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学者姓名：朱明珠
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Abstract ：
Oral localization is widely used in oral and maxillofacial surgery (OMS). Most existing navigation systems adopt stereo optical devices to track fiducial markers for oral localization. However, they still suffer from line-of-sight (LoS) occlusion and field-of-view (FoV) limitation. This article presents a robust oral localization system that utilizes multicamera tracking of self-identifying markers to address the above issue. A customized oral clip with self-identifying markers on its curved surface is designed, which is firmly fixed within the patient's oral cavity. Before surgery, an accurate method based on intraoral scanning is developed to register the patient's oral cavity with the markers, of which the registration error is less than 0.1 mm. Second, a cylindrical marker is applied for calibrating the converging multicamera system to avoid the blurry sight problem. During surgery, a multicamera tracking method, integrating nonlinear optimization and an extended Kalman filter (EKF), is proposed to localize the oral cavity. We establish a simulated environment to test the accuracy and robustness of the tracking method. Additionally, we set up a real platform using a phantom oral cavity to validate the feasibility of each proposed method. Results reveal that our system yields a closer trajectory (0.37 mm) to the ground truth than that of a stereo-camera tracking system (1.58 mm), and exhibits a certain robustness against camera occlusion.
Keyword ：
Cameras Cameras Dentistry Dentistry Instruments Instruments Location awareness Location awareness Multicamera calibration Multicamera calibration multicamera tracking multicamera tracking nonlinear optimization nonlinear optimization oral localization oral localization patient-image registration patient-image registration Surface reconstruction Surface reconstruction Surgery Surgery Teeth Teeth
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| GB/T 7714 | Hu, Yaoqing , Zhu, Mingzhu , Wang, Shaoan et al. Robust Oral Localization Based on Multicamera Tracking of Self-Identifying Markers [J]. | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
| MLA | Hu, Yaoqing et al. "Robust Oral Localization Based on Multicamera Tracking of Self-Identifying Markers" . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73 (2024) . |
| APA | Hu, Yaoqing , Zhu, Mingzhu , Wang, Shaoan , Li, Dongyue , Meng, Yan , Yuan, Fusong et al. Robust Oral Localization Based on Multicamera Tracking of Self-Identifying Markers . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
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High-precision pose estimation based on visual markers has been a thriving research topic in the field of computer vision. However, the suitability of traditional flat markers on curved objects is limited due to the diverse shapes of curved surfaces, which hinders the development of high-precision pose estimation for curved objects. Therefore, this paper proposes a novel visual marker called CylinderTag, which is designed for developable curved surfaces such as cylindrical surfaces. CylinderTag is a cyclic marker that can be firmly attached to objects with a cylindrical shape. Leveraging the manifold assumption, the cross-ratio in projective invariance is utilized for encoding in the direction of zero curvature on the surface. Additionally, to facilitate the usage of CylinderTag, we propose a heuristic search-based marker generator and a high-performance recognizer as well. Moreover, an all-encompassing evaluation of CylinderTag properties is conducted by means of extensive experimentation, covering detection rate, detection speed, dictionary size, localization jitter, and pose estimation accuracy. CylinderTag showcases superior detection performance from varying view angles in comparison to traditional visual markers, accompanied by higher localization accuracy. Furthermore, CylinderTag boasts real-time detection capability and an extensive marker dictionary, offering enhanced versatility and practicality in a wide range of applications. Experimental results demonstrate that the CylinderTag is a highly promising visual marker for use on cylindrical-like surfaces, thus offering important guidance for future research on high-precision visual localization of cylinder-shaped objects. The code is available at: https://github.com/wsakobe/CylinderTag. IEEE
Keyword ：
CylinderTag CylinderTag cylindrical object cylindrical object Deformation Deformation fiducial marker fiducial marker Generators Generators Location awareness Location awareness Manifolds Manifolds pose estimation pose estimation Pose estimation Pose estimation projective invariants projective invariants Shape Shape Visualization Visualization
