一种基于多目立体视觉的手术器械跟踪定位策略
提出了一种基于多目立体视觉的手术器械跟踪定位策略.利用2个以上的摄像机构建多目立体视觉系统,采用投影线交点法重建靶标的空间坐标.当无光线遮挡时,通过扩展投影线方程数量进行多目立体重建;当某一摄像机的光线被遮挡时,进行双目立体重建.利用自行搭建的三目立体视觉系统,通过自制的多标志点手术器械的跟踪定位试验,实现对该策略有效性的测试.结果表明：在不同光线遮挡条件下,系统均能实现定位功能,且静态定位和动态定位误差均小于0.15mm;该策略能够在一定程度上解决光线遮挡问题,避免手术器械定位信息丢失,在满足使用精度需求的情况下,提高了系统的可靠性....
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| Published in | 江苏大学学报（自然科学版） Vol. 39; no. 1; pp. 57 - 63 |
|---|---|
| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| Published |
南京理工大学 电子工程与光电技术学院, 江苏 南京210094
2018
中国科学院 苏州生物医学工程技术研究所, 江苏 苏州 215163%中国科学院 苏州生物医学工程技术研究所,江苏 苏州,215163%南京理工大学 电子工程与光电技术学院,江苏 南京,210094 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1671-7775 |
| DOI | 10.3969/j.issn.1671-7775.2018.01.010 |
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| Abstract | 提出了一种基于多目立体视觉的手术器械跟踪定位策略.利用2个以上的摄像机构建多目立体视觉系统,采用投影线交点法重建靶标的空间坐标.当无光线遮挡时,通过扩展投影线方程数量进行多目立体重建;当某一摄像机的光线被遮挡时,进行双目立体重建.利用自行搭建的三目立体视觉系统,通过自制的多标志点手术器械的跟踪定位试验,实现对该策略有效性的测试.结果表明：在不同光线遮挡条件下,系统均能实现定位功能,且静态定位和动态定位误差均小于0.15mm;该策略能够在一定程度上解决光线遮挡问题,避免手术器械定位信息丢失,在满足使用精度需求的情况下,提高了系统的可靠性. |
|---|---|
| AbstractList | 提出了一种基于多目立体视觉的手术器械跟踪定位策略.利用2个以上的摄像机构建多目立体视觉系统,采用投影线交点法重建靶标的空间坐标.当无光线遮挡时,通过扩展投影线方程数量进行多目立体重建;当某一摄像机的光线被遮挡时,进行双目立体重建.利用自行搭建的三目立体视觉系统,通过自制的多标志点手术器械的跟踪定位试验,实现对该策略有效性的测试.结果表明：在不同光线遮挡条件下,系统均能实现定位功能,且静态定位和动态定位误差均小于0.15mm;该策略能够在一定程度上解决光线遮挡问题,避免手术器械定位信息丢失,在满足使用精度需求的情况下,提高了系统的可靠性. TP391.7; 提出了一种基于多目立体视觉的手术器械跟踪定位策略.利用2个以上的摄像机构建多目立体视觉系统,采用投影线交点法重建靶标的空间坐标.当无光线遮挡时,通过扩展投影线方程数量进行多目立体重建;当某一摄像机的光线被遮挡时,进行双目立体重建.利用自行搭建的三目立体视觉系统,通过自制的多标志点手术器械的跟踪定位试验,实现对该策略有效性的测试.结果表明:在不同光线遮挡条件下,系统均能实现定位功能,且静态定位和动态定位误差均小于0.15 mm;该策略能够在一定程度上解决光线遮挡问题,避免手术器械定位信息丢失,在满足使用精度需求的情况下,提高了系统的可靠性. |
| Abstract_FL | A multi-view stereo vision-based tracking and positioning strategy for surgical instrument was proposed .A multi-view stereo vision system was built using more than two cameras , and the spatial coordinate of target was reconstructed by the projection line intersection method .Under the condition with no line-of-sight blocking , the spatial coordinate of target was reconstructed by extending the projection line equations .With line-of-sight blocking in one camera , the binocular stereo reconstruction method was used .The tracking and positioning for a self-made multi-point surgical instrument with a self-built trinocular stereo vision system were conducted to test the capability of the proposed strategy .The results show that the system can locate the position successfully under different blocking conditions , and both the static error and the dynamic error are less than 0.15 mm.The proposed strategy can solve the problem of line-of-sight blocking to some extent and avoid the missing of positioning information , and the system reliability can be improved with the required accuracy . |
| Author | 赵昕扬;刘仰川;高万荣;高欣 |
| AuthorAffiliation | 南京理工大学电子工程与光电技术学院,江苏南京210094;中国科学院苏州生物医学工程技术研究所,江苏苏州215163 |
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| Author_FL | LIU Yangchuan GAO Wanrong GAO Xin ZHAO Xinyang |
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| Keywords | 手术器械 image-guided surgery surgical instrument line-of-sight blocking positioning 立体视觉 定位 光线遮挡 stereo vision 手术导航 |
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| Publisher | 南京理工大学 电子工程与光电技术学院, 江苏 南京210094 中国科学院 苏州生物医学工程技术研究所, 江苏 苏州 215163%中国科学院 苏州生物医学工程技术研究所,江苏 苏州,215163%南京理工大学 电子工程与光电技术学院,江苏 南京,210094 |
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| SubjectTerms | 光线遮挡 定位 手术器械 手术导航 立体视觉 |
| Title | 一种基于多目立体视觉的手术器械跟踪定位策略 |
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