本文選題：手術(shù)導(dǎo)航儀　切入點(diǎn)：雙目立體視覺　出處：《山東大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：手術(shù)導(dǎo)航儀一直存在于人類手術(shù)的歷史長河之中,并隨著人類科學(xué)的發(fā)展進(jìn)行著自我變革。21世紀(jì)最初的這十多年,信息技術(shù)跨越式發(fā)展,計(jì)算機(jī)運(yùn)算速度幾何級(jí)增長、醫(yī)學(xué)信息化技術(shù)如PET等多維影像技術(shù)新起、圖像處理和識(shí)別技術(shù)相關(guān)算法日趨成熟、工業(yè)技術(shù)的跨越性成長,手術(shù)的微創(chuàng)化和精密化成為現(xiàn)代醫(yī)療技術(shù)和臨床手術(shù)的追求方向,計(jì)算機(jī)輔助手術(shù)逐步走向臨床醫(yī)療行業(yè)研究前沿。計(jì)算機(jī)輔助手術(shù)融合配準(zhǔn)術(shù)前CT、MRI等醫(yī)學(xué)影像信息和術(shù)中對(duì)手術(shù)工具的空間定位信息,給予手術(shù)醫(yī)生輔助視圖以了解手術(shù)工具與人體手術(shù)區(qū)域的相對(duì)關(guān)系,從而在術(shù)前規(guī)劃中提高前瞻性,在術(shù)中增強(qiáng)過程可靠性和精確性。而手術(shù)導(dǎo)航儀系統(tǒng)則演變?yōu)橛?jì)算機(jī)視覺領(lǐng)域研究的熱點(diǎn)之一,由于手術(shù)導(dǎo)航儀系統(tǒng)是整個(gè)計(jì)算機(jī)輔助手術(shù)系統(tǒng)的中樞模塊。出于對(duì)當(dāng)前可見光光學(xué)導(dǎo)航儀的改進(jìn)和優(yōu)化,本文提出了一種基于ARTag人工標(biāo)記的導(dǎo)航儀系統(tǒng)實(shí)現(xiàn)方案。本文對(duì)手術(shù)導(dǎo)航儀系統(tǒng)發(fā)展歷程做了大致概述,結(jié)合當(dāng)下各種流行的手術(shù)導(dǎo)航儀系統(tǒng)的實(shí)現(xiàn)方式一些缺點(diǎn)和不足,提出了本文的研究內(nèi)容。本文研究內(nèi)容主要如下:1、提出了一種基于ARTag人工標(biāo)記的手術(shù)導(dǎo)航儀實(shí)現(xiàn)方案。光學(xué)手術(shù)導(dǎo)航儀系統(tǒng)是當(dāng)前被認(rèn)為最具潛力,并被廣泛研究的手術(shù)導(dǎo)航儀系統(tǒng)方案,其基于雙目立體視覺實(shí)現(xiàn)手術(shù)工具空間定位。本文啟發(fā)于目前光學(xué)導(dǎo)航儀系統(tǒng)復(fù)雜、多目標(biāo)跟蹤能力偏弱或者實(shí)現(xiàn)冗雜、成本較高等一系列不足。結(jié)合增強(qiáng)現(xiàn)實(shí)應(yīng)用中的ARTag人工標(biāo)記系統(tǒng),利于雙目立體視覺,通過對(duì)ARTag人工標(biāo)記空間跟蹤而實(shí)現(xiàn)對(duì)手術(shù)工具跟蹤,從而實(shí)現(xiàn)手術(shù)導(dǎo)航系統(tǒng)功能。2、針對(duì)提出的作為標(biāo)志物的ARTag人工標(biāo)記,本文提出了一種快速、穩(wěn)定、精確度高、對(duì)光照條件魯棒性強(qiáng)的標(biāo)記檢測算法。該算法基于邊緣檢測,通過線段檢測、線段融合、線段延伸、標(biāo)記四邊形重構(gòu)等步驟,實(shí)現(xiàn)了高效、快速的標(biāo)記檢測。結(jié)合實(shí)驗(yàn),與相似標(biāo)記系統(tǒng)ARToolKit相關(guān)檢測算法比較,驗(yàn)證檢測算法光照魯棒性和準(zhǔn)確性。3、針對(duì)ARTag標(biāo)記特性,實(shí)現(xiàn)標(biāo)記邊角點(diǎn)鏈獲取,并解碼標(biāo)記ID;對(duì)手術(shù)工具進(jìn)行標(biāo)定的前提下,利于雙目視覺原理,計(jì)算標(biāo)記空間三維坐標(biāo),進(jìn)一步實(shí)現(xiàn)手術(shù)工具空間定位跟蹤。對(duì)手術(shù)工具標(biāo)定方法,我們通過將手術(shù)工具繞端點(diǎn)旋轉(zhuǎn),根據(jù)手術(shù)工具上標(biāo)記特征點(diǎn)軌跡在自身球面的原理,擬合計(jì)算球心,即工具工作端點(diǎn)三維坐標(biāo),進(jìn)一步結(jié)合三維空間到手術(shù)工具坐標(biāo)系的轉(zhuǎn)換矩陣,計(jì)算獲得端點(diǎn)在手術(shù)工具坐標(biāo)系下坐標(biāo),實(shí)現(xiàn)手術(shù)工具注冊(cè)。4、針對(duì)本文所提出的手術(shù)導(dǎo)航儀方案,對(duì)該方案系統(tǒng)空間定位穩(wěn)定性和精確性做出試驗(yàn)并定量分析。系統(tǒng)空間定位穩(wěn)定性,手術(shù)工具工作端點(diǎn)在固定點(diǎn),手術(shù)工具處于不同姿態(tài)狀況下,計(jì)算手術(shù)端點(diǎn)跟蹤位置的誤差來判定跟蹤穩(wěn)定性。系統(tǒng)空間定位精確性,手術(shù)工具工作端點(diǎn)在固定已知距離網(wǎng)格點(diǎn)移動(dòng),計(jì)算手術(shù)端點(diǎn)跟蹤位置距離誤差來判定跟蹤精確性。相關(guān)系統(tǒng)試驗(yàn)表明本文提出手術(shù)導(dǎo)航儀定位系統(tǒng)方案跟蹤精度與現(xiàn)有系統(tǒng)精確度在同一數(shù)量級(jí),達(dá)到系統(tǒng)需求,具有較高的研究和應(yīng)用價(jià)值。
[Abstract]:Surgical navigation system has existed in the operation of human history, and with the development of science of self transformation in.21 century first more than 10 years, the great development of information technology, computer operation speed exponentially, medical information technology such as PET etc. the new imaging technology, image processing and image recognition technology related algorithm is more and more mature and across the growth of industrial technology, and precision of minimally invasive surgery has become the pursuit direction of modern medical technology and clinical surgery, computer assisted surgery to clinical medical industry research forefront. Computer aided surgery registration of preoperative CT, spatial location information of a