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首页> 外文会议>Conference on Medical Imaging: Visualization, Image-Guided Procedures, and Display >Circular Needle and Needle-holder Localization for Computer-aided Suturing in Laparoscopic Surgery
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Circular Needle and Needle-holder Localization for Computer-aided Suturing in Laparoscopic Surgery

机译：腹腔镜手术中计算机辅助缝合的圆针和针座定位

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摘要

Usual localization and registration techniques cannot be used for suturing in laparoscopic surgery. The small size of the needle and the interactions with the tissues do not allow to use conventional sensors. Moreover, the possible modifications of the positions of the needle after the needle has been introduced into the abdomen, makes the use of usual vision-based registration techniques impossible. In this paper, we present methods to obtain the necessary information by using a color endoscopic camera. So as to simplify the detection and reconstruction problems, the needle-holder is modelled as a cylinder and equipped with passive markers, and the needle is colored. Image processing techniques allow to get an elliptical representation of the image of the needle. From this ellipse and apparent contours of the cylinder, the 3D poses can be obtained. These poses and the needle handling parameters are computed by minimizing the projection error in the images and by using a numerical iterative technique : virtual visual servoing.
机译：通常的本地化和登记技术不能用于剖腹手术。针头的小尺寸和与组织的相互作用不允许使用传统传感器。此外，针在针被引入腹部后针的位置的可能修改使得使用通常的视觉的登记技术不可能。在本文中，我们提供了通过使用彩色内窥镜相机获得必要信息的方法。为了简化检测和重建问题，将针座被建模为圆筒并配备有无源标记，并且针是着色的。图像处理技术允许获得针图像的图像的椭圆形表示。从该椭圆和汽缸的明显轮廓，可以获得3D姿势。通过最小化图像中的投影误差和使用数值迭代技术来计算这些姿势和针处理参数：虚拟视觉伺服。

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