IMAGE REGISTRATION METHOD AND DEVICE FOR SURGICAL ROBOT, ELECTRONIC DEVICE AND STORAGE MEDIUM

Abstract

An image registration method for a surgical robot, comprising: capturing a two-dimensional image of a surgical object and determining first guiding information in the two-dimensional image; acquiring a three-dimensional image of the surgical object and preoperative planning information, and determining second guiding information in the three-dimensional image; calculating first pose information according to the first guiding information and the second guiding information; adjusting the three-dimensional image according to the first pose information, and acquiring a digitally reconstructed two-dimensional image in the adjusted three-dimensional image; calculating the similarity between the two-dimensional image and the digitally reconstructed two-dimensional image; when the similarity meets a preset condition, projecting the preoperative planning information onto the two-dimensional image according to the first pose information; when the similarity does not meet the preset condition, updating the first pose information to obtain second pose information, and adjusting the three-dimensional image according to the second pose information.

CPC Classifications