基于视觉导航的机器人辅助神经外科手术系统的设计与精度分析  

作　　者：黄荣瑛[1] 邓智鹏[1] 刘达[1] 王田苗[1] 

机构地区：[1]北京航空航天大学机器人研究所

出　　处：《机器人技术与应用》2007年第1期32-37,共6页Robot Technique and Application

摘　　要：本文中利用MicronTracker双目视觉导航仪,开发出一种新型的视觉导航系统。将此系统应用在被动机器人辅助神经外科手术系统中,实现了对手术针位置和患者头部位置的实时跟踪。使得手术操作更加方便,这将大幅度提高手术效率,也为整个手术系统的推广普及提供了可能性。此外设计了一种新的手术注册方式,并用实验得到了验证,精度可靠安全。In this paper, a new type of visual navigation system was developed with the participation of MicronTracker binocular visual navigation equipment. Through the application of this system on the passive robot assisted neurosurgery system. we realized the real-time track of positions of surgery needle and patientis head. This system presents more convenience for doctor or operator, which is benefit for enhance of operation efficiency. It also provide a possibility for popularizing the surgery system. We also designed a new surgery registration method, through many experiments, this method is oroved to be very acute and safe.

关 键 词：双目视觉 视觉导航系统 机器人辅助神经外科手术 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]