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| GB/T 7714 | Wang, S. , Zhu, M. , Hu, Y. et al. CylinderTag: An Accurate and Flexible Marker for Cylinder-Shape Objects Pose Estimation Based on Projective Invariants [J]. | IEEE Transactions on Visualization and Computer Graphics , 2024 , 30 (12) : 1-15 . |
| MLA | Wang, S. et al. "CylinderTag: An Accurate and Flexible Marker for Cylinder-Shape Objects Pose Estimation Based on Projective Invariants" . | IEEE Transactions on Visualization and Computer Graphics 30 . 12 (2024) : 1-15 . |
| APA | Wang, S. , Zhu, M. , Hu, Y. , Li, D. , Yuan, F. , Yu, J. . CylinderTag: An Accurate and Flexible Marker for Cylinder-Shape Objects Pose Estimation Based on Projective Invariants . | IEEE Transactions on Visualization and Computer Graphics , 2024 , 30 (12) , 1-15 . |
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In clinical operations, it is crucial for surgeons to know the location of the surgical instrument. Traditional positioning systems have difficulty dealing with camera occlusion, marker occlusion, and environmental interference. To address these issues, we propose a distributed visual positioning system for surgical instrument tracking in surgery. First, we design the marker pattern with a black and white triangular grid and dot that can be adapted to various instrument surfaces and improve the marker location accuracy of the feature. The cross-points in the marker are the features that each feature has a unique ID. Furthermore, we proposed detection and identification for the position-sensing marker to realize the accurate location and identification of features. Second, we introduce multi Perspective-n-Point (mPnP) method, which fuses feature coordinates from all cameras to deduce the final result directly by the intrinsic and extrinsic parameters. This method provides a reliable initial value for the Bundle Adjustment algorithms. During instrument tracking, we assess the motion state of the instrument and select either dynamic or static Kalman filtering to mitigate any jitter in the instrument's movement. The core algorithms comparison experiment indicates our positioning algorithm has a lower reprojection error comparison to the mainstream algorithms. A series of quantitative experiments showed that the proposed system positioning error is below 0.207 mm, and the run time is below 118.842 ms. The results demonstrate the tremendous clinical application potential of our system providing accurate positioning of instruments promoting the efficiency and safety of clinical surgery.
Keyword ：
Multi-camera positioning Multi-camera positioning Surgical instrument localization Surgical instrument localization Surgical navigation Surgical navigation
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| GB/T 7714 | Cai, Yu , Zhu, Mingzhu , He, Bingwei et al. Distributed visual positioning for surgical instrument tracking [J]. | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE , 2024 , 47 (1) : 273-286 . |
| MLA | Cai, Yu et al. "Distributed visual positioning for surgical instrument tracking" . | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE 47 . 1 (2024) : 273-286 . |
| APA | Cai, Yu , Zhu, Mingzhu , He, Bingwei , Zhang, Jianwei . Distributed visual positioning for surgical instrument tracking . | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE , 2024 , 47 (1) , 273-286 . |
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The development of an automated suturing robot for oral and maxillofacial surgery (OMS) has long been a challenging task, mainly due to the spatial constraints in the oral cavity, which make intraoral navigation difficult to realize. In this article, we propose a spatially compact visual navigation system for a single-arm suturing robot to enable real-time high-precision navigation during the intraoperative stage. Correspondingly, a two-stage intraoperative navigation framework is designed to achieve intraoral and extraoral navigation. By designing a novel mouth opener with a fixed endoscope, the navigation information from different modules can be aligned. By strategically placing flexible position-sensitive visual markers on the robot body, end-effector, and mouth opener, precise pose information can be acquired without taking up additional space, thus guiding the robot to automatically perform the suturing process. In addition, we design a normal vector guided-bundle adjustment (NVG-BA) module and a dynamic region of interest (ROI) extraction module to improve the system performance. We constructed a real suturing robot system using the proposed visual navigation framework and designed a large number of localization accuracy experiments. All of these experiments collectively demonstrate the exceptional localization accuracy and safety provided by the proposed navigation system, surpassing previously reported OMS navigation systems, all while avoiding any additional occupation of intraoral space. Finally, the system completed an automated suturing process on a simulated wound of a head phantom, demonstrating the automated suturing capability of the system.
