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首页> 外文期刊>The international journal of medical robotics + computer assisted surgery: MRCAS >Modeling the convergence accommodation of stereo vision for binocular endoscopy
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Modeling the convergence accommodation of stereo vision for binocular endoscopy

机译：模拟双目内窥镜检查的立体声视觉融合住宿

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Abstract Background The stereo laparoscope is an important tool for achieving depth perception in robot‐assisted minimally invasive surgery (MIS). Methods A dynamic convergence accommodation algorithm is proposed to improve the viewing experience and achieve accurate depth perception. Based on the principle of the human vision system, a positional kinematic model of the binocular view system is established. The imaging plane pair is rectified to ensure that the two rectified virtual optical axes intersect at the fixation target to provide immersive depth perception. Results Stereo disparity was simulated with the roll and pitch movements of the binocular system. The chessboard test and the endoscopic peg transfer task were performed, and the results demonstrated the improved disparity distribution and robustness of the proposed convergence accommodation method with respect to the position of the fixation target. Conclusions This method offers a new solution for effective depth perception with the stereo laparoscopes used in robot‐assisted MIS.
机译：摘要背景立体声探伤镜是在机器人辅助微创手术（MIS）中实现深度感知的重要工具。方法提出了一种动态收敛住宿算法来改善观看体验并实现精确的深度感知。基于人类视觉系统的原理，建立了双目视图系统的位置运动模型。成像平面对被整流以确保两个整流的虚拟光轴在固定目标处相交以提供沉浸深度感知。结果模拟了双目系统的辊子和俯仰运动模拟立体视差。执行棋盘测试和内窥镜PEG转移任务，结果表明了所提出的收敛容纳方法关于固定靶的位置的改善的差异分布和鲁棒性。结论该方法提供了一种新的解决方案，可利用机器人辅助MIS中使用的立体声腹腔镜进行有效深度感知。

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