【摘要】：機(jī)器人輔助外科手術(shù)是最近三十年發(fā)展起來的一種新型的手術(shù)方式,其具有術(shù)時創(chuàng)傷小、術(shù)后恢復(fù)快的優(yōu)點(diǎn),但外科手術(shù)機(jī)器人并非代替醫(yī)生進(jìn)行手術(shù),主要作用是輔助醫(yī)生進(jìn)行手術(shù),基本沒有自主權(quán)。在目前的腹腔鏡手術(shù)過程中,醫(yī)生必須指揮腹腔鏡操作者或者控制機(jī)械臂調(diào)節(jié)腹腔鏡的位置和姿態(tài),這不僅使醫(yī)生分心,而且腹腔鏡不一定能調(diào)整到一個理想的位置,為此本文提出了一種追蹤手術(shù)器械的腹腔鏡視覺導(dǎo)航方法。面向本實(shí)驗(yàn)室在研的微創(chuàng)腹腔鏡手術(shù)機(jī)器人系統(tǒng),結(jié)合腹腔鏡的成像原理和機(jī)器人運(yùn)動學(xué),建立了腹腔鏡的運(yùn)動成像模型,為腹腔鏡視覺導(dǎo)航奠定基礎(chǔ)。結(jié)合機(jī)器人輔助外科手術(shù)的環(huán)境及流程,分析腹腔鏡視覺導(dǎo)航相關(guān)的關(guān)鍵技術(shù),給出了腹腔鏡視覺導(dǎo)航的整體流程。根據(jù)外科手術(shù)過程中的常用操作,設(shè)定兩種手術(shù)狀態(tài),結(jié)合手術(shù)狀態(tài)給出了腹腔鏡導(dǎo)航過程中的感興趣區(qū)域的詳細(xì)定義(輸出圖像),基于感興趣區(qū)域研究了腹腔鏡運(yùn)動決策方法,用于確定腹腔鏡何時運(yùn)動、如何運(yùn)動,并且給出了該方法相關(guān)參數(shù)的詳細(xì)計算過程。分析了基于均值漂移的圖像分割算法和基于核相關(guān)濾波器的目標(biāo)跟蹤算法,結(jié)合腹腔鏡視覺導(dǎo)航的需求,分別對其進(jìn)行改進(jìn),使其適用于腹腔鏡視覺導(dǎo)航方法,并通過實(shí)驗(yàn)對改進(jìn)的算法與原算法進(jìn)行了對比分析,證明了改進(jìn)算法的優(yōu)點(diǎn),最后采用多種外部依賴庫,在VS2013上編寫了腹腔鏡圖像處理的總程序。詳細(xì)分析了基于視覺精確定位手術(shù)器械的方法,搭建視覺定位手術(shù)器械的實(shí)驗(yàn)環(huán)境,同時進(jìn)行了相機(jī)的標(biāo)定實(shí)驗(yàn)和手術(shù)器械的快速和精確定位實(shí)驗(yàn)。結(jié)合定位實(shí)驗(yàn)的結(jié)果,采用MATLAB對腹腔鏡的視覺導(dǎo)航方法進(jìn)行了動態(tài)仿真,通過仿真過程腹腔鏡的運(yùn)動狀態(tài)和輸出圖像的參數(shù)變化曲線說明了本方法的可行性,最后對不同視角的腹腔鏡進(jìn)行仿真,證明了其適應(yīng)性。
[Abstract]:Robot-assisted surgery is a new type of surgery developed in the last 30 years. It has the advantages of less trauma and faster recovery after surgery, but surgical robot is not a substitute for doctors. The main role is to assist doctors to perform surgery, basically no autonomy. In the current procedure of laparoscopic surgery, the doctor must direct the laparoscopic operator or control the manipulator to adjust the position and posture of the laparoscope, which not only distracts the doctor, but also does not necessarily adjust the laparoscope to an ideal position. In this paper, a method of laparoscopic visual navigation for tracking surgical instruments is proposed. Based on the imaging principle of laparoscope and kinematics of robot, a motion imaging model of laparoscope is established, which lays a foundation for vision navigation of laparoscope. Combined with the environment and process of robot assisted surgery, the key technologies of laparoscopic visual navigation are analyzed, and the overall flow of laparoscopic visual navigation is given. According to the common operation during surgery, two kinds of operation states are set up, and the detailed definition of the region of interest (output image) in the course of laparoscopic navigation is given in combination with the operation state. Based on the region of interest, a decision method of laparoscopic motion is studied, which is used to determine when and how the laparoscope moves, and the detailed calculation process of the relevant parameters of the method is given. The image segmentation algorithm based on mean shift and the target tracking algorithm based on kernel correlation filter are analyzed. Combined with the requirement of laparoscopic visual navigation, the image segmentation algorithm based on mean shift and the target tracking algorithm based on kernel correlation filter are improved respectively to make it suitable for laparoscopic visual navigation. The improved algorithm is compared with the original algorithm through experiments, and the advantages of the improved algorithm are proved. Finally, a total program of laparoscopic image processing is compiled on VS2013 by using a variety of external dependency libraries. Based on the analysis of the method of visual precise positioning of surgical instruments, the experimental environment of visual positioning of surgical instruments is set up, and the calibration experiments of camera and the fast and accurate positioning experiments of surgical instruments are carried out at the same time. Combined with the result of the localization experiment, the dynamic simulation of the visual navigation method of the laparoscope is carried out by using MATLAB. The feasibility of the method is illustrated by the simulation of the motion state of the laparoscope and the parameter change curve of the output image. Finally, the simulation of laparoscopy with different angles of view proves its adaptability.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：R61;TP391.41;TP242

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