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Three-dimensional reconstruction method and system of endoscopic image for minimally invasive surgery space perception

A minimally invasive surgery and endoscopic technology, applied in image analysis, image enhancement, image data processing, etc., can solve problems such as inability to reconstruct and dynamically update the overall 3D model

Active Publication Date: 2022-08-02
HEFEI UNIV OF TECH
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Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention provides a method and system for three-dimensional reconstruction of endoscopic images oriented to minimally invasive surgery space perception, which solves the technical problem that the existing methods cannot reconstruct and dynamically update the overall three-dimensional model

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  • Three-dimensional reconstruction method and system of endoscopic image for minimally invasive surgery space perception

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Embodiment Construction

[0086] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0087] The embodiments of the present application solve the technical problem that the existing method cannot reconstruct and dynamically update the overall 3D model by providing a 3D reconstruction method and system for endoscopic images for minimally invasive surgery space perception, and realize minimally invasive surgery oriented 3D reconstruction of spatially aware endoscopic images.

[0088] The tech...

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Abstract

The invention provides an endoscopic image three-dimensional reconstruction method and system for minimally invasive surgery space perception, and relates to the technical field of three-dimensional reconstruction. The present invention obtains the depth of the current frame of the endoscopic image by acquiring the endoscopic image, based on a preset multi-task neural network model, and obtains the depth of the point cloud of the current frame; and obtains the local point cloud based on the depth of the point cloud and the camera model; Register and fuse multiple local point clouds; splicing multiple local point clouds after registration and fusion to form a global point cloud that is flexibly transformed over time, and visualize the global point cloud. The present invention overcomes the technical problem that the existing endoscopic image three-dimensional reconstruction method based on deep learning can only estimate the depth of field information of the current endoscopic image, and cannot reconstruct and dynamically update the overall three-dimensional model, and realizes a minimally invasive surgical space. Three-dimensional reconstruction of perceived endoscopic images.

Description

technical field [0001] The invention relates to the technical field of three-dimensional reconstruction, in particular to a three-dimensional reconstruction method and system of endoscopic images for minimally invasive surgery space perception. Background technique [0002] Minimally invasive surgery refers to the use of modern medical instruments such as endoscopes and related equipment. In the past ten years, minimally invasive surgery has become an important diagnosis and treatment method in general surgery, urology, extracerebral, extracardiac and other departments due to its advantages of small incision, less pain, less bleeding, and faster recovery. [0003] In minimally invasive surgery, it is difficult for doctors to obtain comprehensive information about the internal environment due to the limited field of view of the endoscope. In addition, preoperative and intraoperative organ displacement, and intraoperative surgical operations may lead to the loss of anatomical...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00G06T7/50G06T7/33G06T7/00G06N3/04G06N3/08
CPCG06T17/00G06T7/33G06T7/50G06T7/0012G06N3/04G06N3/08G06T2207/10028G06T2207/10068G06T2207/20081G06T2207/20084G06T2207/30004
Inventor 李霄剑李玲丁帅杨善林
Owner HEFEI UNIV OF TECH
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