微创手术机器人视觉定位系统的研究  

Research of the Minimally Invasive Neurosurgery Robot's Vision Navigation System

作　　者：李志俊[1] 王连朝[1] 张学民[2] 曾飞[1] 

机构地区：[1]武汉理工大学自动化学院,武汉430063 [2]空军第一航空学院,信阳464000

出　　处：《武汉理工大学学报（交通科学与工程版）》2007年第5期890-893,共4页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家自然科学基金项目(批准号:79970025);国防预研基金项目(批准号:00J15.3.3.JW0528)资助

摘　　要：根据立体视觉的基本原理,建立摄像机标定模型和立体视觉模型,设计了基于微创手术机器人的视觉定位系统.介绍了相应图像处理软件的设计,实现对目标的准确识别和精确定位.实验证明该方案有较好的定位效果,同时分析了引起误差的原因.According to the basic principle of the three dimensional vision, the standard model of the camera is set up and three-dimensional vision model is designed on the basis of the vision navigation system achieving the operation robot a little. The design of the corresponding pattern process software is in- troduced. The accurate discernment of the goal is implemented and a reservation is made accurately. Experiments show that there is better result of orienting in this scheme. The reason for causing the error is analyzed at the same time.

关 键 词：摄像机标定 立体视觉 图像处理 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]