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学者姓名：朱明珠
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Abstract ：
This paper introduces an efficient contact-based registration method for minimally invasive anterior hip arthroplasty. Unlike existing methods that involve radiation exposure, implanted screws, or tedious point collection, our method requires only one contact within the acetabulum and two contacts on the landmarks. Inspired by the probe's ball tip, we define a unique position, named stable point, to decouple translation from the overall transformation. The stable point inpatient space is easily acquired by our tool, simplifying translation estimation to compute the stable point in image space. We present a fast computation method based on dichotomic search. After aligning the stable points, we introduce two bone landmarks for rotation estimation in a center-aware manner. Additionally, a deltille grid position-sensing (DGPS) marker is used to improve instrument tracking robustness. Experiments were conducted to evaluate the performance of our methods, demonstrating an average accuracy of 0.16 +/- 0.03 mm for instrument tracking and 1.41 +/- 0.16 mm for registration. Moreover, the entire process takes less than 1 minute. Results suggest that our method has significant potential for clinical application.
Keyword ：
Computer-assisted surgery Computer-assisted surgery Minimally invasive hip arthroplasty Minimally invasive hip arthroplasty Patient-image registration Patient-image registration Surgical navigation Surgical navigation
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| GB/T 7714 | Xie, Xianzhong , Zhu, Mingzhu , Chen, Weijian et al. Efficient contact-based registration for minimally invasive anterior hip arthroplasty [J]. | BIOMEDICAL SIGNAL PROCESSING AND CONTROL , 2025 , 102 . |
| MLA | Xie, Xianzhong et al. "Efficient contact-based registration for minimally invasive anterior hip arthroplasty" . | BIOMEDICAL SIGNAL PROCESSING AND CONTROL 102 (2025) . |
| APA | Xie, Xianzhong , Zhu, Mingzhu , Chen, Weijian , Xu, Jie , He, Bingwei . Efficient contact-based registration for minimally invasive anterior hip arthroplasty . | BIOMEDICAL SIGNAL PROCESSING AND CONTROL , 2025 , 102 . |
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Robust moving object pose estimation is crucial in fine manipulation tasks, such as surgical instrument tracking. This paper presents a distributed-camera system with robotic adjustments to maintain consistent tracking of moving objects, thus avoiding tracking failures. An integrated framework for camera adjustment and pose estimation is developed for this distributed-camera system. In each detection cycle, the camera exhibiting the largest deviation with the object is adjusted by a visual servoing technique. After adjustment, the camera extrinsics are re-calibrated in the following detection cycles. For the unadjusted cameras, an online extrinsic optimization method based on multi-frame detection results is proposed to refine the camera extrinsics. Based on the refined camera extrinsics and detection results from multiple cameras, the pose of moving objects relative to the principal camera can be robustly estimated. We test the performance of this system in both simulation environments and real-world scenarios. The results indicate that our system achieves higher pose estimation accuracy and exhibits strong resistance to limited field-of-view (FoV) compared to conventional equivalent fixed multi-camera systems.
Keyword ：
Accuracy Accuracy Automation Automation Calibration Calibration camera adjustment camera adjustment Cameras Cameras Distributed cameras Distributed cameras dynamic multi-camera calibration dynamic multi-camera calibration moving object moving object Navigation Navigation Optical imaging Optical imaging pose estimation pose estimation Pose estimation Pose estimation Robot vision systems Robot vision systems Solid modeling Solid modeling Three-dimensional displays Three-dimensional displays
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| GB/T 7714 | Hu, Yaoqing , Wang, Shaoan , Li, Dongyue et al. Adjusting Distributed Cameras for Robust Moving Object Pose Estimation [J]. | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING , 2025 , 22 : 10650-10659 . |
| MLA | Hu, Yaoqing et al. "Adjusting Distributed Cameras for Robust Moving Object Pose Estimation" . | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 22 (2025) : 10650-10659 . |
| APA | Hu, Yaoqing , Wang, Shaoan , Li, Dongyue , Chen, Xingyu , Zhu, Mingzhu , Xin, Zhanhua et al. Adjusting Distributed Cameras for Robust Moving Object Pose Estimation . | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING , 2025 , 22 , 10650-10659 . |
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In recent years, surgical instrument tracking has gained significant attention in the field of surgical navigation. An often-overlooked problem lies in the instrument's irregular movement conflicting with the tracking system's fixed viewpoint, leading to line-of-sight occlusion, marker occlusion, and sub-optimal accuracy. The active vision tracking system (which actively adjusts the camera viewpoint) is applied to address this issue. In this paper, two algorithms of multi-view fusion and dynamic calibration are proposed in multi-camera active vision to allow each camera to adjust its viewpoint independently. These algorithms are integrated into the parallel computing of the frontend and backend to implement the positioning of the instrument from multiple perspectives and real-time calibration of multiple cameras. Simulations and experiments are carried out to test the accuracy and robustness of the proposed tracking system. Results reveal that our system achieves a closer trajectory (0.12 mm) to the ground truth compared to a stereo camera tracking system (0.32 mm). The proposed tracking system can keep track of the instruments within the positioning volume at different surgical phases, ensuring consistent navigation and improving positioning stability and accuracy.
