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Holding posture image-based motion posture measurement system for rod-like object

A motion posture and object technology, applied in the field of motion posture measurement system, can solve the problems of poor stability and precision, and achieve the effect of improving the level of operation ability, good stability, real-time and accurate measurement

Inactive Publication Date: 2021-07-16
PEKING UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the motion attitude measurement strategy based on the principle of binocular vision still has many limitations, for example: it is greatly affected by illumination and occlusion, and its stability and accuracy are not good.

Method used

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  • Holding posture image-based motion posture measurement system for rod-like object
  • Holding posture image-based motion posture measurement system for rod-like object
  • Holding posture image-based motion posture measurement system for rod-like object

Examples

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Embodiment Construction

[0027] The following specific examples will further describe the motion posture measurement system of rod-like objects based on the grip image, so as to better understand the present invention, but any person familiar with the technical field within the technical scope disclosed in the present invention can Changes or substitutions that can easily be thought of should fall within the protection scope of the claims of the present invention.

[0028] Such as figure 1 As shown, the embodiment provides a motion posture measurement system of a rod-like object based on a grip image, which structurally includes a grip corrector M0; a grip image data acquisition module M1, and a motion posture estimation module M2;

[0029] Such as figure 2 As shown, the curette in dilatation and curettage surgery is selected as a typical handle object C1, and M0 is a rubber soft sheath with preset five finger grooves on the surface. The position and shape of the groove are the same as when holding ...

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Abstract

The invention discloses a holding posture image-based motion posture measurement system for a rod-like object. The holding posture image-based motion posture measurement system is composed of a holding posture corrector M0, a holding posture image data acquisition module M1 and a motion posture estimation module M2, a preset finger groove is formed in the surface of the M0, and the position and the shape of the groove are matched with the standard holding posture when the rod-like object is held by a hand; M1 is responsible for shooting and collecting holding posture image data Hi (i = 1, 2,..., N) of N visual angles, obtaining two-dimensional coordinates of L joint points of a hand through a hand bone recognition extraction method, and forming a hand joint point image coordinate matrix Q; M2 is responsible for obtaining the motion attitude S * of the to-be-measured point of the rod-like object through the prediction model R and Q estimation. The holding posture image-based motion posture measurement system for the rod-like object has the advantages of low cost, non-contact, wide application scene and the like, and in addition, the real-time and accurate measurement of the motion posture of the rod-like object under the condition that an optical field of view is shielded can be realized.

Description

technical field [0001] The invention relates to a motion posture measurement system, in particular to a motion posture measurement system for rod objects based on a grip image. Background technique [0002] Rod objects include handheld objects such as pen holders, surgical instruments, and clubs. In recent years, the rapid development of machine learning technology and virtual reality technology has made it possible to digitize and intelligentize more and more life, study and work scenarios. Especially in the field of medical and health care, the collection and acquisition of real-time motion trajectories of surgical instruments will contribute to the quantitative evaluation of surgical operation capabilities, the reproduction and analysis of surgical operation processes, and may greatly promote the development of virtual surgery teaching and robotic surgery. develop. [0003] The principle of the traditional motion attitude measurement of rod objects is to fix external el...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G01B11/00G01B11/26
CPCG01B11/00G01B11/26G06T2207/20081G06T7/73
Inventor 郑亦嘉王凯乐高飞张珏
Owner PEKING UNIV
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