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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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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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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 accurate and robust positioning system for oral and maxillofacial surgery (OMS) is a challenging task, primarily due to the oral space limitations and line-of-sight occlusions. This paper presents a novel lightweight integrated positioning system for OMS, which can provide practical guidance utilizing only a micro camera installed on the end of the surgical instrument. An efficient region-based pose tracking method for texture-less teeth is proposed, which can use search lines around the object contour and simple local region partitioning strategy to improve pose accuracy. Besides, to deal with the possible partial occlusions of target during surgery, an occlusion-aware weight function is presented and utilized seamlessly in the pose optimization pipeline. This function calculates the pixel-wise occlusion probability using object contour and distance constraint, helping to improve the tracking robustness. Pivot calibration evaluation reveals that the tracking accuracy of the proposed camera-based handpiece is higher than the marker-based handpieces. Comparative experiments demonstrate that proposed pose tracking method has higher accuracy than existing state-of-the-art methods and ablation study confirms the effectiveness of the occlusion handling strategy. The overall positioning experiment indicates that the proposed system has satisfactory static poses stability and positioning accuracy. Furthermore, the main advantage of our system is that it is lighter and more integrated than other systems, which can reduce the system complexity, decrease the risk of line-of-sight occlusion, and lower the surgery cost.
Keyword ：
Accuracy Accuracy Cameras Cameras Instruments Instruments Navigation Navigation occlusion-aware weight occlusion-aware weight pose estimation pose estimation Pose estimation Pose estimation region-based method region-based method Surgery Surgery Surgical navigation Surgical navigation Teeth Teeth texture-less pose tracking texture-less pose tracking
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| GB/T 7714 | Li, Dongyue , Hu, Yaoqing , Wang, Shaoan et al. A Lightweight Integrated Positioning System With Occlusion-Aware Region-Based Pose Tracking for Oral and Maxillofacial Surgery [J]. | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING , 2024 , 22 : 6839-6850 . |
| MLA | Li, Dongyue et al. "A Lightweight Integrated Positioning System With Occlusion-Aware Region-Based Pose Tracking for Oral and Maxillofacial Surgery" . | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 22 (2024) : 6839-6850 . |
| APA | Li, Dongyue , Hu, Yaoqing , Wang, Shaoan , Zhu, Mingzhu , Yuan, Fusong , Yu, Junzhi . A Lightweight Integrated Positioning System With Occlusion-Aware Region-Based Pose Tracking for Oral and Maxillofacial Surgery . | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING , 2024 , 22 , 6839-6850 . |
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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 , 22 : 305-316 . |
| 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 22 (2024) : 305-316 . |
| 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 , 22 , 305-316 . |
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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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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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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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