Keyword ：
Cameras Cameras Extraoral position navigation Extraoral position navigation flexible marker flexible marker intraoral pose adjustment intraoral pose adjustment Navigation Navigation Robot kinematics Robot kinematics Robots Robots Robot vision systems Robot vision systems Surgery Surgery suturing robot suturing robot Visualization Visualization visual navigation visual navigation
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| GB/T 7714 | Wang, Shaoan , Zhao, Qiming , Li, Dongyue et al. Spatially Compact Visual Navigation System for Automated Suturing Robot Toward Oral and Maxillofacial Surgery [J]. | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
| MLA | Wang, Shaoan et al. "Spatially Compact Visual Navigation System for Automated Suturing Robot Toward Oral and Maxillofacial Surgery" . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73 (2024) . |
| APA | Wang, Shaoan , Zhao, Qiming , Li, Dongyue , Hu, Yaoqing , Zhu, Mingzhu , Yuan, Fusong et al. Spatially Compact Visual Navigation System for Automated Suturing Robot Toward Oral and Maxillofacial Surgery . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
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This paper presents a two-step method to automatically and accurately segment the dental crown components from CT images. Firstly, a multi-scale attention based U-Net model is proposed for pulp segmentation, which is embedded with global and local attention modules. The constructed attention modules can automatically aggregate pixel-wise contextual information and focus on catching the real dental pulp region. Secondly, two efficient level set models are proposed: one is the shape constraint-based level set model for enamel and dentin segmentation, the other is the region mutual exclusion-based level set model for neighboring teeth segmentation. The proposed shape constraint term can better handle topology changes of teeth and the region mutual exclusion term can more effectively avoid intersecting segmentation. Besides, a starting slice initialization method is introduced to achieve automatic segmentation, and an accurate contour propagation strategy is developed for slice-by-slice segmentation. We set up a series of comparative experiments for evaluation. Experimental results verify that the proposed method obtains promising performance for each crown component segmentation, and outperforms state-of-the-art tooth segmentation methods in terms of accuracy. This suggests that the proposed method can be used to accurately segment the crown components for precise tooth preparation treatment.
Keyword ：
Computed tomography images Computed tomography images deep learning deep learning image segmentation image segmentation level set level set
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| GB/T 7714 | Li, Dongyue , Zhu, Mingzhu , Wang, Shaoan et al. Accurate and Automatic Dental Crown Components Segmentation With Multi-Scale Attention Based U-Net and Hybrid Level Set Models [J]. | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING , 2024 . |
| MLA | Li, Dongyue et al. "Accurate and Automatic Dental Crown Components Segmentation With Multi-Scale Attention Based U-Net and Hybrid Level Set Models" . | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2024) . |
| APA | Li, Dongyue , Zhu, Mingzhu , Wang, Shaoan , Hu, Yaoqing , Yuan, Fusong , Yu, Junzhi . Accurate and Automatic Dental Crown Components Segmentation With Multi-Scale Attention Based U-Net and Hybrid Level Set Models . | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING , 2024 . |
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The event camera, a bio-inspired asynchronous triggered camera, offers promising prospects for fusion with frame-based cameras owing to its low latency and high dynamic range. However, calibrating stereo vision systems that incorporate both event- and frame-based cameras remains a significant challenge. In this letter, we present EF-Calib, a spatiotemporal calibration framework for event- and frame-based cameras using continuous-time trajectories. A novel calibration pattern applicable to both camera types and the corresponding event recognition algorithm are proposed. Leveraging the asynchronous nature of events, a derivable piece-wise B-spline to represent camera pose continuously is introduced, enabling calibration for intrinsic parameters, extrinsic parameters, and time offset, with analytical Jacobians provided. Various experiments are carried out to evaluate the calibration performance of EF-Calib, including calibration experiments for intrinsic parameters, extrinsic parameters, and time offset. Experimental results demonstrate that EF-Calib outperforms current methods by achieving the most accurate intrinsic parameters, comparable accuracy in extrinsic parameters to frame-based method, and precise time offset estimation. EF-Calib provides a convenient and accurate toolbox for calibrating the system that fuses events and frames.
