High accuracy image matching apparatus and high accuracy image matching method using a skin marker and a feature point in a body
A high accuracy image matching apparatus and a high accuracy image matching method using a skin marker and a feature point in a body, which uses ultrasonic probe or a radiation probe as a portion of the marker for image matching, are disclosed. As an embodiment, the high accuracy image matching apparatus and the high accuracy image matching method using a skin marker and a feature point in a body, use the ultrasonic probe or the radiation probe as a portion of marker for image matching indicating an anatomical feature point to reduce an error in operation point, and more precise operation can be possible and better operation result can be obtained by using the ultrasonic probe or a radiation probe.
1. A high accuracy image matching apparatus using a skin marker and a feature point in a body, comprising:
a marker on a patient skin, indicating a first position regarding to a lesion in the patient body;
a probe emitting ultrasonic wave or a radiation, and indicating a second position regarding the lesion;
a camera capturing an image of the marker and the probe; and
a control part specifying a position of the lesion by calculating a distance R U T between the marker and the probe and crossing coordinates in which the first position and the second position coincide,
wherein the control part measures a distance C R T between the camera and the marker, and a distance C U T between the camera and the probe, and
calculates the distance R U T between the marker and the probe through a calculation C R T −1 * C U T having parameters of the distance C R T and the distance C U T.
2. The high accuracy image matching apparatus using a skin marker and a feature point in a body of claim 1 , wherein the control part calculates a position in which an extension line passing through the first position and an extension line passing through the second position coincide as the crossing coordinate.
3. The high accuracy image matching apparatus using a skin marker and a feature point in a body of claim 1 , wherein the control part measures a contained angle Q between an imaginary line connecting the marker and the probe and an extension line passing through the second position,
calculates a distance U P P between the probe and the second position through a calculation R U T*COS Q having parameters of the distance R U T and the contained angle Q,
calculates a distance R P P between the marker and the first position through a calculation R U T* U P P having parameters of the distance R U T and the distance R P P, and
calculates a feature point P spaced apart from the marker by the distance R P P as the crossing coordinate.
4. A high accuracy image matching method using a skin marker and a feature point in a body, comprising:
indicating a first position of a lesion in a patient body through a marker on the patient skin;
emitting ultrasonic wave or radiation through a probe to indicate a second position of the lesion;
capturing an image of the marker and the probe by a camera; and
specifying a position of the lesion by calculating a distance R U T between the marker and the probe and crossing coordinates in which the first position and the second position coincide,
wherein the high accuracy image matching method further comprises:
measuring a distance C R T between the camera and the marker, and a distance C U T between the camera and the probe, and
calculating the distance R U T between the marker and the probe through a calculation C R T −1 * C U T having parameters of the distance C R T and the distance C U T.
5. The high accuracy image matching method using a skin marker and a feature point in a body of claim 4 , wherein calculating crossing coordinates includes calculating a position in which an extension line passing through the first position and an extension line passing through the second position coincide as the crossing coordinate.
6. The high accuracy image matching method using a skin marker and a feature point in a body of claim 4 , wherein calculating the crossing coordinates comprising:
measuring a contained angle Q between an imaginary line connecting the marker and the probe and an extension line passing through the second position;
calculating a distance U P P between the probe and the second position through a calculation R U T*COS Q having parameters of the distance R U T and the contained angle Q,
calculating a distance R P P between the marker and the first position through a calculation R U T* U P P having parameters of the distance R U T and the distance U P P, and
calculating a feature point P spaced apart from the marker by the distance R P P as the crossing coordinate.