一种辅助腹腔镜手术机器人图像导航的穿刺孔定位方法

An Image Navigation Way for Assistant Laparoscope Surgical Robot to Locate Puncture

根据带有主被动关节辅助腹腔镜手术机器人的特点,提出一种基于几何模型和图像导航的穿刺孔定位方法,得到了穿刺孔在辅助腹腔镜手术机器人基础坐标系中的坐标,为辅助腹腔镜手术机器人提供腹腔镜的位姿信息从而实现对腹腔镜位姿的精确控制。定位系统包括两个激光器和一个微型CCD摄像机。实验表明,该定位方法能够准确获得腹腔镜穿刺孔的坐标。定位过程由辅助腹腔镜手术机器人自动完成,缩短了手术时间,提高了手术效率,避免了由手术医生仅通过激光器手动操作辅助腹腔镜手术机器人进行穿刺孔定位时产生人为误差的现象。

On the basis of characteristics of laparoscopic robot with active and passive joints, a method based on geometric model and image to locate the relative position of patient＇s puncture to the robot was provided. The method offered the laparoscope posture information for the robot to control laparoscope posture precisely. The location system included two laser and one mirco CCD camera. Experimental results indicate that the method can get the puncture location precisely. The process of puncture location is completed by the robot automatically. It can save surgical time, improve efficien- cy and avoid the errors caused by the doctors.