机器人辅助腹腔镜手术中的视觉测量方法研究

针对目前机器人辅助腹腔镜手术中内窥镜仅被用于二维的视觉监测而缺乏三维位姿检测功能的缺陷,提出了一种基于求解共线 P n P (Perspective-n-Point )问题的手术器械位姿测量方案,测试了所提出的测量方法的精度并进行了误差分析.方案包括相机标定及畸变校正、标记设计、图像处理、标记点三维坐标计算和手术器械的三维表达.经测试,手术器械中心线的固定位置和单位方向向量的测量值的偏差低、精度较高.

Research on the Method of Visual Measurement in Robot-assisted Laparoscopic Surgery

In view of the status that currently the endoscope in robot-assisted laparoscopic surgery is only used for two-dimensional visual monitoring but lacks the function of detecting three-dimensional displacement and orientation , an approach of measuring the position of surgical instruments based on the solution of colinear PnP ( Perspective-n-Point ) problem was proposed , the precision of the method was tested and the error was analysed．The approach includes camera calibration and distortion correction , mark design , image processing , three-dimensional coordinate calculation of mark points , and three-dimensional expression of surgical instruments．After testing , the measurements of the fixed position on the center line of the surgical instrument and the unit direction vector of the center line are low-deviation and high-precision．