基于C形臂的手术导航相机标定方法

doi:10.11772/j.issn.1001-9081.2016.08.2327

计算机应用 ›› 2016, Vol. 36 ›› Issue (8): 2327-2331.DOI: 10.11772/j.issn.1001-9081.2016.08.2327

基于C形臂的手术导航相机标定方法

张建法, 张峰峰, 孙立宁, 匡绍龙

苏州大学机电工程学院, 江苏苏州 215021

收稿日期:2015-12-24 修回日期:2016-04-25 出版日期:2016-08-10 发布日期:2016-08-10
通讯作者: 匡绍龙
作者简介:张建法(1990-),男,江苏淮安人,硕士研究生,主要研究方向:手术导航;张峰峰(1979-),男,山东日照人,副教授,博士,主要研究方向:医疗机器人、系统集成、医疗仿真、生肌电技术;孙立宁(1964-),男,黑龙江鹤岗人,教授,博士生导师,博士,主要研究方向:纳米级微驱动、微操作机器人、高速高精度机构、工业机器人技术、医疗机器人;匡绍龙(1973-),男,安徽金寨人,副教授,博士,主要研究方向:医疗机器人、手术导航、人机交互与工效学。
基金资助:
国家863计划项目（2012AA041602）。

Camera calibration method of surgical navigation based on C-arm

ZHANG Jianfa, ZHANG Fengfeng, SUN Lining, KUANG Shaolong

School of Mechanical and Electric Engineering, Soochow University, Suzhou Jiangsu 215021, China

Received:2015-12-24 Revised:2016-04-25 Online:2016-08-10 Published:2016-08-10
Supported by:
This work is partially supported by the Key Technologies R&D Programme of Science and Technology Ministry (2014BAD12B01, 2013BAD20B04), the Northeast Agricultural University Innovation Foundation for Postgraduate (yjscx14025), the Natural Science Fund Projects of Northeast Agricultural University (2011RCA01).

摘要/Abstract

摘要： 针对基于C形臂的手术导航系统中相机标定这一关键技术中存在的过渡环节过多、参数求解过程复杂等问题，提出一种完全忽略相机模型的解决方法。该方法完全忽略相机模型，在映射参数求解过程中简化了过渡环节，使得算法实现变得高效；同时，提出了带有双层金属球的校准靶，通过识别小球的投影数据来实现相机标定。在校准点验证实验中，可以验证经变换后的坐标的残余误差均不超过0.002像素；在导航验证实验中，借助初步搭建的导航平台成功实现了探针取点及穿孔。实验结果表明，该相机标定方法的精度能够满足手术导航系统的精度要求。

关键词: C形臂, 校准靶, 实验平台, 相机标定, 手术导航系统

Abstract: Concerning the problem that too many transitional links and complex parameter solving process existed in camera calibration of the surgical navigation based on C-arm, a new method that completely ignored the camera model was proposed. In this method, the camera model was completely ignored, and the transition link in the process of solving mapping parameters was simplified, which increased the efficiency. In addition, the camera calibration was achieved by distinguishing the projection data from the calibration target which has double-layer metal ball. In the calibration point verification experiment, it can be proved that the residual error of each test point was no more than 0.002 pixels; in the navigation validation experiment, probe point and perforation test were successfully implemented with the established preliminary experiment platform. The experimental results verify that the proposed camera calibration method can meet the accuracy requirements of surgical navigation system.

Key words: C-arm, calibration target, experiment platform, camera calibration, surgical navigation system

中图分类号:

TP391.7

张建法, 张峰峰, 孙立宁, 匡绍龙. 基于C形臂的手术导航相机标定方法[J]. 计算机应用, 2016, 36(8): 2327-2331.

ZHANG Jianfa, ZHANG Fengfeng, SUN Lining, KUANG Shaolong. Camera calibration method of surgical navigation based on C-arm[J]. Journal of Computer Applications, 2016, 36(8): 2327-2331.

