视觉定位脑外科手术机器人系统的坐标映射  

Coordinate Mapping of Brain Surgery Robot System Based on Vision Localization

作　　者：潘峰[1] 武威[2] 杨轶璐[2] 徐心和[2] 

机构地区：[1]东北大学教育部暨辽宁省流程工业综合自动化重点实验室,辽宁沈阳110004 [2]东北大学信息科学与工程学院,辽宁沈阳110004

出　　处：《东北大学学报（自然科学版）》2005年第5期413-416,共4页Journal of Northeastern University(Natural Science)

基　　金：国家高技术研究发展计划项目(2001AA422270)

摘　　要：详细阐述了基于视觉定位技术的脑外科手术机器人系统的构成与手术过程,探讨了系统四个坐标系之间的相互映射关系·利用计算机视觉、机器人和医学影像三维重建技术,辅助医生完成脑外科手术·系统采用标记点校准方法,用视觉定位代替人为机械臂定位方式,使系统在手术精度与智能化方面有了很大的改善·通过研究各个坐标系之间映射关系,完成手术校准与规划,引导机器人到达规划的位姿,为实际应用提供了理论基础·The architecture and surgical operation process of a brain surgery robot system based on vision localization technology is expounded to discuss in depth the mapping relations among four coordinates. Computer vision, robot and 3D-medical imaging reconstructing technology are combined together to help surgeons to complete brain's surgical operation. Marker registration method is adopted in robot system with vision localization instead of passive machine arm localization so as to improve greatly the exactness in operation as well as the intellectualization level. The mapping relations among each and every coordinate are thus studied further to work out the calibration of surgical operation actions and relevant planning. As a result, the robot realizes the planning posture. A theoretical foundation is therefore provided for practice.

关 键 词：计算机辅助手术 三维重建 坐标映射 视觉定位 手术机器人 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]