阅读说明：本技术 基于Zynq的手术导航定位系统 (Zynq-based surgical navigation positioning system ) 是由 刘大鹏 于 2020-05-19 设计创作，主要内容包括：本发明公开了基于Zynq的手术导航定位系统,涉及手术导航领域,包括图像采集模块、外部通信模块、系统检测模块、信息显示模块和控制模块,图像采集模块与信息显示模块与PL端连接,并受处理系统PS端控制；外部通信模块及系统检测模块通过PS端的通用外设接口,包括以太网、USO-TGO、UART串口等与PS端直接相连,其中PS端和PL端之间通过AXI互联矩阵并根据不同的通信需求利用AXI_HP和AXI_GP接口实现相互通信。该系统采用近红外滤光片能够滤除大部分的可见光,由此抑制可见光对标记点提取的干扰,实现标记点图像采集,极大降低了图像标记点提取的难度,该系统基于Zynq主控芯片,同时具备了硬件编程和软件编程功能,使得有足够多的资源保证标记点坐标的计算速度。(The invention discloses a Zynq-based surgical navigation positioning system, which relates to the field of surgical navigation and comprises an image acquisition module, an external communication module, a system detection module, an information display module and a control module, wherein the image acquisition module and the information display module are connected with a PL (personal digital assistant) end and are controlled by a PS (personal digital assistant) end of a processing system; the external communication module and the system detection module are directly connected with the PS end through a general peripheral interface of the PS end, including an Ethernet, a USO-TGO, a UART serial port and the like, wherein the PS end and the PL end are mutually communicated through an AXI interconnection matrix and AXI _ HP and AXI _ GP interfaces according to different communication requirements. The system adopts the near-infrared filter to filter most visible light, so that the interference of the visible light on the extraction of the mark points is inhibited, the image acquisition of the mark points is realized, and the difficulty of the extraction of the image mark points is greatly reduced.)

1. The Zynq-based surgical navigation positioning system is characterized by comprising an image acquisition module, an external communication module, a system detection module, an information display module and a control module, wherein the image acquisition module and the information display module are connected with a PL (personal digital assistant) end and are controlled by a PS (personal digital assistant) end of a processing system; the external communication module and the system detection module are directly connected with the PS end through a general peripheral interface of the PS end, including an Ethernet, a USO-TGO, a UART serial port and the like, wherein the PS end and the PL end are mutually communicated through an AXI interconnection matrix and AXI _ HP and AXI _ GP interfaces according to different communication requirements;

the control module comprises a main control circuit board integrated by a main control chip, an SDRAM, a Wi-Fi module circuit, an LCD circuit, a color camera control circuit and an external interface circuit, wherein the main control chip adopts a ZYNQ series;

the image acquisition module comprises a color camera module, a CMOS image acquisition chip, an optical lens, a near-infrared optical filter and an infrared light source, wherein the infrared light source is designed to be arranged in front of the optical lens in a circular ring shape;

the external communication module adopts three communication modes of Ethernet, universal serial bus and Wi-Fi, and transmits an internal parameter calculation result of a calibration board image to be acquired when the image acquisition module is calibrated to the control module;

the system detection module comprises a collision detection sensor, and the collision detection sensor integrates a gyroscope and an acceleration sensor to realize real-time and accurate tracking of various motions of the surgical instrument;

the information display module comprises a liquid crystal display screen, and the liquid crystal display screen is connected with an LCD circuit of the circuit board through SCL, SDA, INT and RESET pins.

2. The Zynq-based surgical navigation and positioning system of claim 1, wherein the image acquisition module comprises a left image acquisition module and a right image acquisition module, the left image acquisition module and the right image acquisition module are respectively implemented by independent circuits and are connected with the main control circuit board through FFC (flexible flat cable) design, and a left camera control circuit in the left image acquisition module and a right camera control circuit in the right image acquisition module are respectively connected with two SDRAMs in the circuit board.

3. The Zynq-based surgical navigation and positioning system of claim 2, wherein the infrared light sources in the left image acquisition module and the right image acquisition module are connected with the external interface circuit of the circuit board through infrared LED circuits.

4. The Zynq-based surgical navigational positioning system of claim 1, wherein the Wi-Fi module interfaces an antenna externally through a standard interface.

5. The Zynq-based surgical navigation and positioning system as claimed in claim 1, wherein the navigation and positioning system utilizes DDR memory to provide storage space for image cache, and opens up on-chip BRAM space for storage of system status information and marker point coordinate data.

6. The Zynq-based operation navigation and positioning system as claimed in claim 1, wherein the navigation and positioning system adopts a mark point positioning sub-positioning technology to realize the positioning function through the search of the mark points and the coordinate calculation in the binocular vision image, the color camera module adopts a near infrared filter to avoid the interference of the ambient light, so that only the mark points in the collected image form two-point areas, the sub-pixel coordinates of the mark points are accurately calculated by adopting a gray-scale weighted average algorithm for a certain mark point lighting point area, and the algorithm formula is as follows:

q is the central coordinate of the bright spot area, n is the number of pixel points in the area, and qi and vi are the coordinate and gray value of each pixel point respectively.

7. The Zynq-based surgical navigation and positioning system of claim 5, wherein ambient light factors need to be removed after the gray-scale weighted average algorithm accurately calculates the sub-pixel coordinates of the marker points, and if the ambient light threshold is s, the gray-scale weighting formula becomes:

Technical Field

The invention relates to the technical field of surgical navigation, in particular to a Zynq-based surgical navigation positioning system.

