CN109785374A - A kind of automatic unmarked method for registering images in real time of dentistry augmented reality surgical navigational - Google Patents
A kind of automatic unmarked method for registering images in real time of dentistry augmented reality surgical navigational Download PDFInfo
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Abstract
The invention discloses a kind of automatic unmarked method for registering images in real time of dentistry augmented reality surgical navigational, are related to field of medical image processing.Method and step proposed by the present invention specifically includes that one, acquisition Patients ' Electronic computed tomography (Computed Tomography, abbreviation CT) data；Two, Threshold segmentation etc. is carried out to acquired CT data and pre-processes and be added surgery planning model, three-dimensional reconstruction generates CT model；Three, stereo camera calibration and correction；Four, patient's three-dimensional mouth cavity scanner data are acquired；Five, three-dimensional oral cavity scan model is generated；Six, three-dimensional oral cavity scan model and CT model are registrated；Seven, three-dimensional oral cavity scan model and stereoscopic camera image are registrated.The present invention does not need the additional mark object with patient, and can be automatically performed.In addition, proposing a kind of new 3 D stereo matching algorithm, registration accuracy is improved.Meanwhile neutral body camera of the present invention is alternatively arranged as a kind of tracking device, for tracking the posture of surgical instrument, to form a kind of virtual reality surgical navigational example.
Description
Technical field
The present invention relates to field of medical image processing more particularly to a kind of dentistry augmented reality surgical navigational it is automatic in real time
Unmarked method for registering images.
Background technique
In dental operation, mature medical computer Computer Aided Design and manufacturing technology be ensure that based on Patients ' Electronic computer
The accurate surgery planning of tomoscan (Computed Tomography, abbreviation CT) data, however lack in surgical procedure quasi-
True surgical guidance and anatomical structure visualizes, and doctor is performed the operation using vision and experience, generally can not guarantee surgical outcome
It is consistent with preoperative planning.And augmented reality relies on the characteristics of it is with environment real-time, interactive at one's side, it can be by Design side
The three dimensional virtual models of case and important anatomical structure are added in surgical field of view, so that the effect of " perspective " in real time is generated,
So that doctor is realized naked eye, improves the accuracy and safety of operation.
The core of augmented reality is image registration.It is different according to registration information used, it can be divided into based on grayscale information, base
In transform domain and based on the method for registering of feature.The method for registering based on feature is mostly used in augmented reality surgical navigational,
The method for registering images based on artificial target and the method for registering images based on physical feature can be divided into again.It navigates in dental operation
In, in order to which augmented reality is switched to clinical application, other than required precision, image registration also needs to have following characteristics:
It should not carry out too many extra work to current procedure flow belt；Too many additional infringement should not be brought to patient；Quick execution is simultaneously real-time
It updates.This is just needed using the image registration based on physical feature.However although in recent years computer vision field achieve it is huge
Big progress, registration technique of the augmented reality system in three-dimensional scenic based on natural feature points are still one and serious choose
War.
The current more existing research about dentistry augmented reality surgical navigational.Medical College, Shanghai Communication Univ. attached
Nine the People's Hospital Hou Yikang et al. are worn in " experimental study of augmented reality navigation the mandible osteotomy " using on tooth
The method of marker complex realizes image registration tracking.Patent " the medical image registration method based on facing
(201610669284) " image registration tracking is realized using the method that positioning groove is arranged on facing in." one kind is based on patent
Using in doctor's handheld probe and trouble in the dentistry robot path planning system and method (201810569970) of vision guided navigation "
The method that optical markings are installed on person oral cavity realizes image registration tracking.But the above method all relies on " wear markers ", this
Image registration has the disadvantage that: the facing for 1. preparing to wear brings too many extra work；2. physical location and label point design position
Setting mismatch will lead to tracking error；3. can extend bracket on the basis of facing for marking visibility and place tracking mark
Object, bracket is rigidly low and error propagation path length will lead to tracking error and significantly increase.
Summary of the invention
Goal of the invention:
The present invention overcomes image registrations in existing dentistry augmented reality surgical navigational to depend on handmarking, and directly
The problem of CT model is registrated with camera image to influence registration accuracy inconsistent because of boundary shape proposes a kind of automatic real-time nothing
The method for registering images of label, this method can be used for operating and providing with guided operation in dental operation surgical outcome visualization,
Have the characteristics that automatic, real-time, noninvasive, practical.
Technical solution:
The invention proposes a kind of automatic unmarked method for registering images in real time of dentistry augmented reality surgical navigational, including
Following steps:
Step 1: CT data acquisition.Pre-operative patients receive CT scan, obtain CT data to make diagnosis and surgery planning institute
It needs.
