中国组织工程研究

中国组织工程研究 ›› 2011, Vol. 15 ›› Issue (35): 6584-6587.doi: 10.3969/j.issn.1673-8225.2011.35.029

• 数字化骨科 digital orthopedics • 上一篇    下一篇

基于立体视觉的手术导航光学定位系统

武雪梅，刘  奇   

  1. 四川大学电气信息学院医学信息工程系，四川省成都市  610065
  • 收稿日期:2011-03-23 修回日期:2011-06-21 出版日期:2011-08-27 发布日期:2011-08-27
  • 通讯作者: 刘奇，博士，副教授，硕士生导师，四川大学电气信息学院医学信息工程系，四川省成都市610065 liuqi@scu.edu.cn
  • 作者简介:武雪梅★，女，1985年生，河北省廊坊市人，汉族，四川大学在读硕士，主要从事医学图像处理研究。 struing@yahoo.cn

Optical localizer of surgical navigation system based on binocular stereo vision

Wu Xue-mei, Liu Qi   

  1. School of Electrical Engineering & Information, Sichuan University, Chengdu  610065, Sichuan Province, China
  • Received:2011-03-23 Revised:2011-06-21 Online:2011-08-27 Published:2011-08-27
  • Contact: Liu Qi, Doctor, Associate professor, Master’s supervisor, School of Electrical Engineering & Information, Sichuan University, Chengdu 610065, Sichuan Province, China
  • About author:Wu Xue-mei★, Studying for master’s degree, School of Electrical Engineering & Information, Sichuan University, Chengdu 610065, Sichuan Province, China struing@yahoo.cn

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583

被引次数

14

摘要：

背景：以立体视觉技术为基础的手术导航定位系统可为医生实时显示手术器械相对于病灶部位的位置和方向，提高手术定位精度。
目的：利用双目立体视觉技术对手术持针器导航标志物进行立体定位。
方法：采用带阈值的重心法提取手术持针器导航标志物的球心特征，采用张氏平面标定法得到立体摄像机的内外参数，利用最小二乘法原理确定手术持针器导航标志物三维坐标，进而确定穿刺针相对于病灶部分的位置关系。
结果与结论：在现有的实验条件下，立体光学定位系统能够对手术用持针器标志物进行实时定位，且手术精度能够满足导航的需求。

关键词: 立体视觉, 手术导航, 标定, 最小二乘法, 数字化医学

Abstract:

BACKGROUND: Localizer of surgical navigation system based on binocular stereo vision can supply real-time displays of the relative location and orientation between surgical instruments and the lesion location for doctors. It can improve surgical precision and reduce the time of surgery, makes it possible for that conventional surgery can not achieve.
OBJECTIVE: To localize the points of markers for navigation on the surgical needle-holder by binocular stereo vision.
METHODS: First, extract characteristics of the central objectives of markers for navigation on the surgical needle-holder by gravity method with threshold; Second, Considering that the surgical navigation system requires high-precision location and well stability, with the camera’s calibrating results by Zhang’s camera calibration method, get the three-dimensional coordinates of markers for navigation on the surgical needle-holder by least square method, and then relative location between puncture needle and the lesion site will be given.
RESULTS AND CONCLUSION: Stereo Optical Localizer System can fulfill real-time positioning of markers for navigation on the surgical needle-holder under the current experiment condition and the surgical precision is high enough for the need of surgical navigation.

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