穿刺机器人超声标定技术及体模研究现状  

Research status of ultrasonic calibration technology and phantom of puncture robot

作　　者：褚浩杰 李海源 张勤俭 CHU Haojie;LI Haiyuan;ZHANG Qinjian(Mechanical Electrical and Engineering School,Beijing Information Science&Technology University,Beijing 100192,China;School of Intelligent Engineering and Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192 [2]北京邮电大学智能工程与自动化学院,北京100876

出　　处：《北京信息科技大学学报（自然科学版）》2024年第5期23-31,39,共10页Journal of Beijing Information Science and Technology University（Science and Technology Edition）

基　　金：北京市科学技术委员会成果转化概念验证项目(20220481074)。

摘　　要：对超声引导的穿刺手术机器人的超声标定技术及其不同标定模型进行了分析研究。首先比较了磁导航定位系统、光导航定位系统以及光磁协同导航定位系统各自的优势和不足;然后介绍了超声标定算法,综述了点模型、线模型、面模型和无标定模型的研究现状;最后从精密度、准确度、操作难度、适用范围等几个方面对标定模型进行了比较。The ultrasonic calibration technology and its different calibration models of ultrasound-guided puncture surgical robots were analyzed and studied.Firstly,the advantages and shortcomings of magnetic navigation and positioning systems,optical navigation and positioning systems,and optical-magnetic cooperative navigation and positioning systems were compared.Then the ultrasonic calibration algorithms were introduced,and the research status of the point model,line model,surface model,and non-calibrated model were reviewed.Finally,various calibration methods were compared in terms of precision,accuracy,difficulties of operation and applicability.

关 键 词：超声标定 穿刺机器人 体模 定位导航 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] R445.1[自动化与计算机技术—计算机科学与技术]