一种用于外科手术导航的双目视觉简化系统  

A Binocular Vision Simplified System for the Surgical Navigation

作　　者：张鹏炜[1] 张智诠[1] 胡磊[2] 栾胜[2] 

机构地区：[1]装甲兵工程学院控制工程系,北京100072 [2]北京航空航天大学机器人研究所,北京100191

出　　处：《光电工程》2009年第6期37-41,共5页Opto-Electronic Engineering

基　　金：国家十一五科技支撑计划资助项目(2006BAI03A16);武警北京总队第二医院项目资助项目(BUAA20080104)

摘　　要：针对外科手术导航光学定位仪参数标定过程繁琐和对应点匹配歧异性大的问题,进行了双目立体视觉简化系统的研究。运用坐标变换方法一次性标定系统24个参数;选用黑白棋盘格标记物和运用相似性度量原理,简化立体匹配过程、提高立体匹配准确度。利用标定后的系统对标记物之间的距离进行测量,在距双目视觉传感单元1.5m范围内误差小于1mm。交叉韧带重建手术导航模拟实验表明:该系统具有稳定,可靠,标定方法简单,匹配准确,定位精度高的特点,能够满足外科手术导航的要求。In view of the complexity in the calibration process and the discrepancy in point matching, a simplified binocular vision positioning system for surgical navigation was developed. The system could calculate the 24 parameters once and for all with the coordinate transformation method. In addition, the gridiron pattern marker and the principle of similarity measure were adopted to simplify the stereo matching process and to improve the stereo matching accuracy. Then, the calibrated system detected the distance between the pairs of markers which were within 1.5 m distance from the binocular vision sensing units, and the error was less than 1 mm. The new system was tested in the anterior cruciate ligament reconstruction surgery. It is proved that the system is stable, reliable, easy to be calibrated with sufficient accuracy and high positioning precision, and can meet the requirements of surgical navigation.

关 键 词：双目视觉 摄像机标定 立体匹配 手术导航 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]