CN-119700300-B - Machine vision navigation device and method for electrode implantation

Abstract

The invention provides a machine vision navigation device and a method for electrode implantation, wherein the device comprises a displacement mechanism; the device comprises a displacement mechanism, a first connecting piece, a first shooting mechanism, a second shooting mechanism and a third shooting mechanism, wherein the displacement mechanism is arranged on the first connecting piece, the first shooting mechanism is connected to the first connecting piece, an optical axis of the first shooting mechanism is perpendicular to an implantation area, the second shooting mechanism is connected to the first connecting piece and is positioned on one side of the first shooting mechanism, and the third shooting mechanism is connected to the first connecting piece and is positioned on the other side of the first shooting mechanism. By integrating the first shooting mechanism, the second shooting mechanism and the third shooting mechanism, the full-range visual coverage from the global to the local is realized. The first photographing mechanism performs global observation on the implantation region. The second shooting mechanism and the third shooting mechanism form a binocular vision system, and local three-dimensional observation is carried out near the target implantation point, so that the change near the implantation point is accurately captured in real time, and the electrode tip is accurately guided to reach the surface of the implantation point.

Inventors

• QIN FANGBO
• YU SHAN

Assignees

• 中国科学院自动化研究所

Dates

Publication Date

20260505

Application Date

20250106

Claims (7)

1. 1. A method of controlling a machine vision navigation device for electrode implantation, the machine vision navigation device for electrode implantation comprising: A first motion mechanism and a displacement mechanism; The first connecting piece is arranged on the displacement mechanism, and the displacement mechanism is used for adjusting the distance between the first connecting piece and the implantation area; A first photographing mechanism connected to the first connection member, an optical axis of the first photographing mechanism being perpendicular to the implantation region for observing the implantation region; the second shooting mechanism is connected to the first connecting piece and is positioned on one side of the first shooting mechanism, and the optical axis of the second shooting mechanism is inclined to one side of the optical axis of the first shooting mechanism; The third shooting mechanism is connected to the first connecting piece and is positioned at the other side of the first shooting mechanism, and the optical axis of the third shooting mechanism is inclined to the other side of the optical axis of the first shooting mechanism; Wherein the optical axis of the second photographing mechanism approximately intersects the optical axis of the third photographing mechanism to form binocular vision for the vicinity of the electrode tip or the implantation point; The method comprises the following steps: Controlling the displacement mechanism to move to a first position, adjusting the position of the displacement mechanism through the first motion mechanism, and enabling the implantation area to be in the visual field range and the optical depth range of the first shooting mechanism; Acquiring a first image by using the first shooting mechanism, and selecting an implantation point from the first image; Controlling the displacement mechanism to move to a second position, and moving from the second position to a third position, and acquiring a plurality of second images in the process of moving from the second position to the third position, wherein the first position is between the second position and the third position; calculating the focusing definition of the implantation points in the plurality of second images, and determining the maximum focusing definition position; Establishing a three-dimensional coordinate of the implantation point in a navigation coordinate system according to the maximum focusing definition position and the two-dimensional coordinate in the coordinate system of the first shooting mechanism; According to the three-dimensional coordinates of the implantation point in the navigation coordinate system and the transformation relation from the navigation coordinate system to the motion coordinate system, the position of the displacement mechanism is adjusted through the first motion mechanism, so that the implantation point is positioned in the visual fields of the second shooting mechanism and the third shooting mechanism; And controlling a second movement mechanism to drive the electrode tip to approach the implantation point by utilizing binocular vision provided by the second shooting mechanism and the third shooting mechanism.
2. 2. The method of claim 1, wherein the step of obtaining two-dimensional coordinates in a coordinate system of the first photographing mechanism comprises: and determining the two-dimensional coordinates in the coordinate system of the first shooting mechanism according to the two-dimensional coordinates of the implantation point in the first image and the calibration parameters of the first shooting mechanism.
3. 3. The method of claim 1, wherein the first photographing mechanism comprises a first camera and a first lens, wherein the first camera is disposed in the middle of the first connector, and wherein the first lens is disposed at a photographing end of the first camera; The second shooting mechanism comprises a second camera and a second lens, wherein the second camera is arranged on the left side of the first connecting piece, and the second lens is arranged at the shooting end of the second camera; the third shooting mechanism comprises a third camera and a third lens, wherein the third camera is arranged on the right side of the first connecting piece, the third lens is arranged at the shooting end of the third camera, and a third rectangular visual field is formed by the third camera through the third lens.
4. 4. A method according to claim 3, wherein the first rectangular field of view has a size that is larger than the size of the second and third rectangular fields of view.
5. 5. The method of claim 1, wherein the machine vision navigation device for electrode implantation further comprises: And the first movement mechanism is connected with the displacement mechanism through the second connecting piece so as to drive the displacement mechanism to perform three-dimensional movement relative to the implantation area.
6. 6. The method of claim 5, wherein the machine vision navigation device for electrode implantation further comprises: The second movement mechanism is used for connecting the electrode so as to drive the electrode to perform three-dimensional movement relative to the implantation area; And the controller is electrically connected with the first moving mechanism, the second moving mechanism and the displacement mechanism, the first shooting mechanism, the second shooting mechanism and the third shooting mechanism, so as to control the first moving mechanism, the second moving mechanism and the displacement mechanism according to the images of the implantation area acquired by the first shooting mechanism, the second shooting mechanism and the third shooting mechanism.
7. 7. The method of claim 6, wherein the first motion mechanism is a multi-axis mechanical arm, the second motion mechanism is a tri-axis motion stage, and the displacement mechanism is a linear displacement slide.

