一种基于多目立体视觉的手术器械跟踪定位策略

A multi-view stereo vision-based tracking and positioning strategy for surgical instrument

提出了一种基于多目立体视觉的手术器械跟踪定位策略.利用2个以上的摄像机构建多目立体视觉系统,采用投影线交点法重建靶标的空间坐标.当无光线遮挡时,通过扩展投影线方程数量进行多目立体重建;当某一摄像机的光线被遮挡时,进行双目立体重建.利用自行搭建的三目立体视觉系统,通过自制的多标志点手术器械的跟踪定位试验,实现对该策略有效性的测试.结果表明:在不同光线遮挡条件下,系统均能实现定位功能,且静态定位和动态定位误差均小于0.15 mm;该策略能够在一定程度上解决光线遮挡问题,避免手术器械定位信息丢失,在满足使用精度需求的情况下,提高了系统的可靠性.

A multi-view stereo vision-based tracking and positioning strategy for surgical instrument was proposed. A multi-view stereo vision system was built using more than two cameras,and the spatial coordinate of target was reconstructed by the projection line intersection method. Under the condition with no line-of-sight blocking,the spatial coordinate of target was reconstructed by extending the projection line equations. With line-of-sight blocking in one camera,the binocular stereo reconstruction method was used. The tracking and positioning for a self-made multi-point surgical instrument with a self-built trinocular stereo vision system were conducted to test the capability of the proposed strategy. The results show that the system can locate the position successfully under different blocking conditions,and both the static error and the dynamic error are less than 0. 15 mm. The proposed strategy can solve the problem of line-of-sight blocking to some extent and avoid the missing of positioning information,and the system reliability can be improved with the required accuracy.