医疗机器人双目视觉硬件系统设计与实现

Hardware design and implementation of binocular vision system for a medical robot

根据双目视觉定位原理,通过分析系统各部件的工作原理和医疗机器人手术导航的实际需求,结合市场供货情况,提出了一种适用于医疗机器人手术导航定位的双目视觉硬件系统设计方法。采用该方法设计的双目视觉定位系统进行了手术导航模拟实验,结果表明:该系统可以辅助医疗机器人完成手术规划,定位精度可以达到2 mm,能够满足临床应用要求。

In this paper, a hardware design method of binocular vision system is proposed for the pose tracker of surgery. The working principle of the system components and the needs of the surgical navigation are ana- lyzed firstly. Then according to the situation of market supply, each component is ascertained, and the system＇ s structure is affirmed based on the binocular vision positioning principle. At last, a simulation experiment of surgical navigation is developed by prototype of binocular vision system. The experimental results show that with the aid of this system, the layout of the surgery can be carried out. At the same time, the positioning pre- cision for the implant can reach 2 mm, which can satisfy the requirement of clinical application.