计算机辅助外科中手术与计划空间标定以及视觉空间的误差校正  

Calibration Between Operation Space and Plan Space and Error Correction of Visual Space in Computer-aided Surgery

作　　者：郭锥[1] 周宇[1] 席文明[1] 

机构地区：[1]厦门大学物理与机电工程学院,福建厦门361005

出　　处：《厦门大学学报（自然科学版）》2012年第6期995-1000,共6页Journal of Xiamen University：Natural Science

基　　金：国家自然科学基金项目(61172046)

摘　　要：计算机辅助外科(CAS)系统中,多空间集成在一起,为了提高系统的操作精度,需要有效的标定方法校正空间之间的误差.利用机器人上特征在导航系统中视觉空间的运动误差,建立视觉空间与机器人空间的映射关系,递归校正两空间之间的局部转换矩阵.利用局部转换矩阵建立优化方程,求取全局最优转换矩阵.该方法对所有动态、静态误差进行校正.针对手术与计划空间中存在的耦合误差,利用设计的特殊结构力传感器和标定块解耦标定其误差,并根据求取的转换矩阵,调整计划空间中对象的位姿,保证计划空间与手术空间中的对象位姿一致.实验结果表明,动态标定方法可以使视觉空间中的全局误差减少到5个像素,力控标定方法可以使位置误差减小到0.25mm,姿态误差减小到0.1°.In computer-aided surgery （CAS） system,many space integrates in together,in order to improve the precision of the sys- tem operation, the effective calibration method to correct the error between the space is needed. Using the robot characteristics motion errors in visual space of navigation system to establish the mapping of visual space and robot space,and to recursion correction the lo- cal transformation matrix of visual space and robot space. Using local transformation matrix to establish optimization equation, and then obtaining global optimal transformation matrix. This method for all the static and dynamic error correction. According to the coupling error exists in the operation and plan space, using the designed special structure force sensor and calibration piece of decou- pling to calibration its error,and according to the transformation matrix to adjust the objects＇ position and orientation in the plan space to ensure that the objects in the plan space have the same pose with it in the operation space. The experimental results show that the dynamic calibration method can make the visual space global error reduced to 5 pixels,and the force control calibration meth od can make the position error is reduced to O. 25 mm and the posture error reduced to0. 1°.

关 键 词：计算机辅助外科 计划空间 标定 视觉空间 误差校正 

分 类 号：R319[医药卫生—基础医学]