[1]于凌涛,郑红杰.手术微器械盲孔特征的腹腔镜视野自动调节方法[J].哈尔滨工程大学学报,2019,40(08):1495-1501.[doi:10.11990/jheu.201807120]
 YU Lingtao,ZHENG Hongjie.Automatic adjustment of the laparoscopic visual field for blind-hole-like surgical instruments[J].hebgcdxxb,2019,40(08):1495-1501.[doi:10.11990/jheu.201807120]
点击复制

手术微器械盲孔特征的腹腔镜视野自动调节方法(/HTML)
分享到:

《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
40
期数:
2019年08期
页码:
1495-1501
栏目:
出版日期:
2019-08-05

文章信息/Info

Title:
Automatic adjustment of the laparoscopic visual field for blind-hole-like surgical instruments
作者:
于凌涛1 郑红杰2
1. 哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001;
2. 上海空间电源研究所, 上海 201100
Author(s):
YU Lingtao1 ZHENG Hongjie2
1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;
2. Shanghai Institute of Space Power-Sources, Shanghai 201100, China
关键词:
外科手术机器人机器视觉机器人运动学目标跟踪腹腔镜视野自动调节实验分析
分类号:
TP242
DOI:
10.11990/jheu.201807120
文献标志码:
A
摘要:
在机器人辅助微创外科手术中,为了使机器人分担更多手术操作任务,提高其自主性,从而减少医生手术压力,提高手术效率,本文提出一种基于手术微器械类似盲孔特征的腹腔镜视野自动调节方法,可为医生提供最佳的手术视野。结合腹腔镜成像坐标系、相机坐标系及持镜臂各关节坐标系,采用D-H法推导出运动成像关系,通过机器视觉算法捕捉手术微器械类似盲孔特征,获取在图像坐标系中的大小和位置,结合上述运动成像关系和手术微器械的相对大小及位置,制定腹腔镜视野自动调节规则,在腹腔手术机器人样机上进行实验。实验证明了本方法能够完成腹腔镜视野的自动调节,验证了本方法的正确性和优越性。

参考文献/References:

[1] BALLESTER P, JAIN Y, HAYLETT K R, et al. Comparison of task performance of robotic camera holders EndoAssist and Aesop[J]. International congress series, 2001, 1230:1100-1103.
[2] 徐兆红, 宋成利, 闫士举. 机器人在微创外科手术中的应用[J]. 中国组织工程研究与临床康复, 2011, 15(35):6598-6601.XU Zhaohong, SONG Chengli, YAN Shiju. Research on minimally invasive robotic surgery[J]. Journal of Clinical rehabilitative tissue engineering research, 2011, 15(35):6598-6601.
[3] BRAHMBHATT J V, GUDELOGLU A, LIVERNEAUX P, et al. Robotic microsurgery optimization[J]. Archives of Plastic Surgery, 2014, 41(3):225-230.
[4] LATIF H O, SHERKAT N, LOTF A. TeleGaze:teleoperation through eye gaze[C]//Proceedings of the 2008 7th IEEE International Conference on Cybernetic Intelligent Systems. London, UK, 2008:1-6.
[5] MUDUNURI A V. Autonomous camera control system for surgical robots[D]. Detroit, USA:Wayne State University, 2010.
[6] AZIZIAN M, KHOSHNAM M, NAJMAEI N, et al. Visual servoing in medical robotics:a survey. Part I:endoscopic and direct vision imaging-techniques and applications[J]. International Journal of medical robotics and computer assisted surgery, 2014, 10(3):263-274.
[7] KING B W, REISNER L A, PANDYA A K, et al. Towards an autonomous robot for camera control during laparoscopic surgery[J]. Journal of laparoendoscopic & advanced surgical techniques, 2013, 23(12):1027-1030.
[8] WEEDE O, MÖNNICH H, MVLLER B, et al. An intelligent and autonomous endoscopic guidance system for minimally invasive surgery[C]//Proceedings of 2011 IEEE International Conference on Robotics and Automation. Shanghai, 2011:5762-5768.
[9] 丁业兵. 基于惯量矩的椭圆拟合方法[J]. 计算机工程与应用, 2016, 52(18):188-191.DING Yebing. Ellipse fitting method based on moment of inertia[J]. Computer engineering and applications, 2016, 52(18):188-191.
[10] NIXON M S, AGUADO A S. 特征提取与图像处理[M]. 李实英, 杨高波, 译. 2版. 北京:电子工业出版社, 2010:255-258.NIXON M S, AGUADO A S. Feature extraction and image processing[M]. LI Shiying, YANG Gaobo, trams. 2nd ed. Beijing:Electronic Industry Press, 2010:255-258.
[11] HENRIQUES J F, CASEIRO R, MARTINS P, et al. Exploiting the circulant structure of tracking-by-detection with kernels[C]//Proceedings of the 12th European Conference on Computer Vision. Florence, Italy, 2012:702-715.
[12] 钱元凯. 摄影光学与镜头[M]. 杭州:浙江摄影出版社, 2005.QIAN Yuankai. The photographic optics & lenses[M]. Hangzhou:Zhejiang Photography Publishing House, 2005.
[13] BRADSKI G, KAEHLER A. 学习OpenCV(中文版)[M]. 于仕琪, 刘瑞祯, 译. 北京:清华大学出版社, 2009:407-409.BRADSKI G, KAEHLER A. Learning OpenCV[M]. YU Shiqi, LIU Ruizhen, trans. Beijing:Tsinghua University Press, 2009:407-409.

相似文献/References:

[1]张铭钧,李煊,王玉甲.基于灰度化权值调整的水下彩色图像分割[J].哈尔滨工程大学学报,2015,(05):707.[doi:10.3969/j.issn.1006-7043.201403018]
 ZHANG Mingjun,LI Xuan,WANG Yujia.Underwater color image segmentation based on weight adjustment for color-to-gray[J].hebgcdxxb,2015,(08):707.[doi:10.3969/j.issn.1006-7043.201403018]

备注/Memo

备注/Memo:
收稿日期:2018-7-30。
基金项目:国家自然科学基金项目(61203358/F0306);黑龙江省自然科学基金项目(F2015034);中央高校基本科研业务费专项资金项目(HEUCFZ1214).
作者简介:于凌涛,男,副教授;郑红杰,男,助理工程师.
通讯作者:郑红杰,E-mail:mrzhenghongjie@126.com.
更新日期/Last Update: 2019-08-05