Research On Voice Control Of Prostate Seed Implantation Robot In Augmented Reality Environment

Radioactive seed implantation is one of the main treatment methods for early prostate cancer at present.It has the advantages of good targeted operation,fewer risks and side effects,but in practical clinical treatment,also has problems such as unstable treatment effect,low surgical efficiency and heavy labor intensity of doctors.Although with the rapid development of modern science and technology,using robots to complete prostate seed implantation surgery has theoretically possibility,but still has many problems to be solved in the specific technical implementation process,such as the single navigation information,unintuitive visualization,complex robot control and so on.This paper studies the voice control technology of prostate seed implantation robot in augmented reality environment,uses augmented reality and voice control technology,provides friendly visual system and control system for prostate particle surgery.Use voice control technology to unify the operation of the surgical robot system and the augmented reality system,and provide more convenient,natural non-contact control for the surgical process,in order to improve the operation process of intellectualization,visualization and informatization degree.The prostate MRI medical images are denoised and divided,then use the surface rendering technology to realize the reconstruction of the 3D virtual model of the prostate and its surrounding organs.Analyze the architecture method of the hardware and software framework in the augmented reality system and combine with the holographic applications,build the augmented reality system of implanted prostate surgery to provide visual navigation for prostate particles implantation surgery.Analyze the augmented reality system requirements technical requirements of prostate particles implantation and combine with the coordinates of the relationships between each component in the system,determine the registration process of 3D registration technology.Study the advantages and disadvantages of SVD algorithm and ICP algorithm in the realization of 3D registration,and propose an improved SVD 3D registration algorithm based on ICP.Through relevant experiments show the improved SVD 3D registration algorithm based on ICP that can effectively improve the precision of 3D registration and optimize the visual effect of augmented reality system.Architecture the voice control system of prostate seed implant robot in augmented reality environment.According to the application of functional requirements in operation environment,determine the voice control plan and process.While ensuring the robot motion control based on voice command,it provides the corresponding augmented reality visualization information for doctors.Use D-H method to analyze the coordinate system of robot structure,and complete the robot kinematics modeling for getting the robot kinematics basic information that voice control system needs.Optimize the real-time problems of the voice control system and ensure the accuracy of the prostate seed implantation surgery by using 3D registration technology.In combination with the doctor’s voice signal characteristics and the operation environment,analyze the noise tyoe of being produced in Prostate seed implant surgery,and further determine the denoising evaluation standard and the process of speech denoising.Aiming at the advantages and disadvantages of spectral subtraction and BP neural network in denoising,propose a fusion algorithm based on spectral subtraction and BP neural network,through the relevant experiment results show that the fusion algorithm can effectively improve the reliability of voice control system,ensure the systems control effect in the process of operation,and the built integrated system can basically meet the responsiveness requirements of prostate seed implantation surgery.