Vision solution for an assisted puncture robotics system positioning

Jiang Guanwu; Luo Minzhou; Lu Lijuan; Bai Keqiang; Abdelaziz Omar; Chen Saixuan

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Vision solution for an assisted puncture robotics system positioning

机译：辅助穿刺机器人系统定位的视觉解决方案

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Medical robotics and computer-assisted surgery are hotspots in the field of robotics and medicine, changing the essence of traditional surgery using a combination of robotic, image processing, and computer technologies. The present paper aimed to study the auxiliary puncture procedure using a robot based on binocular vision optical positioning technology that can be used in minimally invasive surgery for coordinate precision of skin markers. ZED binocular cameras were selected for image acquisition and a model was established based on Zhang's calibration. Moreover, a Hough circle detection algorithm was proposed for binocular stereo image feature extraction to obtain the marker points in three-dimensional space coordinates. Accurate marker coordinate information for a human 3D bone model was obtained, laying the foundation for further research regarding robot-assisted precise positioning technology for use in puncture surgery. (C) 2018 Optical Society of America

机译：医疗机器人和计算机辅助手术是机器人和医学领域的热点，使用机器人，图像处理和计算机技术的组合改变传统手术的本质。本文旨在使用基于双目视觉光学定位技术的机器人研究辅助穿刺程序，可用于微创手术，以便坐标皮肤标记的精度。选择ZED双目摄像机进行图像采集，并基于Zhang的校准建立了模型。此外，提出了一种用于双目立体图像特征提取的Hough圆检测算法，以获得三维空间坐标中的标记点。获得了用于人3D骨模型的准确标记坐标信息，奠定了进一步研究的基础，了解用于穿刺手术的机器人辅助精确定位技术。（c）2018年光学学会

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来源
《Applied optics》 |2018年第28期|共9页
作者
Jiang Guanwu; Luo Minzhou; Lu Lijuan; Bai Keqiang; Abdelaziz Omar; Chen Saixuan;
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Univ Sci &

Technol China Dept Automat Hefei 230026 Anhui Peoples R China;

Univ Sci &

Technol China Dept Automat Hefei 230026 Anhui Peoples R China;

Nanjing Univ Med Sch Affiliated Hosp Dept Pain Med Nanjing Drum Tower Hosp Nanjing 211800 Jiangsu Peoples R China;

Southwest Univ Sci &

Technol Sch Informat Engn Mianyang 621010 Peoples R China;

Univ Sci &

Technol China Dept Automat Hefei 230026 Anhui Peoples R China;

Univ Sci &

Technol China Dept Automat Hefei 230026 Anhui Peoples R China;

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正文语种 eng
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Vision solution for an assisted puncture robotics system positioning

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