Design Of Interior Vision System Of The Laryngeal Surgical Robot

This dissertation is focused on the development of the interior guiding vision system for the Laryngeal Surgical Robot designed by ourselves at the laboratory. Researched and developed the techniques including the design of the monocular 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 specialty of throat surgery and requirements of robot's position& orientation before operation, the interior guiding vision system was designed. The monocular vision is planned to construct the 3-D vision of laryngeal focus. The monocular vision system adopts linear self-calibration technology and matching method to reconstruct 3-D position of the target.In the experiment, we reconstruct 3-D position of the target by linear self-calibration technology based on active vision and the matching method based on characteristic points. Because the 3-D surface is consisted of points, we can also reconstruct the target.Finally we integrate the vision system with the robot system. The process of the system integration in fact is the coordinate transition between the robot coordinate system and the image coordinate system. It can provide the constraint parameters that are used to constrain the robot.Through the research, we can acquire the 3-D image of the focus. The doctor doesn't need to adjust the position of the endoscopy to obtain the image of focus. It is useful to reduce the surgery time and improve the accuracy of the surgical plan.