参考文献

[1] 郭乃铭,周跃.计算机辅助手术导航系统在脊柱外科手术中的应用进展[J].中国矫形外科杂志,2013,21(8):787-789.(GUO N M,ZHOU Y.The application progress of computer assisted surgery navigation system in spinal surgery[J].Orthopedic Journal of China,2013,21(8):787-789.)
[2] GREMBAN K D,THORPE C E,KANADE T.Geometric camera calibration using systems of linear equations[C]//Proceedings of the 1988 IEEE International Conference on Robotics and Automation.Piscataway,NJ:IEEE,1988:562-567.
[3] TSAI R Y.A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses[J].IEEE Journal of Robotics and Automation,1987,3(4):323-344.
[4] FAUGERAS O.Three-dimensional computer vision:a geometric viewpoint[M].Cambridge,MA:MIT Press,1993:247-289.
[5] BERTELSEN A,GARIN-MUGA A,ECHEVERRíA M,et al.Distortion correction and calibration of intra-operative spine X-ray images using a constrained DLT algorithm[J].Computerized Medical Imaging and Graphics,2014,38(7):558-568.
[6] ZHU H,XU J,HE D,et al.Design and implementation of the moving workpiece sorting system based on LabVIEW[C]//CCDC 2014:Proceedings of the 26th Chinese Control and Decision Conference.Piscataway,NJ:IEEE,2014:5034-5038.
[7] 闫士举.基于C形臂手术导航关键技术研究及系统实现[D].上海交通大学,2008:95-99.(YAN S.Research on key technology of C-ARM based surgical navigation and development of application system[D].Shanghai:Shanghai Jiao Tong University,2008:95-99.)
[8] MENG C.New method for geometric calibration and distortion correction of conventional C-arm[J].Computers in Biology and Medicine,2014:52:49-56.
[9] 周晓君.C形臂图像校正与手术定位技术研究[D].北京:北京邮电大学,2010:7-9.(ZHOU X.Study on image correction&location technique of C-ARM[D].Beijing:Beijing University of Posts and Telecommunications,2010:7-9.)
[10] 范朝冬,欧阳红林,肖乐意,等.基于空间截面投影的Otsu图像分割算法[J].通信学报,2014,35(5):70-78.(FAN C D,OUYANG H L,XIAO L Y,et al.Otsu thresholding method based on projection of cross section for image segmentation[J].Journal on Communications,2014,35(5):70-78.)
[11] NG H F.Automatic thresholding for defect detection[J].Pattern Recognition Letters,2006,27(14):1644-1649.
[12] GRONENSCHILD E.Correction for geometric image distortion in the x-ray imaging chain:local technique versus global technique[J].Medical Physics,1999,26:2602-2616.
[13] FANTOZZI S,CAPPELLO A,LEARDINI A.A global method based on thin-plate splines for correction of geometric distortion:an application to fluoroscopic images[J].Med Phys.2003,30(2):124-131.
[14] LI J Y,SHU H Z,LUO L M,et al.Application of the Delaunay triangulation interpolation in distortion XRⅡ image[J].Journal of Southeast University (English Edition),2014(3):306-310.
[15] 邱文杰,陈坤斌,刘琼,等.基于移动最小二乘法的图像变形及GPU实现[EB/OL].北京:中国科技论文在线[2013-12-02].http://www.paper.edu.cn/releasepaper/content/201312-1. (QIU W J,CHEN K B,LIU Q,et al.Image deformation using MLS and implementation with GPU[EB/OL].Beijing:Sciencepaper Online[2013-12-02].http://www.paper.edu.cn/releasepaper/content/201312-1.)
[16] LIAO G,HU Y,LI Z,et al.Human-computer interaction system based on binocular stereo vision[C]//CCC 2012:Proceedings of the 31st Chinese Control Conference.Piscataway,NJ:IEEE,2012:3640-3644.
[17] 孙静坤,曾勇明,郁仁强,等.C型臂锥形束CT成像偏离正中心点对图像噪声及变形程度的影响[J].中国医学影像技术,2014,30(7):1095-1099.(SUN J K,ZENG Y M,YU R Q,et al.Impact of offsetting center point on image noise and deformations in C-arm cone beam CT[J].Chinese Journal of Medical Imaging Technology,2014,30(7):1095-1099.)
[18] 王田苗,刘文勇,胡磊,等.基于多项式拟合的C臂投影全局校正法[J].高技术通讯,2007,17(9):919-923.(WANG T M,LIU W Y,HU L,et al.Polynomial fitting-based global correction method for C-arm projection images[J].Chinese High Technology Letters,2007,17(9):919-923.
[19] 张军,孟偲.基于成像模型的C臂图像校正方法[EB/OL].北京:中国科技论文在线[2012-11-14].http://www.paper.edu.cn/releasepaper/content/201211-232.(ZHANG J,MENG S.Distortion correction based on visual model for C-arm images[EB/OL].Beijing:Sciencepaper Online[2012-11-14].http://www.paper.edu.cn/releasepaper/content/201211-232.)
[20] 陈槐,钟强,李丹勋,等.多级网格迭代的图像变形算法在PIV中的应用[J].流体力学,2013,1(2):34-39.(CHEN H,ZHONG Q,LI D X,et al.Iterative multigrid image deformation method for PIV[J].International Journal of Fluid Dynamics,2013,1(2):34-39.)
[21] HERRMANN C.Method and apparatus for image correction of X-ray image information:U.S.Patent 20,150,316,663[P].2015-11-05.

基于C形臂的手术导航相机标定方法

Camera calibration method of surgical navigation based on C-arm

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 3

编辑推荐

Metrics

[1]	李华, 王旭阳, 杨华民, 韩成. 基于高动态范围图像中光晕分析的光照方向测算算法[J]. 计算机应用, 2016, 36(5): 1387-1393.
[2]	王琳, 赵健康, 夏轩, 龙海辉. 基于双目立体视觉技术的桥梁裂缝测量系统[J]. 计算机应用, 2015, 35(3): 901-904.
[3]	王建新廖云伢盛宇. 基于Java与Matlab集成的虚拟实验平台的设计与实现[J]. 计算机应用, 2007, 27(2): 394-396.