Background

In the fundamental stage of oral implant technology development, diagnosis and planning are performed with only panoramic images of clothes and

the plaster model is used as a basis, the planting operation is also completed by depending on the personal experience of an operator, and the satisfactory effect is difficult to obtain in some complicated cases. Later along with the development of three-dimensional imaging technology, species appearedThe implantation guide plate improves the precision of the implantation operation, but the design, processing and manufacturing process of the implantation guide plate is complex and needs a certain period, the diagnosis time of a patient is increased, the important anatomy in the whole operation process is still invisible, and the operation is influenced by a large volume.

Therefore, in order to compensate for these disadvantages and further improve the precision and safety of the implantation operation, it is necessary to provide a Zynq-based surgical navigation and positioning system for overcoming the deficiencies in the prior art.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a Zynq-based surgical navigation positioning system, which can further improve the surgical precision.

In order to achieve the aim, the Zynq-based surgical navigation positioning system comprises an image acquisition module, an external communication module, a system detection module, an information display module and a control module, wherein the image acquisition module and the information display module are connected with a PL (personal digital assistant) end and are controlled by a PS (personal digital assistant) end of a processing system; the external communication module and the system detection module are directly connected with the PS end through a general peripheral interface of the PS end, including an Ethernet, a USO-TGO, a UART serial port and the like, wherein the PS end and the PL end are mutually communicated through an AXI interconnection matrix and AXI _ HP and AXI _ GP interfaces according to different communication requirements.

The control module comprises a main control circuit board integrated by a main control chip, an SDRAM (synchronous dynamic random access memory), a Wi-Fi module circuit, an LCD (liquid crystal display) circuit, a color camera control circuit and an external interface circuit.

The image acquisition module comprises a color camera module, a CMOS image acquisition chip, an optical lens, a near-infrared optical filter and an infrared light source, wherein the infrared light source is designed into a circular ring shape and is placed in front of the optical lens, infrared light emitted by the infrared light source is emitted through a reflective mark point and is acquired by the color camera module after being filtered by the near-infrared optical filter, and the CMOS image acquisition chip connected with the color camera module processes image data.

The external communication module adopts three communication modes of Ethernet, universal serial bus and Wi-Fi, and transmits an internal parameter calculation result of a calibration plate image to be acquired when the image acquisition module is calibrated to the control module;

the system detection module comprises a collision detection sensor, and the collision detection sensor integrates a gyroscope and an acceleration sensor to realize real-time and accurate tracking of various motions of the surgical instrument.

The information display module comprises a liquid crystal display screen, and the liquid crystal display screen is connected with an LCD circuit of the circuit board through SCL, SDA, INT and RESET pins.

Preferably, the image acquisition module comprises a left image acquisition module and a right image acquisition module, the left image acquisition module and the right image acquisition module are respectively realized by independent circuits and are connected with the main control circuit board through FFC (flexible flat cable) design, and a left camera control circuit in the left image acquisition module and a right camera control circuit in the right image acquisition module are respectively connected with two SDRAM (synchronous dynamic random access memories) in the circuit board.

Preferably, the infrared light sources in the left image acquisition module and the right image acquisition module are connected with the external interface circuit of the circuit board through the infrared LED circuit.

Preferably, the Wi-Fi module is externally connected with the antenna through a standard interface.

Preferably, the navigation positioning system provides a storage space for the image cache by using the DDR memory, and opens up an on-chip BRAM space for storing system state information and marking point coordinate data.

Preferably, the positioning function of the navigation positioning system is realized by the marking point positioning sub-positioning technology through the marking point search and the coordinate calculation in the binocular vision image, the color camera module adopts a near infrared filter to avoid the interference of ambient light, so that only the marking points in the collected image can form two-point areas, the sub-pixel coordinates of the marking points are accurately calculated by adopting a gray weighted average algorithm aiming at a certain marking point lighting point area, and the algorithm formula is as follows:

q is the central coordinate of the bright spot area, n is the number of pixel points in the area, and qi and vi are the coordinate and gray value of each pixel point respectively.

Preferably, after the gray-scale weighted average algorithm accurately calculates the sub-pixel coordinates of the mark points, the ambient light factor needs to be removed, and if the ambient light threshold is s, the gray-scale weighting formula is changed into:

the invention has the following beneficial effects:

1. the system adopts the near-infrared filter to filter most visible light, so that the interference of the visible light on the extraction of the mark points is inhibited, the image acquisition of the mark points is realized, the difficulty of the extraction of the image mark points is greatly reduced, and meanwhile, the problem of system errors caused by shaking in the processes of registering surgical instruments and the like is solved by adopting the collision detection sensor and integrating the gyroscope and the acceleration sensor.

2. The system is based on the Zynq main control chip, and has the functions of hardware programming and software programming, so that enough resources are provided to ensure the calculation speed of the coordinates of the mark points, and the system has the requirements of real-time data processing and complex functions required by the optical positioning technology.

Drawings

The present invention will be further described and illustrated with reference to the following drawings.

Fig. 1 is a hardware structure diagram of the Zynq-based surgical navigation positioning system of the invention.

Fig. 2 is a frame structure diagram of the Zynq-based surgical navigation and positioning system in fig. 1.

Fig. 3 is a sub-pixel coordinate extraction process of the Zynq-based surgical navigation and positioning system in fig. 1.

Detailed Description

The technical solution of the present invention will be more clearly and completely explained by the description of the preferred embodiments of the present invention with reference to the accompanying drawings.