Title:
GUIDE NEEDLE PLACEMENT PRECISION EVALUATION METHOD
Document Type and Number:
WIPO Patent Application WO/2022/127009
Kind Code:
A1
Abstract:
A guide needle placement precision evaluation method, comprising the steps of: scanning a position where a needle is about to be placed, so as to obtain an intraoperative 3D point cloud, planning a channel (1) in the intraoperative 3D point cloud, controlling, according to the planned channel (1), a robot to move in place, placing a guide needle (3), and scanning a needle placement position to obtain a postoperative 3D point cloud; calculating a gradient difference between all points in the intraoperative or postoperative 3D point cloud and one point therein, taking the direction with the highest gradient descent speed as the direction of the point, and taking the obtained gradient difference and the direction of the point as a description vector of the point; and matching the intraoperative 3D point cloud with the postoperative 3D point cloud by means of the description vector, and calculating the deviation between the intraoperative planned channel (1) and a postoperative needle placement position. In the method, two-step registration of coarse registration and accurate registration between an intraoperative 3D image and a postoperative 3D image realizes accurate coincidence of the intraoperative 3D image and the postoperative 3D image, and on this basis, a precision evaluation is performed on a planned channel (1) in the intraoperative 3D image and a placement position of a guide needle (3) of the postoperative 3D image.
More Like This:
Inventors:
GONG XIAO (CN)
ZHOU NINGLING (CN)
ZHOU NINGLING (CN)
Application Number:
PCT/CN2021/092911
Publication Date:
June 23, 2022
Filing Date:
May 10, 2021
Export Citation:
Assignee:
NANJING TUODAO MEDICAL TECH CO LTD (CN)
International Classes:
G06T7/00
Foreign References:
| CN112289416A | 2021-01-29 | |||
| CN108784832A | 2018-11-13 | |||
| CN103745463A | 2014-04-23 | |||
| US20190295266A1 | 2019-09-26 |
Other References:
SUN PEIQI, BU JUNZHOU, TAO TINGYE, FANG XINGBO, HE HAN, FENG JIAQI: "Point cloud registration algorithm based on feature point method vector", BULLETIN OF SURVEYING AND MAPPING, no. 8, 25 August 2019 (2019-08-25), pages 48 - 53, XP055943588, ISSN: 0494-0911, DOI: 10.13474/j.cnki.11-2246.2019.0250
Attorney, Agent or Firm:
NANJING SCIENCE AND TECHNOLOGY CINDA IP AGENCY CO., LTD. (CN)
Download PDF:
Previous Patent: DEVICE FOR CONTROLLING AIR CONDITIONER, AND AIR CONDITIONER
Next Patent: PERSPECTIVE IMAGE CORRECTION METHOD
Next Patent: PERSPECTIVE IMAGE CORRECTION METHOD