Research On Vision System Of The ENT Medical Robot

The dissertation is focused on the development of the exterior guiding vision system for the ENT medical robot designed by ourselves at the laboratory. Techniques including the design of the vision system,camera calibration,development of the vision software,the integration of control system and the vision system are researched here.The following work has been completed:Aimed at the requirement of the end tools and the hardware circumstance of the control system, the running model of the robot is settled. Based on this,combining the objective of the whole system,the vision system is designed in terms of the logic configuration of machine vision.The scheme of binocular stereo is planned for making sure the position,pose of the ending tools. Combining the characters of the robot,the position of the bin-CCD sensor is fixed and at the same time the description model from 2d reference frame to 3d reference frame is built.During the solution of the calibration array,a parameter constraint method is presented,which improves the parameter precision of the model in comparison with the method without constraint; for rebuilding the 3d coordinates of the special dots,the constraint equation of the minimum distance between the dots and the line is presented,which reduces the bound area of the search and improves the precision of the 3d coordinates.For making sure the pose of the laryngoscope,a method of building a reference frame at the laryngoscope port is described and the math model is given. After integrating the vision system and the control system,it can provide the constraint parameters that is used to constrain the robot.The dissertation will solve the problem produces by the manual adjustment when making the end tools go into the cut or the laryngoscope in the patient. It is significant for improving the surgical safety,avoiding the collision of the instrument.