Research On Robot-assisted Brain Hematoma Removal And Trajectory Planning Based On Augmented Reality

Because of its rapid onset,high mortality and disability rate,and the gradual decline in the overall number of patients,cerebral hematoma has become a disease that urgently needs rapid and effective treatment.However,the current traditional surgical methods have a low degree of visualization,and most of them rely on body surface drawing to determine the position of the hematoma,and the doctor-patient ratio in this field is unbalanced,and the training cycle of new brain surgery clinicians is long,so this article addresses these two issues.The research plan of observing the position of brain hematoma in real time under augmented reality environment and completing the operation of brain hematoma removal with the assistance of robot.In this paper,by acquiring brain CT images of patients with brain hematomas,a median filtering technique based on feature retention is proposed,and this technique is used to filter the CT images of the patient ’ s brain in.dcm format,by modifying the.dcm file Stored VR,which filters out the noise of the CT image of the patient’s brain while preserving the edge features of the image,and improves the traditional region growth algorithm.It automatically selects the optimal image seed point to automatically filter the patient ’ s brain The CT image is segmented,and then the Matching Cube surface rendering algorithm is used to perform 3D reconstruction of the CT image,and a 3D reconstruction model of the patient’s brain and hematoma is obtained.According to the requirements of real-time visualization,the Holo Lens2-based augmented reality environment was developed through Unity3 D software combined with the MRTK plug-in.The three-dimensional reconstruction model of the patient’s brain and hematoma was placed in the augmented reality environment,and the model was developed and the voice was completed.Recognition,gesture interaction,eye tracking and other functions enable the virtual model to interact with the operator in real time in the real environment.And the 3D point cloud registration method in the augmented reality environment in this article is determined.The Do G image pyramid is constructed by the SIFT algorithm to extract and match the feature points of the 2D projection of the 3D point cloud model,and then the virtual patient is completed by the ICP algorithm.The brain performs three-dimensional registration.And the registration effect is verified,and the expected effect can be achieved.In this paper,by analyzing the basic process of brain hematoma removal surgery,the rules of robot-assisted brain hematoma removal are determined.In accordance with the puncture principle of brain hematoma removal surgery,the rational posture of the robot end clamping puncture working sheath is planned.According to the determination of the brain puncture point and the position of the hematoma removal target,the linear trajectory of the working sheath held by the brain hematoma removal auxiliary robot was planned,and the interpolation calculation of the linear trajectory of the working sheath was completed.In this paper,a test bed for robot-assisted brain hematoma removal in an augmented reality environment is built,and verification experiments are carried out.According to the planned robot trajectory,the robot-assisted brain hematoma removal experiment is completed,and the coordinates of discrete points in the theoretical puncture trajectory are completed.The error between the coordinates of the discrete points of the puncture trajectory during the experiment was analyzed,and the feasibility of the robot-assisted brain hematoma removal was verified.