surgical tool of MRI medical image information and operation, to give the surgeon auxiliary view to understand the relative relationship with human operation tool operation area, so as to improve the forward-looking in preoperative planning, intraoperative in Strengthen the reliability and accuracy of the system. And the surgical navigation will evolve into a research hotspot in the field of computer vision, the surgical navigation system is the central module of the computer aided surgery system. For the improvement and optimization of the visible light optical navigation, this paper proposes an implementation scheme of the navigation system based on ARTag artificial markers in this paper. An overview of the development process to do roughly the surgical navigation system, combined with the implementation of surgical navigation system present a variety of popular some shortcomings and deficiencies, put forward the research content of this paper. The main contents of this paper are as follows: 1, it puts forward a scheme of operation navigator ARTag artificial markers based on optical system is currently considered the surgical navigation system. The most potential, and is widely studied surgical navigation system, which is based on binocular stereo vision to achieve hand Operation tool for spatial positioning. This paper is inspired by the optical navigation system is complex, multi target tracking ability is weak or jumbled, the high cost of a series of problems. Combined with the enhanced ARTag artificial marker system in the practical application, in favor of the binocular stereo vision based on ARTag artificial space tracking and tracking of labeled surgical tools, so as to realize the navigation operation the function of.2 system, puts forward the ARTag as artificial markers markers, this paper presents a fast, stable, high precision, the labeling algorithm robust illumination conditions. The method is based on the edge detection, line detection, line integration, line extending, marking the quadrilateral reconstruction steps to achieve the efficient marker detection fast. According to the experiment, and similar correlation detection algorithm ARToolKit marker system, verify the detection algorithm of illumination robustness and accuracy of.3 for AR. Tag marker characteristics, realize the marking corner point chain acquisition, and decoding the tag ID; calibration of a surgical tool under the premise, to the principle of binocular vision 3D coordinate calculation, mark space, further realize the operation tool for spatial location tracking. The surgical instrument calibration method, we will through the surgical tool around the endpoint rotation, according to the principle of surgical tools mark track feature points in their own sphere, sphere fitting computation, namely tool endpoint 3D coordinates conversion further combining with the 3D coordinates of the surgical tool to calculate matrix, obtain the endpoint coordinates in the surgical tool coordinate system, the realization of the operation tool for surgical navigation registration.4, the proposed scheme, make quantitative analysis test and the scheme of the system is stable and accurate. The space positioning system of space positioning stability, operation tools work at the end of the fixed point operation tool 浜庝笉鍚屽Э鎬佺姸鍐典笅,璁＄畻鎵嬫湳绔偣璺熻釜浣嶇疆鐨勮宸潵鍒ゅ畾璺熻釜紼沖畾鎬，

本文編號(hào)：1632830