本文選題：微創(chuàng)手術(shù)機(jī)器人 + 圖像系統(tǒng)�。� 參考：《天津大學(xué)》2016年博士論文

【摘要】：圖像系統(tǒng)是微創(chuàng)手術(shù)機(jī)器人獲得患者實(shí)時(shí)信息反饋的重要部分,其優(yōu)劣不僅決定了微創(chuàng)手術(shù)機(jī)器人的整體性能,也對(duì)機(jī)器人其他組成模塊的設(shè)計(jì)與開(kāi)發(fā)有重要影響。微創(chuàng)手術(shù)機(jī)器人圖像系統(tǒng)研究包括內(nèi)窺鏡設(shè)計(jì),醫(yī)生的觀察模式與操作模式,主從空間映射等諸多問(wèn)題;由此,本文開(kāi)展面向微創(chuàng)手術(shù)機(jī)器人圖像系統(tǒng)設(shè)計(jì)實(shí)現(xiàn)及映射策略研究。主要取得以下創(chuàng)造性成果:1.根據(jù)對(duì)人類(lèi)深度知覺(jué)的分析,創(chuàng)造性地提出將運(yùn)動(dòng)視差概念引入微創(chuàng)手術(shù)機(jī)器人圖像系統(tǒng)。利用運(yùn)動(dòng)視差補(bǔ)償了雙目視覺(jué)深度信息隨視點(diǎn)位移產(chǎn)生的畸變,深入探討了影響運(yùn)動(dòng)視差映射系數(shù)的因素,并設(shè)計(jì)實(shí)驗(yàn)測(cè)定了適用于微創(chuàng)手術(shù)機(jī)器人的運(yùn)動(dòng)視差映射系數(shù)。2.通過(guò)對(duì)內(nèi)窺鏡探查空間與術(shù)野空間的映射關(guān)系,提出全維視角立體內(nèi)窺鏡概念。根據(jù)微創(chuàng)手術(shù)空間/安全性約束,提出一種適用于微創(chuàng)手術(shù)機(jī)器人內(nèi)窺鏡的柔性關(guān)節(jié)。將全維視角立體內(nèi)窺鏡原理應(yīng)用于微創(chuàng)手術(shù)機(jī)器人“Microhand S”系統(tǒng),建立了相應(yīng)的控制算法。3.為提高機(jī)器人操作性,提出了將操作空間與視覺(jué)空間相融合的映射方法。基于對(duì)手部動(dòng)作的分解,提出一種適用于上述映射方法的非機(jī)械結(jié)構(gòu)主操作手模式。建立了符合人體直覺(jué)的映射模型,并實(shí)現(xiàn)了基于該模型的微創(chuàng)手術(shù)機(jī)器人主從映射算法和控制流程。4.研究了醫(yī)學(xué)數(shù)字影像的空間映射算法。針對(duì)醫(yī)學(xué)超聲影像,構(gòu)建了二維與三維空間映射模型,并編寫(xiě)了軟件對(duì)模型進(jìn)行驗(yàn)證。建立了超聲影像與內(nèi)窺鏡圖像的映射算法,實(shí)現(xiàn)了多維醫(yī)學(xué)影像的融合。結(jié)合醫(yī)療手術(shù)機(jī)器人的特點(diǎn),分析了適用于機(jī)器人的醫(yī)學(xué)影像標(biāo)定方式。5.在實(shí)驗(yàn)研究方面,對(duì)全維視角立體內(nèi)窺鏡的可靠性進(jìn)行了驗(yàn)證,利用模型實(shí)驗(yàn)對(duì)運(yùn)動(dòng)視差在微創(chuàng)手術(shù)機(jī)器人操作中的作用進(jìn)行了測(cè)定和驗(yàn)證,并通過(guò)比對(duì)實(shí)驗(yàn)對(duì)超聲影像映射算法進(jìn)行了測(cè)試,通過(guò)動(dòng)物實(shí)驗(yàn)驗(yàn)證了多維醫(yī)學(xué)影像融合算法的有效性。
[Abstract]:Image system is an important part for minimally invasive surgical robot to obtain real-time information feedback from patients. Its merits and demerits not only determine the overall performance of the minimally invasive surgery robot, but also have an important impact on the design and development of other components of the robot. The research on image system of minimally invasive surgery robot includes endoscope design, doctor's observation mode and operation mode, master-slave space mapping and so on. In this paper, the design and implementation of image system and mapping strategy for minimally invasive surgical robot are studied. The main achievements are as follows: 1: 1. According to the analysis of human depth perception, the concept of motion parallax is creatively introduced into the image system of minimally invasive surgical robot. Motion parallax is used to compensate the distortion of binocular visual depth information caused by viewpoint displacement, and the factors that affect the mapping coefficient of motion parallax are discussed in depth. The kinematic parallax mapping coefficient of minimally invasive manipulators is measured by design experiments. Based on the mapping between the exploration space of endoscope and the space of surgical field, the concept of full-dimensional perspective stereo endoscope is put forward. According to the space / safety constraints of minimally invasive surgery, a flexible joint suitable for endoscope of minimally invasive surgery robot is proposed. The principle of full dimensional stereoscopic endoscope is applied to the microhand S system of minimally invasive surgery robot, and the corresponding control algorithm .3. In order to improve the maneuverability of the robot, a mapping method is proposed, which combines the operation space with the visual space. Based on the decomposition of hand movements, a non-mechanical structure master manipulator model is proposed for the above mapping methods. The mapping model of human body intuition is established, and the master-slave mapping algorithm and control flow of minimally invasive surgical robot based on this model are implemented. The spatial mapping algorithm of medical digital image is studied. A two-dimensional and three-dimensional mapping model was constructed for medical ultrasound images and a software was developed to verify the model. The mapping algorithm of ultrasound image and endoscope image is established, and the fusion of multidimensional medical image is realized. Combined with the characteristics of medical surgical robot, the medical image calibration method suitable for robot is analyzed. In the aspect of experimental research, the reliability of full dimensional stereoscopic endoscope is verified, and the function of motion parallax in the operation of minimally invasive surgical robot is measured and verified by model experiment. The ultrasonic image mapping algorithm is tested by comparison experiment, and the validity of multi-dimensional medical image fusion algorithm is verified by animal experiments.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：TP391.41;TP242

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本文編號(hào)：2014082