面向机器人辅助外科手术的腹腔镜视觉导航方法研究
发布时间：2018-11-05 13:16
【摘要】：机器人辅助外科手术是最近三十年发展起来的一种新型的手术方式,其具有术时创伤小、术后恢复快的优点,但外科手术机器人并非代替医生进行手术,主要作用是辅助医生进行手术,基本没有自主权。在目前的腹腔镜手术过程中,医生必须指挥腹腔镜操作者或者控制机械臂调节腹腔镜的位置和姿态,这不仅使医生分心,而且腹腔镜不一定能调整到一个理想的位置,为此本文提出了一种追踪手术器械的腹腔镜视觉导航方法。面向本实验室在研的微创腹腔镜手术机器人系统,结合腹腔镜的成像原理和机器人运动学,建立了腹腔镜的运动成像模型,为腹腔镜视觉导航奠定基础。结合机器人辅助外科手术的环境及流程,分析腹腔镜视觉导航相关的关键技术,给出了腹腔镜视觉导航的整体流程。根据外科手术过程中的常用操作,设定两种手术状态,结合手术状态给出了腹腔镜导航过程中的感兴趣区域的详细定义(输出图像),基于感兴趣区域研究了腹腔镜运动决策方法,用于确定腹腔镜何时运动、如何运动,并且给出了该方法相关参数的详细计算过程。分析了基于均值漂移的图像分割算法和基于核相关滤波器的目标跟踪算法,结合腹腔镜视觉导航的需求,分别对其进行改进,使其适用于腹腔镜视觉导航方法,并通过实验对改进的算法与原算法进行了对比分析,证明了改进算法的优点,最后采用多种外部依赖库,在VS2013上编写了腹腔镜图像处理的总程序。详细分析了基于视觉精确定位手术器械的方法,搭建视觉定位手术器械的实验环境,同时进行了相机的标定实验和手术器械的快速和精确定位实验。结合定位实验的结果,采用MATLAB对腹腔镜的视觉导航方法进行了动态仿真,通过仿真过程腹腔镜的运动状态和输出图像的参数变化曲线说明了本方法的可行性,最后对不同视角的腹腔镜进行仿真,证明了其适应性。
[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.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：R61;TP391.41;TP242
本文编号：2312204
[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.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：R61;TP391.41;TP242
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