基于人工标记的手术导航仪

Surgical navigation system based on anartificialmarker

针对目前光学手术导航仪抗干扰性不强、系统复杂、非多目标跟踪的不足,提出一种基于人工标记检测的手术导航仪实现方案。立足于Bumblebee2双目视觉系统,提出一种ARTag标记检测算法。基于边缘检测,通过线段检测、标记重构、标记解码多步来实现准确快速的标记检测。进一步基于双目立体视觉,对手术工具进行空间定位,且由于ARTag标记包含编码特征,可同时识别、解码、匹配多个人工标记,从而可实现多手术工具实时跟踪。试验结果表明:本研究提出算法检测精确度更高,对不同光照条件有更高鲁棒性,该导航仪解决方案具有快速、稳定、经济、能实时多目标跟踪的优点,在实际使用中具有广阔的前景。

In order to solve the shortcomings of the current surgical navigation systems including weak anti-interference ability, complex system and non-multi-target tracking, an implement of surgical navigation system based on the detec- ting of artificial markers was proposed. Based on the Bumblebee2 binocular vision system, a detection algorithm based on edge detection was proposed to realize the precise and fast detection of ARTag artificial marks by line detection, marker construction and marker decode. Then with the Binocular stereo vision theory, accurately and reliably calculat- edspatial location of the surgical instruments. Also, the system was able to tracking multiple targets in real-time because these artificial markers were set number sequences inside which enable the system to detect, decode and match multiple artificial marker targets. Experimental results showed that the proposed algorithm was of high accuracy and strong anti- interference ability, and the navigation system solution was fast, stable and economical, advantages multiple targets tracking at the same time, had broad prospects in actual use.