Registration method of three-dimensional model, endoscope equipment and device

The invention provides a three-dimensional model registration method, endoscope equipment and a three-dimensional model registration device. After an initial three-dimensional model of a preoperative target part is subjected to rigid registration to obtain a reference three-dimensional model, all im...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: WU YIRONG, GUO YUANFU, CHEN YONGJIAN, ZOU HAO
Format: Patent
Sprache:chi ; eng
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Beschreibung
Zusammenfassung:The invention provides a three-dimensional model registration method, endoscope equipment and a three-dimensional model registration device. After an initial three-dimensional model of a preoperative target part is subjected to rigid registration to obtain a reference three-dimensional model, all image key points in an image key point set corresponding to the target part in the endoscope image are projected to a target coordinate system corresponding to a model key point set corresponding to the target part in the reference three-dimensional model; obtaining a target image key point set; adjusting the scale information corresponding to the model key point set to be consistent with the scale information corresponding to the target image key point set; for any image key point in the target image key point set, determining a model key point corresponding to the image key point in a model key point set; and registering the reference three-dimensional model according to displacement information between each image