机器人“妙手A”立体视觉系统的设计与实现

Design and Realization of Stereo Vision System for Robot Micro-hand A

目的:在微创手术中为医生提供三维立体手术视野,获取深度信息,使内镜手术过程更加准确、快捷、方便。方法:利用双目内窥镜、图像服务器和立体显示单元作为载体搭建立体视觉平台,运用双路平面正交偏振影像分光法,佩戴偏振光眼镜观看手术视野的三维立体影像。结果:医生利用此立体视觉平台,经多次活体动物胆囊摘除手术验证,均得到了良好的手术效果。结论:"妙手A"立体视觉平台结构简单、立体显示效果优异,将在微创手术领域得到广泛推广与应用。

Objective To provide three-dimensional surgical field for doctors in minimally invasive surgery to let them obtain the further information so as to make the process of endoscopic surgery be more accurate,fast and convenient. Methods The binocular endoscope,image server and three-dimensional display unit were used as carriers to build three- dimensional visual platform,and the three-dimensional image of the operative field was watched by using the dual plane orthogonal polarization imaging spectrophotometry theory and wearing polarized glasses.Results Numerous live animals gall bladder removal surgery done by doctors using the stereo vision platform got good surgical results.Conclusion The structure of stereo vision system for robot micro-hand A is simple,and the three-dimensional display result is excellent,so it will be widely promoted and applied in minimally invasive surgery