Design Of Binocular Vision System Of Surgical Robot: Micro-hand Ⅱ

The dissertation is focused on the development of the exterior guiding vision system for the Micro-handⅡSurgical Robot designed by ourselves at the laboratory. Techniques including the design of the stereo vision system, camera calibration, stereo match, three-dimensional reconstruction, the development and integration of the vision software and so on.The following work has been completed:Aimed at the trait of the throat surgery and the position and orientation of the robot before operation, the computer vision system was settled, the scheme of binocular stereo is planned for making sure the position,orientation of the ending tools. Based on this, the vision system settled the position of the bin-CCD, constructed the model from two-dimensional pixels coordinate to three-dimensional coordinate of the robot.The stereo vision system was calibrated with linear model. The stereo match method was adopted based on characteristic points. The three-dimensional reconstruction of the target points was carried out.In order to confirm the position and orientation of the laryngoscope, a method integrated edge detection with curve fitting was settled, and its mathematical model was presented. In the process of edge detection, the key was how to get sub-pixel edge image of the target and how to get the pixels coordinate (≥6 points) on the target image. In the process of curve fitting, the key was how to get the position and orientation of the laryngoscope base on interrelated parameter of the curve.Finally integrated the vision system with the robot system, the process of the system integration was the coordinate transition among the robot coordinate system, the calibration coordinate system and the image coordinate system. It can provide the constraint parameter 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.