一种用于手术导航的持针器械校正方法  

A Calibration Method of Needle Holder for Surgical Navigation

作　　者：杨一帆[1] 谢翔[1] 李国林[2] 

机构地区：[1]清华大学微电子与纳电子学系,北京100084 [2]清华大学电子工程系,北京100084

出　　处：《微电子学与计算机》2016年第10期125-129,共5页Microelectronics & Computer

基　　金：国家自然科学基金项目(61373073);清华大学自主科研计划项目(2013089223);深圳市科技计划项目(JCYJ20150331151358146)

摘　　要：为了降低肺癌等疾病的发病率和死亡率,早期诊断与治疗是关键环节.对发病部位(如胸腔内组织)进行扎针活检和治疗是常见的诊疗手段.为解决医生用手直接控制扎针精度低导致重复手术概率大的问题,需要设计一种高精度手术导航系统.手术导航系统运作的前提是系统中各构件间相对位置的校正.对此提出了基于可见光标记物的系统校正方法,实现了手术针、机械手以及双摄像头之间空间相对位置的校正,为后续手术导航奠定参数基础.实验数据表明,针尖的校正误差为1.37mm,针姿态校正误差为0.62",满足经皮胸腔手术的下针需求.In order to reduce diseases （such as lung cancer） incidence and mortality, a key work is early diagnosis and treatment, in which an acupuncture treatment biopsy is a common means of treatment. To solve the low accuracy and high probability of repeat surgery caused by manpower acupuncture, we need to design a high precision surgical navigation system. Before the system can he used, the relative positions of the system component should be calibrated. To calibrate the relative positions between needle, robotic arm and binocular stereo vision for subsequent surgical navigation, this paper proposes a system calibration method based on visible markers. According to the experimental result, the needle tip calibration error is 1. 37mm with an attitude error of 0. 62 °, which meet the accuracy of thoracic surgery.

关 键 词：校正 双目立体视觉 图像处理 机械手 手术导航 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]