灵巧型持镜臂设计与增强现实功能研究

Design of Dexterous Endoscope Holder and Research on Augmented Reality Function

使用持镜臂代替人手握持内窥镜,既有利于医生双手进行手术操作,又避免了因手部震颤引起的画面抖动。本文以眼眶减压手术为切入点,设计与制造了一款基于远心机构的灵巧型持镜臂,并对其进行了运动学正逆解分析。针对医生术中无法复现、只能凭借记忆或经验推测术前规划的问题,本文提出了一种基于增强现实的内窥镜图像辅助技术,帮助医生更精准安全地完成手术。本文对持镜臂及其增强现实功能进行了精度验证实验,平均误差为1.44mm,标准差为0.71mm,较好地满足了设计需求。

Using the endoscope holder instead of the surgeon's hands to hold the endoscope not only facilitates the surgeon to perform surgical operations with both hands,but also avoids the image shaking caused by hand tremor.This paper took orbital decompression surgery as the starting point,designed and manufactured a dexterous endoscope holder based on the remote center of motion mechanism,and analyzed its forward and inverse kinematics solutions.Aiming at the problem that doctors can only speculate on surgical planning through memory or experience rather than repeat during surgery,this paper proposed an endoscopic imageassisted technology based on augmented reality which can assist doctors to perform operations more accurately and safely.The accuracy of the endoscope holder and its augmented reality function was measured through experiments.The results showed that the average error was 1.44 mm and the standard deviation was 0.71 mm,which met the design requirements.