthopedic clinical operations. The doctor only needs to plan the execution channel on the image, the robot moves to the actual channel position, and then the doctor inserts the guide needle through the execution channel, whether it is manual needle placement or robotic needle placement, the final inserted guide needle position is consistent with the actual planning Channels still suffer from inaccuracies, and this inaccuracy cannot currently be measured. [0003] Regarding the position of guide pin insertion, doctors usually can only scan the anteroposterior and lateral images on the guide pin vertebrae again to judge whether the position is reasonable based on experience, but they do not know the difference b...

AI Technical Summary

Problems solved by technology

The doctor only needs to plan the execution channel on the image, the robot moves to the actual channel position, and then the doctor inserts the guide needle through the execution channel, whether it is manual needle placement or robotic needle placement, the final inserted guide needle position is consistent with the actual planning There will still be an error in the channel, and this error is not currently measurable

[0003] Regarding the position of guide pin insertion, doctors usually can only scan the anteroposterior and lateral images on the guide pin vertebrae again to judge whether the position is reasonable based on experience, but they do not know the difference between the actual planned position and the position of the guide pin. how much deviation

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