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用于微创外科手术(Minimally Invasive Surgery,简称 MIS)的机器人系统是医疗中的 MIS 技术与遥操作技术的结合。本文根据立体视党的基本原理,建立摄像机标定模型和立体视觉模型,设计了基于微创手术机器人的视觉定位系统。介绍了相应图像处理软件的设计,实现对目标的准确识别和精确定位。实验证明该方案有较好定位效果,同时分析了引起误差的原因。
A robotic system for Minimally Invasive Surgery (MIS) is a combination of MIS and teleoperation in medicine. In this paper, based on the basic principles of stereoscopic party, camera calibration model and stereoscopic vision model are established, and visual positioning system based on minimally invasive surgical robot is designed. The design of the corresponding image processing software is introduced to realize the accurate identification and precise positioning of the target. Experiments show that the program has better positioning effect, at the same time analyzed the cause of the error.