Minimally invasive surgical instrument positioning method and system

The invention discloses a minimally invasive surgical instrument positioning method and system. The method comprises the following steps: inputting an image containing a surgical instrument into a pre-trained neural network model, and segmenting the surgical instrument; detecting the segmented surgi...

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Bibliographic Details
Main Authors XIONG JING, XIE GAOSHENG, LIU YONG, CAI WEIPENG, XIA ZEYANG
Format Patent
LanguageChinese
English
Published 30.04.2021
Subjects
CALCULATING
COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
COMPUTING
COUNTING
HANDLING RECORD CARRIERS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
PRESENTATION OF DATA
RECOGNITION OF DATA
RECORD CARRIERS
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Summary:The invention discloses a minimally invasive surgical instrument positioning method and system. The method comprises the following steps: inputting an image containing a surgical instrument into a pre-trained neural network model, and segmenting the surgical instrument; detecting the segmented surgical instrument feature points, and rejecting the feature points which are wrongly matched from the detected feature points so as to determine significant feature points; calculating three-dimensional point cloud coordinates of the salient feature points according to parallax data of the left-eye image and the right-eye image; and registering the calculated three-dimensional point cloud data and a surgical instrument standard point cloud model in a three-dimensional visual field by taking minimization of a registration error function as a target to obtain positioning information of the surgical instrument. According to the invention, the surgical instrument can be accurately identified and positioned. 本发明公开了一种微创手术器械
Bibliography:Application Number: CN202110084081