显微外科打结作业的运动捕捉

Movement Capture of Knot-Tying Manipulation in Microsurgeries

利用双目立体视觉技术对外科专家的缝合打结动作进行运动捕捉,提取打结作业中的关键点,获取了打结操作中的运动轨迹,进一步对轨迹进行拟合和光滑,获得了外科医生打结作业的轨迹和工作空间,为机器人打结机构的设计和虚拟手术训练系统的构建奠定了基础。

The surgical dexterous suturing and knotting movements are photographed with binocular stereo vision and the movements＇ locus is captured through identifying the RGB values in a series of key-frames. Then a normal movement path of knot-tying is obtained through curve-fitting and smoothing. And meanwhile, the workspace of knot-tying manipulation in microsurgeries is got. And thus, a good foundation is laid for the design of an automatic knotting mechanism and for the establishment of a virtual surgery training system.