Keyword ：
active vision active vision instrument tracking instrument tracking multi-camera positioning multi-camera positioning surgical navigation surgical navigation
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| GB/T 7714 | Cai, Yu , Wang, Yihong , Zhu, Mingzhu et al. Dynamic calibration and multi-view fusion of active vision tracking system for surgical instrument [J]. | MEASUREMENT SCIENCE AND TECHNOLOGY , 2025 , 36 (1) . |
| MLA | Cai, Yu et al. "Dynamic calibration and multi-view fusion of active vision tracking system for surgical instrument" . | MEASUREMENT SCIENCE AND TECHNOLOGY 36 . 1 (2025) . |
| APA | Cai, Yu , Wang, Yihong , Zhu, Mingzhu , He, Bingwei , You, Yue . Dynamic calibration and multi-view fusion of active vision tracking system for surgical instrument . | MEASUREMENT SCIENCE AND TECHNOLOGY , 2025 , 36 (1) . |
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Benign Paroxysmal Positional Vertigo (BPPV) is a prevalent vestibular disorder encountered in clinical settings. Diagnosis of this condition primarily relies on the observation of nystagmus, which involves monitoring the eye movements of patients. However, existing medical equipment for collecting and analyzing nystagmus data has notable limitations and deficiencies. To address this challenge, a comprehensive BPPV nystagmus data collection and intelligent analysis framework has been developed. Our framework leverages a neural network model, Egeunet, in conjunction with mathematical statistical techniques like Fast Fourier Transform (FFT), enabling precise segmentation of eye structures and accurate analysis of eye movement data. Furthermore, an eye movement analysis method has been introduced, designed to enhance clinical decision-making, resulting in more intuitive and clear analysis outcomes. Benefiting from the high sensitivity of our eye movement capture and its robustness in the face of environmental conditions and noise, our BPPV nystagmus data collection and intelligent analysis framework has demonstrated outstanding performance in BPPV detection.
Keyword ：
Benign paroxysmal positional vertigo Benign paroxysmal positional vertigo Convolutional neural network Convolutional neural network Egeunet Egeunet Feature matching Feature matching Fourier transform Fourier transform Nystagmus Nystagmus
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| GB/T 7714 | Liu, ZhiChao , Wang, YiHong , Zhu, MingZhu et al. Bppv nystagmus signals diagnosis framework based on deep learning [J]. | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE , 2025 , 48 (2) : 769-784 . |
| MLA | Liu, ZhiChao et al. "Bppv nystagmus signals diagnosis framework based on deep learning" . | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE 48 . 2 (2025) : 769-784 . |
| APA | Liu, ZhiChao , Wang, YiHong , Zhu, MingZhu , Zhang, JianWei , He, BingWei . Bppv nystagmus signals diagnosis framework based on deep learning . | PHYSICAL AND ENGINEERING SCIENCES IN MEDICINE , 2025 , 48 (2) , 769-784 . |
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A novel event sensor-based object localization method is proposed in this paper. It addresses the accuracy limitations of event sensors caused by their limited spatial resolution and binary grayscale levels. The method uses flickering beacons and replaces the event camera's lens with a mask printed with a marker field. This configuration distributes location-coded events across the entire sensor instead of confining them to a small region, as in traditional methods. Major algorithms, including pattern simulation and optimized matching, are designed to achieve 3D localization and pose estimation. Experiments show a 17.3% accuracy improvement over state-of-the-art event-based methods in average translation error, consistent across varying distances and angles. This demonstrates its suitability for surgical navigation, virtual reality, and other precise, real-time localization tasks.
Keyword ：
3D localization 3D localization Fast-moving objects Fast-moving objects Lensless event sensors Lensless event sensors Marker field Marker field Pose estimation Pose estimation
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| GB/T 7714 | You, Yue , Wang, Yihong , Cai, Yu et al. 3D localization using lensless event sensors for fast-moving objects [J]. | DIGITAL SIGNAL PROCESSING , 2025 , 161 . |
| MLA | You, Yue et al. "3D localization using lensless event sensors for fast-moving objects" . | DIGITAL SIGNAL PROCESSING 161 (2025) . |
| APA | You, Yue , Wang, Yihong , Cai, Yu , Zhu, Mingzhu , He, Bingwei . 3D localization using lensless event sensors for fast-moving objects . | DIGITAL SIGNAL PROCESSING , 2025 , 161 . |
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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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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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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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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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