用于手术导航的高精度三目视觉定位方法研究

发布时间：2018-01-18 08:00

本文关键词：用于手术导航的高精度三目视觉定位方法研究　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：手术导航系统利用计算机技术对手术器械进行实时定位和跟踪,使医生在进行手术过程中能够实时了解手术器械相对于病灶部位的位置和方向,这样能够有效地减少手术对病人造成的创伤,对手术质量的提高有所帮助。对于高精度光学定位系统的研究是手术导航研制的关键和热点,目前国外企业垄断了光学定位技术,导致国内手术导航产品成本较高,难以推广。因此,本文从实际应用的角度出发,搭建了近红外三目立体视觉定位系统,研究了经典的摄像机针孔模型,详细分析并对比了 TSAI标定和张正友标定的标定方法和各自优点。并根据搭建系统使用的多目立体视觉选择了适用的TSAI标定方法并完成了系统标定。其次,研究了图像特征点提取和匹配重建方法。提出了一种基于连通域标记的快速目标中心提取方法,该算法的突出特点是在保证高可靠性和适当精度的条件下,具有较高的执行效率。第三,研究了三标志点手术器械的注册标定算法。以手术器械工作点为轴心进行旋转可以得到它的空间坐标,继而建立手术器械上标志点和工作点的相对位置关系,完成注册过程。最后,提出了一种基于多目立体视觉的手术器械跟踪定位策略。当不存在光线遮挡时,进行多目立体重建;当某一个摄像机的光线被遮挡时,进行双目立体重建。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,满足使用精度需求的情况下,提高定位系统的可靠性。
[Abstract]:The operation navigation system uses the computer technology to locate and track the surgical instruments in real time, so that the doctors can understand the position and direction of the surgical instruments in the process of operation in real time. This can effectively reduce the trauma caused by surgery and improve the quality of surgery. The research of high-precision optical positioning system is the key and hot spot in the development of surgical navigation. At present, foreign enterprises monopolize optical positioning technology, leading to the high cost of domestic surgical navigation products, difficult to promote. Therefore, from the perspective of practical application, this paper built a near-infrared trinocular stereo vision positioning system. The classical pinhole model of camera is studied. Detailed analysis and comparison. TSAI calibration and Zhang Zhengyou calibration methods and their respective advantages. And according to the multi-eye stereo vision used to build the system to choose the suitable TSAI calibration method and complete the system calibration. Secondly. The method of image feature point extraction and matching reconstruction is studied, and a fast target center extraction method based on connected domain marking is proposed. The prominent feature of the algorithm is to ensure high reliability and proper accuracy. Third, the registration and calibration algorithm of surgical instruments with three marks is studied. The space coordinates can be obtained by rotating the operating points of surgical instruments. Then the relative position relationship between the mark points and the working points on the surgical instruments is established, and the registration process is completed. Finally, a tracking and positioning strategy for surgical instruments based on multi-eye stereo vision is proposed, when there is no light occlusion. Carrying on multi-eye stereoscopic reconstruction; When the light of a camera is occluded, the binocular stereo reconstruction is carried out. This strategy can solve the problem of light occlusion to some extent, avoid the loss of location information of surgical instruments, and meet the need of accuracy. Improve the reliability of the positioning system.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：R61;TP391.41

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