基于三点法和ICP算法的手术导航系统患者配准

doi:10.12068/j.issn.1005-3026.2020.11.010

东北大学学报:自然科学版 ›› 2020, Vol. 41 ›› Issue (11): 1584-1590.DOI: 10.12068/j.issn.1005-3026.2020.11.010

基于三点法和ICP算法的手术导航系统患者配准

张春雷，戴丽，刘宇，李鹤

(东北大学机械工程与自动化学院，辽宁沈阳110819)

收稿日期:2020-04-26 修回日期:2020-04-26 出版日期:2020-11-15 发布日期:2020-11-16
通讯作者: 张春雷
作者简介:张春雷(1994-)，男，黑龙江佳木斯人，东北大学博士研究生；刘宇(1980-)，男，宁夏中卫人，东北大学副教授，博士生导师；李鹤(1975-)，男，河南方城人，东北大学教授，博士生导师.
基金资助:
国家自然科学基金资助项目(51875094)；中央高校基本科研业务费专项资金资助项目(N2003011).

Patient Registration for Surgical Navigation System Based on Three-Point Method and ICP Algorithm

ZHANG Chun-lei， DAI Li， LIU Yu， LI He

School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China.

Received:2020-04-26 Revised:2020-04-26 Online:2020-11-15 Published:2020-11-16
Contact: LIU Yu
About author:-
Supported by:
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摘要/Abstract

摘要： 为提升手术导航系统的患者配准精度和操作效率，提出一种将三点法与迭代最近点(iterative closest point，ICP)算法相结合的配准策略.首先，定义患者配准问题，并介绍术前和术中数据获取方法；然后，以光学定位标记球心为患者空间与图像空间的共同特征，并利用三点法完成初始配准；最后，以经初始映射后的患者点云中各点为球心，建立半径为r的球形区域，并仅保留位于该区域内的图像点云以实现抽样，再利用改进ICP算法对两片点云执行精确配准.实验结果表明，采用所提方法对猪股骨和猪髂骨执行配准的平均误差分别为(0.83±0.10)mm和(0.86±0.09)mm，其精度和稳定性均优于传统ICP算法，且具备高效、易操作的特点以及潜在的临床应用价值.

关键词: 手术导航系统, 患者配准, 疏密点云配准, 图像点云抽样, ICP算法

Abstract: To improve the accuracy and operation efficiency of patient registration for the surgical navigation system， the registration strategy which combined three-point method and iterative closest point (ICP) algorithm was proposed. Firstly， the patient registration problem was defined and the acquisition methods of preoperative and intraoperative data were introduced. Then， the spherical center of the optical positioning markers were taken as the common features between patient space and image space， and the initial registration was completed by using the three-point method. Finally， the spherical regions with radius r were established by taking each point of patient point cloud after initial mapping as the spherical center， and the points of image point cloud located in these regions were retained to realize sampling， and the improved ICP algorithm was used to perform accurate registration of the two point clouds. The experimental results showed that the mean registration errors for pig femur and pig ilium when using the proposed method are (0.83±0.10)mm and (0.86±0.09)mm， respectively， which is superior to the traditional ICP algorithm in terms of accuracy and stability， and is efficient and easy to operate with certain potential values in clinical applications.

Key words: surgical navigation system, patient registration, sparse to dense point cloud registration, image point cloud sampling, ICP(iterative closest point) algorithm

中图分类号:

R318
TP391

张春雷，戴丽，刘宇，李鹤. 基于三点法和ICP算法的手术导航系统患者配准[J]. 东北大学学报:自然科学版, 2020, 41(11): 1584-1590.

ZHANG Chun-lei， DAI Li， LIU Yu， LI He. Patient Registration for Surgical Navigation System Based on Three-Point Method and ICP Algorithm[J]. Journal of Northeastern University Natural Science, 2020, 41(11): 1584-1590.

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基于三点法和ICP算法的手术导航系统患者配准

Patient Registration for Surgical Navigation System Based on Three-Point Method and ICP Algorithm

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