基於二維影像及三維完整八象限定位之內視鏡手術器械追蹤方法

專利類型

發明

專利國別 (專利申請國家)

中華民國

專利申請案號

105135385

專利證號

I 594208

專利獲證名稱

基於二維影像及三維完整八象限定位之內視鏡手術器械追蹤方法

專利所屬機關 (申請機關)

國立雲林科技大學

獲證日期

2017/08/01

技術說明

本發明方法涉及將二維雙環輪廓推導出三維器械姿態六參數的關係式由原來只有三維第一象限，延伸至完整八象限；另分析大量在腹腔鏡環境中的顏色，挑選了易於辨識的雙環顏色及適當之RGB門檻值，以利在複雜器官背景中快速且完整辨識出雙環之輪廓；另提出完整於內視鏡環境中由擷取雙環標記至得到三維器械姿態六參數之演算法；如此，本發明可結合3D擴增實境技術(Augmented Reality，AR)在遠距手術環境應用之實用性，且提供相當快速精準且簡便的標記式演算法。 This invention is about the method of endoscopic MIS instrument tracking based 3D complete eight quadrants position estimation and using 2D image.It can extends the original formular for one particular pose to formulars for any pose.It can select the colors of the two rings as well as the RGB thresholds for fast and accurate ring shape extraction from the 2D image by analyzing a large amount of laparoscopic images. And,it can propose an algorithm with a 2D laparoscopic image as the input and the corresponding six 3D pose parameters as the output.,and the six 3D pose parameters of a real rod-shaped body is estimated by the proposed system and transmitted to drive its 3D model in the remote.Thus,compared to other existing MIS pose estimation methods,the proposed Double-Ring marker based algorithm of this invention is accurate and computationally very efficient.

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