Keyword ：
Accuracy Accuracy Calibration Calibration Calibration and identification Calibration and identification Cameras Cameras event camera event camera Lighting Lighting Pattern recognition Pattern recognition Robot vision systems Robot vision systems sensor fusion sensor fusion spatiotemporal calibration spatiotemporal calibration Spatiotemporal phenomena Spatiotemporal phenomena Splines (mathematics) Splines (mathematics) Synchronization Synchronization Trajectory Trajectory
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| GB/T 7714 | Wang, Shaoan , Xin, Zhanhua , Hu, Yaoqing et al. EF-Calib: Spatiotemporal Calibration of Event- and Frame-Based Cameras Using Continuous-Time Trajectories [J]. | IEEE ROBOTICS AND AUTOMATION LETTERS , 2024 , 9 (11) : 10280-10287 . |
| MLA | Wang, Shaoan et al. "EF-Calib: Spatiotemporal Calibration of Event- and Frame-Based Cameras Using Continuous-Time Trajectories" . | IEEE ROBOTICS AND AUTOMATION LETTERS 9 . 11 (2024) : 10280-10287 . |
| APA | Wang, Shaoan , Xin, Zhanhua , Hu, Yaoqing , Li, Dongyue , Zhu, Mingzhu , Yu, Junzhi . EF-Calib: Spatiotemporal Calibration of Event- and Frame-Based Cameras Using Continuous-Time Trajectories . | IEEE ROBOTICS AND AUTOMATION LETTERS , 2024 , 9 (11) , 10280-10287 . |
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We introduce a novel concept termed gradient balance prior to cross-point patterns and prove three related theorems. Using this prior, we develop vanishing power transform to convert gray-scale images into response maps, highlighting every cross-point satisfying centrosymmetry condition as humps. By calculating the hump centers, we can localize cross-points with subpixel accuracy. Our method surpasses existing benchmarks in both detection efficiency and subpixel accuracy, as demonstrated in both simulated and real-world experiments.
Keyword ：
Artificial features Artificial features Benchmark testing Benchmark testing cross-points cross-points Distortion Distortion Feature extraction Feature extraction gradient balance prior gradient balance prior Image edge detection Image edge detection Lenses Lenses Matlab Matlab subpixel detection subpixel detection Transforms Transforms vanishing power transform vanishing power transform
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| GB/T 7714 | Zhang, Hong , Zhu, Mingzhu , He, Bingwei et al. Gradient Balance Prior for Centrosymmetric Cross-Point Detection and Localization [J]. | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
| MLA | Zhang, Hong et al. "Gradient Balance Prior for Centrosymmetric Cross-Point Detection and Localization" . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73 (2024) . |
| APA | Zhang, Hong , Zhu, Mingzhu , He, Bingwei , Zhang, Jianwei , Yu, Junzhi . Gradient Balance Prior for Centrosymmetric Cross-Point Detection and Localization . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
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In this paper, a marker and its real-time tracking method are proposed. Different from existing technologies that recognize the markers by spatial event features, which lead to many practical problems, we discover the possibility of using temporal features. Strobe LEDs (light emitting diode) are used as markers to produce periodically flipping events, and a fast clustering-based algorithm is designed to track and recognize these markers simultaneously. Experiments demonstrate that our methods have superior speed and accuracy compared to state-of-the-arts. The markers can be stably tracked in many challenging situations, thus can be used in various visual tracking applications. The proposed method introduces a new marker and its corresponding recognition algorithm for event camera-based targets tracking, offering a reliable solution for various applications.