Description

Machine vision navigation device and method for electrode implantation Technical Field The invention relates to the technical field of brain-computer interfaces, in particular to a machine vision navigation device and a machine vision navigation method for electrode implantation. Background Electrode implantation refers to the implantation of nerve electrodes into the cerebral cortex, and is an important technique in the fields of brain-computer interfaces and brain science. In order to get the electrode into the designated brain area and avoid risky tissues such as blood vessels, it is necessary to precisely guide the tip of the electrode to the implantation point on the surface of the cortex based on navigation techniques and then insert the electrode from the implantation point into the cortex. The machine vision navigation method has the advantages of non-contact, strong real-time performance, lower cost and high precision. Aiming at the navigation task of electrode implantation, the surface of a designated area of the cerebral cortex is observed before implantation is started, and local observation is also carried out near the implantation point of the cerebral cortex in the implantation process. Currently available navigation devices are difficult to realize global observation before implantation and local observation during implantation at the same time, or require a large number of cameras and a complex mechanical structure. Accordingly, there is a need for a new type of machine vision navigation device and corresponding method for electrode implantation that achieves accurate guidance of the electrode tip to the target implantation site of the cortical surface. Disclosure of Invention The invention provides a machine vision navigation device and a machine vision navigation method for electrode implantation, which are used for solving the problem that the prior navigation device is difficult to realize global observation before implantation and local observation during implantation at the same time or needs to adopt a plurality of cameras and more complicated mechanical structures. The invention provides a machine vision navigation device for electrode implantation, comprising: a displacement mechanism; The first connecting piece is arranged on the displacement mechanism, and the displacement mechanism is used for adjusting the distance between the first connecting piece and the implantation area; A first photographing mechanism connected to the first connection member, an optical axis of the first photographing mechanism being perpendicular to the implantation region for observing the implantation region; the second shooting mechanism is connected to the first connecting piece and is positioned on one side of the first shooting mechanism, and the optical axis of the second shooting mechanism is inclined to one side of the optical axis of the first shooting mechanism; The third shooting mechanism is connected to the first connecting piece and is positioned at the other side of the first shooting mechanism, and the optical axis of the third shooting mechanism is inclined to the other side of the optical axis of the first shooting mechanism; wherein the optical axis of the second photographing mechanism approximately intersects the optical axis of the third photographing mechanism to form binocular vision for the electrode. The invention provides a machine vision navigation device for electrode implantation, which comprises a first camera and a first lens, wherein the first camera is arranged in the middle of a first connecting piece, and the first lens is arranged at the shooting end of the first camera; The second shooting mechanism comprises a second camera and a second lens, wherein the second camera is arranged on the left side of the first connecting piece, and the second lens is arranged at the shooting end of the second camera; the third shooting mechanism comprises a third camera and a third lens, wherein the third camera is arranged on the right side of the first connecting piece, the third lens is arranged at the shooting end of the third camera, and a third rectangular visual field is formed by the third camera through the third lens. According to the machine vision navigation device for electrode implantation, the size of the first rectangular visual field is larger than that of the second rectangular visual field and the third rectangular visual field. The invention provides a machine vision navigation device for electrode implantation, which further comprises: The first movement mechanism is connected with the displacement mechanism through the second connecting piece so as to drive the displacement mechanism to perform three-dimensional movement relative to the implantation area. The invention provides a machine vision navigation device for electrode implantation, which further comprises: The second movement mechanism is used for connecting the electrode so as to drive the electrode to