Step 2: CT model generates.The CT data described in step 1 are handled, and extract patient's tooth with threshold segmentation method
Tooth, jawbone and surrounding critical anatomical tissue, and virtual implant such as tooth-implanting or drilling cutting position etc. are designed, carry out Three-dimensional Gravity
It builds and generates three dimensional CT model.
Step 3: stereo camera calibration and correction.The camera parameter for obtaining two optical cameras makes two camera image planes
Coplanar row alignment.
Step 4: three-dimensional mouth cavity scanner data acquisition.Tooth regions are exposed under camera as much as possible in art, are made
Tooth is scanned with three-dimensional mouth cavity scanner, obtains three-dimensional mouth cavity scanner data.
Step 5: three-dimensional oral cavity scan model generates.The three-dimensional mouth cavity scanner data described in step 3 carry out Three-dimensional Gravity
It builds, semi-automatic segmentation tools of the obtained model based on curvature is quickly described into boundary line, extract not by the sudden and violent of gum covering
Reveal dental part, obtains three-dimensional oral cavity scan model.
Step 6: three-dimensional oral cavity scan model and CT Model registration.It first carries out based on principal component analysis (Principal
Component Analysis, abbreviation PCA) first registration, then carry out based on iteration closest approach (Iterative Closest
Point, abbreviation ICP) essence registration, three-dimensional oral cavity scan model is converted to the space CT, entire registration process is automatically performed, only
It executes primary.
Step 7: three-dimensional oral cavity scan model (being converted into the space CT) and stereoscopic camera image registration.Registration process uses
By first carrying out just registration using Pyramid technology algorithm, then realize that essence is matched using quasi-Newton method iterative solution slightly to the scheme of essence
It is quasi-.To the geometrical relationship in the space dynamic analysis CT and camera space.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention is independent of handmarking.By matching threedimensional model with stereo-picture, it is directly realized by and matches
It is quasi-.Therefore, it will not bring any infringement or discomfort to patient.
2, registration is not required to bring too many extra work in the present invention, it is only necessary to which camera sees the tooth of patient, Ji Huke
To complete in real time, the interference to current procedure process is reduced to the maximum extent.
3, the present invention overcomes be directly registrated CT model because of the inconsistent influence registration accuracy of boundary shape with camera image
The problem of, a kind of new 3 D stereo matching algorithm is proposed, registration accuracy is improved.
4, neutral body camera of the present invention is alternatively arranged as a kind of tracking device, for tracking the posture of surgical instrument, thus shape
At a kind of virtual reality surgical navigational example.
Detailed description of the invention
Fig. 1 is automatic unmarked method for registering images process in real time
Fig. 2 is three-dimensional oral cavity scan model and CT Model registration process
Fig. 3 is that three-dimensional oral cavity scan model and stereoscopic camera image are just registrated process
Fig. 4 is three-dimensional oral cavity scan model and stereoscopic camera image precise registration process
Specific embodiment
With reference to the accompanying drawing, the following further describes the technical solution of the present invention, it is described be explanation of the invention and
It is not to limit.
The invention proposes a kind of automatic unmarked method for registering images in real time of dentistry augmented reality surgical navigational, we
Method generates three dimensional CT model according to the CT data of patient first, scans the data that tooth obtains according to oral cavity spatial digitizer and generates
Three-dimensional oral cavity scan model.Three-dimensional oral cavity scan model and CT model are successively carried out again, stereoscopic camera image is registrated.Last root
According to transformation chain, the spatial relationship in the space dynamic analysis CT and stereoscopic camera.Referring to Fig. 1, realize that step is described in detail below:
(1) CT data acquire.Pre-operative patients receive CT scan, obtain CT data to make needed for diagnosis and surgery planning.
(2) CT model generates.The CT data described in step 1 are handled, with threshold segmentation method extract patient teeth,
Jawbone and surrounding critical anatomical tissue, and virtual implant such as tooth-implanting or drilling cutting position etc. are designed, carry out three-dimensional reconstruction
Generate three dimensional CT model.
(3) stereo camera calibration and correction.The camera parameter for obtaining two optical cameras keeps two camera image planes total
The alignment of face row.Stereoscopic camera is to track patient teeth.
(4) three-dimensional mouth cavity scanner data acquisition.Tooth regions are exposed under camera as much as possible in art, are used
Three-dimensional mouth cavity scanner scans tooth, obtains three-dimensional mouth cavity scanner data.
(5) three-dimensional oral cavity scan model generates.The three-dimensional mouth cavity scanner data described in step 3 carry out three-dimensional reconstruction,
Semi-automatic segmentation tools of the obtained model based on curvature are quickly described into boundary line, extract the tooth portion not covered by gum
Point, obtain three-dimensional oral cavity scan model.