Keyword ：
Event camera Event camera Marker Marker Real-time Real-time Temporal feature Temporal feature Visual tracking Visual tracking
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| GB/T 7714 | You, Yue , Zhu, Mingzhu , He, Bingwei et al. Temporal feature markers for event cameras [J]. | JOURNAL OF REAL-TIME IMAGE PROCESSING , 2024 , 21 (2) . |
| MLA | You, Yue et al. "Temporal feature markers for event cameras" . | JOURNAL OF REAL-TIME IMAGE PROCESSING 21 . 2 (2024) . |
| APA | You, Yue , Zhu, Mingzhu , He, Bingwei , Wang, Yihong . Temporal feature markers for event cameras . | JOURNAL OF REAL-TIME IMAGE PROCESSING , 2024 , 21 (2) . |
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Accurate lightsource location or direction is important in shape from shading (SFS) and photometric stereo (PS). Tracking interested object by the lightsources on it is also a widely used positioning scheme. However, existing methods for lightsource localization are primarily designed for calibration. They are usually inferior in speed and accuracy, because of the intermedium geometry they introduced. Specifically, they must recover the camera-intermedium geometry before gaining the desired intermedium-lightsource or camera-lightsource geometries. In this article, we propose a lightsource localization method that can directly recover the camera-lightsource geometry. A sphere and its shadow are used as the intermediums, but their roles stay in the images. The parallax geometry of sphere is investigated to transfer the lightsource localization problem into solving the outer bitangents' intersection of two visible conics. The solution cases, degenerated cases, error distributions, and other details are discussed and tested. The experiment has demonstrated that our method has significantly better accuracy and robustness than the state-of-the-art, while it is obviously low-cost and lightweight.
Keyword ：
Calibration Calibration Cameras Cameras Direct camera-intermedium geometry Direct camera-intermedium geometry Geometry Geometry lightsource lightsource localization localization Location awareness Location awareness photometric stereo (PS) photometric stereo (PS) Pins Pins Reflection Reflection shadow shadow Shape Shape sphere sphere
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| GB/T 7714 | Jin, Wei , Zhu, Mingzhu , Liu, Jiantao et al. Shadow-Based Lightsource Localization With Direct Camera-Lightsource Geometry [J]. | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
| MLA | Jin, Wei et al. "Shadow-Based Lightsource Localization With Direct Camera-Lightsource Geometry" . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 73 (2024) . |
| APA | Jin, Wei , Zhu, Mingzhu , Liu, Jiantao , He, Bingwei , Yu, Junzhi . Shadow-Based Lightsource Localization With Direct Camera-Lightsource Geometry . | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT , 2024 , 73 . |
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PurposeThe re-measurement of full-arch implant digital impressions is an important step in denture restoration. This paper provides an efficient oral photogrammetry technology using projective invariant marker, applied in the re-measurement of full-arch implant digital impressions.MethodsWe have developed a self-recognizing marker with projection invariance, along with its detection code. The marker is installed on the scanning body and used for photogrammetric measurements. Triangulation is utilized to determine the 3D coordinates of the marker, followed by a series of post-processing steps to obtain more accurate 3D coordinates.ResultsThe experimental data indicate that the optimal working distance is between 200 and 250 mm, with a minimum measurement error of less than 0.05 mm and an average measurement error of 0.10 mm. The measurement time is less than 2 min.ConclusionsThe experimental results show that the photogrammetric system can obtain reliable positions of full-arch implants with efficient photogrammetry, without the need to enter the patient's oral cavity, and has potential clinical application value.
Keyword ：
Fiducial marker Fiducial marker Implant Implant Photogrammetry Photogrammetry Projective invariant Projective invariant
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| GB/T 7714 | Chen, Yanghai , Zhu, Mingzhu , He, Bingwei et al. Efficient intraoral photogrammetry using self-identifying projective invariant marker [J]. | INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY , 2023 , 19 (4) : 767-778 . |
| MLA | Chen, Yanghai et al. "Efficient intraoral photogrammetry using self-identifying projective invariant marker" . | INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY 19 . 4 (2023) : 767-778 . |
| APA | Chen, Yanghai , Zhu, Mingzhu , He, Bingwei , Deng, Zhen . Efficient intraoral photogrammetry using self-identifying projective invariant marker . | INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY , 2023 , 19 (4) , 767-778 . |
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