显微外科打结作业的运动捕捉  

Movement Capture of Knot-Tying Manipulation in Microsurgeries

作　　者：魏民[1] 杨洋[1] 邓世靖[2] 孙旭光[2] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083 [2]北京市眼科研究所,北京100005

出　　处：《中国医疗器械杂志》2008年第1期6-9,共4页Chinese Journal of Medical Instrumentation

基　　金：国家自然科学基金项目(50675008)资助

摘　　要：利用双目立体视觉技术对外科专家的缝合打结动作进行运动捕捉,提取打结作业中的关键点,获取了打结操作中的运动轨迹,进一步对轨迹进行拟合和光滑,获得了外科医生打结作业的轨迹和工作空间,为机器人打结机构的设计和虚拟手术训练系统的构建奠定了基础。The surgical dexterous suturing and knotting movements are photographed with binocular stereo vision and the movements＇ locus is captured through identifying the RGB values in a series of key-frames. Then a normal movement path of knot-tying is obtained through curve-fitting and smoothing. And meanwhile, the workspace of knot-tying manipulation in microsurgeries is got. And thus, a good foundation is laid for the design of an automatic knotting mechanism and for the establishment of a virtual surgery training system.

关 键 词：显微外科 打结作业 运动轨迹 

分 类 号：R616.2[医药卫生—外科学]