Study Of Vision Navigation Of Prostate Biopsy Robot

At present, research on robot's application in surgery is paid more and more attention by relative researchers. It will not only bring a series of technique reforms, such as improving the quality of operation and reducing the damage to patient, but also change traditional concepts in surgery and promote the development of concerned subjects.This paper is devoted to motion control on Prostate Biopsy Robot vision navigation. This paper studied on the identifiction of needle by ultrasonic for Prostate Biopsy Robot. It took image processing including Binary, median filter, edge detection,based on the characteristic of ultrasonic images. It used Hough Transform to distinguish the biopsy needle. This paper studied on vision navigation for inserting-needle Robot. Based on the developed tool of VC++ and adopts Open Source Computer Vision Library OpenCv, from which the image information is collected. After being processed, the needle data are obtained, and the robot is controlled to insert needle. At last, general precision error is gained by the experiment, and the reason of the error is analysed. The result shows that the overall scheme and Vision System are reasonable and feasible.The research of this project is a realization that extend robot technique from traditional industry field to medicine field, not only according with the developmental trend of medical robot and achieve the social requirement, but also accelerate the development of robot technique, so this project has good social effect and result.