(6) three-dimensional oral cavity scan model and CT Model registration.Referring to fig. 2.The three-dimensional bounding box of tooth is in width, length
And have apparent difference in height, therefore first carry out based on principal component analysis (Principal Component Analysis, referred to as
PCA first registration), then the essence registration based on iteration closest approach (Iterative Closest Point, abbreviation ICP) is carried out, it will
Three-dimensional oral cavity scan model is converted to the space CT, and entire registration process is automatically performed, Exactly-once.
The first registration based on PCA uses quaternary number and singular value decomposition (Singular Value
Decomposition, abbreviation SVD) method solved.PCA step is summarized as follows:
To data decentralization, zero-mean data model X is obtained.
SVD is carried out to X and decomposes X=U Σ VT, obtain covariance matrix C=XTThe characteristic value of X is Λ=Σ2, character pair
Vector is V.The descending arrangement of characteristic value, the corresponding feature vector of first three characteristic value are three principal directions.
Three principal directions for finding out CT model and three-dimensional oral cavity scan model respectively, add respective center of gravity, obtain 4
Corresponding characteristic point pair acquires quaternary number (w, x, y, z) using the structural matrix of covariance matrix, and then obtains spin matrix R0
With translation matrix s0
Just registration is completed, obtains just being registrated matrix T0=(R0,s0).Q=T0Q。
The essence registration based on ICP solves spin matrix using singular value decomposition method.
To CT model P and three-dimensional oral cavity scan model Q, found in P and Euclidean distance in Q using k-d tree method
The point set that nearest point is constituted
Calculating target function:
Stop iteration if f is less than certain threshold value or iteration reaches certain number, otherwise calculate as follows:
SVD is carried out to W and decomposes W=U Σ VT, rotational translation matrix is respectively R=UVT, s=p0-Rq0, it is registrated matrix T=
(R, s) updates Q=TQ, reuses k-tree method and updates D, iterates to calculate objective function f.
Iteration ends are to complete the essence registration based on ICP.
(7) three-dimensional oral cavity scan model (being converted into the space CT) and stereoscopic camera image registration.Registration process is used by thick
To the scheme of essence, just registration is first carried out using Pyramid technology algorithm, referring to Fig. 3；It is realized again using quasi-Newton method iterative solution
Essence registration, referring to fig. 4.To the geometrical relationship in the space dynamic analysis CT and camera space.
The search strategy being just registrated is described as follows: setting one has the virtualphase of identical internal reference with real camera
Machine, is regularly arranged the viewpoint of thousands of different locations, accordingly shows the two dimension view of thousands of three-dimensional oral cavity scan models
Figure, clusters view according to similitude, and every a kind of corresponding one group of viewpoint is downsampled to higher level golden word after completing cluster
Tower, and cluster process is repeated, pyramid level template view is formed, pyramid viewpoint image data library is established.
In the on-line search stage being just registrated, stereoscopic camera image is generated into image pyramid, is opened from top pyramid
Begin to search for, calculate the similarity measure of template view in this layer of stereoscopic camera image and database, it is highest poly- to select similitude
Class template, and the matching for continuing lower layer's pyramid template view, the highest most bottom of final similarity measure are clustered along this
Viewpoint corresponding to layer pyramid template view, is best view, that is, initial pose has been determined.
The similarity measure function are as follows:
Wherein N is the number of pixel；Indicate stereoscopic camera image in point (xi,yi) gradient, diIndicate three
Two-dimensional projection's profile of oral cavity scan model is tieed up in point (xi,yi) normal vector.
The essence registration takes iterative solution thought.
Firstly, three-dimensional oral cavity scan model is projected on camera left images, two-dimensional projection's profile point set is obtained, is used
ГlAnd ГrIndicate, corresponding to threedimensional model point set be respectively LlAnd Lr。
Then, Laplacian (Laplacian of the Gaussian, abbreviation are carried out to three-dimensional camera image
LoG it) filters, the zero cross point of detection filter result obtains the edge of image.
Such as minor function is finally solved using one of quasi-Newton method BFGS algorithm:
Wherein dist (x, y) indicates the Euclidean distance between the inhomogeneous coordinate of x and y；NlAnd NrIt is Г respectivelylAnd ГrIn
The number of point；K is the internal reference matrix of camera；B is camera baseline length.Once function solves, posture is updated, next iteration
It will be performed, until less than one threshold value of change of posture.
Finally according to transformation chain, the geometrical relationship in the space dynamic analysis CT and camera space.
For appraisal procedure accuracy, experiment in vitro is done using the resin mould of tooth, the experimental results showed that registration error is small
In 0.5mm；In the real-time of registration, registration is completed at present and is taken around 0.5 second.
It should be pointed out that all parameters and method be not unique in the present invention, perform the operation without departing from dentistry augmented reality
Navigation it is automatic in real time unmarked method for registering images theoretical method, it is all it is obvious change and have equivalent replacement
Similar method, be all included in the scope of protection of the present invention.
Claims (3)
1. a kind of dentistry augmented reality surgical navigational it is automatic in real time unmarked method for registering images, it is characterised in that: including with
Lower step:
Step 1: acquisition Patients ' Electronic computed tomography (Computed Tomography, abbreviation CT) data.
Step 2: carrying out the pretreatment such as Threshold segmentation to acquired CT data, extract critical tissue and surgery planning model is added,
Three-dimensional reconstruction generates CT model.
Step 3: stereo camera calibration and correction.
Step 4: acquisition patient's three-dimensional mouth cavity scanner data.
Step 5: it is pre-processed to three-dimensional oral cavity scan data is acquired, generates three-dimensional oral cavity scan model.
Step 6: using principal component analysis and iterative closest point approach by three-dimensional oral cavity scan model and CT Model registration, thus
Three-dimensional oral cavity scan model is converted to the space CT.
Step 7: will be three-dimensional oral cavity scan model (being converted into the space CT) and three-dimensional using Pyramid technology algorithm and quasi-Newton method
Camera image registration, thus the geometrical relationship in the space dynamic analysis CT and camera space.
2. a kind of automatic unmarked image registration side in real time of dentistry augmented reality surgical navigational according to claim 1
Method is characterized in that: three-dimensional oral cavity scan model and CT Model registration in step 6 are first carried out based on principal component analysis
The first registration of (Principal Component Analysis, abbreviation PCA), then carry out based on iteration closest approach (Iterative
Closest Point, abbreviation ICP) essence registration, finally three-dimensional oral cavity scan model is converted to the space CT.
First registration based on PCA is using quaternary number and singular value decomposition (Singular Value Decomposition, abbreviation
SVD) method is solved, and is found out three principal directions of CT model and three-dimensional oral cavity scan model, is added respective center of gravity, obtain
To 4 corresponding characteristic points pair, quaternary number (w, x, y, z) is acquired using the structural matrix of covariance matrix, and then rotated
Matrix R0With translation matrix s0.Just registration is completed, obtains just being registrated matrix T0=(R0,s0).Q=T0Q。
Essence registration based on ICP solves spin matrix using SVD method.It is found in CT model using k-d tree method and three
The point that Euclidean distance is nearest in the scan model of oral cavity is tieed up, point set is constituted, registration matrix T=is iterated to calculate using SVD decomposition method
(R, s) updates three-dimensional oral cavity scan model pose, and iteration is until objective function is less than certain threshold value or iteration reaches certain time
Number.
3. a kind of automatic unmarked image registration side in real time of dentistry augmented reality surgical navigational according to claim 1
Method is characterized in that: three-dimensional oral cavity scan model and stereoscopic camera image registration in step 7, first using Pyramid technology algorithm into
Row is just registrated, then realizes that essence is registrated using quasi-Newton method iterative solution.To the geometry in the space dynamic analysis CT and camera space
Relationship.
First registration is carried out using Pyramid technology algorithm, and search strategy is described as follows: setting one with real camera with identical
The virtual camera of internal reference, is regularly arranged the viewpoint of thousands of different locations, accordingly shows thousands of three-dimensional oral cavity scannings
The two dimension view of model clusters view according to similitude, and every a kind of corresponding one group of viewpoint is completed to be downsampled to after clustering higher
The pyramid of level, and cluster process is repeated, pyramid level template view is formed, pyramid viewpoint image data library is established.
In the on-line search stage being just registrated, stereoscopic camera image is generated into image pyramid, is searched since top pyramid
Rope calculates the similarity measure of this layer of stereoscopic camera image and template view, selects the highest cluster template of similitude, and along
This clusters the matching for continuing lower layer's pyramid template view, the final highest bottom pyramid template view of similarity measure
The corresponding viewpoint of figure, is best view, that is, initial pose has been determined.
Essence registration takes iterative solution thought.It projects three-dimensional oral cavity scan model to obtain two-dimensional projection's profile point, to cubic phase
Machine image carries out Laplacian (Laplacian of the Gaussian, abbreviation LoG) filtering and obtains image border, most
Such as minor function is solved using one of quasi-Newton method BFGS algorithm afterwards:
NlAnd NrIt is the number of three-dimensional oral cavity scan model or so projected outline point respectively；K is the internal reference matrix of camera；B is camera
Baseline length.Once function solves, posture is updated, and next iteration will be performed, until less than one threshold of change of posture
Value.
Finally according to transformation chain, the geometrical relationship in the space dynamic analysis CT and camera space.
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